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Code Issues Releases Activity

Merge remote-tracking branch 'origin/next' into corvuscorax/OP-1022_AH_improvements_amorale

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This commit is contained in:
Corvus Corax 2013-12-27 13:47:45 +01:00
commit 66d1141c7f
3 changed files with 33 additions and 21 deletions
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3
ground/openpilotgcs/src/plugins/config/twostep.cpp
View File

@ -126,7 +126,7 @@ Vector3f twostep_bias_only(const Vector3f samples[],
const float noise)
{
// \tilde{H}
Vector3f centeredSamples[n_samples];
Vector3f *centeredSamples = new Vector3f[n_samples];
// z_k
float sampleDeltaMag[n_samples];
// eq 7 and 8 applied to samples
@ -172,6 +172,7 @@ Vector3f twostep_bias_only(const Vector3f samples[],
// Note that the negative has been done twice
estimate += neg_increment;
}
delete[] centeredSamples;
return estimate;
}

42
ground/openpilotgcs/src/plugins/ophid/src/ophid.cpp
View File

@ -205,6 +205,8 @@ qint64 RawHIDReadThread::getBytesAvailable()
return m_readBuffer.size();
}
// *********************************************************************************
RawHIDWriteThread::RawHIDWriteThread(RawHID *hid)
: m_hid(hid),
hiddev(&hid->dev),
@ -212,8 +214,6 @@ RawHIDWriteThread::RawHIDWriteThread(RawHID *hid)
m_running(true)
{}
// *********************************************************************************
RawHIDWriteThread::~RawHIDWriteThread()
{
m_running = false;
@ -227,29 +227,31 @@ void RawHIDWriteThread::run()
{
while (m_running) {
char buffer[WRITE_SIZE] = { 0 };
int size;
m_writeBufMtx.lock();
int size = qMin(WRITE_SIZE - 2, m_writeBuffer.size());
while (size <= 0) {
// wait on new data to write condition, the timeout
// enable the thread to shutdown properly
m_newDataToWrite.wait(&m_writeBufMtx, 200);
if (!m_running) {
return;
{
QMutexLocker lock(&m_writeBufMtx);
size = qMin(WRITE_SIZE - 2, m_writeBuffer.size());
while (size <= 0) {
// wait on new data to write condition, the timeout
// enable the thread to shutdown properly
m_newDataToWrite.wait(&m_writeBufMtx, 200);
if (!m_running) {
return;
}
size = m_writeBuffer.size();
}
size = m_writeBuffer.size();
// NOTE: data size is limited to 2 bytes less than the
// usb packet size (64 bytes for interrupt) to make room
// for the reportID and valid data length
size = qMin(WRITE_SIZE - 2, m_writeBuffer.size());
memcpy(&buffer[2], m_writeBuffer.constData(), size);
buffer[1] = size; // valid data length
buffer[0] = 2; // reportID
}
// NOTE: data size is limited to 2 bytes less than the
// usb packet size (64 bytes for interrupt) to make room
// for the reportID and valid data length
size = qMin(WRITE_SIZE - 2, m_writeBuffer.size());
memcpy(&buffer[2], m_writeBuffer.constData(), size);
buffer[1] = size; // valid data length
buffer[0] = 2; // reportID
m_writeBufMtx.unlock();
// must hold lock through the send to know how much was sent
int ret = hiddev->send(hidno, buffer, WRITE_SIZE, WRITE_TIMEOUT);

9
package/linux/45-openpilot-permissions.rules
View File

@ -5,6 +5,15 @@
SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415b", MODE="0664", GROUP="plugdev"
# OpenPilot OPLink Mini radio modem board
SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415c", MODE="0664", GROUP="plugdev"
# OpenPilot Revolution board
SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415e", MODE="0664", GROUP="plugdev"
# Other OpenPilot reserved pids
SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415d", MODE="0664", GROUP="plugdev"
SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="4194", MODE="0664", GROUP="plugdev"
SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="4195", MODE="0664", GROUP="plugdev"
# unprogrammed openpilot flight control board
SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5750", MODE="0664", GROUP="plugdev"
# FTDI FT2232C Dual USB-UART/FIFO IC