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Signed-off-by: fly <merspieler@airmail.cc>
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fly 2023-06-25 17:49:06 +02:00
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# vim swap files
*.swp
*.swo

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# Change Log
All notable changes to this project will be documented in this file.
This project adheres to [Semantic Versioning](http://semver.org/). Release
canidates are not covered by this file.
<!--
tags:
`Added` for new features.
`Changed` for changes in existing functionality.
`Major Changes` for changes in existing functionality which break backward compatibility.
`Deprecated` for once-stable features removed in upcoming releases.
`Removed` for deprecated features removed in this release.
`Fixed` for any bug fixes.
`Security` to invite users to upgrade in case of vulnerabilities.
-->
## v2.0.2
### Changed
* File structure: Nasal files now under "Nasal/Autopush" directory.
## v2.0.1
### Changed
* Satellite view: accessible from dialog; always switch to when entering route
* Settings of the view used for satellite view are now restored after use
### Fixed
* Satelite view due to upcoming removal of `Model View`
## v2.0
### Major Changes
* Moved the autopush property sub tree from `/sim/model/pushback/` to `/sim/model/autopush`. See issue #19
Make sure you update all references to the properties.
* Moved the configuration out of the -set.xml. See issue #18
### Added
* Top down view for entering the route
* Option to display wing tip path.
* Check for too tight turns
* Auto push resuming
* Pitch offset to properly calculate the force for aircraft with high parking pitch
* Added documentation on how to implement steering, chocks control and availability. See the last step of installation instruction.
* Push and Pull support
### Changed
* Coefficients adjusted for smoother performance
* Dialog sliders improved for better control
### Fixed
* Missed points make the driver turn around and try to catch it again.
* The integration was taking input change instead of the input, which resulted in strange behaviour.
* Fixed derivative part of PID not working
* Stopping too early at last point
## v1.0
Initial release.

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# CONTRIBUTING
Contribution rules for the autopush project.
## General
By contributing you agree that your work will be published under the GPL2.
Where possible, text width should not exceed 70 characters.
## Code style
### XML
For `.xml` files the following rules apply.
* While there is no preference for indent style or code formatting, it must be consistent within each file.
* No whitespace-only lines and trailing whitespace allowed.
* Whitespace between tags and their data is forbidden, for example ``<tag> 10.0 </tag>`` is not acceptable.
* If a tag has children, it has to be on it's own line.
Example:
```xml
<parent>
<child n="1">3</child>
<child n="2">100</child>
<othertag/>
</parent>
```
### Nasal
For `.nas` files the following rules apply.
* While there is no preference for indent style or code formatting, it must be consistent within each file.
* No whitespace-only lines and trailing whitespace allowed.
* For names use camelCase or snake_case.
* Prefix "private" vars and functions with a `_`.
* Use coments for blocks of codes and only when something is not clear (eg. starting iterating from 3).
Example:
```js
# This function does something non obvious.
var function = func() {
if (a == b) {
var a = geo.Coord.new();
} else {
var b = 0;
}
}
```
## Git
Please add a descriptive commit message to **every** commit.

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AUTOMATIC PUSHBACK FOR FLIGHTGEAR
https://gitea.merspieler.tk/fly/autopush
Version 2.0.1
Copyright (c) 2018 Autopush authors:
Joshua Davidson http://github.com/Octal450
Merspieler http://gitlab.com/merspieler
Some of the code (c) FlightGear
Distribute under the terms of GPLv2.
This project aims to develop a generic pushback for JSBSim and YASim
aircraft, with the following characteristics.
1. Do the pushback procedure automatically.
2. Scale to different aircraft with minimum changes to their logic.
3. Use no computer resources in flight.
INSTALLATION
Minimum FlightGear version: 2018.0
NOTE: these steps cover the minimal testing setup. To get the most
realism out of Autopush, you will have to add logic aircraft-side as
described in the last step.
1. Copy everything from from "YourAircraftDir" into your aircraft,
while keeping the directory structure:
Models/Autopush cursor models and the animation for
FGDATA pushbacks.
Nasal/Autopush Autopush logic
gui/dialogs/autopush.xml GUI dialog
autopush-config.xml.template Configuration of autopush
2. Set up the pushback logic.
Add the following line under <sim><model> of your set.xml
<autopush include="autopush-config.xml"/>
Rename autopush-config.xml.template to autopush-config.xml and edit
the file as described below.
Alternatively, you can copy the contents of
autopush-config.xml.template to under <sim><model><autopush> of your
set.xml and make these modifications there.
Change the aliases to point to the following data:
steer-cmd-norm nose wheel steering command norm
yaw nose wheel steering output norm or angle (see below)
chocks chocks command bool (or leave it until step 7)
available pushback availability bool (or leave it until step 7)
Replace the MULTIPLIER in yaw-mult with:
max steering angle if yaw is norm
1.0 if yaw is degrees
57.3 if yaw is radians
Replace PITCH with the pushback's pitch relative to aircraft. If your
aircraft's ground pitch varies greatly, you can make an alias to
property with calculated relative pitch.
Replace MIN_RADIUS with the minimum allowed turning radius in m of the
center of the aircraft during pushback procedure.
NOTE: on some aircraft the turning radius is different for taxi and
pushback. Please check the aircraft's literature.
Replace STOP_DIST with the stopping distance in m from pushback speed.
Add under <nasal> of your set.xml:
<autopush>
<file>Nasal/Autopush/autopush.nas</file>
</autopush>
<autopush_driver>
<file>Nasal/Autopush/driver.nas</file>
</autopush_driver>
<dynarr>
<file>Nasal/Autopush/dynarr.nas</file>
</dynarr>
<autopush_route>
<file>Nasal/Autopush/route.nas</file>
</autopush_route>
Add under <sim><aircraft-data> of your set.xml:
<path>/sim/model/autopush/route/show</path>
<path>/sim/model/autopush/route/show-wingtip</path>
3. Connect the force to FDM.
3.a. JSBSim:
3.a.1. Add the following under <external_reactions> of your JSBSim
XML.
<force name="tractor" frame="BODY">
<location unit="M">
<x>FRONT-X</x>
<y>FRONT-Y</y>
<z>FRONT-Z</z>
</location>
<direction>
<x>1.0</x>
<y>0.0</y>
<z>0.0</z>
</direction>
</force>
Replace FRONT-X, FRONT-Y, FRONT-Z with coordinates of your front
bogey.
3.a.2. Add the following under <fdm><jsbsim><external_reactions> of
your set.xml.
<tractor>
<magnitude alias="/sim/model/autopush/force-lbf"/>
<x alias="/sim/model/autopush/force-x"/>
<y alias="/sim/model/autopush/force-y"/>
<z alias="/sim/model/autopush/force-z"/>
</tractor>
3.b. YASim. Add the following under <airplane> of your YASim xml.
<thruster x="FRONT-X" y="FRONT-Y" z="FRONT-Z" vx="1" vy="0" vz="0" thrust="100000.0">
<control-input axis="/sim/model/autopush/force-x-yasim" control="THROTTLE" src0="-1" src1="1" dst0="-1" dst1="1"/>
</thruster>
<thruster x="FRONT-X" y="FRONT-Y" z="FRONT-Z" vx="0" vy="1" vz="0" thrust="100000.0">
<control-input axis="/sim/model/autopush/force-y-yasim" control="THROTTLE" src0="-1" src1="1" dst0="-1" dst1="1"/>
</thruster>
<thruster x="FRONT-X" y="FRONT-Y" z="FRONT-Z" vx="0" vy="0" vz="1" thrust="100000.0">
<control-input axis="/sim/model/autopush/force-z-yasim" control="THROTTLE" src0="-1" src1="1" dst0="-1" dst1="1"/>
</thruster>
Replace FRONT-X, FRONT-Y, FRONT-Z with coordinates of your front
bogey.
4. Add the pushback model to your Model XML:
<model>
<name>Pushback</name>
<path>MODEL</path>
<offsets>
<x-m>FRONT-X</x-m>
<y-m>FRONT-Y</y-m>
<z-m>FRONT-Z</z-m>
</offsets>
</model>
Replace FRONT-X, FRONT-Y, FRONT-Z with coordinates of your front
bogey. Replace MODEL with one of the following file names:
Autopush/Goldhofert.xml for Goldhofer towbarless pushback
Edit the "SETTINGS" part in the beginning of respective file to match
your setup.
5. Add gui/dialogs/autopush.xml to your aircraft's menu (see
FlightGear documentation for editing the menu).
6. If you have a bug tracker, please add a note, that autopush related
bugs should be reported here:
To merspieler on the forum
7. Launch the simulator and try Autopush. After making sure it works,
complete the support by implementing some logic in your aircraft
and connecting the rest of the interface.
CAUTION.
1. Make sure to HAVE A BACK-UP COPY of your work.
2. If anything is not clear in the instruction below, do not guess --
contact the authors.
7.1. When pushback is connected ("/sim/model/autopush/connected"),
nose wheel steering must actuate at different speed, depending
on its rollspeed. The exact dependency is different per aircraft
and used pushback visual, and for most aircraft the only way to
find it is trial and error until it "looks right":
- the input must be taken from pushback steering command norm
(set by autopush-config.xml, default:
"/controls/flight/rudder");
- the output must be written to pushback orientation in degrees,
radians or norm (set by autopush-config.xml, default:
"/gear/gear[0]/steering-norm").
7.2. Set or alias (in autopush-config.xml) the availability property
"/sim/model/autopush/available". It must be false if e.g. the
aircraft is moving too fast, the front wheel is not touching
the ground, the aircraft is damaged or is outside of an airport
etc.
7.3. Make Autopush remove wheel chocks by setting the alias in
autopush-config.xml to the chocks property. (default:
"/controls/gear/wheel-chocks").
7.4. Optionally, Autopush may be made visible in multiplayer by
duplicating the properties used in its model.xml into some
unused MP properties. See the list in
https://sourceforge.net/p/flightgear/flightgear/ci/next/tree/src/MultiPlayer/multiplaymgr.cxx
around line 215, and then using those properties in the
"SETTINGS" part of Autopush model.xml.
After making these changes check the Autopush model.xml's settings
and make sure they match the setup. Launch the simulator and try
Autopush.
TUNING
There should normally be no need to change the coefficients, because
the inertia of different aircraft is already taken into account. But
the gear setup may differ enough to require some tuning.
If these settings are changed during simulation, they take effect
after disconnecting and reconnecting the pushback.
Pushback (/sim/model/autopush):
Coefficient Unit Description
K_p ((km/h)/s)/(km/h) Proportional coefficient of PID.
Defines the start/stop throttle
and immediate response to speed
difference deltaV = V_set - V.
F_p (km/h)/s Proportional clipping.
K_i ((km/h)/s)/((km/h)*s) Integral coefficient of PID.
Defines how fast the steady
throttle is ramped during the
push.
F_i (km/h)/s Integral clipping.
K_d -((km/h)/s)/((km/h)/s) Differential coefficient of PID.
Stabilizes the approaching of
steady throttle.
F_d (km/h)/s Differential clipping.
Pushback driver (/sim/model/autopush/driver):
Coefficient Unit Description
F_V km/h Max towing speed in auto mode.
K_psi 1/deg Amount of steering per heading correction.
F_psi 1/deg Max steering per heading correction.
K_deltapsi -1/(deg/s) Amount of steering compensation per heading
derivative.
F_psi 1/(deg/s) Max amount of steering compensation per
heading derivative.

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<?xml version="1.0" encoding="UTF-8"?>
<!-- SETTINGS -->
<!DOCTYPE PropertyList [
<!-- Property defining whether the pushback is connected. -->
<!ENTITY CONNECTED-PROP "sim/model/autopush/connected">
<!-- Property for aircraft's front wheel rollspeed in m/s. -->
<!ENTITY ROLLSPEED-PROP "gear/gear[0]/rollspeed-ms">
<!-- Property for front wheel steering. -->
<!ENTITY YAW-PROP "sim/model/autopush/yaw">
<!-- Scaling factor for the steering property, must be equal to /sim/model/autopush/yaw-mult. -->
<!ENTITY YAW-MULT "60.0">
<!-- Property for gear compression in ft. -->
<!ENTITY COMPRESSION-PROP "gear/gear[0]/compression-ft">
<!-- Property for aircraft pitch in degrees, or pushback's pitch if it is variable. -->
<!ENTITY PITCH-PROP "orientation/pitch-deg">
<!-- Scaling factor for the pitch property. -->
<!ENTITY PITCH-FACTOR "0.0">
<!-- Pitch offset, must be equal to /sim/model/autopush/pitch-deg. If pitch is variable, must be "0.0". -->
<!ENTITY PITCH-OFFSET "-7.0">
]>
<!--
AUTOPUSH
Copyright (c) 2018 Autopush authors:
Joshua Davidson http://github.com/Octal450
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>
<property>&ROLLSPEED-PROP;</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>
<property>&ROLLSPEED-PROP;</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>
<property>&CONNECTED-PROP;</property>
</condition>
</animation>
<animation>
<type>rotate</type>
<property>&YAW-PROP;</property>
<factor>&YAW-MULT;</factor>
<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>
<animation>
<type>translate</type>
<property>&COMPRESSION-PROP;</property>
<factor>0.3048</factor>
<axis>
<x>0</x>
<y>0</y>
<z>1</z>
</axis>
</animation>
<animation>
<type>rotate</type>
<property>&PITCH-PROP;</property>
<factor>&PITCH-FACTOR;</factor>
<offset-deg>&PITCH-OFFSET;</offset-deg>
<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>
</axis>
</animation>
</PropertyList>

589
YourAircraftDir/Models/Autopush/cursor.ac Normal file
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@ -0,0 +1,589 @@
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45
YourAircraftDir/Models/Autopush/cursor.xml Normal file
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@ -0,0 +1,45 @@
<?xml version="1.0" encoding="UTF-8"?>
<!--
AUTOPUSH
Cursor model.
Copyright (c) 2018 Autopush authors:
Joshua Davidson http://github.com/Octal450
Merspieler http://gitlab.com/merspieler
Distribute under the terms of GPLv2.
-->
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<animation>
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133
YourAircraftDir/Models/Autopush/cursor_reverse.ac Normal file
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@ -0,0 +1,133 @@
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45
YourAircraftDir/Models/Autopush/cursor_reverse.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<!--
AUTOPUSH
Cursor model.
Copyright (c) 2018 Autopush authors:
Joshua Davidson http://github.com/Octal450
Merspieler http://gitlab.com/merspieler
Distribute under the terms of GPLv2.
-->
<PropertyList>
<path>cursor_reverse.ac</path>
<animation>
<enable-hot>false</enable-hot>
</animation>
<animation>
<type>scale</type>
<property>/sim/model/autopush/stopping-distance-m</property>
<z-factor>0.0</z-factor>
<z-min>1.0</z-min>
</animation>
<animation>
<type>material</type>
<condition>
<property>/sim/model/autopush/route/invalid</property>
</condition>
<diffuse>
<red>1.0</red>
<green>0.0</green>
<blue>0.0</blue>
</diffuse>
<emission>
<red>1.0</red>
<green>0.0</green>
<blue>0.0</blue>
</emission>
</animation>
</PropertyList>

67
YourAircraftDir/Models/Autopush/cursor_sharp.ac Normal file
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AC3Db
MATERIAL "autopush cursor" rgb 0.0000 0.0000 0.0000 amb 0.0000 0.0000 0.0000 emis 1.000 0.173 0.545 spec 0.0000 0.0000 0.0000 shi 50 trans 0.0000
OBJECT world
name "Blender_exporter_v2.26__cursor_sharp.ac"
kids 1
OBJECT poly
name "Circle"
data 11
Circle.mesh
crease 40.0
numvert 12
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SURF 0X10
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kids 0

45
YourAircraftDir/Models/Autopush/cursor_sharp.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<!--
AUTOPUSH
Cursor model.
Copyright (c) 2018 Autopush authors:
Joshua Davidson http://github.com/Octal450
Merspieler http://gitlab.com/merspieler
Distribute under the terms of GPLv2.
-->
<PropertyList>
<path>cursor_sharp.ac</path>
<animation>
<enable-hot>false</enable-hot>
</animation>
<animation>
<type>scale</type>
<property>/sim/model/autopush/stopping-distance-m</property>
<z-factor>0.0</z-factor>
<z-min>1.0</z-min>
</animation>
<animation>
<type>material</type>
<condition>
<property>/sim/model/autopush/route/invalid</property>
</condition>
<diffuse>
<red>1.0</red>
<green>0.0</green>
<blue>0.0</blue>
</diffuse>
<emission>
<red>1.0</red>
<green>0.0</green>
<blue>0.0</blue>
</emission>
</animation>
</PropertyList>

276
YourAircraftDir/Models/Autopush/waypoint.ac Normal file
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AC3Db
MATERIAL "autopush cursor" rgb 0.0000 0.0000 0.0000 amb 0.0000 0.0000 0.0000 emis 1.000 0.173 0.545 spec 0.0000 0.0000 0.0000 shi 50 trans 0.0000
OBJECT world
name "Blender_exporter_v2.26__waypoint.ac"
kids 3
OBJECT poly
name "Waypoint"
data 11
Circle.mesh
crease 40.0
numvert 33
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SURF 0X0
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OBJECT poly
name "WingtipR"
data 15
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crease 40.0
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86
YourAircraftDir/Models/Autopush/waypoint.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<!--
AUTOPUSH
Waypoint model.
Copyright (c) 2018 Autopush authors:
Joshua Davidson http://github.com/Octal450
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>select</type>
<object-name>WingtipL</object-name>
<object-name>WingtipR</object-name>
<condition>
<property>/sim/model/autopush/route/show-wingtip</property>
</condition>
</animation>
<animation>
<type>translate</type>
<object-name>WingtipL</object-name>
<property>/sim/model/autopush/route/wingspan-m</property>
<factor>0.5</factor>
<axis>
<x>0</x>
<y>1</y>
<z>0</z>
</axis>
<z-factor>0.0</z-factor>
<z-min>1.0</z-min>
</animation>
<animation>
<type>translate</type>
<object-name>WingtipR</object-name>
<property>/sim/model/autopush/route/wingspan-m</property>
<factor>-0.5</factor>
<axis>
<x>0</x>
<y>1</y>
<z>0</z>
</axis>
<z-factor>0.0</z-factor>
<z-min>1.0</z-min>
</animation>
<animation>
<type>scale</type>
<!-- Object names must be here, because we need to scale each separately, not the the whole thing at once. -->
<object-name>Waypoint</object-name>
<object-name>WingtipL</object-name>
<object-name>WingtipR</object-name>
<property>/sim/model/autopush/stopping-distance-m</property>
<z-factor>0.0</z-factor>
<z-min>1.0</z-min>
</animation>
<animation>
<type>material</type>
<condition>
<property>/sim/model/autopush/route/invalid</property>
</condition>
<diffuse>
<red>1.0</red>
<green>0.0</green>
<blue>0.0</blue>
</diffuse>
<emission>
<red>1.0</red>
<green>0.0</green>
<blue>0.0</blue>
</emission>
</animation>
</PropertyList>

141
YourAircraftDir/Nasal/Autopush/autopush.nas Normal file
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@ -0,0 +1,141 @@
# AUTOPUSH
# Basic pushback logic class.
#
# Copyright (c) 2018 Autopush authors:
# Joshua Davidson http://github.com/Octal450
# Merspieler http://gitlab.com/merspieler
# Distribute under the terms of GPLv2.
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 _V = 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/autopush/available")) {
_stop();
return;
}
var force = 0.0;
var x = 0.0;
var y = 0.0;
var z = 0.0;
# Rollspeed is only adequate if the wheel is touching the ground.
if (getprop("/gear/gear[0]/wow")) {
var V = getprop("/gear/gear[0]/rollspeed-ms") * 3.6;
var deltaV = getprop("/sim/model/autopush/target-speed-km_h") - V;
var minus_dV = _V - V;
var time = getprop("/sim/time/elapsed-sec");
var prop = math.min(math.max(_K_p * deltaV, -_F_p), _F_p);
var dt = time - _time;
var deriv = 0.0;
# 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 * deltaV * dt, -_F_i), _F_i);
}
if(dt > 0.002) {
deriv = math.min(math.max(_K_d * minus_dV / dt, -_F_d), _F_d);
}
}
var accel = prop + _int + deriv;
if (_debug > 2) {
print("pushback prop " ~ prop ~ ", _int " ~ _int ~ ", deriv " ~ deriv);
}
_V = V;
_time = time;
if (!_yasim) {
force = accel * getprop("/fdm/jsbsim/inertia/weight-lbs") * _unitconv;
} else {
force = accel * getprop("/fdm/yasim/gross-weight-lbs") * _unitconv;
}
var pitch = getprop("/sim/model/autopush/pitch-deg") * D2R;
z = math.sin(pitch);
var pz = math.cos(pitch);
var yaw = getprop("/sim/model/autopush/yaw") * _K_yaw;
x = math.cos(yaw) * pz;
y = math.sin(yaw) * pz;
setprop("/sim/model/autopush/force-x", x);
setprop("/sim/model/autopush/force-y", y);
# JSBSim force's z is down.
setprop("/sim/model/autopush/force-z", -z);
}
setprop("/sim/model/autopush/force-lbf", force);
if (_yasim) {
# The force is divided by YASim thrust="100000.0" setting.
setprop("/sim/model/autopush/force-x-yasim", x * force * 0.00001);
# YASim force's y is to the left.
setprop("/sim/model/autopush/force-y-yasim", -y * force * 0.00001);
setprop("/sim/model/autopush/force-z-yasim", z * force * 0.00001);
}
}
var _timer = maketimer(0.0167, func{_loop()});
_timer.simulatedTime = 1;
var _start = func() {
# Else overwritten by dialog.
settimer(func() {
setprop("/sim/model/autopush/target-speed-km_h", 0.0)
}, 0.1, 1);
_K_p = getprop("/sim/model/autopush/K_p");
_F_p = getprop("/sim/model/autopush/F_p");
_K_i = getprop("/sim/model/autopush/K_i");
_F_i = getprop("/sim/model/autopush/F_i");
_K_d = getprop("/sim/model/autopush/K_d");
_F_d = getprop("/sim/model/autopush/F_d");
_F = getprop("/sim/model/autopush/F");
_T_f = getprop("/sim/model/autopush/T_f");
_K_yaw = getprop("/sim/model/autopush/yaw-mult") * D2R;
_yasim = (getprop("/sim/flight-model") == "yasim");
_debug = getprop("/sim/model/autopush/debug") or 0;
_int = 0.0;
_V = 0.0;
_time = getprop("/sim/time/elapsed-sec");
setprop("/sim/model/autopush/connected", 1);
if (!_timer.isRunning) {
if (getprop("/sim/model/autopush/chocks")) {
setprop("/sim/model/autopush/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/autopush/force-lbf", 0.0);
if (_yasim) {
setprop("/sim/model/autopush/force-x-yasim", 0.0);
setprop("/sim/model/autopush/force-y-yasim", 0.0);
}
setprop("/sim/model/autopush/connected", 0);
setprop("/sim/model/autopush/enabled", 0);
}
setlistener("/sim/model/autopush/enabled", func(p) {
var enabled = p.getValue();
if ((enabled) and getprop("/sim/model/autopush/available")) {
_start();
} else {
_stop();
}
}, 1, 0);

155
YourAircraftDir/Nasal/Autopush/driver.nas Normal file
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@ -0,0 +1,155 @@
# AUTOPUSH
# Pushback driver class.
#
# Command the pushback to tow/push the aircraft.
#
# Copyright (c) 2018 Autopush authors:
# Joshua Davidson http://github.com/Octal450
# Merspieler http://gitlab.com/merspieler
# Distribute under the terms of GPLv2.
var _K_V = nil;
var _F_V = nil;
var _R_turn_min = nil;
var _D_stop = nil;
var _K_psi = nil;
var _F_psi = nil;
var _K_psidot = nil;
var _F_psidot = nil;
var _debug = nil;
var _psi = nil;
var _time = nil;
var _route = nil;
var _route_reverse = nil;
var _push = nil;
var _sign = nil;
var _to_wp = 0;
var _is_last_wp = 0;
var _is_reverse_wp = 0;
var _advance_wp = func(flip_sign = 0) {
_to_wp += 1;
_is_last_wp = (_to_wp == (size(_route) - 1));
_is_reverse_wp = (_route_reverse[_to_wp]);
if (flip_sign) {
_sign *= -1;
_push = !_push;
}
if (_debug == 1) {
print("autopush_driver to_wp " ~ _to_wp);
}
}
var _loop = func() {
if (!getprop("/sim/model/autopush/connected")) {
stop();
return;
}
var (A, D) = courseAndDistance(_route[_to_wp]);
D *= NM2M;
var (psi_leg, D_leg) = courseAndDistance(_route[_to_wp - 1], _route[_to_wp]);
var deltapsi = geo.normdeg180(A - psi_leg);
var psi = getprop("/orientation/heading-deg") + _push * 180.0;
var deltaA = math.min(math.max(_K_psi * geo.normdeg180(A - psi), -_F_psi), _F_psi);
var time = getprop("/sim/time/elapsed-sec");
var dt = time - _time;
var minus_psidot = (dt > 0.002) * math.min(math.max(_K_psidot * (_psi - psi) / dt, -_F_psidot), _F_psidot);
_psi = psi;
_time = time;
# TODO Either use _K_V and total remaining distance or turn radius to calculate speed.
# TODO Make slider input override speed.
var V = _F_V;
if (_is_reverse_wp or _is_last_wp) {
if ((D < _D_stop) or (abs(deltapsi) > 90.0)) {
if (_is_last_wp) {
_done();
return;
}
if (_is_reverse_wp) {
_advance_wp(1);
}
}
} else {
if ((D < _R_turn_min) or (abs(deltapsi) > 90.0)) {
_advance_wp();
}
}
var steering = math.min(math.max(_sign * (deltaA + minus_psidot), -1.0), 1.0);
if (_debug > 1) {
print("autopush_driver to_wp " ~ _to_wp ~ ", A " ~ geo.normdeg(A) ~ ", deltaA " ~ deltaA ~ ", minus_psidot " ~ minus_psidot);
}
setprop("/sim/model/autopush/target-speed-km_h", _sign * V);
setprop("/sim/model/autopush/steer-cmd-norm", steering);
}
var _timer = maketimer(0.051, func{_loop()});
_timer.simulatedTime = 1;
var _done = func() {
stop();
autopush_route.clear();
screen.log.write("(pushback): Pushback complete, please set parking brake.");
}
var start = func() {
if (_timer.isRunning) {
gui.popupTip("Already moving");
return;
}
if (!getprop("/sim/model/autopush/connected")) {
gui.popupTip("Pushback not connected");
return;
}
_route = autopush_route.route();
_route_reverse = autopush_route.route_reverse();
if ((_route == nil) or size(_route) < 2) {
gui.popupTip("Pushback route empty or invalid");
return;
} else {
autopush_route.done();
}
_K_V = getprop("/sim/model/autopush/driver/K_V");
_F_V = getprop("/sim/model/autopush/driver/F_V");
_R_turn_min = getprop("/sim/model/autopush/min-turn-radius-m");
_D_stop = getprop("/sim/model/autopush/stopping-distance-m");
_K_psi = getprop("/sim/model/autopush/driver/K_psi");
_F_psi = getprop("/sim/model/autopush/driver/F_psi");
_K_psidot = getprop("/sim/model/autopush/driver/K_psidot");
_F_psidot = getprop("/sim/model/autopush/driver/F_psidot");
_debug = getprop("/sim/model/autopush/debug") or 0;
if (!_to_wp) {
var (psi_park, D_park) = courseAndDistance(_route[0], _route[1]);
_push = (abs(geo.normdeg180(getprop("/orientation/heading-deg") - psi_park)) > 90.0);
_sign = 1.0 - 2.0 * _push;
_advance_wp();
_psi = 0.0;
}
_time = getprop("/sim/time/elapsed-sec");
_timer.start();
var endsign = _sign;
for (ii = _to_wp; ii < size(_route_reverse); ii += 1) {
if (_route_reverse[ii]) {
endsign = -endsign;
}
}
var (psi_twy, D_twy) = courseAndDistance(_route[size(_route) - 2], _route[size(_route) - 1]);
if (endsign < 0.0) {
screen.log.write("(pushback): Push back facing " ~ math.round(geo.normdeg(psi_twy + 180.0 - magvar()), 1.0) ~ ".");
} else {
screen.log.write("(pushback): Tow facing " ~ math.round(geo.normdeg(psi_twy - magvar()), 1.0) ~ ".");
}
}
var pause = func() {
_timer.stop();
setprop("/sim/model/autopush/target-speed-km_h", 0.0);
}
var stop = func() {
pause();
_to_wp = 0;
}

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YourAircraftDir/Nasal/Autopush/dynarr.nas Normal file
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# Class for dynamic arrays
#
# Copyright (c) 2018 dynamic arrays authors:
# 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];
}
};

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YourAircraftDir/Nasal/Autopush/route.nas Normal file
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# AUTOPUSH
# Visual entry of pushback route.
#
# Copyright (c) 2018 Autopush authors:
# Joshua Davidson http://github.com/Octal450
# 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, 2 = Reverse
var _route = [];
var _route_hdg = [];
var _route_reverse = [];
var _top_view_index = nil;
var _top_view_heading_offset_deg = 180.0;
var _reset_view_index = nil;
var _view_z_offset = nil;
var _view_pitch_offset_deg = nil;
var _view_heading_offset_deg = nil;
var _user_point_models = [];
var _waypoint_models = [];
var _N = 0;
var _show = 0;
var _R_turn_min = 0;
var _invalid = 0;
# Make top-down view point north in old FG.
var __fg_version = num(string.replace(getprop("/sim/version/flightgear"),".",""));
if (__fg_version < 201920) {
_top_view_heading_offset_deg = 94.5;
}
var _add = func(pos) {
if (_N) {
var (A, S) = courseAndDistance(_user_points.arr[_N - 1], pos);
S *= NM2M;
if (S < _R_turn_min) {
gui.popupTip("Too close to the previous point,\ntry again");
return;
}else if (S > 10000.0) {
gui.popupTip("Too far from 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() {
_finalize_top_view();
gui.popupTip("Done");
}, 1.0, 1);
} else {
_finalize_top_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";
} else if (_user_point_modes.arr[ii] == 2) {
model = "Models/Autopush/cursor_reverse.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], _route_hdg[ii]);
}
}
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 top_view = func() {
if (_view_listener != nil) {
return;
}
_top_view_index = view.indexof("Chase View Without Yaw");
_reset_view_index = getprop("/sim/current-view/view-number");
setprop("/sim/current-view/view-number", _top_view_index);
_view_pitch_offset_deg = getprop("/sim/current-view/pitch-offset-deg");
_view_heading_offset_deg = getprop("/sim/current-view/heading-offset-deg");
_view_z_offset = getprop("/sim/current-view/z-offset-m");
setprop("/sim/current-view/z-offset-m", -500.0);
setprop("/sim/current-view/heading-offset-deg", _top_view_heading_offset_deg);
setprop("/sim/current-view/pitch-offset-deg", 90.0);
_view_listener = setlistener("/sim/current-view/name", func {
_finalize_top_view();
}, 0, 0);
}
var _finalize_top_view = func() {
if (_view_listener == nil) {
return;
}
removelistener(_view_listener);
_view_listener = nil;
# Go back to the view to restore settings, in case user has switched away.
setprop("/sim/current-view/view-number", _top_view_index);
setprop("/sim/current-view/z-offset-m", _view_z_offset);
setprop("/sim/current-view/heading-offset-deg", _view_heading_offset_deg);
setprop("/sim/current-view/pitch-offset-deg", _view_pitch_offset_deg);
setprop("/sim/current-view/view-number", _reset_view_index);
if (!_show) {
_clear_user_point_models();
_clear_waypoint_models();
}
}
var _calculate_route = func() {
_route = [];
_route_reverse = [];
var 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;
# Detect points where push/pull direction is reversed.
for (var i = 0; i < n; i += 1) {
if (i and (i < n - 1)) {
if((_user_point_modes.arr[i] == 1) or (_user_point_modes.arr[i] == 2)) {
var newmode = 1;
var deltaA = abs(geo.normdeg180(user_points[i - 1].course_to(user_points[i]) - user_points[i].course_to(user_points[i + 1])));
if (deltaA > 91.0) {
newmode = 2;
}
if(newmode != _user_point_modes.arr[i]){
_set_userpoint_mode(i, newmode);
}
}
} else {
# Clear reverse for first and last points.
if(_user_point_modes.arr[i] == 2) {
if(_user_point_modes.arr[i] != 1){
_set_userpoint_mode(i, 1);
}
}
}
}
for (var i = 0; i < n; i += 1) {
if (_user_point_modes.arr[i] or (i == n - 1)) {
if (i - base > 0) {
var bezier = _calculate_bezier(user_points[base:i]);
if (bezier != nil) {
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]));
if (_user_point_modes.arr[i] == 2) {
var route_size = size(route.get_sliced());
setsize(_route_reverse, route_size);
_route_reverse[route_size - 1] = 1;
}
}
}
var PNumber = size(user_points);
_route = route.get_sliced();
setsize(_route_reverse, size(_route));
_check_turn_radius();
_calculate_hdg();
}
var _calculate_bezier = func(user_points) {
var route = dynarr.dynarr.new();
var 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]);
}
if (len < _R_turn_min) {
route.add(geo.Coord.new(user_points[PNumber - 1]))
} else {
var step = _R_turn_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();
}
var _calculate_hdg = func() {
_route_hdg = [];
var route_hdg = dynarr.dynarr.new();
var ilast = size(_route) - 1;
for (i = 0; i < ilast; i += 1) {
var hdg = _route[i].course_to(_route[i + 1]);
route_hdg.add(hdg);
}
# Last heading would be undefined, so just repeat the one before the last.
route_hdg.add(route_hdg.get_sliced()[ilast - 1]);
_route_hdg = route_hdg.get_sliced();
}
# Checks each waypoint's turn radius and marks the route invalid if
# it is smaller than the aircraft's turn radius.
var _check_turn_radius = func() {
# A waypoint's turn radius is the radius of a circle circumscribed around the waypoint, previous and next waypoints.
# Formula source: https://math.stackexchange.com/questions/947882/radius-of-circumscribed-circle-of-triangle-as-function-of-the-sides
var len = size(_route);
_invalid = 0;
# We can't calculate the radius for the first and last point
for (i = 1; i < len - 2; i += 1) {
# Disable check for push and pull points
if (_route_reverse[i] != 1) {
var a = _route[i].distance_to(_route[i + 1]);
var b = _route[i].distance_to(_route[i - 1]);
var c = _route[i - 1].distance_to(_route[i + 1]);
var margin = _R_turn_min / 5000;
# Stright line check with marging to prevent floating point error
if (a + b + margin >= c and a + b - margin <= c) {
var r = - 1;
} else {
var r = (a * b * c) / math.sqrt(
2 * a * a * b * b
+ 2 * a * a * c * c
+ 2 * b * b * c * c
- a * a * a * a
- b * b * b * b
- c * c * c * c
);
}
if ((r < _R_turn_min) and (r != -1)) {
_invalid = 1;
}
}
}
setprop("/sim/model/autopush/route/invalid", _invalid);
}
setlistener("/sim/model/autopush/route/show", func(p) {
var show = p.getValue();
if (_listener == nil) {
if (show) {
_place_user_point_models();
_place_waypoint_models();
} else {
_clear_user_point_models();
_clear_waypoint_models();
}
}
_show = show;
}, 1, 0);
var enter = func() {
clear();
top_view();
_R_turn_min = getprop("/sim/model/autopush/min-turn-radius-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());
});
# This property can be overridden manually, if needed.
var wingspan = getprop("/sim/model/autopush/route/wingspan-m");
if ((wingspan == nil) or (wingspan == 0.0)) {
# JSBSim
wingspan = getprop("/fdm/jsbsim/metrics/bw-ft");
if (wingspan != nil) {
wingspan *= FT2M;
} else {
# YAsim
wingspan = getprop("/fdm/yasim/model/wings/wing/wing-span");
}
setprop("/sim/model/autopush/route/wingspan-m", wingspan);
}
}
var _set_userpoint_mode = func(id, mode) {
if (_user_point_modes.arr[id] != mode) {
_user_point_modes.arr[id] = mode;
}
if (_user_point_models[id] != nil) {
_user_point_models[id].remove();
var model = "Models/Autopush/cursor.xml";
if (_user_point_modes.arr[id] == 1) {
model = "Models/Autopush/cursor_sharp.xml";
} else if (_user_point_modes.arr[id] == 2) {
model = "Models/Autopush/cursor_reverse.xml";
}
_user_point_models[id] = geo.put_model(model, _user_points.get_sliced()[id], 0.0);
}
}
var toggle_sharp = func() {
if (_listener == nil) {
return;
}
id = _N - 1;
if (_user_point_modes.arr[id]) {
_set_userpoint_mode(id, 0);
} else {
_set_userpoint_mode(id, 1);
}
}
var done = func() {
_stop(0);
}
var clear = func() {
autopush_driver.stop();
_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 (_invalid or (_N < 2)) {
return nil;
}
return _route;
}
var route_reverse = func() {
if (_invalid or (_N < 2)) {
return nil;
}
return _route_reverse;
}

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YourAircraftDir/autopush-config.xml.template Normal file
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<PropertyList>
<steer-cmd-norm alias="/controls/flight/rudder"/>
<yaw alias="/gear/gear[0]/steering-norm"/>
<yaw-mult type="float">MULTIPLIER</yaw-mult>
<pitch-deg type="float">PITCH</pitch-deg>
<min-turn-radius-m type="float">MIN_RADIUS</min-turn-radius-m>
<stopping-distance-m type="float">STOP_DIST</stopping-distance-m>
<chocks alias="/controls/gear/wheel-chocks"/>
<available type="int">1</available>
<enabled type="int"/>
<connected type="bool">false</connected>
<target-speed-km_h type="float">0.0</target-speed-km_h>
<K_p type="float">0.5</K_p>
<F_p type="float">0.15</F_p>
<K_i type="float">0.25</K_i>
<F_i type="float">0.1</F_i>
<K_d type="float">0.0</K_d>
<F_d type="float">0.0</F_d>
<driver>
<F_V type="float">8.0</F_V>
<K_psi type="float">0.03</K_psi>
<F_psi type="float">1.0</F_psi>
<K_psidot type="float">0.03</K_psidot>
<F_psidot type="float">1.0</F_psidot>
</driver>
<route>
<show type="bool"/>
</route>
<debug type="int">0</debug>
</PropertyList>

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YourAircraftDir/gui/dialogs/autopush.xml Normal file
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<?xml version="1.0"?>
<!--
AUTOPUSH
Pushback dialog.
Copyright (c) 2018 Autopush authors:
Joshua Davidson http://github.com/Octal450
Merspieler http://gitlab.com/merspieler
Original code (c) FlightGear
Distribute under the terms of GPLv2.
-->
<PropertyList>
<name>autopush</name>
<layout>vbox</layout>
<group>
<layout>hbox</layout>
<text>
<label>Pushback</label>
</text>
<empty>
<stretch>true</stretch>
</empty>
<button>
<halign>right</halign>
<pref-width>16</pref-width>
<pref-height>16</pref-height>
<legend/>
<key>Esc</key>
<binding>
<command>dialog-close</command>
</binding>
</button>
</group>
<hrule/>
<group>
<stretch>true</stretch>
<layout>vbox</layout>
<halign>center</halign>
<valign>top</valign>
<checkbox>
<halign>left</halign>
<label>Connect</label>
<property>/sim/model/autopush/enabled</property>
<live>true</live>
<binding>
<command>dialog-apply</command>
</binding>
</checkbox>
<group>
<layout>table</layout>
<text>
<row>0</row>
<col>0</col>
<label>Steering:</label>
<halign>left</halign>
</text>
<button>
<row>0</row>
<col>1</col>
<pref-width>25</pref-width>
<pref-height>25</pref-height>
<legend>&lt;</legend>
<binding>
<command>property-adjust</command>
<property>/sim/model/autopush/steer-cmd-norm</property>
<min>-1.0</min>
<max>1.0</max>
<step>-0.02</step>
<wrap>false</wrap>
</binding>
</button>
<slider>
<row>0</row>
<col>2</col>
<min>-1.0</min>
<max>1.0</max>
<property>/sim/model/autopush/steer-cmd-norm</property>
<step>0.1</step>
<live>true</live>
<binding>
<command>dialog-apply</command>
</binding>
</slider>
<button>
<row>0</row>
<col>3</col>
<pref-width>25</pref-width>
<pref-height>25</pref-height>
<legend>&gt;</legend>
<binding>
<command>property-adjust</command>
<property>/sim/model/autopush/steer-cmd-norm</property>
<min>-1.0</min>
<max>1.0</max>
<step>0.02</step>
<wrap>false</wrap>
</binding>
</button>
<button>
<row>0</row>
<col>4</col>
<pref-width>50</pref-width>
<pref-height>25</pref-height>
<legend>Center</legend>
<binding>
<command>property-assign</command>
<property>/sim/model/autopush/steer-cmd-norm</property>
<value>0.0</value>
</binding>
</button>
<text>
<row>1</row>
<col>0</col>
<label>Speed:</label>
<halign>left</halign>
</text>
<button>
<row>1</row>
<col>1</col>
<pref-width>25</pref-width>
<pref-height>25</pref-height>
<legend>&lt;</legend>
<binding>
<command>property-adjust</command>
<property>/sim/model/autopush/target-speed-km_h</property>
<min>-25</min>
<max>25</max>
<step>-1</step>
<wrap>false</wrap>
</binding>
</button>
<slider>
<row>1</row>
<col>2</col>
<min>-25</min>
<max>25</max>
<property>/sim/model/autopush/target-speed-km_h</property>
<step>1.0</step>
<live>true</live>
<binding>
<command>dialog-apply</command>
</binding>
</slider>
<button>
<row>1</row>
<col>3</col>
<pref-width>25</pref-width>
<pref-height>25</pref-height>
<legend>&gt;</legend>
<binding>
<command>property-adjust</command>
<property>/sim/model/autopush/target-speed-km_h</property>
<min>-25</min>
<max>25</max>
<step>1</step>
<wrap>false</wrap>
</binding>
</button>
<button>
<row>1</row>
<col>4</col>
<pref-width>50</pref-width>
<pref-height>25</pref-height>
<legend>Stop</legend>
<binding>
<command>property-assign</command>
<property>/sim/model/autopush/target-speed-km_h</property>
<value>0.0</value>
</binding>
<binding>
<command>nasal</command>
<script>autopush_driver.pause();</script>
</binding>
</button>
<text>
<row>1</row>
<col>5</col>
<pref-width>16</pref-width>
<property>/sim/model/autopush/target-speed-km_h</property>
<format>%3.0f</format>
<live>true</live>
<halign>right</halign>
</text>
<text>
<row>1</row>
<col>6</col>
<label> km/h</label>
<halign>left</halign>
</text>
</group>
<hrule/>
<group>
<layout>table</layout>
<text>
<row>0</row>
<col>0</col>
<label>Auto Push:</label>
<halign>left</halign>
</text>
<button>
<row>0</row>
<col>1</col>
<pref-width>50</pref-width>
<pref-height>25</pref-height>
<legend>Start</legend>
<binding>
<command>nasal</command>
<script>autopush_driver.start();</script>
</binding>
</button>
<button>
<row>0</row>
<col>2</col>
<pref-width>50</pref-width>
<pref-height>25</pref-height>
<legend>Pause</legend>
<binding>
<command>nasal</command>
<script>autopush_driver.pause();</script>
</binding>
</button>
<button>
<row>0</row>
<col>3</col>
<pref-width>50</pref-width>
<pref-height>25</pref-height>
<legend>View</legend>
<halign>left</halign>
<binding>
<command>nasal</command>
<script>autopush_route.top_view();</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>Always Show</label>
<property>/sim/model/autopush/route/show</property>
<live>true</live>
<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_sharp();</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>
<checkbox>
<row>2</row>
<col>3</col>
<halign>left</halign>
<label>Show Wingtip</label>
<live>true</live>
<property>/sim/model/autopush/route/show-wingtip</property>
<binding>
<command>dialog-apply</command>
</binding>
</checkbox>
</group>
</group>
</PropertyList>