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MAJOR FIX: Recconect Loop working with dictionaries holding state parameters

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cs-powell
2025-03-29 23:15:21 -04:00
parent fc068ef1d0
commit 44d167bbbb
2 changed files with 87 additions and 46 deletions
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100
Python3/src/cognitiveModel.py
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@@ -11,11 +11,11 @@ class scaleFactor():
###Define variables/parameters for aircraft class/category : Wisdom of Raju
class AircraftLandingModel(pyactr.ACTRModel):
def __init__(self,client):
def __init__(self,client,printFlag):
super().__init__()
self.client = client
self.inProgress = True
self.printControlsFlag = False
self.printControlsFlag = printFlag
"""
Setting DREF variables and loading into drefs array
@@ -35,13 +35,14 @@ class AircraftLandingModel(pyactr.ACTRModel):
"airspeed" : airspeedDREF,
"roll" : rollDREF,
"heading" : magneticHeadingDREF,
"verticalSpeed" : verticalSpeedDREF,
"vertical speed" : verticalSpeedDREF,
"altitude": altitudeAGLDREF,
"pitch" : pitchDREF,
"brake": brakeDREF,
"brakes": brakeDREF,
"wheelSpeed": wheelSpeedDREF,
"wheelWeight": wheelWeightDREF
}
"""
Initial Initialization of destination Variables and loading into destinations array
"""
@@ -71,13 +72,14 @@ class AircraftLandingModel(pyactr.ACTRModel):
"airspeed" : self.airspeed,
"roll" : self.roll,
"heading" : self.heading,
"verticalSpeed" : self.descent_rate,
"vertical speed" : self.descent_rate,
"altitude": self.altitude,
"pitch" : self.pitch,
"brake": self.brakes,
"brakes": self.brakes,
"wheelSpeed": self.wheelSpeed,
"wheelWeight": self.wheelWeight
}
"""
Initial Initialization of target Values
"""
@@ -88,14 +90,19 @@ class AircraftLandingModel(pyactr.ACTRModel):
self.target_altitude = -998
self.target_pitch = 20
self.targets = [self.target_airspeed,self.target_roll,self.target_heading,self.target_descent_rate,self.target_altitude,self.target_pitch]
#State Flags (Boolean) & Current State (Integer)
self.descent = False
self.flare = False
self.rollOut = False
self.currentState = 0
self.stateFlags = [self.descent,self.flare,self.rollOut]
# self.stateFlags = [self.descent,self.flare,self.rollOut]
self.phaseFlags = {
"descent" : self.descent,
"flare" : self.flare,
"roll out" : self.rollOut
}
# Declare the state for previous values
@@ -127,6 +134,18 @@ class AircraftLandingModel(pyactr.ACTRModel):
# while(idx < len(self.sources) - 1):
# self.variableAtlas[0] = [self.sources[idx],self.destinations[idx],self.targets[idx]]
# idx += 1
def dictionaryAccess(self,dictionary,key):
# print("dictionary access for: " + str(key))
result = dictionary[key]
if isinstance(result, tuple):
return result[0]
else:
return result
def reassignClient(self,newClient):
self.client = newClient
@@ -136,9 +155,9 @@ class AircraftLandingModel(pyactr.ACTRModel):
for key in self.sources:
self.destinations[key] = results[idx]
idx+=1
print("getDrefs: " + str(results[1][0]))
print("current destination: " + str(self.destinations["airspeed"]))
print("current main Airspeed: " + str(self.airspeed))
# print("getDrefs: " + str(results[1][0]))
# print("current destination: " + str(self.destinations["airspeed"]))
# print("current main Airspeed: " + str(self.airspeed))
# while(idx < len(results) - 2):
# self.destinations[idx] = results[idx][0]
@@ -150,17 +169,18 @@ class AircraftLandingModel(pyactr.ACTRModel):
def printControls(self,calculated,errors,yokePull,yokeSteer,rudder,throttle):
print("In print controls")
# print("In print controls")
if(calculated == 1):
# print("* Calculated Controls *")
# print("*Parameter,Target,Current,Yoke Pull: " + "Airspeed, " + str(self.target_airspeed) + "," + str(self.airspeed)+ "," + str(yokePull))
# 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.destinations["roll"])+ "," + str(yokeSteer))
# 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))
parameter = ["Airspeed","Roll","Heading","Descent Rate","Altitude","Flare: Pitch", "Brakes: Wheel Speed", "Brakes: 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)),0, 0]
current = [str(round(self.destinations["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),str(round(self.brakes,3)),str(round(self.brakes,3))]
current = [str(round(self.dictionaryAccess(self.destinations,"pitch"),3)),str(round(self.dictionaryAccess(self.destinations,"roll"),3)),str(round(self.dictionaryAccess(self.destinations,"heading"),3)),str(round(self.dictionaryAccess(self.destinations,"vertical speed"),3)),
str(round(self.dictionaryAccess(self.destinations,"altitude"),3)),str(round(self.dictionaryAccess(self.destinations,"pitch"),3)),str(round(self.dictionaryAccess(self.destinations,"wheelSpeed"),3)),str(round(self.dictionaryAccess(self.destinations,"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.dictionaryAccess(self.phaseFlags,"flare")),str(round(self.dictionaryAccess(self.destinations,"brakes"),3)),str(round(self.dictionaryAccess(self.destinations,"brakes"),3))]
header_row = "{:<20} {:<20} {:<20} {:>10}"
headers = "Parameter Target Current Control_Value".split()
@@ -213,29 +233,28 @@ class AircraftLandingModel(pyactr.ACTRModel):
###Transformations:
#Simple Sigmoid:
control_value = (2 / (1 + math.exp(-(control_value/scalingFactor)))) - 1
control_value = (2 / (1 + math.exp(-(control_value/scalingFactor)))) - 1
# self.printVariables(print,target,current,error,(self.Kp * error),(self.Ki * integral_error))
return control_value, integral_error # Return control value and updated integral error
def update_controls_simultaneously(self):
def update_controls_simultaneously(self):
"""
Update all controls at the same time by calculating control values for each parameter.
"""
# print("In update controls")
# print("Entered Update Controls Simultaneously")
# Compute control values for all parameters (yoke pull, yoke steer, rudder, throttle)
if(self.flare):
yoke_pull, self.integral_airspeed = self.proportionalIntegralControl(1,self.pitch,
if(self.dictionaryAccess(self.phaseFlags,"flare")):
yoke_pull, self.integral_airspeed = self.proportionalIntegralControl(1,self.dictionaryAccess(self.destinations,"pitch"),
self.target_pitch,
self.integral_pitch,
scaleFactor.SCALEYOKEPULL)
print("Flare Control Scheme Active")
if(self.flare == False):
if(self.dictionaryAccess(self.phaseFlags,"flare") == False):
self.target_pitch = 10
yoke_pull, self.integral_airspeed = self.proportionalIntegralControl(1,self.pitch,
yoke_pull, self.integral_airspeed = self.proportionalIntegralControl(1,self.dictionaryAccess(self.destinations,"pitch"),
self.target_pitch,
self.integral_pitch,
scaleFactor.SCALEYOKEPULL)
@@ -244,22 +263,23 @@ class AircraftLandingModel(pyactr.ACTRModel):
# self.integral_airspeed,
# scaleFactor.SCALEYOKEPULL)
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)
throttle, self.integral_descent_rate = self.proportionalIntegralControl(0,self.descent_rate, self.target_descent_rate, self.integral_descent_rate,scaleFactor.SCALETHROTTLE)
yoke_steer, self.integral_roll = self.proportionalIntegralControl(0,self.dictionaryAccess(self.destinations,"roll"), self.target_roll, self.integral_roll,scaleFactor.SCALEYOKESTEER)
rudder, self.integral_heading = self.proportionalIntegralControl(0,self.dictionaryAccess(self.destinations,"heading"), self.target_heading, self.integral_heading,scaleFactor.SCALERUDDER)
throttle, self.integral_descent_rate = self.proportionalIntegralControl(0,self.dictionaryAccess(self.destinations,"vertical speed"), self.target_descent_rate, self.integral_descent_rate,scaleFactor.SCALETHROTTLE)
### 1. For Calculated Yoke and Throttle Values
#Invert Throttle Control & divide by 5 to scale
throttle = -throttle
throttle = throttle/5
#Invert Yoke Pull & divide by 5 to scale
yoke_pull = yoke_pull/5
## 2. For Constant Yoke and Throttle Values
# Constant yoke "back pressure" equal to 20% of total travel distance
if(self.flare == False):
if(self.dictionaryAccess(self.phaseFlags,"flare") == False):
yoke_pull = yoke_pull * 20
# yoke_pull = 0.23
throttle = 0.28
if(self.flare == True):
if(self.dictionaryAccess(self.phaseFlags,"flare") == True):
# yoke_pull = -yoke_pull
yoke_pull = yoke_pull * 20
throttle = 0
@@ -302,17 +322,17 @@ class AircraftLandingModel(pyactr.ACTRModel):
# print("Yoke Pull:" + str(yoke_pull))
#Set the Trim to a value that allows the aircraft to osscilate around the target airspeed
if(self.flare == False):
if(self.dictionaryAccess(self.phaseFlags,"flare") == False):
trimdref = "sim/flightmodel/controls/elv_trim"
trim = -0.3
self.client.sendDREF(trimdref,trim)
if(self.flare):
if(self.dictionaryAccess(self.phaseFlags,"flare")):
trimdref = "sim/flightmodel/controls/elv_trim"
trim = 0
self.client.sendDREF(trimdref,trim)
if(self.rollOut):
if(self.dictionaryAccess(self.phaseFlags,"roll out")):
#Cut the Throttle
throttle = 0
#Release Yoke Back Pressure (Pitch Up Pressure from the flare maneuver)
@@ -325,19 +345,26 @@ class AircraftLandingModel(pyactr.ACTRModel):
self.client.sendCTRL([yoke_pull, yoke_steer, rudder, throttle, -998, -998]) # Control inputs: [yoke_pull, yoke_steer, rudder, throttle]
def conditionChecks(self):
if(self.wheelWeight > 0.01 and self.wheelSpeed > 1):
if(self.dictionaryAccess(self.destinations,"wheelWeight") > 0.01
and self.dictionaryAccess(self.destinations,"wheelSpeed") > 1):
#Two Parameters to Confirm Touchdown and wheel contact
# "sim/flightmodel/parts/tire_vrt_def_veh" #Gear Strut Deflection (Weight on wheels)
# "sim/flightmodel2/gear/tire_rotation_rate_rad_sec" #Tire Rotation Rate
self.rollOut = True
self.phaseFlags["roll out"] = True
print("Hit the brakes")
if(self.altitude <= 20):
self.flare = True
if(self.dictionaryAccess(self.destinations,"altitude") <= 20
and self.dictionaryAccess(self.phaseFlags,"flare") == False):
self.phaseFlags["flare"] = True
self.Ki = 0.01 ## Increase Control Authority to compensate for decreasing airspeed
print("Altitude < 500; Flare Set True")
if(self.wheelWeight > 0.01 and self.wheelSpeed > 1 and self.destinations["airspeed"] < 1 and self.brakes == 1):
print("*******FLAG*******")
if(self.dictionaryAccess(self.destinations,"wheelWeight") > 0.01
and self.dictionaryAccess(self.destinations,"wheelSpeed") < 1
and self.dictionaryAccess(self.destinations,"airspeed") < 2
and self.dictionaryAccess(self.destinations,"brakes") == 1):
self.inProgress = False
def simulationStatus(self):
@@ -350,6 +377,7 @@ class AircraftLandingModel(pyactr.ACTRModel):
Faster Method
"""
self.getAndLoadDREFS()
print("midpoint")
self.conditionChecks()