HAL_F4Light: fixed non-inverted SBUS parsing

libraries/AP_HAL_F4Light/RC_PPM_parser.cpp

@@ -38,7 +38,7 @@ void PPM_parser::init(uint8_t ch){
     last_pulse = {0,0};
 
     _ioc = Scheduler::register_io_completion(FUNCTOR_BIND_MEMBER(&PPM_parser::parse_pulses, void));
-    // TODO Panic on IOC not allocated
+    // TODO Panic on IOC not allocated ?
 
     // callback is called on each edge so must be as fast as possible
     Revo_handler h = { .mp = FUNCTOR_BIND_MEMBER(&PPM_parser::start_ioc, void) };
@@ -77,9 +77,9 @@ void PPM_parser::rxIntRC(uint16_t last_value, uint16_t value, bool state)
             _process_ppmsum_pulse( (last_value + value) >>1 ); // process PPM only if no protocols detected
         }
 
-        if((_rc_mode &~BOARD_RC_SBUS_NI) == 0){
+        if((_rc_mode & ~BOARD_RC_SBUS_NI) == 0){
             // test for non-inverted SBUS in 2nd memory structures
-            _process_sbus_pulse(last_value>>1, value>>1, sbus_state[1]);  // was 1 so now is length of 1, last is a length of 0
+            _process_sbus_pulse(value>>1, last_value>>1, sbus_state[1]);  // was 1 so now is length of 1, last is a length of 0
         }
 
     } else { // was 0 so rising