[ardrone] Fix small navdata bug and update changelog

paparazzi · Feb 25, 2015 · 9733727 · 9733727
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -3,6 +3,8 @@ Paparazzi 5.5_devel
 
 currently ongoing development, changes so far (no particular order, nor complete)
 
+- arch/linux: change the sys timer to a multi threaded implementation
+  [#1117] (https://github.com/paparazzi/paparazzi/pull/1117)
 - python: generate paparazzi math wrappers with SWIG
   [#1066] (https://github.com/paparazzi/paparazzi/pull/1066)
 - ground segment: use pkg-config for ivy-c if available

diff --git a/sw/airborne/boards/ardrone/navdata.c b/sw/airborne/boards/ardrone/navdata.c
@@ -487,7 +487,15 @@ void navdata_update()
     // check if the start byte is correct
     if (navdata.buffer[0] != NAVDATA_START_BYTE) {
       uint8_t *pint = memchr(navdata.buffer, NAVDATA_START_BYTE, navdata.buffer_idx);
-      navdata.buffer_idx = (pint != NULL)? (pint - navdata.buffer):0;
+
+      // Check if we found the start byte in the read data
+      if(pint != NULL) {
+        memmove(navdata.buffer, pint, NAVDATA_PACKET_SIZE - (pint - navdata.buffer));
+        navdata.buffer_idx = pint - navdata.buffer;
+      }
+      else {
+        navdata.buffer_idx = 0;
+      }
       return;
     }