FlightSim-Streaming/XPlaneConnectCSP
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new heading tracking via longitude complete

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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
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@@ -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