Merge branch 'autopush' of github.com:merspieler/IDG-A32X into autopush-chk
This commit is contained in:
Joshua Davidson
commit
cc1622c33b
17 changed files with 2097 additions and 96 deletions
|
|
@ -28,10 +28,31 @@
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|||
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||||
<model>
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||||
<pushback>
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||||
<kp type="double">5000</kp>
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||||
<ki type="double">200</ki>
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||||
<kd type="double">500</kd>
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||||
<position-norm type="double">0</position-norm>
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||||
<position-norm>0</position-norm>
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||||
<enabled type="int"/>
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||||
<available type="int">1</available>
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||||
<chocks alias="/controls/gear/wheel-chocks"/>
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||||
<steer-cmd-norm alias="/controls/flight/rudder"/>
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||||
<yaw alias="/gear/gear[0]/steering-norm"/>
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<yaw-mult type="float">1.0</yaw-mult>
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||||
<target-speed-km_h type="float">0.0</target-speed-km_h>
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||||
<K_p type="float">1.0</K_p>
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||||
<F_p type="float">0.1</F_p>
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||||
<K_i type="float">0.01</K_i>
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<F_i type="float">2.0</F_i>
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<K_d type="float">0.0</K_d>
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<F_d type="float">0.0</F_d>
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<driver>
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<K_V type="float">5.5</K_V>
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<F_V type="float">5.5</F_V>
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<D_min-m type="float">5.0</D_min-m>
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<K_psi type="float">0.03</K_psi>
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<debug type="bool">true</debug>
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</driver>
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<route>
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<show type="bool"/>
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<view type="string">Model View</view>
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</route>
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</pushback>
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<icing>
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<iceable>
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@ -221,8 +242,11 @@
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<item>
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<label>Pushback</label>
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<binding>
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<command>dialog-show</command>
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<dialog-name>pushback</dialog-name>
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<command>nasal</command>
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<script>
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var autopush_dlg = gui.Dialog.new("sim/gui/dialogs/announce/dialog", "Aircraft/IDG-A32X/AircraftConfig/autopush.xml");
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autopush_dlg.open();
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</script>
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</binding>
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</item>
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<item>
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@ -1500,6 +1524,28 @@
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<icing>
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<file>Aircraft/IDG-A32X/Nasal/icing.nas</file>
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</icing>
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<autopush>
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<file>Nasal/autopush.nas</file>
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</autopush>
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<autopush_driver>
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<file>Nasal/autopush_driver.nas</file>
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</autopush_driver>
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<dynarr>
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<file>Nasal/dynarr.nas</file>
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</dynarr>
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<autopush_route>
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<file>Nasal/autopush_route.nas</file>
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</autopush_route>
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</nasal>
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<fdm>
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<jsbsim>
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<external_reactions>
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<tractor>
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<magnitude alias="/sim/model/pushback/force-lbf"/>
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<x alias="/sim/model/pushback/force-x"/>
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<y alias="/sim/model/pushback/force-y"/>
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</tractor>
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</external_reactions>
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</jsbsim>
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</fdm>
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</PropertyList>
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329
AircraftConfig/autopush.xml
Normal file
329
AircraftConfig/autopush.xml
Normal file
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@ -0,0 +1,329 @@
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<?xml version="1.0"?>
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<!--
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AUTOPUSH
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Pushback dialog.
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Copyright (c) 2018 Autopush authors:
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Michael Danilov <mike.d.ft402 -eh- gmail.com>
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Joshua Davidson http://github.com/it0uchpods
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Merspieler http://gitlab.com/merspieler
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Original code (c) FlightGear
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Distribute under the terms of GPLv2.
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||||
-->
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<PropertyList>
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<name>autopush</name>
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<layout>vbox</layout>
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<group>
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<layout>hbox</layout>
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<text>
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<label>Pushback</label>
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</text>
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<empty>
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<stretch>true</stretch>
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</empty>
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<button>
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<halign>right</halign>
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<pref-width>16</pref-width>
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<pref-height>16</pref-height>
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<legend/>
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<key>Esc</key>
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<binding>
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<command>dialog-close</command>
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</binding>
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</button>
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</group>
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<hrule/>
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<group>
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||||
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<stretch>true</stretch>
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<layout>vbox</layout>
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<halign>center</halign>
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<valign>top</valign>
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<checkbox>
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<halign>left</halign>
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<label>Connect</label>
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<property>/sim/model/pushback/enabled</property>
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<live>true</live>
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<binding>
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<command>dialog-apply</command>
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</binding>
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</checkbox>
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<group>
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<layout>table</layout>
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<text>
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<row>0</row>
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<col>0</col>
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<label>Steering:</label>
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<halign>left</halign>
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</text>
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<button>
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<row>0</row>
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<col>1</col>
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<pref-width>25</pref-width>
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<pref-height>25</pref-height>
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<legend><</legend>
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<binding>
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<command>property-adjust</command>
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<property>/sim/model/pushback/steer-cmd-norm</property>
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<min>-1.0</min>
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<max>1.0</max>
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<step>-0.02</step>
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<wrap>false</wrap>
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</binding>
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</button>
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<slider>
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<row>0</row>
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<col>2</col>
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<min>-1.0</min>
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<max>1.0</max>
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<property>/sim/model/pushback/steer-cmd-norm</property>
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<live>true</live>
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<binding>
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<command>dialog-apply</command>
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</binding>
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</slider>
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<button>
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<row>0</row>
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<col>3</col>
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<pref-width>25</pref-width>
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<pref-height>25</pref-height>
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<legend>></legend>
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<binding>
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<command>property-adjust</command>
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<property>/sim/model/pushback/steer-cmd-norm</property>
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<min>-1.0</min>
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<max>1.0</max>
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<step>0.02</step>
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||||
<wrap>false</wrap>
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||||
</binding>
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||||
</button>
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||||
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||||
<button>
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||||
<row>0</row>
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<col>4</col>
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<pref-width>50</pref-width>
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||||
<pref-height>25</pref-height>
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||||
<legend>Center</legend>
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||||
<binding>
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||||
<command>property-assign</command>
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||||
<property>/sim/model/pushback/steer-cmd-norm</property>
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<value>0</value>
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||||
</binding>
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||||
</button>
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||||
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||||
<text>
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||||
<row>1</row>
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<col>0</col>
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<label>Speed:</label>
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||||
<halign>left</halign>
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</text>
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||||
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||||
<button>
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||||
<row>1</row>
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||||
<col>1</col>
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||||
<pref-width>25</pref-width>
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||||
<pref-height>25</pref-height>
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||||
<legend><</legend>
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||||
<binding>
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||||
<command>property-adjust</command>
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<property>/sim/model/pushback/target-speed-km_h</property>
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||||
<min>-25</min>
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||||
<max>25</max>
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||||
<step>-1</step>
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||||
<wrap>false</wrap>
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||||
</binding>
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||||
</button>
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||||
|
||||
<slider>
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||||
<row>1</row>
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||||
<col>2</col>
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<min>-25</min>
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||||
<max>25</max>
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||||
<property>/sim/model/pushback/target-speed-km_h</property>
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||||
<live>true</live>
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||||
<binding>
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||||
<command>dialog-apply</command>
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||||
</binding>
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||||
</slider>
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||||
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||||
<button>
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||||
<row>1</row>
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||||
<col>3</col>
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||||
<pref-width>25</pref-width>
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||||
<pref-height>25</pref-height>
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||||
<legend>></legend>
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||||
<binding>
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||||
<command>property-adjust</command>
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||||
<property>/sim/model/pushback/target-speed-km_h</property>
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||||
<min>-25</min>
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||||
<max>25</max>
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||||
<step>1</step>
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||||
<wrap>false</wrap>
|
||||
</binding>
|
||||
</button>
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||||
|
||||
<button>
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||||
<row>1</row>
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||||
<col>4</col>
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||||
<pref-width>50</pref-width>
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||||
<pref-height>25</pref-height>
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||||
<legend>Stop</legend>
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||||
<binding>
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||||
<command>property-assign</command>
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||||
<property>/sim/model/pushback/target-speed-km_h</property>
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||||
<value>0</value>
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||||
</binding>
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||||
</button>
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||||
|
||||
<text>
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||||
<row>1</row>
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||||
<col>5</col>
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||||
<pref-width>16</pref-width>
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||||
<property>/sim/model/pushback/target-speed-km_h</property>
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||||
<format>%3.0f</format>
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||||
<live>true</live>
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||||
<halign>right</halign>
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||||
</text>
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||||
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||||
<text>
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||||
<row>1</row>
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||||
<col>6</col>
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||||
<label> km/h</label>
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||||
<halign>left</halign>
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||||
</text>
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||||
|
||||
</group>
|
||||
|
||||
<hrule/>
|
||||
|
||||
<group>
|
||||
<layout>table</layout>
|
||||
|
||||
<text>
|
||||
<row>0</row>
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||||
<col>0</col>
|
||||
<label>Auto push:</label>
|
||||
<halign>left</halign>
|
||||
</text>
|
||||
|
||||
<button>
|
||||
<row>0</row>
|
||||
<col>1</col>
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||||
<pref-width>50</pref-width>
|
||||
<pref-height>25</pref-height>
|
||||
<legend>Start</legend>
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||||
<binding>
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||||
<command>nasal</command>
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||||
<script>autopush_driver.start();</script>
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||||
</binding>
|
||||
</button>
|
||||
|
||||
<button>
|
||||
<row>0</row>
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||||
<col>2</col>
|
||||
<pref-width>50</pref-width>
|
||||
<pref-height>25</pref-height>
|
||||
<legend>Stop</legend>
|
||||
<binding>
|
||||
<command>nasal</command>
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||||
<script>autopush_driver.stop();</script>
|
||||
</binding>
|
||||
</button>
|
||||
|
||||
<text>
|
||||
<row>1</row>
|
||||
<col>0</col>
|
||||
<label>Route:</label>
|
||||
<halign>left</halign>
|
||||
</text>
|
||||
|
||||
<button>
|
||||
<row>1</row>
|
||||
<col>1</col>
|
||||
<pref-width>50</pref-width>
|
||||
<pref-height>25</pref-height>
|
||||
<legend>Enter</legend>
|
||||
<binding>
|
||||
<command>nasal</command>
|
||||
<script>autopush_route.enter();</script>
|
||||
</binding>
|
||||
</button>
|
||||
|
||||
<button>
|
||||
<row>1</row>
|
||||
<col>2</col>
|
||||
<pref-width>50</pref-width>
|
||||
<pref-height>25</pref-height>
|
||||
<legend>Done</legend>
|
||||
<binding>
|
||||
<command>nasal</command>
|
||||
<script>autopush_route.done();</script>
|
||||
</binding>
|
||||
</button>
|
||||
|
||||
<checkbox>
|
||||
<row>1</row>
|
||||
<col>3</col>
|
||||
<halign>left</halign>
|
||||
<label>Show</label>
|
||||
<property>/sim/model/pushback/route/show</property>
|
||||
<binding>
|
||||
<command>dialog-apply</command>
|
||||
</binding>
|
||||
</checkbox>
|
||||
|
||||
<text>
|
||||
<row>2</row>
|
||||
<col>0</col>
|
||||
<label>Last point:</label>
|
||||
<halign>left</halign>
|
||||
</text>
|
||||
|
||||
<button>
|
||||
<row>2</row>
|
||||
<col>1</col>
|
||||
<pref-width>50</pref-width>
|
||||
<pref-height>25</pref-height>
|
||||
<legend>Sharp</legend>
|
||||
<binding>
|
||||
<command>nasal</command>
|
||||
<script>autopush_route.toggle_node();</script>
|
||||
</binding>
|
||||
</button>
|
||||
|
||||
<button>
|
||||
<row>2</row>
|
||||
<col>2</col>
|
||||
<pref-width>50</pref-width>
|
||||
<pref-height>25</pref-height>
|
||||
<legend>Delete</legend>
|
||||
<binding>
|
||||
<command>nasal</command>
|
||||
<script>autopush_route.delete_last();</script>
|
||||
</binding>
|
||||
</button>
|
||||
|
||||
</group>
|
||||
|
||||
</group>
|
||||
|
||||
</PropertyList>
|
||||
132
Models/Autopush/Goldhofert.xml
Normal file
132
Models/Autopush/Goldhofert.xml
Normal file
|
|
@ -0,0 +1,132 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<!--
|
||||
|
||||
AUTOPUSH
|
||||
|
||||
Copyright (c) 2018 Autopush authors:
|
||||
Michael Danilov <mike.d.ft402 -eh- gmail.com>
|
||||
Joshua Davidson http://github.com/it0uchpods
|
||||
Merspieler http://github.com/merspieler
|
||||
Original code (c) FlightGear
|
||||
Distribute under the terms of GPLv2.
|
||||
|
||||
-->
|
||||
<PropertyList>
|
||||
<path>Models/Airport/Pushback/Goldhofert.ac</path>
|
||||
|
||||
<!-- Trucks models and artworks courtesy of XPGoodWay Team
|
||||
(http://www.xpgoodwayteam.org/site_xpushback/) -->
|
||||
|
||||
<model>
|
||||
<path>Models/Airport/Pushback/Goldhofert-warning-light.xml</path>
|
||||
<offsets>
|
||||
<x-m>-2.908</x-m>
|
||||
<y-m>0.260</y-m>
|
||||
<z-m>1.326</z-m>
|
||||
<heading-deg>0</heading-deg>
|
||||
</offsets>
|
||||
</model>
|
||||
|
||||
<model>
|
||||
<path>Models/Airport/Pushback/Goldhofert-warning-light.xml</path>
|
||||
<offsets>
|
||||
<x-m>-1.781</x-m>
|
||||
<y-m>0.260</y-m>
|
||||
<z-m>1.326</z-m>
|
||||
<heading-deg>90</heading-deg>
|
||||
</offsets>
|
||||
</model>
|
||||
|
||||
<animation>
|
||||
<type>spin</type>
|
||||
<object-name>wheelfl</object-name>
|
||||
<object-name>wheelfr</object-name>
|
||||
<!-- SETTING The aircraft's front wheel rollspeed in m/s. -->
|
||||
<property>gear/gear[0]/rollspeed-ms</property>
|
||||
<factor>-16.3</factor>
|
||||
<center>
|
||||
<x-m>-2.8976</x-m>
|
||||
<y-m>0</y-m>
|
||||
<z-m>0.5809</z-m>
|
||||
</center>
|
||||
<axis>
|
||||
<x>0</x>
|
||||
<y>1</y>
|
||||
<z>0</z>
|
||||
</axis>
|
||||
</animation>
|
||||
|
||||
<animation>
|
||||
<type>spin</type>
|
||||
<object-name>wheelrl</object-name>
|
||||
<object-name>wheelrr</object-name>
|
||||
<!-- SETTING The aircraft's front wheel rollspeed in m/s. -->
|
||||
<property>gear/gear[0]/rollspeed-ms</property>
|
||||
<factor>-16.3</factor>
|
||||
<center>
|
||||
<x-m>2.0501</x-m>
|
||||
<y-m>0</y-m>
|
||||
<z-m>0.5735</z-m>
|
||||
</center>
|
||||
<axis>
|
||||
<x>0</x>
|
||||
<y>1</y>
|
||||
<z>0</z>
|
||||
</axis>
|
||||
</animation>
|
||||
|
||||
<animation>
|
||||
<type>select</type>
|
||||
<condition>
|
||||
<!-- SETTING Whether connected: /sim/model/pushback/connected -->
|
||||
<property>sim/model/pushback/connected</property>
|
||||
</condition>
|
||||
</animation>
|
||||
|
||||
<animation>
|
||||
<type>rotate</type>
|
||||
<property>sim/model/pushback/yaw</property>
|
||||
<!-- SETTING The value of /sim/model/pushback/yaw-mult. -->
|
||||
<factor>60.0</factor>
|
||||
<center>
|
||||
<x-m>0</x-m>
|
||||
<y-m>0</y-m>
|
||||
<z-m>0</z-m>
|
||||
</center>
|
||||
<axis>
|
||||
<x>0</x>
|
||||
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589
Models/Autopush/cursor.ac
Normal file
589
Models/Autopush/cursor.ac
Normal file
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@ -0,0 +1,589 @@
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Michael Danilov <mike.d.ft402 -eh- gmail.com>
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Joshua Davidson http://github.com/it0uchpods
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Joshua Davidson http://github.com/it0uchpods
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||||
6 0.186299 0.548773
|
||||
SURF 0X0
|
||||
mat 0
|
||||
refs 3
|
||||
32 0.125 0.5
|
||||
20 0.073033 0.361108
|
||||
19 0.080806 0.323223
|
||||
SURF 0X0
|
||||
mat 0
|
||||
refs 3
|
||||
32 0.125 0.5
|
||||
6 0.186299 0.548773
|
||||
5 0.182742 0.595671
|
||||
SURF 0X0
|
||||
mat 0
|
||||
refs 3
|
||||
32 0.125 0.5
|
||||
19 0.080806 0.323223
|
||||
18 0.090277 0.292133
|
||||
SURF 0X0
|
||||
mat 0
|
||||
refs 3
|
||||
32 0.125 0.5
|
||||
5 0.182742 0.595671
|
||||
4 0.176967 0.638893
|
||||
kids 0
|
||||
29
Models/Autopush/waypoint.xml
Normal file
29
Models/Autopush/waypoint.xml
Normal file
|
|
@ -0,0 +1,29 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<!--
|
||||
|
||||
AUTOPUSH
|
||||
Waypoint model.
|
||||
|
||||
Copyright (c) 2018 Autopush authors:
|
||||
Michael Danilov <mike.d.ft402 -eh- gmail.com>
|
||||
Joshua Davidson http://github.com/it0uchpods
|
||||
Merspieler http://gitlab.com/merspieler
|
||||
Distribute under the terms of GPLv2.
|
||||
|
||||
-->
|
||||
<PropertyList>
|
||||
|
||||
<path>waypoint.ac</path>
|
||||
|
||||
<animation>
|
||||
<enable-hot>false</enable-hot>
|
||||
</animation>
|
||||
|
||||
<animation>
|
||||
<type>scale</type>
|
||||
<property>/sim/model/pushback/driver/D_min-m</property>
|
||||
<z-factor>0.0</z-factor>
|
||||
<z-min>1.0</z-min>
|
||||
</animation>
|
||||
|
||||
</PropertyList>
|
||||
|
|
@ -79,24 +79,6 @@
|
|||
</axis>
|
||||
</animation>
|
||||
|
||||
<!-- change heading of the pushback when driving the arc -->
|
||||
<animation>
|
||||
<type>rotate</type>
|
||||
<property>sim/model/pushback/position-norm</property>
|
||||
<factor>-90</factor>
|
||||
<offset-deg>90</offset-deg>
|
||||
<center>
|
||||
<x-m>0</x-m>
|
||||
<y-m>0</y-m>
|
||||
<z-m>0</z-m>
|
||||
</center>
|
||||
<axis>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<z>1</z>
|
||||
</axis>
|
||||
</animation>
|
||||
|
||||
<!-- compensate for gear compression -->
|
||||
<animation>
|
||||
<type>translate</type>
|
||||
|
|
@ -109,72 +91,22 @@
|
|||
</axis>
|
||||
</animation>
|
||||
|
||||
<!-- precalculated sin and asin to move the pushback on a 90deg arc, 25m radius -->
|
||||
<animation>
|
||||
<type>translate</type>
|
||||
<property>sim/model/pushback/position-norm</property>
|
||||
<interpolation>
|
||||
<entry><ind>1.000000</ind><dep>0.000000</dep></entry>
|
||||
<entry><ind>0.950000</ind><dep>1.961477</dep></entry>
|
||||
<entry><ind>0.900000</ind><dep>3.910862</dep></entry>
|
||||
<entry><ind>0.850000</ind><dep>5.836134</dep></entry>
|
||||
<entry><ind>0.800000</ind><dep>7.725425</dep></entry>
|
||||
<entry><ind>0.750000</ind><dep>9.567086</dep></entry>
|
||||
<entry><ind>0.700000</ind><dep>11.349763</dep></entry>
|
||||
<entry><ind>0.650000</ind><dep>13.062464</dep></entry>
|
||||
<entry><ind>0.600000</ind><dep>14.694631</dep></entry>
|
||||
<entry><ind>0.550000</ind><dep>16.236201</dep></entry>
|
||||
<entry><ind>0.500000</ind><dep>17.677670</dep></entry>
|
||||
<entry><ind>0.450000</ind><dep>19.010149</dep></entry>
|
||||
<entry><ind>0.400000</ind><dep>20.225425</dep></entry>
|
||||
<entry><ind>0.350000</ind><dep>21.316004</dep></entry>
|
||||
<entry><ind>0.300000</ind><dep>22.275163</dep></entry>
|
||||
<entry><ind>0.250000</ind><dep>23.096988</dep></entry>
|
||||
<entry><ind>0.200000</ind><dep>23.776413</dep></entry>
|
||||
<entry><ind>0.150000</ind><dep>24.309248</dep></entry>
|
||||
<entry><ind>0.100000</ind><dep>24.692209</dep></entry>
|
||||
<entry><ind>0.050000</ind><dep>24.922933</dep></entry>
|
||||
<entry><ind>0.000000</ind><dep>25.000000</dep></entry>
|
||||
</interpolation>
|
||||
<axis>
|
||||
<x>-1</x>
|
||||
<y>0</y>
|
||||
<z>0</z>
|
||||
</axis>
|
||||
</animation>
|
||||
|
||||
<animation>
|
||||
<type>translate</type>
|
||||
<property>sim/model/pushback/position-norm</property>
|
||||
<interpolation>
|
||||
<entry><ind>1.000000</ind><dep>0.000000</dep></entry>
|
||||
<entry><ind>0.950000</ind><dep>0.077067</dep></entry>
|
||||
<entry><ind>0.900000</ind><dep>0.307791</dep></entry>
|
||||
<entry><ind>0.850000</ind><dep>0.690752</dep></entry>
|
||||
<entry><ind>0.800000</ind><dep>1.223587</dep></entry>
|
||||
<entry><ind>0.750000</ind><dep>1.903012</dep></entry>
|
||||
<entry><ind>0.700000</ind><dep>2.724837</dep></entry>
|
||||
<entry><ind>0.650000</ind><dep>3.683996</dep></entry>
|
||||
<entry><ind>0.600000</ind><dep>4.774575</dep></entry>
|
||||
<entry><ind>0.550000</ind><dep>5.989851</dep></entry>
|
||||
<entry><ind>0.500000</ind><dep>7.322330</dep></entry>
|
||||
<entry><ind>0.450000</ind><dep>8.763799</dep></entry>
|
||||
<entry><ind>0.400000</ind><dep>10.305369</dep></entry>
|
||||
<entry><ind>0.350000</ind><dep>11.937536</dep></entry>
|
||||
<entry><ind>0.300000</ind><dep>13.650238</dep></entry>
|
||||
<entry><ind>0.250000</ind><dep>15.432914</dep></entry>
|
||||
<entry><ind>0.200000</ind><dep>17.274575</dep></entry>
|
||||
<entry><ind>0.150000</ind><dep>19.163866</dep></entry>
|
||||
<entry><ind>0.100000</ind><dep>21.089138</dep></entry>
|
||||
<entry><ind>0.050000</ind><dep>23.038523</dep></entry>
|
||||
<entry><ind>0.000000</ind><dep>25.000000</dep></entry>
|
||||
</interpolation>
|
||||
<type>rotate</type>
|
||||
<property>gear/gear[0]/steering-norm</property>
|
||||
<factor>-70</factor>
|
||||
<center>
|
||||
<x-m>0</x-m>
|
||||
<y-m>0</y-m>
|
||||
<z-m>0</z-m>
|
||||
</center>
|
||||
<axis>
|
||||
<x>0</x>
|
||||
<y>-1</y>
|
||||
<z>0</z>
|
||||
<y>0</y>
|
||||
<z>1</z>
|
||||
</axis>
|
||||
</animation>
|
||||
|
||||
|
||||
<!-- compensate for pitch of aircraft, keep pushback level -->
|
||||
<animation>
|
||||
|
|
|
|||
136
Nasal/autopush.nas
Normal file
136
Nasal/autopush.nas
Normal file
|
|
@ -0,0 +1,136 @@
|
|||
# AUTOPUSH
|
||||
# Basic pushback logic class.
|
||||
#
|
||||
# Copyright (c) 2018 Autopush authors:
|
||||
# Michael Danilov <mike.d.ft402 -eh- gmail.com>
|
||||
# Joshua Davidson http://github.com/it0uchpods
|
||||
# Merspieler http://gitlab.com/merspieler
|
||||
# Distribute under the terms of GPLv2.
|
||||
|
||||
|
||||
var _enabled = 0;
|
||||
var _K_p = nil;
|
||||
var _F_p = nil;
|
||||
var _K_i = nil;
|
||||
var _F_i = nil;
|
||||
var _K_d = nil;
|
||||
var _F_d = nil;
|
||||
var _F = nil;
|
||||
var _int = nil;
|
||||
var _deltaV = nil;
|
||||
var _T_f = nil;
|
||||
var _K_yaw = nil;
|
||||
var _yasim = 0;
|
||||
var _time = nil;
|
||||
# (ft / s^2) / ((km / h) / s)
|
||||
var _unitconv = M2FT / 3.6;
|
||||
var _debug = nil;
|
||||
|
||||
var _loop = func() {
|
||||
if (!getprop("/sim/model/pushback/available")) {
|
||||
_stop();
|
||||
return;
|
||||
}
|
||||
var force = 0.0;
|
||||
var x = 0.0;
|
||||
var y = 0.0;
|
||||
# Rollspeed is only adequate if the wheel is touching the ground.
|
||||
if (getprop("/gear/gear[0]/wow")) {
|
||||
var deltaV = getprop("/sim/model/pushback/target-speed-km_h");
|
||||
deltaV -= getprop("/gear/gear[0]/rollspeed-ms") * 3.6;
|
||||
var dV = deltaV - _deltaV;
|
||||
var time = getprop("/sim/time/elapsed-sec");
|
||||
var prop = math.min(math.max(_K_p * deltaV, -_F_p), _F_p);
|
||||
var speedup = getprop("/sim/speed-up");
|
||||
dt = time - _time;
|
||||
# XXX Sanitising dt. Smaller chance of freakout on lag spike.
|
||||
if(dt > 0.0) {
|
||||
if(dt < 0.05) {
|
||||
_int = math.min(math.max(_int + _K_i * dV * dt, -_F_i), _F_i);
|
||||
}
|
||||
if(dt > 0.002) {
|
||||
var deriv = math.min(math.max(_K_d * dV / dt, -_F_d), _F_d);
|
||||
}
|
||||
}
|
||||
var accel = prop + _int + deriv;
|
||||
if (_debug > 2) {
|
||||
print("pushback prop " ~ prop ~ ", _int " ~ _int ~ ", deriv " ~ deriv);
|
||||
}
|
||||
_deltaV = deltaV;
|
||||
_time = time;
|
||||
if (!_yasim) {
|
||||
force = accel * getprop("/fdm/jsbsim/inertia/weight-lbs") * _unitconv;
|
||||
} else {
|
||||
force = accel * getprop("/fdm/yasim/gross-weight-lbs") * _unitconv;
|
||||
}
|
||||
var yaw = getprop("/sim/model/pushback/yaw") * _K_yaw;
|
||||
x = math.cos(yaw);
|
||||
y = math.sin(yaw);
|
||||
setprop("/sim/model/pushback/force-x", x);
|
||||
setprop("/sim/model/pushback/force-y", y);
|
||||
}
|
||||
setprop("/sim/model/pushback/force-lbf", force);
|
||||
if (_yasim) {
|
||||
# The force is divided by YASim thrust="100000.0" setting.
|
||||
setprop("/sim/model/pushback/force-x-yasim", x * force * 0.00001);
|
||||
# YASim's y is to the left.
|
||||
setprop("/sim/model/pushback/force-y-yasim", -y * force * 0.00001);
|
||||
}
|
||||
}
|
||||
|
||||
var _timer = maketimer(0.0167, func{_loop()});
|
||||
|
||||
var _start = func() {
|
||||
# Else overwritten by dialog.
|
||||
settimer(func() {
|
||||
setprop("/sim/model/pushback/target-speed-km_h", 0.0)
|
||||
}, 0.1);
|
||||
_K_p = getprop("/sim/model/pushback/K_p");
|
||||
_F_p = getprop("/sim/model/pushback/F_p");
|
||||
_K_i = getprop("/sim/model/pushback/K_i");
|
||||
_F_i = getprop("/sim/model/pushback/F_i");
|
||||
_K_d = getprop("/sim/model/pushback/K_d");
|
||||
_F_d = getprop("/sim/model/pushback/F_d");
|
||||
_F = getprop("/sim/model/pushback/F");
|
||||
_T_f = getprop("/sim/model/pushback/T_f");
|
||||
_K_yaw = getprop("/sim/model/pushback/yaw-mult") * D2R;
|
||||
_yasim = (getprop("/sim/flight-model") == "yasim");
|
||||
_debug = getprop("/sim/model/pushback/debug") or 0;
|
||||
_int = 0.0;
|
||||
_deltaV = 0.0;
|
||||
_time = getprop("/sim/time/elapsed-sec");
|
||||
setprop("/sim/model/pushback/connected", 1);
|
||||
if (!_timer.isRunning) {
|
||||
if (getprop("/sim/model/pushback/chocks")) {
|
||||
setprop("/sim/model/pushback/chocks", 0);
|
||||
screen.log.write("(pushback): Pushback connected, chocks removed. Please release brakes.");
|
||||
} else {
|
||||
screen.log.write("(pushback): Pushback connected, please release brakes.");
|
||||
}
|
||||
}
|
||||
_timer.start();
|
||||
}
|
||||
|
||||
var _stop = func() {
|
||||
if (_timer.isRunning) {
|
||||
screen.log.write("(pushback): Pushback and bypass pin removed.");
|
||||
}
|
||||
_timer.stop();
|
||||
setprop("/sim/model/pushback/force-lbf", 0.0);
|
||||
if (_yasim) {
|
||||
setprop("/sim/model/pushback/force-x-yasim", 0.0);
|
||||
setprop("/sim/model/pushback/force-y-yasim", 0.0);
|
||||
}
|
||||
setprop("/sim/model/pushback/connected", 0);
|
||||
setprop("/sim/model/pushback/enabled", 0);
|
||||
}
|
||||
|
||||
setlistener("/sim/model/pushback/enabled", func(p) {
|
||||
var enabled = p.getValue();
|
||||
if ((enabled > _enabled) and getprop("/sim/model/pushback/available")) {
|
||||
_start();
|
||||
} else if (enabled < _enabled) {
|
||||
_stop();
|
||||
}
|
||||
_enabled = enabled;
|
||||
});
|
||||
101
Nasal/autopush_driver.nas
Normal file
101
Nasal/autopush_driver.nas
Normal file
|
|
@ -0,0 +1,101 @@
|
|||
# AUTOPUSH
|
||||
# Pushback driver class.
|
||||
#
|
||||
# Command the pushback to tow/push the aircraft.
|
||||
#
|
||||
# Copyright (c) 2018 Autopush authors:
|
||||
# Michael Danilov <mike.d.ft402 -eh- gmail.com>
|
||||
# Joshua Davidson http://github.com/it0uchpods
|
||||
# Merspieler http://gitlab.com/merspieler
|
||||
# Distribute under the terms of GPLv2.
|
||||
|
||||
|
||||
var _K_V = nil;
|
||||
var _F_V = nil;
|
||||
var _D_min = nil;
|
||||
var _K_psi = nil;
|
||||
var _debug = nil;
|
||||
|
||||
var _route = nil;
|
||||
var _push = nil;
|
||||
var _sign = nil;
|
||||
var _psi_park = nil;
|
||||
|
||||
var _to_wp = nil;
|
||||
|
||||
|
||||
var _loop = func() {
|
||||
if (!getprop("/sim/model/pushback/connected")) {
|
||||
stop();
|
||||
return;
|
||||
}
|
||||
var psi = getprop("/orientation/heading-deg") + _push * 180.0;
|
||||
var (A, D) = courseAndDistance(_route[_to_wp]);
|
||||
D *= NM2M;
|
||||
# FIXME Use _K_V and total remaining distance.
|
||||
var V = _F_V;
|
||||
if ((D < _D_min) or (abs(geo.normdeg180(A - psi) > 90.0))) {
|
||||
_to_wp += 1;
|
||||
if (_to_wp == size(_route)) {
|
||||
_done();
|
||||
autopush_route.clear();
|
||||
return;
|
||||
}
|
||||
if (_debug) {
|
||||
print("pushback_driver wp " ~ _to_wp);
|
||||
}
|
||||
}
|
||||
if (_debug > 1) {
|
||||
print("pushback_driver psi_target " ~ geo.normdeg(A) ~ ", deltapsi " ~ _sign * geo.normdeg180(A - psi));
|
||||
}
|
||||
setprop("/sim/model/pushback/target-speed-km_h", _sign * V);
|
||||
steering = math.min(math.max(_sign * _K_psi * geo.normdeg180(A - psi), -1.0), 1.0);
|
||||
setprop("/sim/model/pushback/steer-cmd-norm", steering);
|
||||
}
|
||||
|
||||
var _timer = maketimer(0.051, func{_loop()});
|
||||
|
||||
var _done = func() {
|
||||
stop();
|
||||
screen.log.write("(pushback): Pushback complete, please set parking brake.");
|
||||
}
|
||||
|
||||
var start = func() {
|
||||
if (_timer.isRunning) {
|
||||
stop();
|
||||
}
|
||||
if (!getprop("/sim/model/pushback/connected")) {
|
||||
gui.popupTip("Pushback must be connected");
|
||||
return;
|
||||
}
|
||||
_route = autopush_route.route();
|
||||
if ((_route == nil) or size(_route) < 2) {
|
||||
autopush_route.enter(1);
|
||||
return;
|
||||
}else{
|
||||
autopush_route.done();
|
||||
}
|
||||
_K_V = getprop("/sim/model/pushback/driver/K_V");
|
||||
_F_V = getprop("/sim/model/pushback/driver/F_V");
|
||||
_D_min = getprop("/sim/model/pushback/driver/D_min-m");
|
||||
_K_psi = getprop("/sim/model/pushback/driver/K_psi");
|
||||
_debug = getprop("/sim/model/pushback/debug") or 0;
|
||||
var (psi_park, D_park) = courseAndDistance(_route[0], _route[1]);
|
||||
var (psi_twy, D_twy) = courseAndDistance(_route[size(_route) - 2], _route[size(_route) - 1]);
|
||||
_psi_park = psi_park;
|
||||
_push = (abs(geo.normdeg180(getprop("/orientation/heading-deg") - psi_park)) > 90.0);
|
||||
_sign = 1.0 - 2.0 * _push;
|
||||
_to_wp = 0;
|
||||
_timer.start();
|
||||
if (_sign < 0.0) {
|
||||
screen.log.write("(pushback): Push back facing " ~ int(geo.normdeg(psi_twy + 180.0 - magvar())) ~ ".");
|
||||
} else {
|
||||
screen.log.write("(pushback): Tow facing " ~ int(geo.normdeg(psi_twy - magvar())) ~ ".");
|
||||
}
|
||||
}
|
||||
|
||||
var stop = func() {
|
||||
_timer.stop();
|
||||
setprop("/sim/model/pushback/target-speed-km_h", 0.0);
|
||||
autopush_route.clear();
|
||||
}
|
||||
292
Nasal/autopush_route.nas
Normal file
292
Nasal/autopush_route.nas
Normal file
|
|
@ -0,0 +1,292 @@
|
|||
# AUTOPUSH
|
||||
# Visual entry of pushback route.
|
||||
#
|
||||
# Copyright (c) 2018 Autopush authors:
|
||||
# Michael Danilov <mike.d.ft402 -eh- gmail.com>
|
||||
# Joshua Davidson http://github.com/it0uchpods
|
||||
# Merspieler http://gitlab.com/merspieler
|
||||
# Distribute under the terms of GPLv2.
|
||||
|
||||
|
||||
var _listener = nil;
|
||||
var _view_listener = nil;
|
||||
var _user_points = dynarr.dynarr.new(4);
|
||||
var _user_point_modes = dynarr.dynarr.new(4); # Modes: 0 = Bezier node, 1 = Bezier end/start node
|
||||
var _route = [];
|
||||
var _view_index = nil;
|
||||
var _user_point_models = [];
|
||||
var _waypoint_models = [];
|
||||
var _N = 0;
|
||||
var _show = 0;
|
||||
var _view_changed_or_external = 0;
|
||||
var _start_immediately = nil;
|
||||
var _D_min = nil;
|
||||
|
||||
|
||||
var _add = func(pos) {
|
||||
if (_N) {
|
||||
var (A, S) = courseAndDistance(_user_points.arr[_N - 1], pos);
|
||||
if (S * NM2M < 3 * _D_min) {
|
||||
gui.popupTip("Too close to the previous point,\ntry again");
|
||||
return;
|
||||
}
|
||||
}
|
||||
_user_points.add(geo.Coord.new(pos));
|
||||
|
||||
if (_user_point_modes.maxsize == 1 and _user_point_modes.size == 1) {
|
||||
_user_point_modes.arr[0] = 0;
|
||||
} else {
|
||||
_user_point_modes.add(0);
|
||||
}
|
||||
setsize(_user_point_models, _N + 1);
|
||||
_user_point_models[_N] = geo.put_model("Models/Autopush/cursor.xml", pos, 0.0);
|
||||
_N += 1;
|
||||
if (_N == 1) {
|
||||
gui.popupTip("Click waypoints, press \"Done\" to finish");
|
||||
} else {
|
||||
_calculate_route();
|
||||
_place_waypoint_models();
|
||||
}
|
||||
}
|
||||
|
||||
var delete_last = func() {
|
||||
if (_listener == nil) {
|
||||
return;
|
||||
}
|
||||
if (_N > 1) {
|
||||
_N -= 1;
|
||||
_user_points.del(_N);
|
||||
_user_point_modes.del(_N);
|
||||
_user_point_models[_N].remove();
|
||||
_user_point_models[_N] = nil;
|
||||
setsize(_user_point_models, _N);
|
||||
_calculate_route();
|
||||
_place_waypoint_models();
|
||||
}
|
||||
}
|
||||
|
||||
var _stop = func(fail = 0) {
|
||||
if (_listener != nil) {
|
||||
removelistener(_listener);
|
||||
_listener = nil;
|
||||
if (!fail) {
|
||||
settimer(func() {
|
||||
_reset_view();
|
||||
if (_start_immediately) {
|
||||
autopush_driver.start();
|
||||
} else {
|
||||
gui.popupTip("Done");
|
||||
}
|
||||
}, 1.0);
|
||||
} else {
|
||||
_reset_view();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
var _place_user_point_models = func() {
|
||||
_clear_user_point_models();
|
||||
setsize(_user_point_models, _N);
|
||||
var user_points = _user_points.get_sliced();
|
||||
for (var ii = 0; ii < _N; ii += 1) {
|
||||
var model = "Models/Autopush/cursor.xml";
|
||||
if (_user_point_modes.arr[ii] == 1) {
|
||||
model = "Models/Autopush/cursor_sharp.xml";
|
||||
}
|
||||
_user_point_models[ii] = geo.put_model(model, user_points[ii], 0.0);
|
||||
}
|
||||
}
|
||||
|
||||
var _clear_user_point_models = func() {
|
||||
for (var ii = 0; ii < size(_user_point_models); ii += 1) {
|
||||
if (_user_point_models[ii] != nil) {
|
||||
_user_point_models[ii].remove();
|
||||
_user_point_models[ii] = nil;
|
||||
}
|
||||
}
|
||||
setsize(_user_point_models, 0);
|
||||
}
|
||||
|
||||
var _place_waypoint_models = func() {
|
||||
_clear_waypoint_models();
|
||||
setsize(_waypoint_models, size(_route));
|
||||
for (var ii = 0; ii < size(_route); ii += 1) {
|
||||
_waypoint_models[ii] = geo.put_model("Models/Autopush/waypoint.xml", _route[ii], 0.0);
|
||||
}
|
||||
}
|
||||
|
||||
var _clear_waypoint_models = func() {
|
||||
for (var ii = 0; ii < size(_waypoint_models); ii += 1) {
|
||||
if (_waypoint_models[ii] != nil) {
|
||||
_waypoint_models[ii].remove();
|
||||
_waypoint_models[ii] = nil;
|
||||
}
|
||||
}
|
||||
setsize(_waypoint_models, 0);
|
||||
}
|
||||
|
||||
var _set_view = func() {
|
||||
if(!getprop("/sim/current-view/internal")){
|
||||
_view_changed_or_external = 1;
|
||||
return;
|
||||
}
|
||||
_view_index = getprop("/sim/current-view/view-number");
|
||||
setprop("/sim/current-view/view-number", view.indexof("Model View"));
|
||||
_view_changed_or_external = 0;
|
||||
_view_listener = setlistener("/sim/current-view/name", func {
|
||||
_view_changed_or_external = 1;
|
||||
});
|
||||
}
|
||||
|
||||
var _reset_view = func() {
|
||||
if (!_view_changed_or_external) {
|
||||
setprop("/sim/current-view/view-number", _view_index);
|
||||
}
|
||||
if (_view_listener != nil) {
|
||||
removelistener(_view_listener);
|
||||
_view_listener = nil;
|
||||
}
|
||||
if (!_show) {
|
||||
_clear_user_point_models();
|
||||
_clear_waypoint_models();
|
||||
}
|
||||
}
|
||||
|
||||
var _calculate_route = func() {
|
||||
_route = [];
|
||||
user_points = _user_points.get_sliced();
|
||||
var route = dynarr.dynarr.new();
|
||||
# add the first point cause it will be fix at this pos
|
||||
route.add(geo.Coord.new(user_points[0]));
|
||||
|
||||
n = size(user_points);
|
||||
var base = 0;
|
||||
for (var i = 0; i < n; i += 1) {
|
||||
if (_user_point_modes.arr[i] == 1 or i == n - 1) {
|
||||
if (i - base > 0) {
|
||||
var bezier = _calculate_bezier(user_points[base:i]);
|
||||
|
||||
var m = size(bezier);
|
||||
for (var j = 0; j < m; j += 1) {
|
||||
route.add(geo.Coord.new(bezier[j]));
|
||||
}
|
||||
}
|
||||
base = i;
|
||||
route.add(geo.Coord.new(user_points[i]));
|
||||
}
|
||||
}
|
||||
|
||||
PNumber = size(user_points);
|
||||
_route = route.get_sliced();
|
||||
}
|
||||
|
||||
var _calculate_bezier = func(user_points) {
|
||||
var route = dynarr.dynarr.new();
|
||||
|
||||
PNumber = size(user_points);
|
||||
|
||||
if (PNumber > 1) {
|
||||
var pointList = [];
|
||||
setsize(pointList, PNumber);
|
||||
for (var i = 0; i < PNumber; i += 1) {
|
||||
pointList[i] = [];
|
||||
setsize(pointList[i], PNumber);
|
||||
}
|
||||
|
||||
pointList[0] = user_points;
|
||||
|
||||
var len = 0;
|
||||
for (var i = 0; i < PNumber - 1; i += 1) {
|
||||
len += user_points[i].distance_to(user_points[i + 1]);
|
||||
}
|
||||
|
||||
var step = _D_min / len;
|
||||
|
||||
for (var i = step; i < 1 - step; i+= step) {
|
||||
# start iterating from 1 cause we don't need to iterate over Pn
|
||||
for (var j = 1; j < PNumber; j += 1) {
|
||||
for (var k = 0; k < PNumber - j; k += 1) {
|
||||
pointList[j][k] = geo.Coord.new(pointList[j - 1][k]);
|
||||
var dist = pointList[j - 1][k].distance_to(pointList[j - 1][k + 1]);
|
||||
var course = pointList[j - 1][k].course_to(pointList[j - 1][k + 1]);
|
||||
pointList[j][k].apply_course_distance(course, dist * i);
|
||||
}
|
||||
}
|
||||
pointList[PNumber - 1][0].set_alt(geo.elevation(pointList[PNumber - 1][0].lat(),pointList[PNumber - 1][0].lon()));
|
||||
route.add(geo.Coord.new(pointList[PNumber - 1][0]));
|
||||
}
|
||||
}
|
||||
|
||||
return route.get_sliced();
|
||||
}
|
||||
|
||||
setlistener("/sim/model/pushback/route/show", func(p) {
|
||||
var show = p.getValue();
|
||||
if (_listener == nil) {
|
||||
if (show > _show) {
|
||||
_place_user_point_models();
|
||||
_place_waypoint_models();
|
||||
} else if (show < _show) {
|
||||
_clear_user_point_models();
|
||||
_clear_waypoint_models();
|
||||
}
|
||||
}
|
||||
_show = show;
|
||||
});
|
||||
|
||||
|
||||
var enter = func(start_immediately = 0) {
|
||||
clear();
|
||||
_set_view();
|
||||
_D_min = getprop("/sim/model/pushback/driver/D_min-m");
|
||||
var wp = geo.aircraft_position();
|
||||
var H = geo.elevation(wp.lat(), wp.lon());
|
||||
if (H != nil) {
|
||||
wp.set_alt(H);
|
||||
}
|
||||
_add(wp);
|
||||
_listener = setlistener("/sim/signals/click", func {
|
||||
_add(geo.click_position());
|
||||
});
|
||||
_start_immediately = start_immediately;
|
||||
}
|
||||
|
||||
var toggle_node = func() {
|
||||
if (_listener == nil) {
|
||||
return;
|
||||
}
|
||||
if (_user_point_modes.arr[_N - 1] == 0) {
|
||||
_user_point_modes.arr[_N - 1] = 1;
|
||||
} else {
|
||||
_user_point_modes.arr[_N - 1] = 0;
|
||||
}
|
||||
if (_user_point_models[_N - 1] != nil) {
|
||||
_user_point_models[_N - 1].remove();
|
||||
var model = "Models/Autopush/cursor.xml";
|
||||
if (_user_point_modes.arr[_N - 1] == 1) {
|
||||
model = "Models/Autopush/cursor_sharp.xml";
|
||||
}
|
||||
_user_point_models[_N - 1] = geo.put_model(model, _user_points.get_sliced()[_N - 1], 0.0);
|
||||
}
|
||||
}
|
||||
|
||||
var done = func() {
|
||||
_stop(0);
|
||||
}
|
||||
|
||||
var clear = func() {
|
||||
_stop(1);
|
||||
_clear_user_point_models();
|
||||
_clear_waypoint_models();
|
||||
_N = 0;
|
||||
_user_points = dynarr.dynarr.new(4);
|
||||
_user_point_modes = dynarr.dynarr.new(1);
|
||||
}
|
||||
|
||||
var route = func() {
|
||||
if (_N < 2) {
|
||||
return nil;
|
||||
}
|
||||
_calculate_route();
|
||||
return _route;
|
||||
}
|
||||
61
Nasal/dynarr.nas
Normal file
61
Nasal/dynarr.nas
Normal file
|
|
@ -0,0 +1,61 @@
|
|||
# Class for dynamic arrays
|
||||
#
|
||||
# Copyright (c) 2018 dynamic arrays authors:
|
||||
# Michael Danilov <mike.d.ft402 -eh- gmail.com>
|
||||
# Merspieler http://gitlab.com/merspieler
|
||||
# Distribute under the terms of GPLv2.
|
||||
|
||||
## Useage
|
||||
# to create a new object: var <name> = dynarr.new();
|
||||
# to add elements: <name>.add(<element>);
|
||||
# you can access the full stored array as: <name>.arr
|
||||
# to get only the used area of the array: var <spliced_array> = <name>.get_spliced()
|
||||
|
||||
var dynarr =
|
||||
{
|
||||
new: func(size = 8)
|
||||
{
|
||||
var this = {parents:[dynarr]};
|
||||
this.maxsize = size;
|
||||
this.size = 0;
|
||||
this.arr = setsize([], size);
|
||||
|
||||
return this;
|
||||
},
|
||||
|
||||
# add a new element to the array
|
||||
add: func(obj)
|
||||
{
|
||||
# case there's no space left
|
||||
if (me.size + 1 >= me.maxsize)
|
||||
{
|
||||
# double array size
|
||||
me.maxsize *= 2;
|
||||
me.arr = setsize(me.arr, me.maxsize);
|
||||
}
|
||||
|
||||
# add object and increase used counter
|
||||
me.arr[me.size] = obj;
|
||||
me.size += 1;
|
||||
},
|
||||
|
||||
# delete an element from the array
|
||||
del: func(id)
|
||||
{
|
||||
me.size -= 1;
|
||||
for(ii = id; ii < me.size - 1; ii += 1){
|
||||
me.arr[ii] = me.arr[ii + 1];
|
||||
}
|
||||
},
|
||||
|
||||
# returns only the filled part of the array or nil if array is empty
|
||||
get_sliced: func()
|
||||
{
|
||||
if (me.size == 0)
|
||||
{
|
||||
return nil;
|
||||
}
|
||||
|
||||
return me.arr[0:me.size - 1];
|
||||
}
|
||||
};
|
||||
|
|
@ -8,7 +8,7 @@
|
|||
-->
|
||||
|
||||
<external_reactions>
|
||||
<force name="pushback" frame="BODY">
|
||||
<force name="tractor" frame="BODY">
|
||||
<location unit="M">
|
||||
<x> 7.52385 </x>
|
||||
<y> 0 </y>
|
||||
|
|
|
|||
|
|
@ -24,15 +24,6 @@
|
|||
<input>-gear/unit[0]/wheel-speed-fps</input>
|
||||
</summer>
|
||||
|
||||
<pid name="systems/pushback/force">
|
||||
<input>systems/pushback/speed-error</input>
|
||||
<kp>/sim/model/pushback/kp</kp>
|
||||
<ki>/sim/model/pushback/ki</ki>
|
||||
<kd>/sim/model/pushback/kd</kd>
|
||||
<trigger>systems/pushback/linked</trigger>
|
||||
<output>/sim/model/pushback/force</output>
|
||||
</pid>
|
||||
|
||||
<switch name="systems/pushback/force-output">
|
||||
<default value="0"/>
|
||||
<test value="systems/pushback/force">
|
||||
|
|
|
|||
Reference in a new issue