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animation: Fix bugs, add get_start_yaw

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Arthur Golubtsov
2020-05-30 21:26:26 +03:00
parent 4c5032b975
commit 414314deb6
1 changed files with 8 additions and 3 deletions
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11
Drone/animation_lib.py
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@@ -310,6 +310,11 @@ class Animation(object):
z = z_ratio*first_frame.z + z0
return [x, y, z]
def get_start_yaw(self):
if not self.output_frames:
return float('nan')
return math.degrees(self.output_frames[0].yaw)
def check_ground(self, ground_level=0, ratio=(1,1,1), offset=(0,0,0)):
return ground_level <= self.get_scaled_output_min_z(ratio, offset)
@@ -324,12 +329,12 @@ class Animation(object):
if ground_level > self.get_scaled_output_min_z(ratio, offset):
return 'error: some animation points are lower than ground level'
# Select start action
if start_action is 'auto':
if start_action == 'auto':
if self.get_start_point(ratio, offset)[2] - current_height > takeoff_level:
return 'takeoff'
else:
return 'play'
elif start_action in ('takeoff', 'play'):
return 'fly'
elif start_action in ('takeoff', 'fly'):
return start_action
else:
return 'error'