public static UInt16 GetPacketCrc(MavLinkPacket p)
{
UInt16 crc = X25CrcSeed;
crc = X25CrcAccumulate(p.PayLoadLength, crc);
crc = X25CrcAccumulate(p.InCompatFlags, crc);
crc = X25CrcAccumulate(p.CompatFlats, crc);
crc = X25CrcAccumulate(p.PacketSequenceNumber, crc);
crc = X25CrcAccumulate(p.SystemId, crc);
crc = X25CrcAccumulate(p.ComponentId, crc);
uint id = p.MessageId;
crc = X25CrcAccumulate((byte)(id & 0xFF), crc);
crc = X25CrcAccumulate((byte)(id >> 8 & 0xFF), crc);
crc = X25CrcAccumulate((byte)(id >> 16 & 0xFF), crc);
//crc = X25CrcAccumulate((byte)(id >> 24 & 0xFF), crc);
for (int i = 0; i < p.Payload.Length; ++i)
{
crc = X25CrcAccumulate(p.Payload[i], crc);
}
crc = X25CrcAccumulate(UasSummary.GetCrcExtraForId(p.MessageId), crc);
return(crc);
}
public static UInt16 GetPacketCrc(MavLinkPacket p)
{
UInt16 crc = X25CrcSeed;
crc = X25CrcAccumulate(p.PayLoadLength, crc);
crc = X25CrcAccumulate(p.PacketSequenceNumber, crc);
crc = X25CrcAccumulate(p.SystemId, crc);
crc = X25CrcAccumulate(p.ComponentId, crc);
crc = X25CrcAccumulate(p.MessageId, crc);
for (int i = 0; i < p.Payload.Length; ++i)
{
crc = X25CrcAccumulate(p.Payload[i], crc);
}
crc = X25CrcAccumulate(UasSummary.GetCrcExtraForId(p.MessageId), crc);
return(crc);
}