Intermediate implementation rollout
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cs-powell
@@ -37,6 +37,13 @@ class AircraftLandingModel(pyactr.ACTRModel):
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altitude = 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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# Update the model's declarative memory
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@@ -50,6 +57,11 @@ class AircraftLandingModel(pyactr.ACTRModel):
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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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@@ -101,10 +113,10 @@ class AircraftLandingModel(pyactr.ACTRModel):
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# print("*Parameter,Target,Current,Yoke Steer: " + "Roll, " + str(self.target_roll) + "," + str(self.roll)+ "," + str(yokeSteer))
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# print("*Parameter,Target,Current,Rudder: " + "Heading, " + str(self.target_heading) + "," + str(self.heading)+ "," + str(rudder))
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# print("*Parameter,Target,Current,Throttle: " + "Descent Rate, " + str(self.target_descent_rate) + "," + str(self.descent_rate)+ "," + str(throttle))
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parameter = ["Airspeed","Roll","Heading","Descent Rate","Altitude","Pitch"]
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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))]
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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))]
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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)]
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parameter = ["Airspeed","Roll","Heading","Descent Rate","Altitude","Pitch", "Wheel Speed", "Wheel Weight"]
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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]
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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))]
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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))]
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header_row = "{:<20} {:<20} {:<20} {:>10}"
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headers = "Parameter Target Current Control_Value".split()
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@@ -168,10 +180,6 @@ class AircraftLandingModel(pyactr.ACTRModel):
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Update all controls at the same time by calculating control values for each parameter.
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"""
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# print("In update controls")
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# print("Entered Update Controls Simultaneously")
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# Compute control values for all parameters (yoke pull, yoke steer, rudder, throttle)
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if(self.flare):
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@@ -187,26 +195,18 @@ class AircraftLandingModel(pyactr.ACTRModel):
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self.integral_airspeed,
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scaleFactor.SCALEYOKEPULL)
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yoke_steer, self.integral_roll = self.proportionalIntegralControl(0,self.roll, self.target_roll, self.integral_roll,scaleFactor.SCALEYOKESTEER)
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rudder, self.integral_heading = self.proportionalIntegralControl(0,self.heading, self.target_heading, self.integral_heading,scaleFactor.SCALERUDDER)
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throttle, self.integral_descent_rate = self.proportionalIntegralControl(0,self.descent_rate, self.target_descent_rate, self.integral_descent_rate,scaleFactor.SCALETHROTTLE)
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### 1. For Calculated Yoke and Throttle Values
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#Invert Throttle Control & divide by 5 to scale
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throttle = -throttle
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throttle = throttle/5
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#Invert Yoke Pull & divide by 5 to scale
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yoke_pull = -yoke_pull
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yoke_pull = yoke_pull/5
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## 2. For Constant Yoke and Throttle Values
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# Constant yoke "back pressure" equal to 20% of total travel distance
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if(self.flare == False):
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yoke_pull = 0.35
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throttle = 0.15
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@@ -214,10 +214,8 @@ class AircraftLandingModel(pyactr.ACTRModel):
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yoke_pull = -yoke_pull
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yoke_pull = yoke_pull * 20
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throttle = 0
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# Constant throttle setting below the threshold needed to maintain straight and level flight
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## Method 1:
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# if(self.altitude < 350 and self.airspeed > 175): ## Integrate using the control equations;; A goal state update
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# throttle = 0.1
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@@ -259,11 +257,18 @@ class AircraftLandingModel(pyactr.ACTRModel):
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trimdref = "sim/flightmodel/controls/elv_trim"
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trim = -0.3
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self.client.sendDREF(trimdref,trim)
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if(self.flare):
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trimdref = "sim/flightmodel/controls/elv_trim"
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trim = 0
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self.client.sendDREF(trimdref,trim)
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if(self.rollOut):
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#Cut the Throttle
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throttle = 0
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#Release Yoke Back Pressure (Pitch Up Pressure from the flare maneuver)
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yoke_pull = 0
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#Hit the Brakes
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brakedref = "sim/cockpit2/controls/parking_brake_ratio"
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brake = 1
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self.client.sendDREF(brakedref,brake)
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@@ -285,6 +290,10 @@ class AircraftLandingModel(pyactr.ACTRModel):
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pitch = self.client.getDREF("sim/flightmodel/position/true_theta")
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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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@@ -298,17 +307,19 @@ class AircraftLandingModel(pyactr.ACTRModel):
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self.descent_rate = descent_rate[0]
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self.altitude = altitude[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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##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_rate_rad_sec") #Wheel Rotation Rate
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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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if(self.altitude <= 50):
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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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if(wheelWeight > 0 and wheelRate > 0):
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if(self.wheelWeight > 0 and self.wheelSpeed > 0):
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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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# "sim/flightmodel2/gear/tire_rotation_rate_rad_sec" #Tire Rotation Rate
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