fixed duration issue

IMRCLab · Nov 21, 2023 · 7b1f1a3 · 7b1f1a3
1 parent 0a37e57
commit 7b1f1a3
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/crazyflie/scripts/crazyflie_server.py b/crazyflie/scripts/crazyflie_server.py
@@ -817,7 +817,7 @@ def _upload_trajectory_callback(self, request, response, uri="all"):
             py = Poly4D.Poly(piece.poly_y)
             pz = Poly4D.Poly(piece.poly_z)
             pyaw = Poly4D.Poly(piece.poly_yaw)
-            duration = piece.duration.sec
+            duration = float(piece.duration.sec) + float(piece.duration.nanosec)/1e9
             trajectory.append(Poly4D(duration, px, py, pz, pyaw ))
             total_duration = total_duration + duration