middle of major changes for setting location
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cs-powell
@@ -288,54 +288,7 @@ class AircraftLandingModel(pyactr.ACTRModel):
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self.client.sendCTRL([yoke_pull, yoke_steer, rudder, throttle, -998, -998]) # Control inputs: [yoke_pull, yoke_steer, rudder, throttle]
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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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# 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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# descent_rate = self.client.getDREF("sim/flightmodel/position/vh_ind_fpm")
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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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# brake = self.client.getDREF("sim/cockpit2/controls/parking_brake_ratio")
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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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# 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 = altitudeAGL[0]
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# self.pitch = pitch[0]
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# self.wheelSpeed = wheelS[0]
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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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"""
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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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self.Ki = 0.01 ## Increase Control Authority to compensate for decreasing airspeed
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print("Altitude < 500; Flare Set True")
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def conditionChecks(self):
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if(self.wheelWeight > 0.01 and self.wheelSpeed > 1):
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#Two Parameters to Confirm Touchdown and wheel contact
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# "sim/flightmodel/parts/tire_vrt_def_veh" #Gear Strut Deflection (Weight on wheels)
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@@ -343,46 +296,23 @@ class AircraftLandingModel(pyactr.ACTRModel):
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self.rollOut = True
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print("Hit the brakes")
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if(self.altitude <= 20):
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self.flare = True
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self.Ki = 0.01 ## Increase Control Authority to compensate for decreasing airspeed
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print("Altitude < 500; Flare Set True")
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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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Faster Method
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"""
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self.getAndLoadDREFS()
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self.conditionChecks()
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# def logData(self):
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# def rules(self):
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# """
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# Define the rules for descent control using proportional-integral control for all controls at once.
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# """
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# return [
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# # Rule to adjust all controls simultaneously based on PI control for each parameter
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# pyactr.Production(
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# condition=pyactr.Condition("airspeed", "airspeed") &
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# pyactr.Condition("roll", "roll") &
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# pyactr.Condition("heading", "heading") &
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# pyactr.Condition("descent_rate", "descent_rate") &
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# pyactr.Condition("target_airspeed", "target_airspeed") &
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# pyactr.Condition("target_roll", "target_roll") &
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# pyactr.Condition("target_heading", "target_heading") &
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# pyactr.Condition("target_descent_rate", "target_descent_rate"),
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# action=self.update_controls_simultaneously(),
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# ),
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# ]
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# # Function to get the current dataref value for a given parameter
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# def getDref(parameter_name):
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# # Depending on the parameter name, you would query X-Plane datarefs
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# if parameter_name == "Airspeed":
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# # Get airspeed dataref
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# return client.getData([DATAREF_AIRSPEED])
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# elif parameter_name == "Roll":
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# # Get roll angle dataref
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# return client.getData([DATAREF_ROLL])
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# elif parameter_name == "Hdg":
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# # Get heading dataref
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# return client.getData([DATAREF_HEADING])
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# elif parameter_name == "DescentRate":
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# # Get descent rate dataref
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# return client.getData([DATAREF_DESCENT_RATE])
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# def logData(self):
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@@ -19,6 +19,7 @@ Qualitative
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Disturbances & Disturbance Tests (Demonstrate the limitations of the model)
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--Wind (& Wobbliness)
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Currently, lack of authority (and some missing control inputs) to stay back on track
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-- Wind, Gusting Wind, Turbulence(Rough Air),
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##Model
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-- What are ways in which it is realistic/Not realistic
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@@ -2,8 +2,9 @@ import time
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from time import sleep
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import xpc
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from cognitiveModel import AircraftLandingModel
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import shutil
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def ex():
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def runExperiment():
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print("Model Test: Xplane setting up connection")
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print("Setting up simulation")
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@@ -64,38 +65,68 @@ def ex():
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# ]
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# client.sendDATA(data)
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groundLevel = 5434
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offset = 4000
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altitudeFEET = groundLevel + offset
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altitudeMETERS = altitudeFEET/3.281
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altitude = altitudeMETERS
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"""
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Set orientation and Position
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1 - Time
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3- Speeds: [3, V-indicated, 3, 2, 2, -998, VindMPH, V trueMPHas, vtrue MPHgs],\
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16 - Angular Velocities
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17 - PitchRoll and Headings
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17 - PitchRoll and Headings: [17, Pitch, Roll, Heading True, -998, -998, -998, -998, -998],\
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18 - Angle of Attack
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20 - Latitude and Longitude
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"""
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print("Setting orientation for test")
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data = [\
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[16, -998, -998, -998, -998, -998, -998, -998, -998],
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[17, -998, -998, -998, -998, -998, -998, -998, -998],\
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[18, -998, -998, -998, -998, -998, -998, -998, -998],\
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[19, -998, -998, -998, -998, -998, -998, -998, -998],\
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[20, -998, -998, -998, -998, -998, -998, -998, -998]\
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]
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client.sendDATA(data)
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location1 = [20, groundLevel + 3000, 39.96239, -104.69713, -998, -998, -998, -998, -998]
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testLocation = [20, -998, 27.20579, -80.08621, altitude, -998, -998, -998, -998] # 27.20579°N/80.08621°W
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kias = -998
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keas = -998
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ktas = -998
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ktgs = -998
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mph = -998
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mphas = 80
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mphgs = 80
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print("Setting orientation for test")
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# client.sendDREF("sim/operation/override/override_planepath",1)
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# client.pauseSim(True)
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# client.sendDREF("sim/flightmodel/position/local_y",2000)
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# client.sendDREFs(["sim/flightmodel/position/P","sim/flightmodel/position/Q","sim/flightmodel/position/R"],[0,0,0])
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# client.sendDREF("sim/flightmodel/position/q",[0.3, 0, 0, 0.6])
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# data = [\
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# [3, -998, -998, -998, -998, -998, -998, mphas, mphgs],\
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# [16, 0, 0, 0, -998, -998, -998, -998, -998],\
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# [17, 0, 0, 0, -998, -998, -998, -998, -998],\
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# [18, -998, -998, -998, -998, -998, -998, -998, -998],\
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# [19, -998, -998, -998, -998, -998, -998, -998, -998],\
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# testLocation\
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# ]
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# client.sendDATA(data)
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# client.sendDREF("sim/operation/override/override_planepath",0)
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client.pauseSim(False)
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# 39.96239°N/104.69713°W
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runModel = True
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# Set control surfaces and throttle of the player aircraft using sendCTRL
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print("Setting controls")
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ctrl = [0.0, 0.0, 0.0, 0.0]
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client.sendCTRL(ctrl)
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# Pitch, Roll, Rudder, Throttle
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# Pause the sim
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client.pauseSim(False)
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# client.pauseSim(False)
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count = 0
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innercount = 0
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clockStart = time.time()
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#Doing stuff In between Test SECOND INCREMENTS
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while(count < 1000000):
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while(count < 1000000 and runModel):
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clockStart = time.time() #START TIMER
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client.pauseSim(True) # Pause Simulator
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# client.pauseSim(True) # Pause Simulator
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#Run Model
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cogModel.update_aircraft_state()
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@@ -107,11 +138,21 @@ def ex():
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print("Clock Time: " + str(clockEnd - clockStart)) ## LOG TIME TAKEN
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sleep(0.05) # LET Simulator Run 50 Milliseconds
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#
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print("Model has finished running")
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#Copy data.txt to the cloudddddd using python magic and accurate filepaths
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shutil.copy("/Users/flyingtopher/X-Plane 11/Data.txt", "/Users/flyingtopher/Desktop/Test Destination")
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input("Press any key to exit...")
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## Copy Data.txt to the repository file for analysis
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##Reset the sim with the keyboard shortcut (wrapper around model that waits for reconnection)
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def ex():
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count = 0
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while(count<2):
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runExperiment()
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count+=1
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print("Experiment Battery Complete")
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if __name__ == "__main__":
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ex()
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@@ -310,7 +310,9 @@ class XPlaneConnect(object):
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if len(value) > 255:
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raise ValueError("value must have less than 256 items.")
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fmt = "<B{0:d}sB{1:d}f".format(len(dref), len(value))
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buffer += struct.pack(fmt.encode(), len(dref), dref.encode(), len(value), value)
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# buffer += struct.pack(fmt.encode(), len(dref), dref.encode(), len(value), value)
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buffer += struct.pack(fmt.encode(), len(dref), dref.encode(), 2, *value)
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else:
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fmt = "<B{0:d}sBf".format(len(dref))
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buffer += struct.pack(fmt.encode(), len(dref), dref.encode(), 1, value)
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