Timing Improvements Complete (233 Miliseconds down to 9 Milliseconds -- 224 Milliseconds Saved)
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cs-powell
@@ -13,26 +13,25 @@ class scaleFactor():
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class AircraftLandingModel(pyactr.ACTRModel):
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def __init__(self,client):
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super().__init__()
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# Initialize the declarative memory (DM)
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# self.decmem.add(
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# [
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# ("airspeed", 100), # Current airspeed (e.g., 100 knots)
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# ("roll", 0), # Current roll (0 for wings level)
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# ("heading", 0), # Current heading
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# ("descent_rate", 500), # Current descent rate in fpm
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# ("target_airspeed", 80), # Target airspeed during descent
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# ("target_roll", 0), # Target roll (wings level)
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# ("target_heading", 90), # Target heading (runway heading)
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# ("target_descent_rate", 500) # Target descent rate (fpm)
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# ]
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# )
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self.client = client
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# TODO: CHANGE TO GETDREFS, respect the runtime calculations.....didnt you learn your lesson on the algorithms midterm
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# TODO: Change sendDref to send DREFS
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# TODO: look for any rouge get/sendCTRL methods
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"""
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Setting DREF variables and loading into drefs array
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"""
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airspeedDREF = "sim/cockpit2/gauges/indicators/airspeed_kts_pilot"
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rollDREF = "sim/cockpit2/gauges/indicators/roll_AHARS_deg_pilot"
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magneticHeadingDREF = "sim/cockpit2/gauges/indicators/heading_AHARS_deg_mag_pilot"
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verticalSpeedDREF = "sim/flightmodel/position/vh_ind_fpm"
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altitudeAGLDREF = "sim/flightmodel/position/y_agl"
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pitchDREF = "sim/flightmodel/position/true_theta"
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brakeDREF = "sim/cockpit2/controls/parking_brake_ratio"
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wheelSpeedDREF = "sim/flightmodel2/gear/tire_rotation_speed_rad_sec"
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wheelWeightDREF = "sim/flightmodel/parts/tire_vrt_def_veh"
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self.sources = [airspeedDREF,rollDREF,magneticHeadingDREF,verticalSpeedDREF,altitudeAGLDREF,pitchDREF,brakeDREF,wheelSpeedDREF,wheelWeightDREF]
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"""
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Initial Initialization of destination Variables and loading into destinations array
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"""
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airspeed = self.client.getDREF("sim/cockpit2/gauges/indicators/airspeed_kts_pilot")
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roll = self.client.getDREF("sim/cockpit2/gauges/indicators/roll_AHARS_deg_pilot")
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heading = self.client.getDREF("sim/cockpit2/gauges/indicators/heading_AHARS_deg_mag_pilot")
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@@ -44,48 +43,37 @@ class AircraftLandingModel(pyactr.ACTRModel):
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wheelW = self.client.getDREF("sim/flightmodel/parts/tire_vrt_def_veh")
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# Update the model's declarative memory
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# model.declarative_memory["airspeed"] = airspeed
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# model.declarative_memory["roll"] = roll
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# model.declarative_memory["heading"] = heading
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# model.declarative_memory["descent_rate"] = descent_rate
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self.airspeed = airspeed[0]
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self.roll = roll[0]
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self.heading = heading[0]
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self.descent_rate = descent_rate[0]
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self.altitude = altitude[0]
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self.brakes = brake[0]
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# print(wheelS)
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self.wheelSpeed = wheelS[0]
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self.wheelWeight = wheelW[0]
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#Flare Specific Parameters
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self.flare = False
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self.pitch = pitch[0]
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#Rollout Specific Parameters
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self.rollOut = False
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self.brakes = brake[0]
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self.wheelSpeed = wheelS[0]
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self.wheelWeight = wheelW[0]
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self.destinations = [self.airspeed,self.roll,self.heading,self.descent_rate,self.altitude,self.pitch,self.brakes,self.wheelSpeed,self.wheelWeight]
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"""
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Initial Initialization of target Values
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"""
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self.target_airspeed = 80
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self.target_roll = 0
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self.target_heading = self.heading #Track heading from initialization
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self.target_descent_rate = 500
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self.target_altitude = -998
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self.target_pitch = 20
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self.targets = [self.target_airspeed,self.target_roll,self.target_heading,self.target_descent_rate,self.target_altitude,self.target_pitch]
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#State Flags (Boolean) & Current State (Integer)
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self.descent = False
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self.flare = False
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self.rollOut = False
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self.currentState = 0
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self.stateFlags = [self.descent,self.flare,self.rollOut]
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# Declare the state for previous values
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self.previous_airspeed = None
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self.previous_roll = None
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@@ -107,6 +95,23 @@ class AircraftLandingModel(pyactr.ACTRModel):
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# self.Ki = 2 # Integral gain
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"""
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Variable Atlas Schema: source => destination => target
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"""
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# self.variableAtlas = list(xrange(1000))
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# idx = 0
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# while(idx < len(self.sources) - 1):
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# self.variableAtlas[0] = [self.sources[idx],self.destinations[idx],self.targets[idx]]
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# idx += 1
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def getAndLoadDREFS(self):
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results = self.client.getDREFs(self.sources)
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idx = 0
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while(idx < len(results) - 2):
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self.destinations[idx] = results[idx][0]
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idx += 1
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def printControls(self,calculated,errors,yokePull,yokeSteer,rudder,throttle):
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print("In print controls")
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@@ -287,6 +292,9 @@ class AircraftLandingModel(pyactr.ACTRModel):
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# Update the model's DM based on X-Plane data
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def update_aircraft_state(self):
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"""
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Slower Method
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"""
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# print("In aircraft state")
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# print("Entered Update Aircraft State")
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# Retrieve current data from X-Plane
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@@ -294,7 +302,6 @@ class AircraftLandingModel(pyactr.ACTRModel):
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roll = self.client.getDREF("sim/cockpit2/gauges/indicators/roll_AHARS_deg_pilot")
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heading = self.client.getDREF("sim/cockpit2/gauges/indicators/heading_AHARS_deg_mag_pilot")
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descent_rate = self.client.getDREF("sim/flightmodel/position/vh_ind_fpm")
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# altitudeMSL = self.client.getDREF("sim/cockpit2/gauges/indicators/altitude_ft_pilot")
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altitudeAGL = self.client.getDREF("sim/flightmodel/position/y_agl")
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pitch = self.client.getDREF("sim/flightmodel/position/true_theta")
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@@ -303,13 +310,7 @@ class AircraftLandingModel(pyactr.ACTRModel):
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wheelS = self.client.getDREF("sim/flightmodel2/gear/tire_rotation_speed_rad_sec")
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wheelW = self.client.getDREF("sim/flightmodel/parts/tire_vrt_def_veh")
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# Update the model's declarative memory
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# model.declarative_memory["airspeed"] = airspeed
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# model.declarative_memory["roll"] = roll
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# model.declarative_memory["heading"] = heading
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# model.declarative_memory["descent_rate"] = descent_rate
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self.airspeed = airspeed[0]
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self.roll = roll[0]
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@@ -321,9 +322,14 @@ class AircraftLandingModel(pyactr.ACTRModel):
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self.wheelWeight = wheelW[0]
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self.brakes = brake[0]
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##Phase Change Indicator
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# wheelWeight = self.client.getDREF("sim/flightmodel/parts/tire_vrt_def_veh") #Strut deflection, Weight on the wheels
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# wheelRate = self.client.getDREF("sim/flightmodel2/gear/tire_rotation_speed_rad_sec") #Wheel Rotation Rate
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#Phase Change Indicator
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wheelWeight = self.client.getDREF("sim/flightmodel/parts/tire_vrt_def_veh") #Strut deflection, Weight on the wheels
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wheelRate = self.client.getDREF("sim/flightmodel2/gear/tire_rotation_speed_rad_sec") #Wheel Rotation Rate
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"""
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Faster Method
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"""
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# self.getAndLoadDREFS()
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if(self.altitude <= 20):
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self.flare = True
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