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preliminary descent and basic flare Python Client testplatform.py & cognitiveModel.py

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cs-powell
2025-02-24 16:40:14 -05:00
parent 44d6200b69
commit cb46f259fe
1 changed files with 6 additions and 5 deletions
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9
Python3/src/cognitiveModel.py
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@@ -52,7 +52,8 @@ class AircraftLandingModel(pyactr.ACTRModel):
# Integral gains (tune these values for performance) # Integral gains (tune these values for performance)
self.Kp = 0.1 # Proportional gain self.Kp = 0.1 # Proportional gain
# self.Ki = 0.01 # Integral gain # self.Ki = 0.01 # Integral gain
self.Ki = 0.001 # Integral gain self.Ki = 0 # Integral gain
def printControls(self,calculated,errors,yokePull,yokeSteer,rudder,throttle): def printControls(self,calculated,errors,yokePull,yokeSteer,rudder,throttle):
@@ -164,16 +165,16 @@ class AircraftLandingModel(pyactr.ACTRModel):
throttle = 0.15 throttle = 0.15
if(self.altitude < 350): ## Integrate using the control equations;; A goal state update if(self.altitude < 100): ## Integrate using the control equations;; A goal state update
throttle = 0.1 throttle = 0.1
yoke_pull = 0.3 yoke_pull = 0.3
if(self.altitude < 200): ## Integrate using the control equations;; A goal state update if(self.altitude < 70): ## Integrate using the control equations;; A goal state update
throttle = 0.05 throttle = 0.05
yoke_pull = 0.4 yoke_pull = 0.4
if(self.altitude < 150): ## Integrate using the control equations;; A goal state update if(self.altitude < 50): ## Integrate using the control equations;; A goal state update
throttle = 0 throttle = 0
yoke_pull = 0.4 yoke_pull = 0.4