FlightSim-Streaming/XPlaneConnectCSP
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descentV1

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This commit is contained in:
cs-powell
2025-02-24 16:24:00 -05:00
parent 1e39b3b1e6
commit 44d6200b69
3 changed files with 154 additions and 28 deletions
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2
Java/ProjectModels/Main.java
View File

@@ -20,6 +20,8 @@ public class Main {
// s2.add(t3);
// s2.add(t4);
// testprocess2 tp2 = new testprocess2(m, null);
// tp2.runProcess();

168
Python3/src/cognitiveModel.py
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@@ -1,9 +1,13 @@
import pyactr
# from XPlaneConnect import *
import xpc
import math
# Initialize XPlaneConnect client
class scaleFactor():
SCALEYOKEPULL = 10
SCALEYOKESTEER = 10
SCALERUDDER = 10
SCALETHROTTLE = 1000
class AircraftLandingModel(pyactr.ACTRModel):
def __init__(self,client):
super().__init__()
@@ -31,6 +35,7 @@ class AircraftLandingModel(pyactr.ACTRModel):
self.target_roll = 0
self.target_heading = 0
self.target_descent_rate = 500
self.altitide = 2000
# Declare the state for previous values
self.previous_airspeed = None
@@ -46,56 +51,183 @@ class AircraftLandingModel(pyactr.ACTRModel):
# Integral gains (tune these values for performance)
self.Kp = 0.1 # Proportional gain
self.Ki = 0.01 # Integral gain
# self.Ki = 0.01 # Integral gain
self.Ki = 0.001 # Integral gain
def proportionalIntegralControl(self, current, target, integral_error):
def printControls(self,calculated,errors,yokePull,yokeSteer,rudder,throttle):
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,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"]
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))]
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))]
controlVal = [str(round(yokePull,3)),str(round(yokeSteer,3)),str(round(rudder,3)),str(round(throttle,3)),str(round(self.altitude,3))]
header_row = "{:<20} {:<20} {:<20} {:>10}"
headers = "Parameter Target Current Control_Value".split()
row = "{:<20} {:<20} {:<20} {:>10}"
print("\n" + header_row.format(*headers))
print("-" * 81)
for parameter, target, current, controlVal in zip(parameter, target, current, controlVal):
print(row.format(parameter, target, current, controlVal))
def printVariables(self,errors,target,current,error,param1,param2):
if(errors == 1):
targetF = [str(round(target,3))]
currentF = [str(round(current,3))]
errorF = [str(round(error,3))]
param1F = [str(round(param1,3))]
param2F = [str(round(param2,3))]
row = "{:<20} {:<20} {:<20} {:>10} {:>7.2f}"
header_row = "{:<20} {:<20} {:<20} {:>10} {:>7}"
headers = "Target Current Error (self.Kp*error) (self.Ki*integral_error)".split()
print("\n" +header_row.format(*headers))
print("-" * 81)
# print(print(row.format(first_, last_, major_, credits_, gpa_)))
for targetF, currentF, errorF, param1F, param2F in zip(targetF, currentF, errorF, param1F, param2F):
print(row.format(target, current, error, param1, param2))
# print("* Target, Current, Error, param1, param2 \n" +
# "* ______ _______ ______ _______ ______\n " +
# str(round(target,2)) + "\n " + str(round(current,2)) +
# "\n " + str(round(error,2)) +
# "\n " + str(round(param1,2)) +
# "\n " + str(round(param2,2)))
def proportionalIntegralControl(self,print, current, target, integral_error,scalingFactor):
"""
Proportional-Integral control rule implementation for multiple parameters.
"""
# Calculate the error (current - target)
error = target - current
# error = current - target
# print("Error: " + str(error))
# Update the integral of the error
integral_error += error
# print("Integral_error: " + str(integral_error))
# Calculate the control value using the PI formula
control_value = (self.Kp * error) + (self.Ki * integral_error)
# print("BEFORE Control Value: " + str(control_value))
###Transformations:
#Simple Sigmoid:
control_value = (2 / (1 + math.exp(-(control_value/scalingFactor)))) - 1
# print("AFTER Control Value: " + str(control_value))
#### Get rough idea of ranges (i.e. airspeed 0---->90+)
#### Scale the transformations
### TODO: Move the scaling to where each conrol is updated individually so scaling can be changed for each/ isolate each control
### Consider switching controller/control equation if scaling alone does not produce desired behavior
### Look for: Extreme deflections; Zero-point/Stable point(s)
### TODO: Nicer outputs; More like reading a book, less like reading binary
### TODO: Throttle established descent
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):
"""
Update all controls at the same time by calculating control values for each parameter.
"""
print("Entered Update Controls Simultaneously")
# print("Entered Update Controls Simultaneously")
# Compute control values for all parameters (yoke pull, yoke steer, rudder, throttle)
yoke_pull, self.integral_airspeed = self.proportionalIntegralControl(self.airspeed, self.target_airspeed, self.integral_airspeed)
yoke_steer, self.integral_roll = self.proportionalIntegralControl(self.roll, self.target_roll, self.integral_roll)
rudder, self.integral_heading = self.proportionalIntegralControl(self.heading, self.target_heading, self.integral_heading)
throttle, self.integral_descent_rate = self.proportionalIntegralControl(self.descent_rate, self.target_descent_rate, self.integral_descent_rate)
yoke_pull, self.integral_airspeed = self.proportionalIntegralControl(1,self.airspeed,
self.target_airspeed,
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)
throttle = -throttle
throttle = throttle/5
#Invert Yoke Pull temporarily
yoke_pull = -yoke_pull
##Method 1: Scaling
yoke_pull = yoke_pull/5
yoke_pull = 0.2
throttle = 0.15
if(self.altitude < 350): ## Integrate using the control equations;; A goal state update
throttle = 0.1
yoke_pull = 0.3
if(self.altitude < 200): ## Integrate using the control equations;; A goal state update
throttle = 0.05
yoke_pull = 0.4
if(self.altitude < 150): ## Integrate using the control equations;; A goal state update
throttle = 0
yoke_pull = 0.4
if(self.airspeed < self.target_airspeed):
#Method 2: Travel Limits (0 --> 0.2)
# yoke_pull = max(-0.2, yoke_pull)
#Invert Throttl Temporarily
self.printControls(1,0,yoke_pull,yoke_steer,rudder,throttle)
# Send all controls simultaneously to X-Plane
self.send_controls_to_xplane(yoke_pull, yoke_steer, rudder, throttle)
self.send_controls_to_xplane(yoke_pull, yoke_steer, 0, throttle)
if(self.airspeed > self.target_airspeed):
#Method 2: Travel Limits (0 --> 0.2)
# yoke_pull = min(0.2, yoke_pull)
self.printControls(1,0,yoke_pull,yoke_steer,rudder,throttle)
self.send_controls_to_xplane(yoke_pull, yoke_steer, 0, throttle)
## 0 Throttle, Calculated Parameter
def send_controls_to_xplane(self, yoke_pull, yoke_steer, rudder, throttle):
"""
Sends all control inputs to X-Plane using XPlaneConnect
"""
# Send yoke pull, yoke steer, rudder, and throttle simultaneously
print("Yoke Pull:" + str(yoke_pull))
# print("Yoke Pull:" + str(yoke_pull))
#Set the Trim
trimdref = "sim/flightmodel/controls/elv_trim"
trim = -0.3
self.client.sendDREF(trimdref,trim)
# self.client.sendDREF("sim/flightmodel/controls/elv_trim",-0.3)
self.client.sendCTRL([yoke_pull, yoke_steer, rudder, throttle, -998, -998]) # Control inputs: [yoke_pull, yoke_steer, rudder, throttle]
# Update the model's DM based on X-Plane data
def update_aircraft_state(self):
print("Entered Update Aircraft State")
# print("Entered Update Aircraft State")
# Retrieve current data from X-Plane
airspeed = self.client.getDREF("sim/cockpit2/gauges/indicators/airspeed_kts_pilot")
roll = self.client.getDREF("sim/cockpit2/gauges/indicators/roll_AHARS_deg_pilot")
heading = self.client.getDREF("sim/cockpit2/gauges/indicators/heading_AHARS_deg_mag_pilot")
descent_rate = self.client.getDREF("sim/flightmodel/position/vh_ind_fpm")
altitude = self.client.getDREF("sim/cockpit2/gauges/indicators/altitude_ft_pilot")
# Update the model's declarative memory
# model.declarative_memory["airspeed"] = airspeed
@@ -107,10 +239,11 @@ class AircraftLandingModel(pyactr.ACTRModel):
self.roll = roll[0]
self.heading = heading[0]
self.descent_rate = descent_rate[0]
print(self.airspeed)
print(self.roll)
print(self.heading)
print(self.descent_rate)
self.altitude = altitude[0]
# print(self.airspeed)
# print(self.roll)
# print(self.heading)
# print(self.descent_rate)
# def rules(self):
@@ -150,4 +283,3 @@ class AircraftLandingModel(pyactr.ACTRModel):
# return client.getData([DATAREF_DESCENT_RATE])

12
Python3/src/testPlatform.py
View File

@@ -93,7 +93,7 @@ def ex():
# sim/operation/override/override_timestep
#Doing stuff In between Test SECOND INCREMENTS
while(count < 1000000 ):
while(count < 1000000):
#50 Millisecond Timesteps
sleep(0.05)
client.pauseSim(False) #Unpause
@@ -105,7 +105,7 @@ def ex():
cogModel.update_controls_simultaneously()
#Please work........no excuses now
#Repeat
print("Advanced 50 Milliseconds: Step #" + str(count))
# print("Advanced 50 Milliseconds: Step #" + str(count))
count+=1
@@ -128,14 +128,6 @@ def ex():
# sleep(0.5)
# count+=1
# Toggle pause state to resume
print("Resuming")
client.pauseSim(False)
# Let the sim run for a bit.
sleep(4)
print("End of Python client example")
input("Press any key to exit...")