al-xg/serialReadLidar — pull request #1 by fishrockz (2014-10-18 20:41:17+00:00)
Title: See if this helps

the comments about reading the full packet is the key, i hadnt realised that if you read when there is not data it dosent block.... the other changes might not be what you want! so have a play, not used this before so sorry for the waffle!