wboayue / stable-flight / 38509271703

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push

github

Committed by web-flow

Commit Message

Figure-eight scripts start and end over the spawn point (#381)

`generate_figure_eight` samples the lemniscate from its center crossing
(t = π/2) through t = 5π/2, so a script starts and ends over its center.
Centered on the spawn, takeoff climbs straight up and `--end land`
touches down where it took off. Before, the last row sat about
`half_width` from the center (eXplora: (−0.89, 3.99), 10 m off spawn).

- The default center is the QuadCopterX spawn (−7.94, 8.46)
(`flights/hover.csv`), so a run with no flags still reproduces
`flights/figure_eight.csv`.
- `flights/figure_eight.csv` and `flights/explora_figure_eight.csv` are
regenerated with the commands in their headers. Each has 25 rows; the
last repeats the first, so `--end loop` adds one zero-length leg, which
`WaypointFollower::advance` already handles (no direction, no
feed-forward).
- `--waypoints` is renamed `--legs` (the script has one more row than
legs); `--legs 0` is rejected, since it would divide by zero.
- Docs: generator rustdoc, auto examples' module docs, the
sitl-realflight README, and the root README. The sitl-realflight
CHANGELOG gets a `Fixed` entry.

## Tests
- `starts_and_ends_over_the_center` (eXplora dimensions): the first and
last rows are `-10.55,6.49,13.00,3.0`. With the old sampling it fails,
along with the row-count and offset tests (checked by reverting the loop
locally).
- `reaches_both_x_extremes_at_mid_altitude` and `rejects_zero_legs`; the
existing tests are updated to the new sampling.
- `cargo test --workspace --all-features` and `just lint` pass.

## Flight check (RealFlight, 2026-10-14)
Both auto examples now log the touchdown position, which is where these
numbers come from.
- QuadCopterX, `just fly-auto --end land`: touched down at north −7.94
m, east 8.46 m, on the spawn point. 25,440 ticks at 234 Hz, with 1,669
skipped.
- eXplora, `just fly-tailsitter-auto --end land`: touched down at north
−11.47 m, east 5.77 m, 1.2 m from the spawn point (−10.55, 6.49). B... (continued)

Coverage Stats

3 of 4 new or added lines in 1 file covered. (75.0%)

2 existing lines in 2 files now uncovered.

5390 of 6002 relevant lines covered (89.8%)

5.52 hits per line