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Sim: Sync with autopush 'lite' bugfixes, experimental coeffs for smoother performance

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This commit is contained in:
Joshua Davidson 2018-12-29 22:16:02 -05:00
parent 2b5174faa7
commit 758f74d5bc
3 changed files with 12 additions and 12 deletions
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8
A320-main.xml
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@ -32,10 +32,10 @@
<yaw alias="/gear/gear[0]/steering-norm"/> <yaw alias="/gear/gear[0]/steering-norm"/>
<yaw-mult type="float">1.0</yaw-mult> <yaw-mult type="float">1.0</yaw-mult>
<target-speed-km_h type="float">0.0</target-speed-km_h> <target-speed-km_h type="float">0.0</target-speed-km_h>
<K_p type="float">1.0</K_p> <K_p type="float">0.5</K_p>
<F_p type="float">0.1</F_p> <F_p type="float">0.15</F_p>
<K_i type="float">0.01</K_i> <K_i type="float">0.25</K_i>
<F_i type="float">2.0</F_i> <F_i type="float">0.1</F_i>
<K_d type="float">0.0</K_d> <K_d type="float">0.0</K_d>
<F_d type="float">0.0</F_d> <F_d type="float">0.0</F_d>
<driver> <driver>

14
Nasal/autopush.nas
View file

@ -17,7 +17,7 @@ var _K_d = nil;
var _F_d = nil; var _F_d = nil;
var _F = nil; var _F = nil;
var _int = nil; var _int = nil;
var _deltaV = nil; var _V = nil;
var _T_f = nil; var _T_f = nil;
var _K_yaw = nil; var _K_yaw = nil;
var _yasim = 0; var _yasim = 0;
@ -36,9 +36,9 @@ var _loop = func() {
var y = 0.0; var y = 0.0;
# Rollspeed is only adequate if the wheel is touching the ground. # Rollspeed is only adequate if the wheel is touching the ground.
if (getprop("/gear/gear[0]/wow")) { if (getprop("/gear/gear[0]/wow")) {
var deltaV = getprop("/sim/model/pushback/target-speed-km_h"); var V = getprop("/gear/gear[0]/rollspeed-ms") * 3.6;
deltaV -= getprop("/gear/gear[0]/rollspeed-ms") * 3.6; var deltaV = getprop("/sim/model/pushback/target-speed-km_h") - V;
var dV = deltaV - _deltaV; var dV = V - _V;
var time = getprop("/sim/time/elapsed-sec"); var time = getprop("/sim/time/elapsed-sec");
var prop = math.min(math.max(_K_p * deltaV, -_F_p), _F_p); var prop = math.min(math.max(_K_p * deltaV, -_F_p), _F_p);
var speedup = getprop("/sim/speed-up"); var speedup = getprop("/sim/speed-up");
@ -47,7 +47,7 @@ var _loop = func() {
# XXX Sanitising dt. Smaller chance of freakout on lag spike. # XXX Sanitising dt. Smaller chance of freakout on lag spike.
if(dt > 0.0) { if(dt > 0.0) {
if(dt < 0.05) { if(dt < 0.05) {
_int = math.min(math.max(_int + _K_i * dV * dt, -_F_i), _F_i); _int = math.min(math.max(_int + _K_i * deltaV * dt, -_F_i), _F_i);
} }
if(dt > 0.002) { if(dt > 0.002) {
deriv = math.min(math.max(_K_d * dV / dt, -_F_d), _F_d); deriv = math.min(math.max(_K_d * dV / dt, -_F_d), _F_d);
@ -57,7 +57,7 @@ var _loop = func() {
if (_debug > 2) { if (_debug > 2) {
print("pushback prop " ~ prop ~ ", _int " ~ _int ~ ", deriv " ~ deriv); print("pushback prop " ~ prop ~ ", _int " ~ _int ~ ", deriv " ~ deriv);
} }
_deltaV = deltaV; _V = V;
_time = time; _time = time;
if (!_yasim) { if (!_yasim) {
force = accel * getprop("/fdm/jsbsim/inertia/weight-lbs") * _unitconv; force = accel * getprop("/fdm/jsbsim/inertia/weight-lbs") * _unitconv;
@ -98,7 +98,7 @@ var _start = func() {
_yasim = (getprop("/sim/flight-model") == "yasim"); _yasim = (getprop("/sim/flight-model") == "yasim");
_debug = getprop("/sim/model/pushback/debug") or 0; _debug = getprop("/sim/model/pushback/debug") or 0;
_int = 0.0; _int = 0.0;
_deltaV = 0.0; _V = 0.0;
_time = getprop("/sim/time/elapsed-sec"); _time = getprop("/sim/time/elapsed-sec");
setprop("/sim/model/pushback/connected", 1); setprop("/sim/model/pushback/connected", 1);
if (!_timer.isRunning) { if (!_timer.isRunning) {

2
revision.txt
View file

@ -1 +1 @@
4722 4723