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AP_Scripting: ensure time doesn't go past 1.0

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This commit is contained in:
Andrew Tridgell 2022-10-26 20:19:35 +11:00
parent 16583704ed
commit c0559935ed
1 changed files with 6 additions and 4 deletions
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10
libraries/AP_Scripting/examples/Aerobatics/Trajectory/plane_aerobatics.lua
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@ -614,6 +614,7 @@ end
-- orientation: maneuver frame orientation
--returns: requested position in maneuver frame
function rotate_path(path_f, t, arg1, arg2, arg3, arg4, orientation, offset)
t = constrain(t, 0, 1)
point, angle = path_f(t, arg1, arg2, arg3, arg4)
orientation:earth_to_body(point)
--TODO: rotate angle?
@ -805,7 +806,7 @@ function do_path()
path_var.last_time = now
if path_var.path_t > 1.0 then --done
if path_var.path_t + 2*local_n_dt > 1.0 then
return false
end
@ -850,9 +851,10 @@ function do_path()
--[[
recalculate the current path position and angle based on actual delta time
--]]
p2, r2 = rotate_path(path, path_var.path_t + path_t_delta,
arg1, arg2, arg3, arg4,
path_var.initial_ori, path_var.initial_ef_pos)
p2, r2 = rotate_path(path,
constrain(path_var.path_t + path_t_delta, 0, 1),
arg1, arg2, arg3, arg4,
path_var.initial_ori, path_var.initial_ef_pos)
-- tangents needs to be recalculated
tangent1_ef = p1 - p0