76 lines
1.9 KiB
Text
76 lines
1.9 KiB
Text
# AUTOPUSH
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# Basic pushback logic class.
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#
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# Copyright (c) 2018 Michael Danilov <mike.d.ft402 -eh- gmail.com>
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# Distribute under the terms of GPLv2.
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var _K_p = nil;
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var _K_i = nil;
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var _K_d = nil;
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var _F_i = nil;
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var _int = nil;
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var _deltaV_old = nil;
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var _t_old = nil;
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var loop = func() {
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if(!getprop("/sim/model/pushback/available")){
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stop();
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return;
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}
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var force = 0.0;
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# Rollspeed is only adequate if the wheel is touching the ground.
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if(getprop("/gear/gear[0]/wow")){
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var deltaV =
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getprop("/sim/model/pushback/target-speed-km_h") -
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getprop("/gear/gear[0]/rollspeed-ms") * 3.6;
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var dV = deltaV - _deltaV_old;
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var t = getprop("/sim/time/elapsed-sec");
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var dt = math.max(t - _t_old, 0.0001);
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_int = math.min(math.max(_int + dV * dt, -_F_i), _F_i);
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force = (_K_p * deltaV + _K_d * dV / dt + _K_i * _int) * KG2LB;
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_deltaV_old = deltaV;
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_t_old = t;
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var yaw = getprop("/sim/model/pushback/yaw-deg") * D2R;
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setprop("/sim/model/pushback/force-x", math.cos(yaw));
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setprop("/sim/model/pushback/force-y", math.sin(yaw));
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}
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setprop("/sim/model/pushback/force-lbf", force);
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}
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var timer = maketimer(0.026, func{loop()});
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var start = func() {
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_K_p = getprop("/sim/model/pushback/K_p");
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_K_i = getprop("/sim/model/pushback/K_i");
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_K_d = getprop("/sim/model/pushback/K_d");
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_F_i = getprop("/sim/model/pushback/F_i");
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_int = 0.0;
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_deltaV_old = 0.0;
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_t_old = getprop("/sim/time/elapsed-sec");
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setprop("/sim/model/pushback/connected", 1);
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if(!timer.isRunning){
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screen.log.write("(pushback): Release brakes.");
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}
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timer.start();
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}
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var stop = func() {
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if(timer.isRunning){
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screen.log.write("(pushback): Pushback disconnected, bypass pin removed.");
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}
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timer.stop();
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setprop("/sim/model/pushback/force-lbf", 0.0);
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setprop("/sim/model/pushback/connected", 0);
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}
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var toggle = func(){
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if(
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getprop("/sim/model/pushback/enabled") *
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getprop("/sim/model/pushback/available")
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){
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start();
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}else{
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stop();
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}
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}
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