change to packet structure

Signed-off-by: dirksavage88 <[email protected]>

src/drivers/voxl2_io/voxl2_io_packet.c

@@ -135,17 +135,18 @@ int32_t voxl2_io_create_rpm_packet4(int16_t rpm0, int16_t rpm1, int16_t rpm2, in
 				  uint8_t led0, uint8_t led1, uint8_t led2, uint8_t led3, uint8_t led4, uint8_t led5, uint8_t led6, uint8_t led7,
 				  uint8_t *out, uint16_t out_size)
 {
-	int32_t feedback_id = -1
+	int32_t feedback_id = -1;
 	return voxl2_io_create_rpm_packet4_fb(rpm0, rpm1, rpm2, rpm3, rpm4, rpm5, rpm6, rpm7, led0, led1, led2, led3, led4, led5, led6, led7, feedback_id, out, out_size);
 }
 
 int32_t voxl2_io_create_rpm_packet4_fb(int16_t rpm0, int16_t rpm1, int16_t rpm2, int16_t rpm3, int16_t rpm4, int16_t rpm5, int16_t rpm6, int16_t rpm7,
 				     uint8_t led0, uint8_t led1, uint8_t led2, uint8_t led3, uint8_t led4, uint8_t led5, uint8_t led6, uint8_t led7,
 				     int32_t fb_id, uint8_t *out, uint16_t out_size)
 {
-	uint16_t data[9];
+	uint16_t data[10];
 	uint16_t leds = 0;
-	uint16_t input_size = sizeof(data);
+	// we allocate 20 bytes but only 19 are used
+	uint16_t input_size = sizeof(data) - 1;
 	if (fb_id != -1) { fb_id = fb_id % 8; }
 
 	//least significant bit is used for feedback request
@@ -160,7 +161,7 @@ int32_t voxl2_io_create_rpm_packet4_fb(int16_t rpm0, int16_t rpm1, int16_t rpm2,
 	leds |= ((uint16_t)(led2 & 0b00000111)) << 6;
 	leds |= ((uint16_t)(led3 & 0b00000111)) << 9;
 
-	data[0] = rpm0; data[1] = rpm1; data[2] = rpm2; data[3] = rpm3; data[4] = rpm4; data[5] = rpm5; data[6]=rpm6; data[7] = rpm7; data[8] = leds;
+	data[0] = rpm0; data[1] = rpm1; data[2] = rpm2; data[3] = rpm3; data[4] = rpm4; data[5] = rpm5; data[6]=rpm6; data[7] = rpm7; data[8] = data[9] = 0;
 	return voxl2_io_create_packet(VOXL2_IO_PACKET_TYPE_RPM_CMD, (uint8_t *) & (data[0]), input_size, out, out_size);
 }