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AP_Scripting: improve timing accuracy

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This commit is contained in:
Andrew Tridgell 2022-10-29 18:49:02 +11:00
parent d3ce852050
commit eb62991632
1 changed files with 7 additions and 3 deletions
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10
libraries/AP_Scripting/examples/Aerobatics/Trajectory/plane_aerobatics.lua
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@ -1244,7 +1244,7 @@ function do_path()
--]]
next_target_pos_ef = next_target_pos_ef
local p0, r0, s0 = rotate_path(path, path_var.path_t + 0*local_n_dt,
local p0, r0, s0 = rotate_path(path, path_var.path_t,
path_var.initial_ori, path_var.initial_ef_pos)
local p1, r1, s1 = rotate_path(path, path_var.path_t + 1*local_n_dt,
path_var.initial_ori, path_var.initial_ef_pos)
@ -1276,14 +1276,18 @@ function do_path()
return false
end
local path_t_delta = constrain(path_dist/path_var.length, 0.2*local_n_dt, 4*local_n_dt)
path_var.path_t = path_var.path_t + path_t_delta
--[[
recalculate the current path position and angle based on actual delta time
--]]
p2, r2, s2 = rotate_path(path,
p1, r1, s1 = rotate_path(path,
constrain(path_var.path_t + path_t_delta, 0, 1),
path_var.initial_ori, path_var.initial_ef_pos)
p2, r2, s2 = rotate_path(path,
constrain(path_var.path_t + 2*path_t_delta, 0, 1),
path_var.initial_ori, path_var.initial_ef_pos)
path_var.path_t = path_var.path_t + path_t_delta
-- tangents needs to be recalculated
tangent1_ef = p1 - p0