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Functional takeoff autopilot/interface

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cs-powell
2024-09-28 13:02:23 -04:00
parent 11a5f350bd
commit 79f8336fa1
1 changed files with 193 additions and 24 deletions
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215
Java/Examples/BasicOperation/src/Main.java
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@@ -23,14 +23,14 @@ public class Main
// Ensure connection established.
xpc.getDREF("sim/test/test_float");
System.out.println("Setting player aircraft position");
double[] posi = new double[] {37.524, -122.06899, 2500, 0, 0, 0, 1};
xpc.sendPOSI(posi);
// System.out.println("Setting player aircraft position");
// double[] posi = new double[] {37.524, -122.06899, 2500, 0, 0, 0, 1};
// xpc.sendPOSI(posi);
System.out.println("Setting another aircraft position");
posi[0] = 37.52465;
posi[4] = 20;
xpc.sendPOSI(posi, 1);
// System.out.println("Setting another aircraft position");
// posi[0] = 37.52465;
// posi[4] = 20;
// xpc.sendPOSI(posi, 1);
System.out.println("Setting rates");
float[][] data = new float[3][9];
@@ -38,33 +38,202 @@ public class Main
{
Arrays.fill(row, -998);
}
data[0][0] = 18; //Alpha
data[0][0] = 0; //Alpha
data[0][1] = 0;
data[0][3] = 0;
data[1][0] = 3; //Velocity
data[1][1] = 130;
data[1][2] = 130;
data[1][3] = 130;
data[1][4] = 130;
data[1][0] = 0; //Velocity
data[1][1] = 0;
data[1][2] = 0;
data[1][3] = 0;
data[1][4] = 0;
data[2][0] = 16; //PQR
data[2][0] = 0; //PQR
data[2][1] = 0;
data[2][2] = 0;
data[2][3] = 0;
xpc.sendDATA(data);
System.out.println("Setting controls");
float[] ctrl = new float[4];
ctrl[3] = 0.8F;
xpc.sendCTRL(ctrl);
System.out.println("Pausing sim");
xpc.pauseSim(true);
try { Thread.sleep(5000); } catch (InterruptedException ex) {}
System.out.println("Un-pausing");
xpc.pauseSim(false);
System.out.println("Trying something new!!");
int aircraft = 0;
// JFrame container = new JFrame();
// Dimension size = new Dimension(500, 500);
// container.setPreferredSize(size);
// container.setVisible(true);
// JLabel text = new JLabel("Hello");
// JLabel text2 = new JLabel("Hello");
// JPanel display = new JPanel();
// display.setLayout(new GridLayout());
// display.setPreferredSize(size);
// display.add(text);
// display.add(text2);
// container.add(display);
// container.pack();
while(true) {
//THE GETTERS
double[] posi1 = xpc.getPOSI(aircraft); // FIXME: change this to 64-bit double
float[] ctrl1 = xpc.getCTRL(aircraft);
// String dref = "sim/cockpit2/gauges/indicators/airspeed_kts_copilot";
String dref = "sim/cockpit2/gauges/indicators/airspeed_kts_pilot";
String dref2 = "sim/flightmodel/position/true_phi";
String drefHDG = "sim/cockpit2/gauges/indicators/compass_heading_deg_mag";
boolean takeoff = true;
boolean climb = false;
boolean cruise = false;
float[] value = xpc.getDREF(dref);
float[] value2 = xpc.getDREF(dref2);
float[] valueHDG = xpc.getDREF(drefHDG);
float bugged = 50;
float rwyHDG = 120;
// float[] value2 = xpc.getDREF(dref2);
// System.out.println(String.valueOf(value[0]));
// System.out.format("Loc: (%4f, %4f, %4f) Aileron:%2f Elevator:%2f Rudder:%2f\n",
// posi1[0], posi1[1], posi1[2], ctrl1[1], ctrl1[0], ctrl1[2]);
// System.out.f ormat("\rControl Surfaces: [Elevator: %2f] [Roll: %2f] [Yaw: %2f] ||| Power: [Throttle:%2f] ||| Secondary Control Surfaces: [Flaps: %2f]",
// ctrl1[0], ctrl1[1], ctrl1[2], ctrl1[3], ctrl1[5]);
System.out.format("\r[Elevator: %2f] [Roll: %2f] [Yaw: %2f] ------ [Throttle:%2f] ------ [Flaps: %2f] ---- [Data Ref: %2f]",
ctrl1[0], ctrl1[1], ctrl1[2], ctrl1[3], ctrl1[5], value[0]);
// //Basic Autopilot For Roll (based on yoke position)
// float[] rollRight = {-998.0f, ctrl1[1]-(ctrl1[1]/2)};
// float[] rollLeft = {-998.0f, ctrl1[1]-(ctrl1[1]/2)};
// if(ctrl1[1] < 0) {
// xpc.sendCTRL(rollRight);
// } else if(ctrl1[1] > 0) {
// xpc.sendCTRL(rollLeft);
// }
//Basic Autopilot For Pitch (based on VSI)
// float[] pitchUp = {ctrl1[0] + 0.01f};
// float[] pitchDown = {ctrl1[0]- 0.01f};
// if(value[0] < 0) {
// xpc.sendCTRL(pitchUp);
// } else if(value[0] > 0) {
// xpc.sendCTRL(pitchDown);
// }
if(takeoff) {
float[] pitchUp = {ctrl1[0] + 0.01f};
if(value[0] > bugged) {
if(ctrl1[0] < 0.2f){
xpc.sendCTRL(pitchUp);
}
}
//Takeoff Roll Control
float[] rollRight = {-998.0f, ctrl1[1] + 0.01f};
float[] rollLeft = {-998.0f, ctrl1[1] - 0.01f};
if(value2[0] < 0 && value[0] > bugged) {
if(ctrl1[1] < 0.15f) {
xpc.sendCTRL(rollRight);
}
} else if(value2[0] > 0 && value[0] > bugged) {
if(ctrl1[1] > -0.15f){
xpc.sendCTRL(rollLeft);
}
}
//Takeoff Rudder Control
float[] yawRight = {-998.0f, -998.0f, ctrl1[2] + 0.03f};
float[] yawLeft = {-998.0f, -998.0f, ctrl1[2] - 0.03f};
if(valueHDG[0] < rwyHDG && value[0] > 1) {
if(ctrl1[2] < 0.5f) {
xpc.sendCTRL(yawRight); // YAW RIGHT
}
} else if(valueHDG[0] > rwyHDG && value[0] > 1) {
if(ctrl1[2] > -0.5f){
xpc.sendCTRL(yawLeft); // YAW LEFT
}
}
}
if(cruise) {
//Basic Autopilot For Roll (based on bank angle)
float[] rollRight = {-998.0f, ctrl1[1] + 0.01f};
float[] rollLeft = {-998.0f, ctrl1[1] - 0.01f};
if(value2[0] < 0) {
if(ctrl1[1] < 0.15f) {
xpc.sendCTRL(rollRight);
}
} else if(value2[0] > 0) {
if(ctrl1[1] > -0.15f){
xpc.sendCTRL(rollLeft);
}
}
//Basic Autopilot For Pitch (based on speed)
float[] pitchUp = {ctrl1[0] + 0.01f};
float[] pitchDown = {ctrl1[0]- 0.01f};
if(value[0] > bugged) {
if(ctrl1[0] < 0.2f) {
xpc.sendCTRL(pitchUp);
}
} else if(value[0] < bugged) {
if(ctrl1[0] > -0.2f) {
xpc.sendCTRL(pitchDown);
}
}
}
// text.setText(String.valueOf(value[0]));
// display.add(elevator);
// System.out.println("");
try {
Thread.sleep(1);
}
catch (InterruptedException ex) {}
if (System.in.available() > 0) {
break;
}
}
// System.out.println("Setting controls");
// float[] ctrl = new float[4];
// ctrl[3] = 0.8F;
// xpc.sendCTRL(ctrl);
// System.out.println("Pausing sim");
// xpc.pauseSim(true);
// try { Thread.sleep(5000); } catch (InterruptedException ex) {}
// System.out.println("Un-pausing");
// xpc.pauseSim(false);
//Let sim run for 10 seconds
try { Thread.sleep(10000); } catch (InterruptedException ex) {}