From 77f4fbe91910cdb96ccdbb91b37578cc920a69e1 Mon Sep 17 00:00:00 2001 From: edouard Date: Tue, 21 Dec 2010 21:10:31 +0000 Subject: [PATCH] Fixed a rare issue with Heading becoming NaN and not checked by GCS (froze the GCS). Update op_dfu.cpp to reflect latest changes by PT_Dreamer on the CLI. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2268 ebee16cc-31ac-478f-84a7-5cbb03baadba --- ground/src/plugins/pfd/pfdgadgetwidget.cpp | 2 ++ ground/src/plugins/uploader/op_dfu.cpp | 4 ++-- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/ground/src/plugins/pfd/pfdgadgetwidget.cpp b/ground/src/plugins/pfd/pfdgadgetwidget.cpp index a05f642e5..079a206b5 100644 --- a/ground/src/plugins/pfd/pfdgadgetwidget.cpp +++ b/ground/src/plugins/pfd/pfdgadgetwidget.cpp @@ -256,6 +256,8 @@ void PFDGadgetWidget::updateAttitude(UAVObject *object1) { // to it. That way you always get the "shorter difference" to turn in." double fac = compassBandWidth/540; headingTarget = yawField->getDouble()*(-fac); + if (headingTarget != headingTarget) + headingTarget = headingValue; // NaN checking. if ((headingValue - headingTarget)/fac > 180) { headingTarget += 360*fac; } else if (((headingValue - headingTarget)/fac < -180)) { diff --git a/ground/src/plugins/uploader/op_dfu.cpp b/ground/src/plugins/uploader/op_dfu.cpp index c6060df36..8251275b7 100644 --- a/ground/src/plugins/uploader/op_dfu.cpp +++ b/ground/src/plugins/uploader/op_dfu.cpp @@ -248,9 +248,9 @@ bool DFUObject::UploadData(qint32 const & numberOfBytes, QByteArray & data) // } // qDebug()<<" Data0="<<(int)data[0]<<" Data0="<<(int)data[1]<<" Data0="<<(int)data[2]<<" Data0="<<(int)data[3]<<" buf6="<<(int)buf[6]<<" buf7="<<(int)buf[7]<<" buf8="<<(int)buf[8]<<" buf9="<<(int)buf[9]; //delay::msleep(send_delay); - if(StatusRequest()!=OP_DFU::uploading) return false; + + //if(StatusRequest()!=OP_DFU::uploading) return false; int result = sendData(buf, BUF_LEN); - //int result = hidHandle.send(0,buf, BUF_LEN, 5000); // qDebug()<<"sent:"<