136 lines
3.9 KiB
Text
136 lines
3.9 KiB
Text
# 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://github.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;
|
|
});
|