add CRC/checksum verification

KumarRobotics · Feb 28, 2016 · 12867dc · 12867dc
1 parent 5b72d10
commit 12867dc
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/src/imu_vn_100.cpp b/src/imu_vn_100.cpp
@@ -408,6 +408,11 @@ void asciiOrBinaryAsyncMessageReceived(void* userData, vn::protocol::uart::Packe
         // Not the type of binary packet we are expecting.
         return;
 
+    if (!p.isValid()) {
+        ROS_WARN("Vn: Invalid packet received. CRC or checksum failed.");
+        return;
+    }
+
     imu->PublishData(p);
 }