Move preliminary check at the beginning of the function and add docst…

…ring to Python API function

AirLib/src/vehicles/multirotor/api/MultirotorApiBase.cpp

@@ -75,14 +75,15 @@ bool MultirotorApiBase::goHome(float timeout_sec)
 bool MultirotorApiBase::moveByVelocityBodyFrame(float vx, float vy, float vz, float duration, DrivetrainType drivetrain, const YawMode& yaw_mode)
 {
     SingleTaskCall lock(this);
+
+    if (duration <= 0)
+        return true;
+
     float pitch, roll, yaw;
     VectorMath::toEulerianAngle(getKinematicsEstimated().pose.orientation, pitch, roll, yaw);
     float vx_new = (vx * (float)std::cos(yaw)) - (vy * (float)std::sin(yaw));
     float vy_new = (vx * (float)std::sin(yaw)) + (vy * (float)std::cos(yaw));
 
-    if (duration <= 0)
-        return true;
-
     YawMode adj_yaw_mode(yaw_mode.is_rate, yaw_mode.yaw_or_rate);
     adjustYaw(vx_new, vy_new, drivetrain, adj_yaw_mode);
 
@@ -95,14 +96,15 @@ bool MultirotorApiBase::moveByVelocityBodyFrame(float vx, float vy, float vz, fl
 bool MultirotorApiBase::moveByVelocityZBodyFrame(float vx, float vy, float z, float duration, DrivetrainType drivetrain, const YawMode& yaw_mode)
 {
     SingleTaskCall lock(this);
+
+    if (duration <= 0)
+        return true;
+
     float pitch, roll, yaw;
     VectorMath::toEulerianAngle(getKinematicsEstimated().pose.orientation, pitch, roll, yaw);
     float vx_new = (vx * (float)std::cos(yaw)) - (vy * (float)std::sin(yaw));
     float vy_new = (vx * (float)std::sin(yaw)) + (vy * (float)std::cos(yaw));
 
-    if (duration <= 0)
-        return true;
-
     YawMode adj_yaw_mode(yaw_mode.is_rate, yaw_mode.yaw_or_rate);
     adjustYaw(vx_new, vy_new, drivetrain, adj_yaw_mode);
 

PythonClient/airsim/client.py

@@ -934,6 +934,20 @@ def moveByVelocityBodyFrameAsync(self, vx, vy, vz, duration, drivetrain = Drivet
         return self.client.call_async('moveByVelocityBodyFrame', vx, vy, vz, duration, drivetrain, yaw_mode, vehicle_name)
 
     def moveByVelocityZBodyFrameAsync(self, vx, vy, z, duration, drivetrain = DrivetrainType.MaxDegreeOfFreedom, yaw_mode = YawMode(), vehicle_name = ''):
+        """
+        Args:
+            vx (float): desired velocity in the X axis of the vehicle's local NED frame
+            vy (float): desired velocity in the Y axis of the vehicle's local NED frame
+            z (float): desired Z value (in local NED frame of the vehicle)
+            duration (float): Desired amount of time (seconds), to send this command for
+            drivetrain (DrivetrainType, optional):
+            yaw_mode (YawMode, optional):
+            vehicle_name (str, optional): Name of the multirotor to send this command to
+
+        Returns:
+            msgpackrpc.future.Future: future. call .join() to wait for method to finish. Example: client.METHOD().join()
+        """
+
         return self.client.call_async('moveByVelocityZBodyFrame', vx, vy, z, duration, drivetrain, yaw_mode, vehicle_name)
 
     def moveByAngleZAsync(self, pitch, roll, z, yaw, duration, vehicle_name = ''):