Handle scalar timepts arg in solve_flat_ocp

roryyorke · roryyorke · commit b7eeb79c2c1a · 2025-02-01T13:32:26.000+02:00
Fixes gh-1110.
diff --git a/control/flatsys/flatsys.py b/control/flatsys/flatsys.py
@@ -721,8 +721,7 @@ def solve_flat_ocp(
 
     # Process final time
     timepts = np.atleast_1d(timepts)
-    Tf = timepts[-1]
-    T0 = timepts[0] if len(timepts) > 1 else T0
+    T0 = timepts[0] if len(timepts) > 1 else 0
 
     # Process keyword arguments
     if trajectory_constraints is None:
