AP_Scripting: quadruped.lua logic test fix

5 years ago · f344363404
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_Scripting/examples/quadruped.lua
+++ b/libraries/AP_Scripting/examples/quadruped.lua
@ -130,7 +130,7 @@ function update_leg(moving_leg)
				@@ -130,7 +130,7 @@ function update_leg(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)

-    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
        (gait_pos_z[moving_leg]>2) or (gait_rot_z[moving_leg] >2)))) then
        gait_pos_x[moving_leg] = 0