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Drone: Fix first point yaw

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This commit is contained in:
Arthur Golubtsov
2020-05-20 23:56:16 +03:00
parent 9e8d18d02f
commit ca173200d9
1 changed files with 5 additions and 6 deletions
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11
Drone/copter_client.py
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@@ -589,10 +589,15 @@ def _play_animation(*args, **kwargs):
)
# Fly to first point
rfp_time = start_time + client.active_client.config.copter_takeoff_time
if client.active_client.config.animation_yaw == "animation":
yaw = frame["yaw"]
else:
yaw = math.radians(float(client.active_client.config.animation_yaw))
task_manager.add_task(rfp_time, 0, animation.execute_frame,
task_kwargs={
"point": animation.convert_frame(corrected_frames[0])[0],
"color": animation.convert_frame(corrected_frames[0])[1],
"yaw": yaw,
"frame_id": client.active_client.config.copter_frame_id,
"use_leds": client.active_client.config.led_use,
"flight_func": FlightLib.reach_point,
@@ -604,12 +609,6 @@ def _play_animation(*args, **kwargs):
elif start_action == 'arm':
# Calculate start time
start_time += start_delay
# Arm
# task_manager.add_task(start_time, 0, FlightLib.arming_wrapper,
# task_kwargs={
# "state": True
# }
# )
frame_time = start_time # + 1.0
point, color, yaw = animation.convert_frame(corrected_frames[0])
task_manager.add_task(frame_time, 0, animation.execute_frame,