FlightSim-Streaming/XPlaneConnectCSP
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Intermediate implementation rollout

Browse Source
This commit is contained in:
cs-powell
2025-03-05 14:56:14 -05:00
parent d354655482
commit 1fc0081e26
1 changed files with 32 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files

53
Python3/src/cognitiveModel.py
View File

@@ -37,6 +37,13 @@ class AircraftLandingModel(pyactr.ACTRModel):
altitude = self.client.getDREF("sim/flightmodel/position/y_agl") altitude = self.client.getDREF("sim/flightmodel/position/y_agl")
pitch = self.client.getDREF("sim/flightmodel/position/true_theta") pitch = self.client.getDREF("sim/flightmodel/position/true_theta")
brake = self.client.getDREF("sim/cockpit2/controls/parking_brake_ratio")
wheelS = self.client.getDREF("sim/flightmodel2/gear/tire_rotation_speed_rad_sec")
wheelW = self.client.getDREF("sim/flightmodel/parts/tire_vrt_def_veh")
# Update the model's declarative memory # Update the model's declarative memory
@@ -50,6 +57,11 @@ class AircraftLandingModel(pyactr.ACTRModel):
self.heading = heading[0] self.heading = heading[0]
self.descent_rate = descent_rate[0] self.descent_rate = descent_rate[0]
self.altitude = altitude[0] self.altitude = altitude[0]
self.brakes = brake[0]
# print(wheelS)
self.wheelSpeed = wheelS[0]
self.wheelWeight = wheelW[0]
@@ -101,10 +113,10 @@ class AircraftLandingModel(pyactr.ACTRModel):
# print("*Parameter,Target,Current,Yoke Steer: " + "Roll, " + str(self.target_roll) + "," + str(self.roll)+ "," + str(yokeSteer)) # print("*Parameter,Target,Current,Yoke Steer: " + "Roll, " + str(self.target_roll) + "," + str(self.roll)+ "," + str(yokeSteer))
# print("*Parameter,Target,Current,Rudder: " + "Heading, " + str(self.target_heading) + "," + str(self.heading)+ "," + str(rudder)) # print("*Parameter,Target,Current,Rudder: " + "Heading, " + str(self.target_heading) + "," + str(self.heading)+ "," + str(rudder))
# print("*Parameter,Target,Current,Throttle: " + "Descent Rate, " + str(self.target_descent_rate) + "," + str(self.descent_rate)+ "," + str(throttle)) # print("*Parameter,Target,Current,Throttle: " + "Descent Rate, " + str(self.target_descent_rate) + "," + str(self.descent_rate)+ "," + str(throttle))
parameter = ["Airspeed","Roll","Heading","Descent Rate","Altitude","Pitch"] parameter = ["Airspeed","Roll","Heading","Descent Rate","Altitude","Pitch", "Wheel Speed", "Wheel Weight"]
target = [str(round(self.target_airspeed)),str(round(self.target_roll)),str(round(self.target_heading,3)),str(round(self.target_descent_rate,3)),str(round(self.altitude,3)),str(round(self.target_pitch,3))] target = [str(round(self.target_airspeed)),str(round(self.target_roll)),str(round(self.target_heading,3)),str(round(self.target_descent_rate,3)),str(round(self.altitude,3)),str(round(self.target_pitch,3)),0, 0]
current = [str(round(self.airspeed,3)),str(round(self.roll,3)),str(round(self.heading,3)),str(round(self.descent_rate,3)),str(round(self.altitude,3)),str(round(self.pitch,3))] current = [str(round(self.airspeed,3)),str(round(self.roll,3)),str(round(self.heading,3)),str(round(self.descent_rate,3)),str(round(self.altitude,3)),str(round(self.pitch,3)),str(round(self.wheelSpeed,3)),str(round(self.wheelWeight,3))]
controlVal = [str(round(yokePull,3)),str(round(yokeSteer,3)),str(round(rudder,3)),str(round(throttle,3)),str(round(self.altitude,3)),str(self.flare)] controlVal = [str(round(yokePull,3)),str(round(yokeSteer,3)),str(round(rudder,3)),str(round(throttle,3)),str(round(self.altitude,3)),str(self.flare),str(round(self.brakes,3)),str(round(self.wheelWeight,3))]
header_row = "{:<20} {:<20} {:<20} {:>10}" header_row = "{:<20} {:<20} {:<20} {:>10}"
headers = "Parameter Target Current Control_Value".split() headers = "Parameter Target Current Control_Value".split()
@@ -168,10 +180,6 @@ class AircraftLandingModel(pyactr.ACTRModel):
Update all controls at the same time by calculating control values for each parameter. Update all controls at the same time by calculating control values for each parameter.
""" """
# print("In update controls") # print("In update controls")
# print("Entered Update Controls Simultaneously") # print("Entered Update Controls Simultaneously")
# Compute control values for all parameters (yoke pull, yoke steer, rudder, throttle) # Compute control values for all parameters (yoke pull, yoke steer, rudder, throttle)
if(self.flare): if(self.flare):
@@ -186,27 +194,19 @@ class AircraftLandingModel(pyactr.ACTRModel):
self.target_airspeed, self.target_airspeed,
self.integral_airspeed, self.integral_airspeed,
scaleFactor.SCALEYOKEPULL) scaleFactor.SCALEYOKEPULL)
yoke_steer, self.integral_roll = self.proportionalIntegralControl(0,self.roll, self.target_roll, self.integral_roll,scaleFactor.SCALEYOKESTEER) yoke_steer, self.integral_roll = self.proportionalIntegralControl(0,self.roll, self.target_roll, self.integral_roll,scaleFactor.SCALEYOKESTEER)
rudder, self.integral_heading = self.proportionalIntegralControl(0,self.heading, self.target_heading, self.integral_heading,scaleFactor.SCALERUDDER) rudder, self.integral_heading = self.proportionalIntegralControl(0,self.heading, self.target_heading, self.integral_heading,scaleFactor.SCALERUDDER)
throttle, self.integral_descent_rate = self.proportionalIntegralControl(0,self.descent_rate, self.target_descent_rate, self.integral_descent_rate,scaleFactor.SCALETHROTTLE) throttle, self.integral_descent_rate = self.proportionalIntegralControl(0,self.descent_rate, self.target_descent_rate, self.integral_descent_rate,scaleFactor.SCALETHROTTLE)
### 1. For Calculated Yoke and Throttle Values ### 1. For Calculated Yoke and Throttle Values
#Invert Throttle Control & divide by 5 to scale #Invert Throttle Control & divide by 5 to scale
throttle = -throttle throttle = -throttle
throttle = throttle/5 throttle = throttle/5
#Invert Yoke Pull & divide by 5 to scale #Invert Yoke Pull & divide by 5 to scale
yoke_pull = -yoke_pull yoke_pull = -yoke_pull
yoke_pull = yoke_pull/5 yoke_pull = yoke_pull/5
## 2. For Constant Yoke and Throttle Values ## 2. For Constant Yoke and Throttle Values
# Constant yoke "back pressure" equal to 20% of total travel distance # Constant yoke "back pressure" equal to 20% of total travel distance
if(self.flare == False): if(self.flare == False):
yoke_pull = 0.35 yoke_pull = 0.35
throttle = 0.15 throttle = 0.15
@@ -214,10 +214,8 @@ class AircraftLandingModel(pyactr.ACTRModel):
yoke_pull = -yoke_pull yoke_pull = -yoke_pull
yoke_pull = yoke_pull * 20 yoke_pull = yoke_pull * 20
throttle = 0 throttle = 0
# Constant throttle setting below the threshold needed to maintain straight and level flight # Constant throttle setting below the threshold needed to maintain straight and level flight
## Method 1: ## Method 1:
# if(self.altitude < 350 and self.airspeed > 175): ## Integrate using the control equations;; A goal state update # if(self.altitude < 350 and self.airspeed > 175): ## Integrate using the control equations;; A goal state update
# throttle = 0.1 # throttle = 0.1
@@ -259,11 +257,18 @@ class AircraftLandingModel(pyactr.ACTRModel):
trimdref = "sim/flightmodel/controls/elv_trim" trimdref = "sim/flightmodel/controls/elv_trim"
trim = -0.3 trim = -0.3
self.client.sendDREF(trimdref,trim) self.client.sendDREF(trimdref,trim)
if(self.flare): if(self.flare):
trimdref = "sim/flightmodel/controls/elv_trim" trimdref = "sim/flightmodel/controls/elv_trim"
trim = 0 trim = 0
self.client.sendDREF(trimdref,trim) self.client.sendDREF(trimdref,trim)
if(self.rollOut): if(self.rollOut):
#Cut the Throttle
throttle = 0
#Release Yoke Back Pressure (Pitch Up Pressure from the flare maneuver)
yoke_pull = 0
#Hit the Brakes
brakedref = "sim/cockpit2/controls/parking_brake_ratio" brakedref = "sim/cockpit2/controls/parking_brake_ratio"
brake = 1 brake = 1
self.client.sendDREF(brakedref,brake) self.client.sendDREF(brakedref,brake)
@@ -284,6 +289,10 @@ class AircraftLandingModel(pyactr.ACTRModel):
altitude = self.client.getDREF("sim/cockpit2/gauges/indicators/altitude_ft_pilot") altitude = self.client.getDREF("sim/cockpit2/gauges/indicators/altitude_ft_pilot")
pitch = self.client.getDREF("sim/flightmodel/position/true_theta") pitch = self.client.getDREF("sim/flightmodel/position/true_theta")
wheelS = self.client.getDREF("sim/flightmodel2/gear/tire_rotation_speed_rad_sec")
wheelW = self.client.getDREF("sim/flightmodel/parts/tire_vrt_def_veh")
# Update the model's declarative memory # Update the model's declarative memory
@@ -298,17 +307,19 @@ class AircraftLandingModel(pyactr.ACTRModel):
self.descent_rate = descent_rate[0] self.descent_rate = descent_rate[0]
self.altitude = altitude[0] self.altitude = altitude[0]
self.pitch = pitch[0] self.pitch = pitch[0]
self.wheelSpeed = wheelS[0]
self.wheelWeight = wheelW[0]
##Phase Change Indicator ##Phase Change Indicator
wheelWeight = self.client.getDREF("sim/flightmodel/parts/tire_vrt_def_veh") #Strut deflection, Weight on the wheels # wheelWeight = self.client.getDREF("sim/flightmodel/parts/tire_vrt_def_veh") #Strut deflection, Weight on the wheels
wheelRate = self.client.getDREF("sim/flightmodel2/gear/tire_rotation_rate_rad_sec") #Wheel Rotation Rate # wheelRate = self.client.getDREF("sim/flightmodel2/gear/tire_rotation_speed_rad_sec") #Wheel Rotation Rate
if(self.altitude <= 50): if(self.altitude <= 50):
self.flare = True self.flare = True
self.Ki = 0.01 ## Increase Control Authority to compensate for decreasing airspeed self.Ki = 0.01 ## Increase Control Authority to compensate for decreasing airspeed
print("Altitude < 500; Flare Set True") print("Altitude < 500; Flare Set True")
if(wheelWeight > 0 and wheelRate > 0): if(self.wheelWeight > 0 and self.wheelSpeed > 0):
#Two Parameters to Confirm Touchdown and wheel contact #Two Parameters to Confirm Touchdown and wheel contact
# "sim/flightmodel/parts/tire_vrt_def_veh" #Gear Strut Deflection (Weight on wheels) # "sim/flightmodel/parts/tire_vrt_def_veh" #Gear Strut Deflection (Weight on wheels)
# "sim/flightmodel2/gear/tire_rotation_rate_rad_sec" #Tire Rotation Rate # "sim/flightmodel2/gear/tire_rotation_rate_rad_sec" #Tire Rotation Rate