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new heading tracking via longitude complete

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This commit is contained in:
cs-powell
2025-04-05 17:58:44 -04:00
parent 5c33f652ef
commit 99fa386567
4 changed files with 196 additions and 123 deletions
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75
Python3/src/cognitiveModel.py
View File

@@ -4,6 +4,7 @@ import xpc
import math
# import geopy
from geographiclib.geodesic import Geodesic as geo
from rich import print
@@ -12,6 +13,7 @@ class scaleFactor():
SCALEYOKEPULL = 10
SCALEYOKESTEER = 10
SCALERUDDER = 10
SCALELATITUDERUDDER = 0.02
SCALETHROTTLE = 1000
###Define variables/parameters for aircraft class/category : Wisdom of Raju
@@ -22,13 +24,15 @@ class AircraftLandingModel(pyactr.ACTRModel):
self.inProgress = True
self.printControlsFlag = printFlag
self.targetLat = 39.895791
self.targetLong = -104.696085
self.targetLong = -104.696014
"""
Setting DREF variables and loading into drefs array
"""
airspeedDREF = "sim/cockpit2/gauges/indicators/airspeed_kts_pilot"
rollDREF = "sim/cockpit2/gauges/indicators/roll_AHARS_deg_pilot"
magneticHeadingDREF = "sim/cockpit2/gauges/indicators/heading_AHARS_deg_mag_pilot"
latitudeDREF = "sim/flightmodel/position/latitude" ## Lat
longitudeDREF = "sim/flightmodel/position/longitude" ##Long
verticalSpeedDREF = "sim/flightmodel/position/vh_ind_fpm"
altitudeAGLDREF = "sim/flightmodel/position/y_agl"
pitchDREF = "sim/flightmodel/position/true_theta"
@@ -41,6 +45,8 @@ class AircraftLandingModel(pyactr.ACTRModel):
"airspeed" : airspeedDREF,
"roll" : rollDREF,
"heading" : magneticHeadingDREF,
"latitude": latitudeDREF,
"longitude": longitudeDREF,
"vertical speed" : verticalSpeedDREF,
"altitude": altitudeAGLDREF,
"pitch" : pitchDREF,
@@ -55,6 +61,8 @@ class AircraftLandingModel(pyactr.ACTRModel):
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")
latitude = self.client.getDREF("sim/flightmodel/position/latitude") ##Current Lat
longitude = self.client.getDREF("sim/flightmodel/position/longitude") ##Current Long
descent_rate = self.client.getDREF("sim/flightmodel/position/vh_ind_fpm")
altitude = self.client.getDREF("sim/flightmodel/position/y_agl")
pitch = self.client.getDREF("sim/flightmodel/position/true_theta")
@@ -67,6 +75,8 @@ class AircraftLandingModel(pyactr.ACTRModel):
self.airspeed = airspeed[0]
self.roll = roll[0]
self.heading = HARDCODE_HEADING
self.latitude = latitude[0]
self.longitude = longitude[0]
self.descent_rate = descent_rate[0]
self.altitude = altitude[0]
self.pitch = pitch[0]
@@ -79,6 +89,8 @@ class AircraftLandingModel(pyactr.ACTRModel):
"airspeed" : self.airspeed,
"roll" : self.roll,
"heading" : self.heading,
"latitude": self.latitude,
"longitude": self.longitude,
"vertical speed" : self.descent_rate,
"altitude": self.altitude,
"pitch" : self.pitch,
@@ -93,10 +105,12 @@ class AircraftLandingModel(pyactr.ACTRModel):
self.target_airspeed = 80
self.target_roll = 0
self.target_heading = self.heading #Track heading from initialization[DEPRECATED]
self.target_Lat = self.latitude #Track Lat
self.target_Long = self.longitude #Track Long
self.target_descent_rate = 500
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]
self.targets = [self.target_airspeed,self.target_roll,self.target_heading,self.target_Lat,self.target_Long,self.target_descent_rate,self.target_altitude,self.target_pitch]
#State Flags (Boolean) & Current State (Integer)
@@ -122,6 +136,8 @@ class AircraftLandingModel(pyactr.ACTRModel):
self.integral_airspeed = 0
self.integral_roll = 0
self.integral_heading = 0
self.integral_Latitude = 0
self.integral_Longitude = 0
self.integral_descent_rate = 0
#Flare Specific Parameters
@@ -159,7 +175,7 @@ class AircraftLandingModel(pyactr.ACTRModel):
def get_bearing(self,lat1, lat2, long1, long2):
brng = geo.WGS84.Inverse(lat1, long1, lat2, long2)['azi1']
self.target_heading = brng
print("TARGET BEARING: " + str(brng))
# print("TARGET BEARING: " + str(brng))
def getAndLoadDREFS(self):
results = self.client.getDREFs(self.sources.values())
@@ -171,6 +187,7 @@ class AircraftLandingModel(pyactr.ACTRModel):
lat = self.client.getDREF("sim/flightmodel/position/latitude") ##Current Lat
long = self.client.getDREF("sim/flightmodel/position/longitude") ##Current Long
self.get_bearing(lat[0],self.targetLat,long[0],self.targetLong)
# print("getDrefs: " + str(results[1][0]))
# print("current destination: " + str(self.destinations["airspeed"]))
@@ -193,11 +210,36 @@ class AircraftLandingModel(pyactr.ACTRModel):
# 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.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))]
parameter = ["Airspeed","Roll","Heading","Longitude","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_Long,6)),
str(round(self.target_descent_rate,3)),
str(round(self.altitude,3)),
str(round(self.target_pitch,3)),
0,
0]
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,"longitude"),6)),
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(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()
@@ -281,7 +323,18 @@ class AircraftLandingModel(pyactr.ACTRModel):
# scaleFactor.SCALEYOKEPULL)
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)
"""
RUDDER CONTROLS
"""
#ORIGINAL
# rudder, self.integral_heading = self.proportionalIntegralControl(0,self.dictionaryAccess(self.destinations,"heading"), self.target_heading, self.integral_heading,scaleFactor.SCALERUDDER)
#lATITUDE/LONGITUDE
rudder, self.integral_Longitude = self.proportionalIntegralControl(0,self.dictionaryAccess(self.destinations,"longitude"), self.target_Long, self.integral_Longitude,scaleFactor.SCALELATITUDERUDDER)
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
@@ -323,7 +376,7 @@ class AircraftLandingModel(pyactr.ACTRModel):
##Method 2: Same Control Statements with Change in Parameter to decided pitch from Airspeed ---> Local Pitch Relative to the Horizon
rudder = rudder * -1
#Switch Target for Pitch to Local Pitch Axis (ex. +10 Degrees nose up)
if(self.printControlsFlag):
self.printControls(1,0,yoke_pull,yoke_steer,rudder,throttle) #PRINT CONTROLS
@@ -383,7 +436,7 @@ class AircraftLandingModel(pyactr.ACTRModel):
and self.dictionaryAccess(self.destinations,"brakes") == 1):
self.inProgress = False
def simulationStatus(self):
def getSimulationStatus(self):
return self.inProgress

8
Python3/src/experiments/weather_files/weather.csv Normal file
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@@ -0,0 +1,8 @@
Experiment Number,Starting Altitude (AGL),Wind Layer Altitude,Wind Direction,Wind Speed
1,2000,0,179,0
2,2000,0,179,5
3,2000,0,179,10
4,2000,0,179,15
5,2000,0,179,20
6,2000,0,179,25
7,2000,0,179,30
1 Experiment Number Starting Altitude (AGL) Wind Layer Altitude Wind Direction Wind Speed
2 1 2000 0 179 0
3 2 2000 0 179 5
4 3 2000 0 179 10
5 4 2000 0 179 15
6 5 2000 0 179 20
7 6 2000 0 179 25
8 7 2000 0 179 30

5
Python3/src/experiments/weather_files/weather_2.csv
View File

@@ -1,5 +0,0 @@
Wind,2,3,4
Altitudes,3,4,5
Turtles,4,5,6
Ducks,5,6,7
Penguins,6,7,8
1 Wind 2 3 4
2 Altitudes 3 4 5
3 Turtles 4 5 6
4 Ducks 5 6 7
5 Penguins 6 7 8

231
Python3/src/testPlatform.py
View File

@@ -1,5 +1,9 @@
import datetime
from math import cos, pi, sin, sqrt
import os
import time
from time import sleep
@@ -7,8 +11,12 @@ import xpc
from cognitiveModel import AircraftLandingModel
import shutil
import csv
from enum import Enum
class messageType(Enum):
REGULAR = 1
ERROR = 2
def eulerToQuat(psiInput,thetaInput,phiInput):
@@ -24,28 +32,25 @@ def eulerToQuat(psiInput,thetaInput,phiInput):
quat = [q0/e,q1/e,q2/e,q3/e]
return quat
def loadFile(index):
filename = "Python3/src/experiments/weather_files/weather_" + str(index) + ".csv"
def loadFile():
filename = "Python3/src/experiments/weather_files/weather.csv"
with open(filename,"r") as f:
matrix = list(csv.reader(f,delimiter=','))
print(matrix)
return matrix
def selectWeather(matrix,experimentNumber):
return matrix[experimentNumber]
def experimentSetUp(client,altitudeInput,newExperiment):
loadFile(2)
def experimentSetUp(client,currentConditions,newExperiment):
# input("Check The Loaded File Now")
print("Entered: EXPERIMENTSETUP")
if(newExperiment):
#Location:
groundLevel = 5434
offset = altitudeInput
offset = float(currentConditions[1])
altitudeFEET = groundLevel + offset
altitudeMETERS = altitudeFEET/3.281
altitude = altitudeMETERS
@@ -58,6 +63,7 @@ def experimentSetUp(client,altitudeInput,newExperiment):
client.sendDATA(data)
print("Zero velocities")
x = "sim/flightmodel/position/local_vx"
y = "sim/flightmodel/position/local_vy"
@@ -104,19 +110,18 @@ def experimentSetUp(client,altitudeInput,newExperiment):
# result = client.getDREF(windLayer)
# print("Wind:" + str(result))
print("Setting Wind Layers")
client.sendDREF(windLayer,6000)
client.sendDREF(windLayer2,15000)
client.sendDREF(windLayer3,15000)
client.sendDREF(windLayer,float(currentConditions[2]))
# client.sendDREF(windLayer2,15000)
# client.sendDREF(windLayer3,15000)
print("Setting Wind Direction and Speed")
client.sendDREF(windDirection,170)
print("Set 1")
client.sendDREF(windSpeed,40)
client.sendDREF(windDirection,float(currentConditions[3]))
print("Set 1")
client.sendDREF(windSpeed,float(currentConditions[4]))
print("Set 2")
# client.sendDREF(turbulence,turbulencePercentage)
# preset = "sim/weather/region/weather_preset"
# value = 8
# client.sendDREF(preset,value)
@@ -139,121 +144,133 @@ def experimentSetUp(client,altitudeInput,newExperiment):
18 - Angle of Attack
20 - Latitude and Longitude
"""
kias = -998
keas = -998
ktas = -998
ktgs = -998
mph = -998
mphas = 80
mphgs = 80
print("Setting orientation for test")
# client.sendDREF("sim/operation/override/override_planepath",1)
# client.pauseSim(True)
# client.sendDREF("sim/flightmodel/position/local_y",2000)
# client.sendDREFs(["sim/flightmodel/position/P","sim/flightmodel/position/Q","sim/flightmodel/position/R"],[0,0,0])
# client.sendDREF("sim/flightmodel/position/q",[0.3, 0, 0, 0.6])
# data = [\
# [3, -998, -998, -998, -998, -998, -998, mphas, mphgs],\
# [16, 0, 0, 0, -998, -998, -998, -998, -998],\
# [17, 0, 0, 0, -998, -998, -998, -998, -998],\
# [18, -998, -998, -998, -998, -998, -998, -998, -998],\
# [19, -998, -998, -998, -998, -998, -998, -998, -998],\
# testLocation\
# ]
# client.sendDATA(data)
# client.sendDREF("sim/operation/override/override_planepath",0)
# Set control surfaces and throttle of the player aircraft using sendCTRL
# print("Setting controls")
# ctrl = [0.0, 0.0, 0.0, 0.0]
# cogModel.client.sendCTRL(ctrl)
# print("past setting controls")
message = "Conditions are set as\n" \
"Starting Altitude: {} \n" \
"Layer Altitude: {} \n" \
"Wind Direction: {} \n" \
"Wind Speed: {} \n".format(currentConditions[1],currentConditions[2],currentConditions[3],currentConditions[4])
specialPrint(message,False,messageType.REGULAR)
else:
print("Experiment currently in progress, not resetting position and environmental conditions")
def runExperiment(title,printFlag,experimentStart):
print("Model Test: Xplane setting up connection")
print("Setting up simulation")
def runExperiment(title,currentConditions,allowPrinting,isNewExperiment):
specialPrint("New Experiment\nSetting Up the Simulation",False,messageType.REGULAR)
startTime = 0
endTime = 0
difference = endTime - startTime
experimentLive = True
timeElapsed = endTime - startTime
experimentInProgress = True
timeoutLimit = 10
newExperiment = experimentStart
while(difference < timeoutLimit and experimentLive):
print("Time Elapsed: -----> " + str(difference))
newExperiment = isNewExperiment
while(timeElapsed <= timeoutLimit and experimentInProgress):
# print("Time Elapsed: -----> " + str(timeElapsed))
try:
with xpc.XPlaneConnect() as client:
# Verify connection
"""
Test Connection
"""
client.getDREF("sim/test/test_float")
cogModel = AircraftLandingModel(client,printFlag)
experimentSetUp(cogModel.client,2000,newExperiment)
"""
Setup Model
"""
cogModel = AircraftLandingModel(client,allowPrinting)
"""
Set Simulator Conditions
"""
experimentSetUp(cogModel.client,currentConditions,newExperiment)
"""
"""
cogModel.client.pauseSim(False)
count = 0
innercount = 0
clockStart = time.time()
retry = 0
newExperiment = False
while(cogModel.simulationStatus()):
clockStart = time.time() #START TIMER
#Run Model
cogModel.update_aircraft_state()
"""
Single Experiment Loop
"""
while(experimentInProgress):
cogModel.update_aircraft_state()
cogModel.update_controls_simultaneously()
client.pauseSim(False) #Unpause Simulator
clockEnd = time.time() # STOP TIMER
count+=1
# print("Clock Time: " + str(clockEnd - clockStart)) ## LOG TIME TAKEN
sleep(0.05) # LET Simulator Run 50 Milliseconds
client.pauseSim(False) #Unpause Simulator
sleep(0.05) # Let Simulator Run 50 Milliseconds
startTime = time.time()
experimentLive = cogModel.simulationStatus()
experimentInProgress = cogModel.getSimulationStatus()
except:
print("except detected")
endTime = time.time()
print("Start Time:" + str(startTime))
print("End Time:" + str(endTime))
difference = endTime - startTime
timeElapsed = endTime - startTime
message = "Except detected\nStart Time: {a}\nEnd Time: {b}\n" \
"Time Elapsed: -----> {c} ".format(a= startTime, b=endTime,c=timeElapsed)
specialPrint(message,False,messageType.ERROR)
continue
if(difference >= timeoutLimit):
print("Timeout[" + str(difference) +"]:"+"Error, please run test again")
"""
Parse End Condition: Succesful Run or Timeout-Induced End
"""
if(timeElapsed >= timeoutLimit):
print("Timeout[" + str(timeElapsed) +"]:"+"Error, please run test again")
else:
print("Model has finished running")
#Copy data.txt to the cloudddddd using python magic and accurate filepaths
"""
Ask Experimenter if they would like to exit experiment battery early
"""
exitDecision = input("Press 'y' or any key to continue, press 'n' to exit...")
if(exitDecision == "n"):
exitExperimentLoop = True
else:
exitExperimentLoop = False
return exitExperimentLoop
def setUp():
open("/Users/flyingtopher/X-Plane 11/Data.txt", 'w')
specialPrint("Data Collection File Ready",False,messageType.REGULAR)
def cleanUp(title):
now = datetime.datetime
shutil.copy("/Users/flyingtopher/X-Plane 11/Data.txt", "/Users/flyingtopher/Desktop/Test Destination/" + title + "_" + str(now.now()) + "_" + ".txt")
# print("CLEAN UP: Data File Copied and saved")
# os.remove("/Users/flyingtopher/X-Plane 11/Data.txt")
print("CLEAN UP: Data File Deleted and Reset")
# exit = input("Press 'y' or any key to continue, press 'n' to exit...")
exit = False
if(exit == "n"):
exit = True
else:
exit = False
return exit
##Reset the sim with the keyboard shortcut (wrapper around model that waits for reconnection)
def ex():
##Store Experiment Battery
##Different paramters on every run of the model
## Nested loops:
##wind conditions, pilot conditions
# title = input("Please Enter Experiment Set Title, leave blank for trial runs")
title = 'test'
count = 0
while(count<7):
# input("Press Enter to Start Experiment #" + str(count) + ": ")
print("Data File Reset")
f = open("/Users/flyingtopher/X-Plane 11/Data.txt", 'w')
exit = runExperiment(title,False,True)
if(exit):
break
count+=1
print("Experiment Battery Complete")
specialPrint("Data File Ready",False,messageType.REGULAR)
def specialPrint(text, inputRequested,type):
if(type == messageType.REGULAR):
print("-" * 81)
print(text)
print("-" * 81 + "\n")
if(inputRequested):
inputReceived = input()
return inputReceived
if(type == messageType.ERROR):
print("*" * 81)
print(text)
print("*" * 81 + "\n")
def ex():
"""
One Time experimental setup
"""
title = specialPrint("Please Enter Experiment Set Title, leave blank for trial runs\n", True, messageType.REGULAR)
experimentConditionMatrix = loadFile()
allowPrinting = True
isNewExperiment = True
experimentCount = 0
"""
Experiment Loop
"""
while(experimentCount<len(experimentConditionMatrix)):
setUp()
currentConditions = experimentConditionMatrix[experimentCount+1]
exitExperimentLoop = runExperiment(title,currentConditions,allowPrinting,isNewExperiment)
if(exitExperimentLoop):
break
experimentCount+=1
cleanUp(title)
"""
End of Experiments
"""
specialPrint("Experiment Battery Complete", False,messageType.REGULAR)
if __name__ == "__main__":
ex()