Added in two_leg turnaround method #968
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mhasself
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Jan 9, 2026
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This seems fine. A set of typos to fix though.
We won't be able to test this on the LAT for a while, but please do test on a SAT before merging.
| turnaround_method (str): The method used for generating turnaround. | ||
| Default ('standard') generates the baseline minimal jerk trajectory. | ||
| (Default) 'standard' generates the baseline minimal jerk trajectory. | ||
| 'standard_gen' genetares a list of track_points throughout the turnaround |
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3 instances of "genetares" that should be "generates"
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I've added in a new "two_leg" turnaround method and updated many of the turnaround docstrings.
Description
I've added in the ability to explicitly call a "two_leg" turnaround which calls a "_gen_three_leg_turnaround" with
second_leg_time=0. This was already being done for type2 and type3 scans but can now be called explicitly by the LAT and the SATs ingenerate_constant_velocity_scan. I've updated the type2 and type3 scan generation functions to use the two_leg turnaround by default (which is the exact same functionality as was being done before). The LAT type2/3 scans should be completely unaffected by these changes.I've also gone through and updated many of the docstrings for these generate scan functions to include all turnaround method information.
Motivation and Context
This change lets us use
second_leg_time=0turnarounds in the constant velocity scans for the SATs. I've shown these to be advantageous (especially for satp2) over the standard turnarounds.How Has This Been Tested?
I tested two_leg turnarounds briefly on satp2 and satp1, but this exact implementation of the code has not been run. We can run this for a few minutes just to check for any syntax or spelling errors if necessary.
Types of changes
Checklist: