From 95f97690410573fac3622c47a4835ddd512e607c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 23 May 2020 10:24:32 +1000
Subject: [PATCH] AP_RangeFinder: use new UARTDriver discard_input method

---
 .../AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp     | 13 +++++--------
 1 file changed, 5 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
index d1a699c85f..b9aadb3296 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
@@ -32,16 +32,13 @@ bool AP_RangeFinder_LeddarOne::get_reading(uint16_t &reading_cm)
 
     switch (modbus_status) {
     case LEDDARONE_MODBUS_STATE_INIT: {
-        uint8_t index = 0;
-        // clear read buffer
         uint32_t nbytes = uart->available();
-        while (nbytes-- > 0) {
-            uart->read();
-            if (++index > LEDDARONE_SERIAL_PORT_MAX) {
-                // LEDDARONE_STATE_ERR_SERIAL_PORT
-                return false;
-            }
+        if (nbytes > LEDDARONE_SERIAL_PORT_MAX) {
+            // LEDDARONE_STATE_ERR_SERIAL_PORT
+            return false;
         }
+        uart->discard_input();
+
         // clear buffer and buffer_len
         memset(read_buffer, 0, sizeof(read_buffer));
         read_len = 0;