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AP_Scripting: fixed height gain/loss in upline/downline

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This commit is contained in:
Andrew Tridgell 2022-10-28 08:10:50 +11:00
parent efff5dc7ea
commit 7541eed80c
1 changed files with 3 additions and 2 deletions
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libraries/AP_Scripting/examples/Aerobatics/Trajectory/plane_aerobatics.lua
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@ -535,7 +535,7 @@ end
function upline_45(t, r, height_gain, arg3, arg4) function upline_45(t, r, height_gain, arg3, arg4)
if t == 0 then if t == 0 then
local h = height_gain - 2*r*math.sin(math.rad(45)) local h = (height_gain - 2*r*(1.0-math.cos(math.rad(45))))/math.sin(math.rad(45))
assert(h >= 0) assert(h >= 0)
path_var.composer = path_composer({ path_var.composer = path_composer({
{ path_vertical_arc(r, 45), roll_angle(0) }, { path_vertical_arc(r, 45), roll_angle(0) },
@ -548,7 +548,8 @@ end
function downline_45(t, r, height_loss, arg3, arg4) function downline_45(t, r, height_loss, arg3, arg4)
if t == 0 then if t == 0 then
local h = height_loss - 2*r*math.sin(math.rad(45)) local h = (height_loss - 2*r*(1.0-math.cos(math.rad(45))))/math.sin(math.rad(45))
assert(h >= 0) assert(h >= 0)
path_var.composer = path_composer({ path_var.composer = path_composer({
{ path_vertical_arc(-r, 45), roll_angle(0) }, { path_vertical_arc(-r, 45), roll_angle(0) },