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AP_Scripting: quadruped.lua logic test fix

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ashvath100 2020-08-26 14:53:15 +09:00 committed by Randy Mackay
parent a4c7aa6386
commit f344363404
1 changed files with 1 additions and 1 deletions
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libraries/AP_Scripting/examples/quadruped.lua
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@ -130,7 +130,7 @@ function update_leg(moving_leg)
local leg_step = gait_step - gait_step_leg_start[moving_leg] local leg_step = gait_step - gait_step_leg_start[moving_leg]
local move_requested = (math.abs(x_speed) > speed_dz) or (math.abs(y_speed) > speed_dz) or (math.abs(yaw_speed) > speed_dz) local move_requested = (math.abs(x_speed) > speed_dz) or (math.abs(y_speed) > speed_dz) or (math.abs(yaw_speed) > speed_dz)
if ((move_requested and (gait_lifted_steps and 1) and leg_step==0) or if ((move_requested and (gait_lifted_steps > 0) and leg_step==0) or
(not move_requested and leg_step==0 and ((gait_pos_x[moving_leg]>2) or (not move_requested and leg_step==0 and ((gait_pos_x[moving_leg]>2) or
(gait_pos_z[moving_leg]>2) or (gait_rot_z[moving_leg] >2)))) then (gait_pos_z[moving_leg]>2) or (gait_rot_z[moving_leg] >2)))) then
gait_pos_x[moving_leg] = 0 gait_pos_x[moving_leg] = 0