diff --git a/Nasal/casdisable.nas b/Nasal/casdisable.nas new file mode 100644 index 000000000..13580ed3e --- /dev/null +++ b/Nasal/casdisable.nas @@ -0,0 +1,51 @@ + #disable cas when engines running- otherwise we are overflooded with error messages in the console + call_casdisable = func { + + if ( getprop("/rotors/main/rpm")> 80.0) + + + + { + + setprop("/controls/flight/fcs/cas-enabled", 0); + + } else { + + setprop("/controls/flight/fcs/cas-enabled", 1.0); + + + } + + #if (RUN2 ==1) { + + # setprop("/controls/flight/fcs/cas-enabled", 0); + + # } else { + + # setprop("/controls/flight/fcs/cas-enabled", 1.0); + + + # } + + +settimer(call_casdisable, 0.2); + +} + + + +init = func { + + settimer(call_casdisable, 0.0); + +} + + + +init(); + + + + + + \ No newline at end of file diff --git a/Nasal/fcs.nas b/Nasal/fcs.nas new file mode 100644 index 000000000..f5ae2a619 --- /dev/null +++ b/Nasal/fcs.nas @@ -0,0 +1,571 @@ +# +# Flight Control System by Tatsuhiro Nishioka +# $Id: fcs.nas,v 1.11 2008/08/28 02:41:04 tat Exp $ +# +#This one simulates a jaw SAS + +var FCSFilter = { + new : func(input_path, output_path) { + var obj = { parents : [FCSFilter], + input_path : input_path, + output_path : output_path }; + obj.axis_conv = {'roll' : 'aileron', 'pitch' : 'elevator', 'yaw' : 'rudder' }; + obj.body_conv = {'roll' : 'v', 'pitch' : 'u' }; + obj.last_body_fps = {'roll' : 0.0, 'pitch' : 0.0 }; + obj.last_pos = {'roll' : 0.0, 'pitch' : 0.0, 'yaw' : 0.0}; + return obj; + }, + + # read input command for a given axis + read : func(axis) { + if (me.input_path == nil or me.input_path == "") { + return getprop("/controls/flight/" ~ me.axis_conv[axis]); + } else { + var value = getprop(me.input_path ~ "/" ~ axis); + value = int(value * 1000) / 1000.0; + } + }, + + # write output command for a given axis + # this will be the output of an next command filter (like SAS) + write : func(axis, value) { + if (me.output_path == nil or me.output_path == '') { + setprop("/controls/flight/fcs/" ~ axis, me.limit(value, 1.0)); + } else { + setprop(me.output_path ~ "/" ~ axis, me.limit(value, 1.0)); + } + }, + + toggleFilterStatus : func(name) { + var messages = ["disengaged", "engaged"]; + var path = "/controls/flight/fcs/" ~ name ~ "-enabled"; + var status = getprop(path); + setprop(path, 1 - status); + screen.log.write(name ~ " " ~ messages[1 - status]); + }, + + getStatus : func(name) { + var path = "/controls/flight/fcs/" ~ name ~ "-enabled"; + return getprop(path); + }, + + limit : func(value, range) { + if (value > range) { + return range; + } elsif (value < -range) { + return - range; + } + return value; + }, + + max : func(val1, val2) { + return (val1 > val2) ? val1 : val2; + }, + + min : func(val1, val2) { + return (val1 > val2) ? val2 : val1; + }, + + calcCounterBodyFPS : func(axis, input, offset_deg) { + var position = getprop("/orientation/" ~ axis ~ "-deg"); + var body_fps = 0; + var last_body_fps = me.last_body_fps[axis]; + var reaction_gain = 0; + var heading = getprop("/orientation/heading-deg"); + var wind_speed_fps = getprop("/environment/wind-speed-kt") * 1.6878099; + var wind_direction = getprop("/environment/wind-from-heading-deg"); + var wind_direction -= heading; + var rate = getprop("/orientation/" ~ axis ~ "-rate-degps"); + var gear_pos = getprop("/gear/gear[0]/compression-norm") + getprop("/gear/gear[1]/compression-norm"); + var counter_fps = 0; + var fps_axis = me.body_conv[axis]; # convert from {roll, pitch} to {u, v} + var target_pos = offset_deg; + var brake_deg = 0; + + body_fps = getprop("/velocities/" ~ fps_axis ~ "Body-fps"); + if (axis == 'roll') { + var wind_fps = math.sin(wind_direction / 180 * math.pi) * wind_speed_fps; + } else { + var wind_fps = math.cos(wind_direction / 180 * math.pi) * wind_speed_fps; + } + var brake_freq = getprop("/controls/flight/fcs/gains/afcs/fps-" ~ axis ~ "-brake-freq"); + var brake_gain = getprop("/controls/flight/fcs/gains/afcs/fps-brake-gain-" ~ axis); + body_fps -= wind_fps; + var dfps = body_fps - me.last_body_fps[axis]; + var fps_coeff = getprop("/controls/flight/fcs/gains/afcs/fps-" ~ axis ~ "-coeff"); + target_pos -= int(body_fps * 100) / 100 * fps_coeff; + if (axis == 'roll' and gear_pos > 0.0 and position > 0) { + target_pos -= position * gear_pos / 5; + } + reaction_gain = getprop("/controls/flight/fcs/gains/afcs/fps-reaction-gain-" ~ axis); + var brake_sensitivity = (axis == 'roll') ? 1 : 1; + if (math.abs(position + rate / brake_freq * brake_sensitivity) > math.abs(target_pos)) { + if (math.abs(dfps) > 1) { + dfps = 1; + } + var error_deg = target_pos - position; + brake_deg = (error_deg - rate / brake_freq) * math.abs(dfps * 10) * brake_gain; + if (target_pos > 0) { + brake_deg = me.min(brake_deg, 0); + } else { + brake_deg = me.max(brake_deg, 0); + } + } + counter_fps = me.limit((target_pos + brake_deg) * reaction_gain, 1.0); + + setprop("/controls/flight/fcs/afcs/ah-" ~ fps_axis ~ "body-fps", body_fps); + setprop("/controls/flight/fcs/afcs/ah-" ~ fps_axis ~ "body-wind-fps", wind_fps); + setprop("/controls/flight/fcs/afcs/ah-" ~ axis ~ "-target-deg", target_pos); + setprop("/controls/flight/fcs/afcs/ah-" ~ axis ~ "-rate", rate); + setprop("/controls/flight/fcs/afcs/ah-delta-" ~ fps_axis ~ "body-fps", dfps); + setprop("/controls/flight/fcs/afcs/ah-" ~ axis ~ "-brake-deg", brake_deg); + + setprop("/controls/flight/fcs/afcs/counter-fps-" ~ axis, counter_fps); + me.last_pos[axis] = position; + me.last_body_fps[axis] = body_fps; + return me.limit(counter_fps + input * 0.2, 1.0); + }, + +}; + +# +# AFCS : Automatic Flight Control System +# +var AFCS = { + new : func(input_path, output_path) { + var obj = FCSFilter.new(input_path, output_path); + obj.parents = [FCSFilter, AFCS]; + setprop("/controls/flight/fcs/auto-hover-enabled", 0); + setprop("/controls/flight/fcs/gains/afcs/fps-brake-gain-pitch", 1.8); + setprop("/controls/flight/fcs/gains/afcs/fps-brake-gain-roll", 0.8); + setprop("/controls/flight/fcs/gains/afcs/fps-pitch-brake-freq", 3); + setprop("/controls/flight/fcs/gains/afcs/fps-pitch-coeff", -0.95); + setprop("/controls/flight/fcs/gains/afcs/fps-pitch-offset-deg", 0.9); + setprop("/controls/flight/fcs/gains/afcs/fps-reaction-gain-pitch", -0.8); + setprop("/controls/flight/fcs/gains/afcs/fps-reaction-gain-roll", 0.3436); + setprop("/controls/flight/fcs/gains/afcs/fps-roll-brake-freq", 8); + setprop("/controls/flight/fcs/gains/afcs/fps-roll-coeff", 0.8); + setprop("/controls/flight/fcs/gains/afcs/fps-roll-offset-deg", -0.8); + return obj; + }, + + toggleAutoHover : func() { + me.toggleFilterStatus("auto-hover"); + }, + + toggleAirSpeedLock : func() { + me.toggleFilterStatus("air-speed-lock"); + }, + + toggleHeadingLock : func() { + me.toggleFilterStatus("heading-lock"); + }, + + toggleAltitudeLock : func() { + me.toggleFilterStatus("altitude-lock"); + }, + + # + # auto hover : locks vBody_fps and uBody_fps regardless of wind speed/direction + # + autoHover : func(axis, input) { + if (axis == 'yaw') { + return input; + } else { + var offset_deg = getprop("/controls/flight/fcs/gains/afcs/fps-" ~ axis ~ "-offset-deg"); + return me.calcCounterBodyFPS(axis, input, offset_deg); + } + }, + + altitudeLock : func(axis, input) { + # not implemented yet + return input; + }, + + headingLock : func(axis, input) { + # not implementet yet + return input; + }, + + apply : func(axis) { + var input = me.read(axis); + var hover_status = me.getStatus("auto-hover"); + if (hover_status == 0) { + me.write(axis, input); + return; + } + me.write(axis, me.autoHover(axis, input)); + } +}; + +# +# SAS : Stability Augmentation System - a rate damper +# +var SAS = { + # + # new + # initial_gains: hash of initial gains for rate damping + # sensitivities: hash of minimum rates (deg/sec) that enables rate damper + # authority_limit: shows how much SAS can take over control + # 0 means no stability control, 1.0 means SAS fully takes over pilot control + # input_path: is a base path to input axis; nil for using raw input from KB/JS + # output_path: is a base path to output axis; nis for using /controls/flight/fcs + # + # with input_path / output_path, you can connect SAS, CAS, and more control filters + # + new : func(initial_gains, sensitivities, authority_limit, input_path, output_path) { + var obj = FCSFilter.new(input_path, output_path); + obj.parents = [FCSFilter, SAS]; + obj.authority_limit = authority_limit; + obj.sensitivities = sensitivities; + obj.initial_gains = initial_gains; + props.globals.getNode("/controls/flight/fcs/gains/sas", 1).setValues(obj.initial_gains); + setprop("/controls/flight/fcs/sas-enabled", 1); + return obj; + }, + + toggleEnable : func() { + me.toggleFilterStatus("sas"); + }, + + # + # calcGain - get gain for each axis based on air speed and dynamic pressure + # axis: one of 'roll', 'pitch', or 'yaw' + # + calcGain : func(axis) { + var mach = getprop("/velocities/mach"); + var initial_gain = getprop("/controls/flight/fcs/gains/sas/" ~ axis); + var gain = initial_gain - 0.1 * mach * mach; + if (math.abs(gain) < math.abs(initial_gain) * 0.01 or gain * initial_gain < 0) { + gain = initial_gain * 0.01; + } + return gain; + }, + + calcAuthorityLimit : func() { + var mach = getprop("/velocities/mach"); + var min_mach = 0.038; + var limit = me.authority_limit; + if (math.abs(mach < min_mach)) { + limit += (min_mach - math.abs(mach)) / min_mach * (1 - me.authority_limit) * 0.95; + } + setprop("/controls/flight/fcs/gains/sas/authority-limit", limit); + return limit; + }, + + # + # apply - apply SAS damper to a given input axis + # axis: one of 'roll', 'pitch', or 'yaw' + # + apply : func(axis) { + var status = me.getStatus("sas"); + var input = me.read(axis); + if (status == 0) { + me.write(axis, input); + return; + } + var mach = getprop("/velocities/mach"); + var value = 0; + var rate = getprop("/orientation/" ~ axis ~ "-rate-degps"); + var gain = me.calcGain(axis); + var limit = me.calcAuthorityLimit(); + if (math.abs(rate) >= me.sensitivities[axis]) { + value = - gain * rate; + if (value > limit) { + value = limit; + } elsif (value < - limit) { + value = - limit; + } + } + me.write(axis, value + input); + } +}; + +# +# CAS : Control Augmentation System - makes your aircraft more meneuverable +# +var CAS = { + new : func(input_gains, output_gains, sensitivities, input_path, output_path) { + var obj = FCSFilter.new(input_path, output_path); + obj.parents = [FCSFilter, CAS]; + obj.sensitivities = sensitivities; + obj.input_gains = input_gains; + obj.output_gains = output_gains; + props.globals.getNode("/controls/flight/fcs/gains/cas/input", 1).setValues(obj.input_gains); + props.globals.getNode("/controls/flight/fcs/gains/cas/output", 1).setValues(obj.output_gains); + setprop("/autopilot/locks/altitude", ''); + setprop("/autopilot/locks/heading", ''); + setprop("/controls/flight/fcs/cas-enabled", 1); + return obj; + }, + + calcRollRateAdjustment : func { + var position = getprop("/orientation/roll-deg"); + return math.abs(math.sin(position / 180 * math.pi)) / 6; + }, + + calcSideSlipAdjustment : func { + var mach = getprop("/velocities/mach"); + var slip = getprop("/orientation/side-slip-deg"); + if (mach < 0.015) { # works only if air speed > 10kt + slip = 0; + } + var anti_slip_gain = getprop("/controls/flight/fcs/gains/cas/output/anti-side-slip-gain"); + var roll_deg = getprop("/orientation/roll-deg"); + var gain_adjuster = me.min(math.abs(mach) / 0.060, 1) * me.limit(0.2 + math.sqrt(math.abs(roll_deg)/10), 3); + anti_slip_gain *= gain_adjuster; + setprop("/controls/flight/fcs/cas/anti-side-slip", slip * anti_slip_gain); + return slip * anti_slip_gain; + }, + + # FIXME: command for CAS is just a temporal one + calcCommand: func (axis, input) { + var output = 0; + var mach = getprop("/velocities/mach"); + var input_gain = me.calcGain(axis); + var output_gain = getprop("/controls/flight/fcs/gains/cas/output/" ~ axis); + var target_rate = input * input_gain; + var rate = getprop("/orientation/" ~ axis ~ "-rate-degps"); + var drate = target_rate - rate; + var locks = {'pitch' : getprop("/autopilot/locks/altitude"), + 'roll' : getprop("/autopilot/locks/heading")}; + setprop("/controls/flight/fcs/cas/target_" ~ axis ~ "rate", target_rate); + setprop("/controls/flight/fcs/cas/delta_" ~ axis, drate); + + if (axis == 'roll' or axis == 'pitch') { + if (math.abs(input > 0.7) or locks[axis] != '') { + output = drate * output_gain; + } else { + output = me.calcAttitudeCommand(axis); + } + if (axis == 'roll' and math.abs(mach) < 0.035) { + # FIXME: I don't know if OH-1 has this one + output += me.calcCounterBodyFPS(axis, input, -0.8); + } + } elsif (axis == 'yaw') { + output = drate * output_gain + me.calcSideSlipAdjustment(); + } else { + output = drate * output_gain; + } + return output; + }, + + toggleEnable : func() { + me.toggleFilterStatus("cas"); + }, + + calcAttitudeCommand : func(axis) { + var input_gain = getprop("/controls/flight/fcs/gains/cas/input/attitude-" ~ axis); + var output_gain = getprop("/controls/flight/fcs/gains/cas/output/" ~ axis); + var brake_freq = getprop("/controls/flight/fcs/gains/cas/output/" ~ axis ~ "-brake-freq"); + var brake_gain = getprop("/controls/flight/fcs/gains/cas/output/" ~ axis ~ "-brake"); + var trim = getprop("/controls/flight/" ~ me.axis_conv[axis] ~ "-trim"); + + var current_deg = getprop("/orientation/" ~ axis ~ "-deg"); + var rate = getprop("/orientation/" ~ axis ~ "-rate-degps"); + var target_deg = (me.read(axis) + trim) * input_gain; + var command_deg = 0; + if (target_deg != 0) { + command_deg = (0.094 * math.ln(math.abs(target_deg)) + 0.53) * target_deg; + } + + var error_deg = command_deg - current_deg; + var brake_deg = (error_deg - rate / brake_freq) * math.abs(error_deg) * brake_gain; + + if (command_deg > 0) { + brake_deg = me.min(brake_deg, 0); + } else { + brake_deg = me.max(brake_deg, 0); + } + + var monitor_prefix = me.output_path ~ "/" ~ axis; + setprop(monitor_prefix ~ "-target_deg", target_deg); + setprop(monitor_prefix ~ "-error_deg", error_deg); + setprop(monitor_prefix ~ "-brake_deg", brake_deg); + setprop(monitor_prefix ~ "-deg", current_deg); + setprop(monitor_prefix ~ "-rate", -rate); + + return (error_deg + brake_deg) * output_gain; + }, + + # FixMe: gain should be calculated using both speed and dynamic pressure + calcGain : func(axis) { + var mach = getprop("/velocities/mach"); + var input_gain = getprop("/controls/flight/fcs/gains/cas/input/" ~ axis); + var gain = input_gain; + if (axis == 'pitch') { + gain += 0.1 * mach * mach; + } elsif (axis== 'yaw') { + gain *= ((1 - mach) * (1 - mach)); + } + if (gain * input_gain < 0.0 ) { + gain = 0; + } + return gain; + }, + + apply : func(axis) { + var input = me.read(axis); + var status = me.getStatus("cas"); + var cas_command = 0; + # FIXME : hmm, a bit nasty. CAS should be enabled even with auto-hover.... + if (status == 0 or (me.getStatus("auto-hover") == 1 and axis != 'yaw')) { + me.write(axis, input); + return; + } + cas_command = me.calcCommand(axis, input); + me.write(axis, cas_command); + } +}; + +# +# Tail hstab, "stabilator," for stabilize the nose +# +var Stabilator = { + new : func() { + var obj = { parents : [Stabilator] }; + setprop("/controls/flight/fcs/gains/stabilator", -1.8); + setprop("/controls/flight/fcs/auto-stabilator", 1); + # 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160, 170, 180, ..... + me.gainTable = [-0.9, -0.8, 0.1, -0.5, 0.0, 0.7, 0.8, 0.9, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9, 0.8, 0.6, 0.4, 0.2, -1.0]; + return obj; + }, + + toggleManual : func { + var status = getprop("/controls/flight/fcs/auto-stabilator"); + getprop("/controls/flight/fcs/auto-stabilator", 1 - status); + }, + + apply : func(delta) { + setprop("/controls/flight/fcs/auto-stabilator", 0); + var value = getprop("/controls/flight/fcs/stabilator"); + getprop("/controls/flight/fcs/stabilator", value + delta); + }, + + calcPosition : func() { + var speed = getprop("/velocities/mach") / 0.001497219; # in knot + var index = int(math.abs(speed) / 10); + if (index >= size(me.gainTable) - 1) { + index = size(me.gainTable) - 2; + } + var mod = math.mod(int(math.abs(speed)), 10); + var position = me.gainTable[index] * ((10 - mod) / 10) + me.gainTable[index-1] * (mod) / 10; + if (speed < -20) { + position = - position; + } + return position; + }, + + update : func() { + var status = getprop("/controls/flight/fcs/auto-stabilator"); + if (status == 0) { + return; + } + var gain = getprop("/controls/flight/fcs/gains/stabilator"); + var mach = getprop("/velocities/mach"); + var throttle = getprop("/controls/flight/throttle"); + var stabilator_norm = 0; + + stabilator_norm = me.calcPosition(); + setprop("/controls/flight/fcs/stabilator", stabilator_norm); + } +}; + +var TailRotorCollective = { + new : func(minimum=0.10, maximum=1.0, low_limit=0.00011, high_limit=0.0035) { + var obj = FCSFilter.new("/controls/engines/engine[1]", "/controls/flight/fcs/tail-rotor"); + obj.parents = [FCSFilter, TailRotorCollective]; + obj.adjuster = 0.0; + setprop("/controls/flight/fcs/tail-rotor/src-minimum", minimum); + setprop("/controls/flight/fcs/tail-rotor/src-maximum", maximum); + setprop("/controls/flight/fcs/tail-rotor/low-limit", low_limit); + setprop("/controls/flight/fcs/tail-rotor/high-limit", high_limit); + setprop("/controls/flight/fcs/gains/tail-rotor/error-adjuster-gain", -0.5); + return obj; + }, + + update : func() { + var throttle = me.read("throttle"); + var pedal_pos_deg = getprop("/controls/flight/fcs/yaw"); + var cas_input = cas.read('yaw'); + var cas_input_gain = cas.calcGain('yaw'); + var target_rate = cas_input * cas_input_gain; + var rate = getprop("/orientation/yaw-rate-degps"); + var error_rate = getprop("/controls/flight/fcs/cas/delta_yaw"); + var error_adjuster_gain = getprop("/controls/flight/fcs/gains/tail-rotor/error-adjuster-gain"); + + var minimum = getprop("/controls/flight/fcs/tail-rotor/src-minimum"); + var maximum = getprop("/controls/flight/fcs/tail-rotor/src-maximum"); + var low_limit = getprop("/controls/flight/fcs/tail-rotor/low-limit"); + var high_limit = getprop("/controls/flight/fcs/tail-rotor/high-limit"); + var output = 0; + var range = maximum - minimum; + + if (throttle < minimum) { + output = low_limit; + } elsif (throttle > maximum) { + output = high_limit; + } else { + output = low_limit + (throttle - minimum) / range * (high_limit - low_limit); + } + + # CAS driven tail rotor thrust adjuster + me.adjuster = error_rate * error_adjuster_gain; + me.adjuster = me.limit(me.adjuster, 0.3); + output += me.adjuster; + + setprop("/controls/flight/fcs/tail-rotor/error-rate", error_rate); + setprop("/controls/flight/fcs/tail-rotor/adjuster", me.adjuster); + + me.write("throttle", output); + } +}; + +var sas = nil; +var cas = nil; +var afcs = nil; +var stabilator = nil; +var tail = nil; +var count = 0; + +var sensitivities = {'roll' : 0.0, 'pitch' : 0.0, 'yaw' : 1.125 }; +var sas_initial_gains = {'roll' : 0, 'pitch' : 0, 'yaw' : 0.004 }; +var cas_input_gains = {'roll' : 30, 'pitch' : -60, 'yaw' : 30, + 'attitude-roll' : 80, 'attitude-pitch' : -80 }; +var cas_output_gains = {'roll' : 0.06, 'pitch' : -0.1, 'yaw' : 0.5, + 'roll-brake-freq' : 10, 'pitch-brake-freq' : 3, + 'roll-brake' : 0.4, 'pitch-brake' : 6, + 'anti-side-slip-gain' : -4.5}; + +var update = func { + count += 1; + # AFCS, CAS, and SAS run at 60Hz + if (math.mod(count, 2) == 0) { + return; + } + cas.apply('roll'); + cas.apply('pitch'); + cas.apply('yaw'); + + afcs.apply('roll'); + afcs.apply('pitch'); + afcs.apply('yaw'); + + sas.apply('roll'); + sas.apply('pitch'); + sas.apply('yaw'); + stabilator.update(); + tail.update(); +} + +var initialize = func { + cas = CAS.new(cas_input_gains, cas_output_gains, sensitivities, nil, "/controls/flight/fcs/cas"); + afcs = AFCS.new("/controls/flight/fcs/cas", "/controls/flight/fcs/afcs"); + sas = SAS.new(sas_initial_gains, sensitivities, 3, "/controls/flight/fcs/afcs", "/controls/flight/fcs"); + stabilator = Stabilator.new(); + tail = TailRotorCollective.new(); + setlistener("/rotors/main/cone-deg", update); +} + +_setlistener("/sim/signals/fdm-initialized", initialize); + diff --git a/Nasal/fcs2.nas b/Nasal/fcs2.nas new file mode 100644 index 000000000..31948e338 --- /dev/null +++ b/Nasal/fcs2.nas @@ -0,0 +1,570 @@ +# +# Flight Control System by Tatsuhiro Nishioka +# $Id: fcs.nas,v 1.11 2008/08/28 02:41:04 tat Exp $ +# +#This one simulates a P/R and Jaw SAS + +var FCSFilter = { + new : func(input_path, output_path) { + var obj = { parents : [FCSFilter], + input_path : input_path, + output_path : output_path }; + obj.axis_conv = {'roll' : 'aileron', 'pitch' : 'elevator', 'yaw' : 'rudder' }; + obj.body_conv = {'roll' : 'v', 'pitch' : 'u' }; + obj.last_body_fps = {'roll' : 0.0, 'pitch' : 0.0 }; + obj.last_pos = {'roll' : 0.0, 'pitch' : 0.0, 'yaw' : 0.0}; + return obj; + }, + + # read input command for a given axis + read : func(axis) { + if (me.input_path == nil or me.input_path == "") { + return getprop("/controls/flight/" ~ me.axis_conv[axis]); + } else { + var value = getprop(me.input_path ~ "/" ~ axis); + value = int(value * 1000) / 1000.0; + } + }, + + # write output command for a given axis + # this will be the output of an next command filter (like SAS) + write : func(axis, value) { + if (me.output_path == nil or me.output_path == '') { + setprop("/controls/flight/fcs/" ~ axis, me.limit(value, 1.0)); + } else { + setprop(me.output_path ~ "/" ~ axis, me.limit(value, 1.0)); + } + }, + + toggleFilterStatus : func(name) { + var messages = ["disengaged", "engaged"]; + var path = "/controls/flight/fcs/" ~ name ~ "-enabled"; + var status = getprop(path); + setprop(path, 1 - status); + #screen.log.write(name ~ " " ~ messages[1 - status]); + }, + + getStatus : func(name) { + var path = "/controls/flight/fcs/" ~ name ~ "-enabled"; + return getprop(path); + }, + + limit : func(value, range) { + if (value > range) { + return range; + } elsif (value < -range) { + return - range; + } + return value; + }, + + max : func(val1, val2) { + return (val1 > val2) ? val1 : val2; + }, + + min : func(val1, val2) { + return (val1 > val2) ? val2 : val1; + }, + + calcCounterBodyFPS : func(axis, input, offset_deg) { + var position = getprop("/orientation/" ~ axis ~ "-deg"); + var body_fps = 0; + var last_body_fps = me.last_body_fps[axis]; + var reaction_gain = 0; + var heading = getprop("/orientation/heading-deg"); + var wind_speed_fps = getprop("/environment/wind-speed-kt") * 1.6878099; + var wind_direction = getprop("/environment/wind-from-heading-deg"); + var wind_direction -= heading; + var rate = getprop("/orientation/" ~ axis ~ "-rate-degps"); + var gear_pos = getprop("/gear/gear[0]/compression-norm") + getprop("/gear/gear[1]/compression-norm"); + var counter_fps = 0; + var fps_axis = me.body_conv[axis]; # convert from {roll, pitch} to {u, v} + var target_pos = offset_deg; + var brake_deg = 0; + + body_fps = getprop("/velocities/" ~ fps_axis ~ "Body-fps"); + if (axis == 'roll') { + var wind_fps = math.sin(wind_direction / 180 * math.pi) * wind_speed_fps; + } else { + var wind_fps = math.cos(wind_direction / 180 * math.pi) * wind_speed_fps; + } + var brake_freq = getprop("/controls/flight/fcs/gains/afcs/fps-" ~ axis ~ "-brake-freq"); + var brake_gain = getprop("/controls/flight/fcs/gains/afcs/fps-brake-gain-" ~ axis); + body_fps -= wind_fps; + var dfps = body_fps - me.last_body_fps[axis]; + var fps_coeff = getprop("/controls/flight/fcs/gains/afcs/fps-" ~ axis ~ "-coeff"); + target_pos -= int(body_fps * 100) / 100 * fps_coeff; + if (axis == 'roll' and gear_pos > 0.0 and position > 0) { + target_pos -= position * gear_pos / 5; + } + reaction_gain = getprop("/controls/flight/fcs/gains/afcs/fps-reaction-gain-" ~ axis); + var brake_sensitivity = (axis == 'roll') ? 1 : 1; + if (math.abs(position + rate / brake_freq * brake_sensitivity) > math.abs(target_pos)) { + if (math.abs(dfps) > 1) { + dfps = 1; + } + var error_deg = target_pos - position; + brake_deg = (error_deg - rate / brake_freq) * math.abs(dfps * 10) * brake_gain; + if (target_pos > 0) { + brake_deg = me.min(brake_deg, 0); + } else { + brake_deg = me.max(brake_deg, 0); + } + } + counter_fps = me.limit((target_pos + brake_deg) * reaction_gain, 1.0); + + setprop("/controls/flight/fcs/afcs/ah-" ~ fps_axis ~ "body-fps", body_fps); + setprop("/controls/flight/fcs/afcs/ah-" ~ fps_axis ~ "body-wind-fps", wind_fps); + setprop("/controls/flight/fcs/afcs/ah-" ~ axis ~ "-target-deg", target_pos); + setprop("/controls/flight/fcs/afcs/ah-" ~ axis ~ "-rate", rate); + setprop("/controls/flight/fcs/afcs/ah-delta-" ~ fps_axis ~ "body-fps", dfps); + setprop("/controls/flight/fcs/afcs/ah-" ~ axis ~ "-brake-deg", brake_deg); + + setprop("/controls/flight/fcs/afcs/counter-fps-" ~ axis, counter_fps); + me.last_pos[axis] = position; + me.last_body_fps[axis] = body_fps; + return me.limit(counter_fps + input * 0.2, 1.0); + }, + +}; + +# +# AFCS : Automatic Flight Control System +# +var AFCS = { + new : func(input_path, output_path) { + var obj = FCSFilter.new(input_path, output_path); + obj.parents = [FCSFilter, AFCS]; + setprop("/controls/flight/fcs/auto-hover-enabled", 0); + setprop("/controls/flight/fcs/gains/afcs/fps-brake-gain-pitch", 1.8); + setprop("/controls/flight/fcs/gains/afcs/fps-brake-gain-roll", 0.8); + setprop("/controls/flight/fcs/gains/afcs/fps-pitch-brake-freq", 3); + setprop("/controls/flight/fcs/gains/afcs/fps-pitch-coeff", -0.95); + setprop("/controls/flight/fcs/gains/afcs/fps-pitch-offset-deg", 0.9); + setprop("/controls/flight/fcs/gains/afcs/fps-reaction-gain-pitch", -0.8); + setprop("/controls/flight/fcs/gains/afcs/fps-reaction-gain-roll", 0.3436); + setprop("/controls/flight/fcs/gains/afcs/fps-roll-brake-freq", 8); + setprop("/controls/flight/fcs/gains/afcs/fps-roll-coeff", 0.8); + setprop("/controls/flight/fcs/gains/afcs/fps-roll-offset-deg", -0.8); + return obj; + }, + + toggleAutoHover : func() { + me.toggleFilterStatus("auto-hover"); + }, + + toggleAirSpeedLock : func() { + me.toggleFilterStatus("air-speed-lock"); + }, + + toggleHeadingLock : func() { + me.toggleFilterStatus("heading-lock"); + }, + + toggleAltitudeLock : func() { + me.toggleFilterStatus("altitude-lock"); + }, + + # + # auto hover : locks vBody_fps and uBody_fps regardless of wind speed/direction + # + autoHover : func(axis, input) { + if (axis == 'yaw') { + return input; + } else { + var offset_deg = getprop("/controls/flight/fcs/gains/afcs/fps-" ~ axis ~ "-offset-deg"); + return me.calcCounterBodyFPS(axis, input, offset_deg); + } + }, + + altitudeLock : func(axis, input) { + # not implemented yet + return input; + }, + + headingLock : func(axis, input) { + # not implementet yet + return input; + }, + + apply : func(axis) { + var input = me.read(axis); + var hover_status = me.getStatus("auto-hover"); + if (hover_status == 0) { + me.write(axis, input); + return; + } + me.write(axis, me.autoHover(axis, input)); + } +}; + +# +# SAS : Stability Augmentation System - a rate damper +# +var SAS = { + # + # new + # initial_gains: hash of initial gains for rate damping + # sensitivities: hash of minimum rates (deg/sec) that enables rate damper + # authority_limit: shows how much SAS can take over control + # 0 means no stability control, 1.0 means SAS fully takes over pilot control + # input_path: is a base path to input axis; nil for using raw input from KB/JS + # output_path: is a base path to output axis; nis for using /controls/flight/fcs + # + # with input_path / output_path, you can connect SAS, CAS, and more control filters + # + new : func(initial_gains, sensitivities, authority_limit, input_path, output_path) { + var obj = FCSFilter.new(input_path, output_path); + obj.parents = [FCSFilter, SAS]; + obj.authority_limit = authority_limit; + obj.sensitivities = sensitivities; + obj.initial_gains = initial_gains; + props.globals.getNode("/controls/flight/fcs/gains/sas", 1).setValues(obj.initial_gains); + setprop("/controls/flight/fcs/sas-enabled", 1); + return obj; + }, + + toggleEnable : func() { + me.toggleFilterStatus("sas"); + }, + + # + # calcGain - get gain for each axis based on air speed and dynamic pressure + # axis: one of 'roll', 'pitch', or 'yaw' + # + calcGain : func(axis) { + var mach = getprop("/velocities/mach"); + var initial_gain = getprop("/controls/flight/fcs/gains/sas/" ~ axis); + var gain = initial_gain - 0.1 * mach * mach; + if (math.abs(gain) < math.abs(initial_gain) * 0.01 or gain * initial_gain < 0) { + gain = initial_gain * 0.01; + } + return gain; + }, + + calcAuthorityLimit : func() { + var mach = getprop("/velocities/mach"); + var min_mach = 0.038; + var limit = me.authority_limit; + if (math.abs(mach < min_mach)) { + limit += (min_mach - math.abs(mach)) / min_mach * (1 - me.authority_limit) * 0.95; + } + setprop("/controls/flight/fcs/gains/sas/authority-limit", limit); + return limit; + }, + + # + # apply - apply SAS damper to a given input axis + # axis: one of 'roll', 'pitch', or 'yaw' + # + apply : func(axis) { + var status = me.getStatus("sas"); + var input = me.read(axis); + if (status == 0) { + me.write(axis, input); + return; + } + var mach = getprop("/velocities/mach"); + var value = 0; + var rate = getprop("/orientation/" ~ axis ~ "-rate-degps"); + var gain = me.calcGain(axis); + var limit = me.calcAuthorityLimit(); + if (math.abs(rate) >= me.sensitivities[axis]) { + value = - gain * rate; + if (value > limit) { + value = limit; + } elsif (value < - limit) { + value = - limit; + } + } + me.write(axis, value + input); + } +}; + +# +# CAS : Control Augmentation System - makes your aircraft more meneuverable +# +var CAS = { + new : func(input_gains, output_gains, sensitivities, input_path, output_path) { + var obj = FCSFilter.new(input_path, output_path); + obj.parents = [FCSFilter, CAS]; + obj.sensitivities = sensitivities; + obj.input_gains = input_gains; + obj.output_gains = output_gains; + props.globals.getNode("/controls/flight/fcs/gains/cas/input", 1).setValues(obj.input_gains); + props.globals.getNode("/controls/flight/fcs/gains/cas/output", 1).setValues(obj.output_gains); + setprop("/autopilot/locks/altitude", ''); + setprop("/autopilot/locks/heading", ''); + setprop("/controls/flight/fcs/cas-enabled", 1); + return obj; + }, + + calcRollRateAdjustment : func { + var position = getprop("/orientation/roll-deg"); + return math.abs(math.sin(position / 180 * math.pi)) / 6; + }, + + calcSideSlipAdjustment : func { + var mach = getprop("/velocities/mach"); + var slip = getprop("/orientation/side-slip-deg"); + if (mach < 0.015) { # works only if air speed > 10kt + slip = 0; + } + var anti_slip_gain = getprop("/controls/flight/fcs/gains/cas/output/anti-side-slip-gain"); + var roll_deg = getprop("/orientation/roll-deg"); + var gain_adjuster = me.min(math.abs(mach) / 0.060, 1) * me.limit(0.2 + math.sqrt(math.abs(roll_deg)/10), 3); + anti_slip_gain *= gain_adjuster; + setprop("/controls/flight/fcs/cas/anti-side-slip", slip * anti_slip_gain); + return slip * anti_slip_gain; + }, + + # FIXME: command for CAS is just a temporal one + calcCommand: func (axis, input) { + var output = 0; + var mach = getprop("/velocities/mach"); + var input_gain = me.calcGain(axis); + var output_gain = getprop("/controls/flight/fcs/gains/cas/output/" ~ axis); + var target_rate = input * input_gain; + var rate = getprop("/orientation/" ~ axis ~ "-rate-degps"); + var drate = target_rate - rate; + var locks = {'pitch' : getprop("/autopilot/locks/altitude"), + 'roll' : getprop("/autopilot/locks/heading")}; + setprop("/controls/flight/fcs/cas/target_" ~ axis ~ "rate", target_rate); + setprop("/controls/flight/fcs/cas/delta_" ~ axis, drate); + + if (axis == 'roll' or axis == 'pitch') { + if (math.abs(input > 0.7) or locks[axis] != '') { + output = drate * output_gain; + } else { + output = me.calcAttitudeCommand(axis); + } + if (axis == 'roll' and math.abs(mach) < 0.035) { + # FIXME: I don't know if OH-1 has this one + output += me.calcCounterBodyFPS(axis, input, -0.8); + } + } elsif (axis == 'yaw') { + output = drate * output_gain + me.calcSideSlipAdjustment(); + } else { + output = drate * output_gain; + } + return output; + }, + + toggleEnable : func() { + me.toggleFilterStatus("cas"); + }, + + calcAttitudeCommand : func(axis) { + var input_gain = getprop("/controls/flight/fcs/gains/cas/input/attitude-" ~ axis); + var output_gain = getprop("/controls/flight/fcs/gains/cas/output/" ~ axis); + var brake_freq = getprop("/controls/flight/fcs/gains/cas/output/" ~ axis ~ "-brake-freq"); + var brake_gain = getprop("/controls/flight/fcs/gains/cas/output/" ~ axis ~ "-brake"); + var trim = getprop("/controls/flight/" ~ me.axis_conv[axis] ~ "-trim"); + + var current_deg = getprop("/orientation/" ~ axis ~ "-deg"); + var rate = getprop("/orientation/" ~ axis ~ "-rate-degps"); + var target_deg = (me.read(axis) + trim) * input_gain; + var command_deg = 0; + if (target_deg != 0) { + command_deg = (0.094 * math.ln(math.abs(target_deg)) + 0.53) * target_deg; + } + + var error_deg = command_deg - current_deg; + var brake_deg = (error_deg - rate / brake_freq) * math.abs(error_deg) * brake_gain; + + if (command_deg > 0) { + brake_deg = me.min(brake_deg, 0); + } else { + brake_deg = me.max(brake_deg, 0); + } + + var monitor_prefix = me.output_path ~ "/" ~ axis; + setprop(monitor_prefix ~ "-target_deg", target_deg); + setprop(monitor_prefix ~ "-error_deg", error_deg); + setprop(monitor_prefix ~ "-brake_deg", brake_deg); + setprop(monitor_prefix ~ "-deg", current_deg); + setprop(monitor_prefix ~ "-rate", -rate); + + return (error_deg + brake_deg) * output_gain; + }, + + # FixMe: gain should be calculated using both speed and dynamic pressure + calcGain : func(axis) { + var mach = getprop("/velocities/mach"); + var input_gain = getprop("/controls/flight/fcs/gains/cas/input/" ~ axis); + var gain = input_gain; + if (axis == 'pitch') { + gain += 0.1 * mach * mach; + } elsif (axis== 'yaw') { + gain *= ((1 - mach) * (1 - mach)); + } + if (gain * input_gain < 0.0 ) { + gain = 0; + } + return gain; + }, + + apply : func(axis) { + var input = me.read(axis); + var status = me.getStatus("cas"); + var cas_command = 0; + # FIXME : hmm, a bit nasty. CAS should be enabled even with auto-hover.... + if (status == 0 or (me.getStatus("auto-hover") == 1 and axis != 'yaw')) { + me.write(axis, input); + return; + } + cas_command = me.calcCommand(axis, input); + me.write(axis, cas_command); + } +}; + +# +# Tail hstab, "stabilator," for stabilize the nose +# +var Stabilator = { + new : func() { + var obj = { parents : [Stabilator] }; + setprop("/controls/flight/fcs/gains/stabilator", -1.8); + setprop("/controls/flight/fcs/auto-stabilator", 1); + # 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160, 170, 180, ..... + me.gainTable = [-0.9, -0.8, 0.1, -0.5, 0.0, 0.7, 0.8, 0.9, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.9, 0.8, 0.6, 0.4, 0.2, -1.0]; + return obj; + }, + + toggleManual : func { + var status = getprop("/controls/flight/fcs/auto-stabilator"); + getprop("/controls/flight/fcs/auto-stabilator", 1 - status); + }, + + apply : func(delta) { + setprop("/controls/flight/fcs/auto-stabilator", 0); + var value = getprop("/controls/flight/fcs/stabilator"); + getprop("/controls/flight/fcs/stabilator", value + delta); + }, + + calcPosition : func() { + var speed = getprop("/velocities/mach") / 0.001497219; # in knot + var index = int(math.abs(speed) / 10); + if (index >= size(me.gainTable) - 1) { + index = size(me.gainTable) - 2; + } + var mod = math.mod(int(math.abs(speed)), 10); + var position = me.gainTable[index] * ((10 - mod) / 10) + me.gainTable[index-1] * (mod) / 10; + if (speed < -20) { + position = - position; + } + return position; + }, + + update : func() { + var status = getprop("/controls/flight/fcs/auto-stabilator"); + if (status == 0) { + return; + } + var gain = getprop("/controls/flight/fcs/gains/stabilator"); + var mach = getprop("/velocities/mach"); + var throttle = getprop("/controls/flight/throttle"); + var stabilator_norm = 0; + + stabilator_norm = me.calcPosition(); + setprop("/controls/flight/fcs/stabilator", stabilator_norm); + } +}; + +var TailRotorCollective = { + new : func(minimum=0.10, maximum=1.0, low_limit=0.00011, high_limit=0.0035) { + var obj = FCSFilter.new("/controls/engines/engine[1]", "/controls/flight/fcs/tail-rotor"); + obj.parents = [FCSFilter, TailRotorCollective]; + obj.adjuster = 0.0; + setprop("/controls/flight/fcs/tail-rotor/src-minimum", minimum); + setprop("/controls/flight/fcs/tail-rotor/src-maximum", maximum); + setprop("/controls/flight/fcs/tail-rotor/low-limit", low_limit); + setprop("/controls/flight/fcs/tail-rotor/high-limit", high_limit); + setprop("/controls/flight/fcs/gains/tail-rotor/error-adjuster-gain", -0.5); + return obj; + }, + + update : func() { + var throttle = me.read("throttle"); + var pedal_pos_deg = getprop("/controls/flight/fcs/yaw"); + var cas_input = cas.read('yaw'); + var cas_input_gain = cas.calcGain('yaw'); + var target_rate = cas_input * cas_input_gain; + var rate = getprop("/orientation/yaw-rate-degps"); + var error_rate = getprop("/controls/flight/fcs/cas/delta_yaw"); + var error_adjuster_gain = getprop("/controls/flight/fcs/gains/tail-rotor/error-adjuster-gain"); + + var minimum = getprop("/controls/flight/fcs/tail-rotor/src-minimum"); + var maximum = getprop("/controls/flight/fcs/tail-rotor/src-maximum"); + var low_limit = getprop("/controls/flight/fcs/tail-rotor/low-limit"); + var high_limit = getprop("/controls/flight/fcs/tail-rotor/high-limit"); + var output = 0; + var range = maximum - minimum; + + if (throttle < minimum) { + output = low_limit; + } elsif (throttle > maximum) { + output = high_limit; + } else { + output = low_limit + (throttle - minimum) / range * (high_limit - low_limit); + } + + # CAS driven tail rotor thrust adjuster + me.adjuster = error_rate * error_adjuster_gain; + me.adjuster = me.limit(me.adjuster, 0.3); + output += me.adjuster; + + setprop("/controls/flight/fcs/tail-rotor/error-rate", error_rate); + setprop("/controls/flight/fcs/tail-rotor/adjuster", me.adjuster); + + me.write("throttle", output); + } +}; + +var sas = nil; +var cas = nil; +var afcs = nil; +var stabilator = nil; +var tail = nil; +var count = 0; + +var sensitivities = {'roll' : 0.0, 'pitch' : 0.0, 'yaw' : 1.125 }; +var sas_initial_gains = {'roll' : 0.0011, 'pitch' : -0.0042, 'yaw' : 0.004 }; +var cas_input_gains = {'roll' : 30, 'pitch' : -60, 'yaw' : 30, + 'attitude-roll' : 80, 'attitude-pitch' : -80 }; +var cas_output_gains = {'roll' : 0.06, 'pitch' : -0.1, 'yaw' : 0.5, + 'roll-brake-freq' : 10, 'pitch-brake-freq' : 3, + 'roll-brake' : 0.4, 'pitch-brake' : 6, + 'anti-side-slip-gain' : -4.5}; +var update = func { + count += 1; + # AFCS, CAS, and SAS run at 60Hz + if (math.mod(count, 2) == 0) { + return; + } + cas.apply('roll'); + cas.apply('pitch'); + cas.apply('yaw'); + + afcs.apply('roll'); + afcs.apply('pitch'); + afcs.apply('yaw'); + + sas.apply('roll'); + sas.apply('pitch'); + sas.apply('yaw'); + stabilator.update(); + tail.update(); +} + +var initialize = func { + cas = CAS.new(cas_input_gains, cas_output_gains, sensitivities, nil, "/controls/flight/fcs/cas"); + afcs = AFCS.new("/controls/flight/fcs/cas", "/controls/flight/fcs/afcs"); + sas = SAS.new(sas_initial_gains, sensitivities, 3, "/controls/flight/fcs/afcs", "/controls/flight/fcs"); + stabilator = Stabilator.new(); + tail = TailRotorCollective.new(); + setlistener("/rotors/main/cone-deg", update); +} + +_setlistener("/sim/signals/fdm-initialized", initialize); + diff --git a/Ressource/default.fuselage.jpg b/Ressource/default.fuselage.jpg new file mode 100644 index 000000000..6beaeebcb Binary files /dev/null and b/Ressource/default.fuselage.jpg differ diff --git a/Ressource/default.tail.jpg b/Ressource/default.tail.jpg new file mode 100644 index 000000000..c7409fcb2 Binary files /dev/null and b/Ressource/default.tail.jpg differ diff --git a/Shaders/reflect.frag b/Shaders/reflect.frag index 6b3e635e8..1f7fb6924 100644 --- a/Shaders/reflect.frag +++ b/Shaders/reflect.frag @@ -1,120 +1,118 @@ -// -*- mode: C; -*- -// Licence: GPL v2 -// Author: Vivian Meazza. - -#version 120 - -varying vec4 rawpos; -varying vec4 ecPosition; -varying vec3 VNormal; -varying vec3 Normal; -varying vec4 constantColor; -varying vec3 vViewVec; -varying vec3 reflVec; - -varying vec4 Diffuse; -varying vec3 lightDir, halfVector; -varying float alpha, fogCoord; - -uniform samplerCube Environment; -uniform sampler2D Rainbow; -uniform sampler2D BaseTex; -uniform sampler2D Fresnel; -uniform sampler2D Map; -uniform sampler3D Noise; - -uniform float refl_correction; -uniform float rainbowiness; -uniform float fresneliness; -uniform float noisiness; -uniform float ambient_correction; -uniform float reflect_map; - -void main (void) -{ - if (!gl_FrontFacing) discard; - - vec3 n, halfV; - float NdotL, NdotHV; - vec4 color = constantColor; - vec4 specular = vec4(0.0); - n = VNormal; - NdotL = max(0.0, dot(n, lightDir)); - - // calculate the specular light - if (NdotL > 0.0) { - color += Diffuse * NdotL; - halfV = normalize(halfVector); - NdotHV = max(dot(n, halfV), 0.0); - if (gl_FrontMaterial.shininess > 0.0) - specular.rgb = (gl_FrontMaterial.specular.rgb - * gl_LightSource[0].specular.rgb - * pow(NdotHV, gl_FrontMaterial.shininess)); - } - - color.a = alpha; - color = clamp(color, 0.0, 1.0); - vec4 texel = texture2D(BaseTex, gl_TexCoord[0].st); - vec4 texelcolor = color * texel + specular; - - // calculate the fog factor - float fogCoord = ecPosition.z; - const float LOG2 = 1.442695; - float fogFactor = exp2(-gl_Fog.density * gl_Fog.density * fogCoord * fogCoord * LOG2); - fogFactor = clamp(fogFactor, 0.0, 1.0); - - if(gl_Fog.density == 1.0) - fogFactor=1.0; - - vec3 normal = normalize(VNormal); - vec3 viewVec = normalize(vViewVec); - - // Map a rainbowish color - float v = dot(viewVec, normal); - vec4 rainbow = texture2D(Rainbow, vec2(v, 0.0)); - - // Map a fresnel effect - vec4 fresnel = texture2D(Fresnel, vec2(v, 0.0)); - - // map the refection of the environment - vec4 reflection = textureCube(Environment, reflVec); - - // set the user shininess offse - float transparency_offset = clamp(refl_correction, -1.0, 1.0); - float reflFactor = 0.0; - - if(reflect_map > 0){ - // map the shininess of the object with user input - vec4 map = texture2D(Map, gl_TexCoord[0].st); - //float pam = (map.a * -2) + 1; //reverse map - reflFactor = map.a + transparency_offset; - } else { - // set the reflectivity proportional to shininess with user - // input - reflFactor = (gl_FrontMaterial.shininess / 128) + transparency_offset; - } - - reflFactor = clamp(reflFactor, 0.0, 1.0); - - // set ambient adjustment to remove bluiness with user input - float ambient_offset = clamp(ambient_correction, -1.0, 1.0); - vec4 ambient_Correction = vec4(gl_LightSource[0].ambient.rg, gl_LightSource[0].ambient.b * 0.6, 0.5) * ambient_offset ; - ambient_Correction = clamp(ambient_Correction, -1.0, 1.0); - - // map noise vectore - vec4 noisevec = texture3D(Noise, rawpos.xyz); - - // add fringing fresnel and rainbow effects and modulate by reflection - vec4 reflcolor = mix(reflection, rainbow, rainbowiness * v); - vec4 reflfrescolor = mix(reflcolor, fresnel, fresneliness * v); - vec4 noisecolor = mix(reflfrescolor, noisevec, noisiness); - vec4 raincolor = vec4(noisecolor.rgb, 1.0) * reflFactor; - - vec4 mixedcolor = mix(texel, raincolor, reflFactor); - - // the final reflection - vec4 reflColor = color * mixedcolor + specular + ambient_Correction ; - reflColor = clamp(reflColor, 0.0, 1.0); - - gl_FragColor = mix(gl_Fog.color, reflColor, fogFactor); -} +// -*- mode: C; -*- +// Licence: GPL v2 +// Author: Vivian Meazza. + +#version 120 + +varying vec4 rawpos; +varying vec4 ecPosition; +varying vec3 VNormal; +varying vec3 Normal; +varying vec4 constantColor; +varying vec3 vViewVec; +varying vec3 reflVec; + +varying vec4 Diffuse; +varying vec3 lightDir, halfVector; +varying float alpha, fogCoord; + +uniform samplerCube Environment; +uniform sampler2D Rainbow; +uniform sampler2D BaseTex; +uniform sampler2D Fresnel; +uniform sampler2D Map; +uniform sampler3D Noise; + +uniform float refl_correction; +uniform float rainbowiness; +uniform float fresneliness; +uniform float noisiness; +uniform float ambient_correction; +uniform float reflect_map; + +void main (void) +{ + vec3 n, halfV; + float NdotL, NdotHV; + vec4 color = constantColor; + vec4 specular = vec4(0.0); + n = VNormal; + NdotL = max(0.0, dot(n, lightDir)); + + // calculate the specular light + if (NdotL > 0.0) { + color += Diffuse * NdotL; + halfV = normalize(halfVector); + NdotHV = max(dot(n, halfV), 0.0); + if (gl_FrontMaterial.shininess > 0.0) + specular.rgb = (gl_FrontMaterial.specular.rgb + * gl_LightSource[0].specular.rgb + * pow(NdotHV, gl_FrontMaterial.shininess)); + } + + color.a = alpha; + color = clamp(color, 0.0, 1.0); + vec4 texel = texture2D(BaseTex, gl_TexCoord[0].st); + vec4 texelcolor = color * texel + specular; + + // calculate the fog factor + float fogCoord = ecPosition.z; + const float LOG2 = 1.442695; + float fogFactor = exp2(-gl_Fog.density * gl_Fog.density * fogCoord * fogCoord * LOG2); + fogFactor = clamp(fogFactor, 0.0, 1.0); + + if(gl_Fog.density == 1.0) + fogFactor=1.0; + + vec3 normal = normalize(VNormal); + vec3 viewVec = normalize(vViewVec); + + // Map a rainbowish color + float v = dot(viewVec, normal); + vec4 rainbow = texture2D(Rainbow, vec2(v, 0.0)); + + // Map a fresnel effect + vec4 fresnel = texture2D(Fresnel, vec2(v, 0.0)); + + // map the refection of the environment + vec4 reflection = textureCube(Environment, reflVec); + + // set the user shininess offse + float transparency_offset = clamp(refl_correction, -1.0, 1.0); + float reflFactor = 0.0; + + if(reflect_map > 0){ + // map the shininess of the object with user input + vec4 map = texture2D(Map, gl_TexCoord[0].st); + //float pam = (map.a * -2) + 1; //reverse map + reflFactor = map.a + transparency_offset; + } else { + // set the reflectivity proportional to shininess with user + // input + reflFactor = (gl_FrontMaterial.shininess / 128) + transparency_offset; + } + + reflFactor = clamp(reflFactor, 0.0, 1.0); + + // set ambient adjustment to remove bluiness with user input + float ambient_offset = clamp(ambient_correction, -1.0, 1.0); + vec4 ambient_Correction = vec4(gl_LightSource[0].ambient.rg, gl_LightSource[0].ambient.b * 0.6, 0.5) * ambient_offset ; + ambient_Correction = clamp(ambient_Correction, -1.0, 1.0); + + // map noise vectore + vec4 noisevec = texture3D(Noise, rawpos.xyz); + + // add fringing fresnel and rainbow effects and modulate by reflection + vec4 reflcolor = mix(reflection, rainbow, rainbowiness * v); + vec4 reflfrescolor = mix(reflcolor, fresnel, fresneliness * v); + vec4 noisecolor = mix(reflfrescolor, noisevec, noisiness); + vec4 raincolor = vec4(noisecolor.rgb, 1.0) * reflFactor; + + vec4 mixedcolor = mix(texel, raincolor, reflFactor); + + // the final reflection + vec4 reflColor = color * mixedcolor + specular + ambient_Correction ; + reflColor = clamp(reflColor, 0.0, 1.0); + + gl_FragColor = mix(gl_Fog.color, reflColor, fogFactor); +} diff --git a/Sounds/GE-M134.wav b/Sounds/GE-M134.wav new file mode 100644 index 000000000..e50a76a67 Binary files /dev/null and b/Sounds/GE-M134.wav differ diff --git a/Sounds/HOT.wav b/Sounds/HOT.wav new file mode 100644 index 000000000..0e8b262fb Binary files /dev/null and b/Sounds/HOT.wav differ diff --git a/Sounds/R-1535Slow.wav b/Sounds/R-1535Slow.wav new file mode 100644 index 000000000..b3d232199 Binary files /dev/null and b/Sounds/R-1535Slow.wav differ diff --git a/Sounds/TC1.wav b/Sounds/TC1.wav new file mode 100644 index 000000000..b9872b906 Binary files /dev/null and b/Sounds/TC1.wav differ diff --git a/Sounds/blade_vortex.wav b/Sounds/blade_vortex.wav new file mode 100644 index 000000000..53f7fd636 Binary files /dev/null and b/Sounds/blade_vortex.wav differ diff --git a/Sounds/ec135_idle-inside.wav b/Sounds/ec135_idle-inside.wav new file mode 100644 index 000000000..86effe49e Binary files /dev/null and b/Sounds/ec135_idle-inside.wav differ diff --git a/Sounds/ec135_rotor.wav b/Sounds/ec135_rotor.wav new file mode 100644 index 000000000..9cd10e1c3 Binary files /dev/null and b/Sounds/ec135_rotor.wav differ diff --git a/Sounds/ec135_rotor_in.wav b/Sounds/ec135_rotor_in.wav new file mode 100644 index 000000000..f8c6f366a Binary files /dev/null and b/Sounds/ec135_rotor_in.wav differ diff --git a/Sounds/ec135_rotor_out.wav b/Sounds/ec135_rotor_out.wav new file mode 100644 index 000000000..94f614572 Binary files /dev/null and b/Sounds/ec135_rotor_out.wav differ diff --git a/Sounds/ec135_shut_ec_in.wav b/Sounds/ec135_shut_ec_in.wav new file mode 100644 index 000000000..7fb8c6be3 Binary files /dev/null and b/Sounds/ec135_shut_ec_in.wav differ diff --git a/Sounds/ec135_shut_ec_out.wav b/Sounds/ec135_shut_ec_out.wav new file mode 100644 index 000000000..0ffe4654e Binary files /dev/null and b/Sounds/ec135_shut_ec_out.wav differ diff --git a/Sounds/ec135_turbine_idle_in.wav b/Sounds/ec135_turbine_idle_in.wav new file mode 100644 index 000000000..7260c2434 Binary files /dev/null and b/Sounds/ec135_turbine_idle_in.wav differ diff --git a/Sounds/ec135_turbine_idle_out.wav b/Sounds/ec135_turbine_idle_out.wav new file mode 100644 index 000000000..226ce6eb5 Binary files /dev/null and b/Sounds/ec135_turbine_idle_out.wav differ diff --git a/Sounds/ec135_turbine_idle_out2.wav b/Sounds/ec135_turbine_idle_out2.wav new file mode 100644 index 000000000..a8240d917 Binary files /dev/null and b/Sounds/ec135_turbine_idle_out2.wav differ diff --git a/Sounds/ec135_turbine_strt_in.wav b/Sounds/ec135_turbine_strt_in.wav new file mode 100644 index 000000000..2a6aac323 Binary files /dev/null and b/Sounds/ec135_turbine_strt_in.wav differ diff --git a/Sounds/ec135_turbine_strt_out.wav b/Sounds/ec135_turbine_strt_out.wav new file mode 100644 index 000000000..0b6696732 Binary files /dev/null and b/Sounds/ec135_turbine_strt_out.wav differ diff --git a/Sounds/ec_rotor_in.wav b/Sounds/ec_rotor_in.wav new file mode 100644 index 000000000..aa11da320 Binary files /dev/null and b/Sounds/ec_rotor_in.wav differ diff --git a/Sounds/ec_rotor_out2.wav b/Sounds/ec_rotor_out2.wav new file mode 100644 index 000000000..2784d4b1c Binary files /dev/null and b/Sounds/ec_rotor_out2.wav differ diff --git a/Sounds/fenestron_ec135.wav b/Sounds/fenestron_ec135.wav new file mode 100644 index 000000000..2e4dd5e07 Binary files /dev/null and b/Sounds/fenestron_ec135.wav differ diff --git a/Sounds/flight_ec135_out.wav b/Sounds/flight_ec135_out.wav new file mode 100644 index 000000000..291a5aada Binary files /dev/null and b/Sounds/flight_ec135_out.wav differ diff --git a/Sounds/idle_ec135_out.wav b/Sounds/idle_ec135_out.wav new file mode 100644 index 000000000..b5e72dc73 Binary files /dev/null and b/Sounds/idle_ec135_out.wav differ diff --git a/Sounds/rotor_stall.wav b/Sounds/rotor_stall.wav new file mode 100644 index 000000000..eeb768e38 Binary files /dev/null and b/Sounds/rotor_stall.wav differ diff --git a/Sounds/sound.xml b/Sounds/sound.xml new file mode 100644 index 000000000..c54f8c0ac --- /dev/null +++ b/Sounds/sound.xml @@ -0,0 +1,813 @@ + + + + + + + starter0_start + once + Aircraft/ec135/Sounds/starter_start.wav + + controls/engines/engine[0]/starter + + + 0.1 + + + -0.88 + 0.40 + 0.5 + + 5 + 10 + + + + starter0_loop + looped + Aircraft/ec135/Sounds/starter_loop.wav + + controls/engines/engine[0]/starter + + 11.6 + + 0.1 + + + -0.88 + 0.40 + 0.5 + + 5 + 10 + + + + starter0_stop + once + Aircraft/ec135/Sounds/starter_stop.wav + + + controls/engines/engine[0]/starter + + + + 0.3 + + + -0.88 + 0.40 + 0.5 + + 5 + 10 + + + + starter1_start + once + Aircraft/ec135/Sounds/starter_start.wav + + controls/engines/engine[1]/starter + + + 0.3 + + + -0.88 + -0.40 + 0.5 + + 5 + 10 + + + + starter1_loop + looped + Aircraft/ec135/Sounds/starter_loop.wav + + controls/engines/engine[1]/starter + + 11.6 + + 0.1 + + + -0.88 + -0.40 + 0.5 + + 5 + 10 + + + + starter1_stop + once + Aircraft/ec135/Sounds/starter_stop.wav + + + controls/engines/engine[1]/starter + + + + 0.1 + + + -0.88 + -0.40 + 0.5 + + 5 + 10 + + + + turbine0-start + once + Aircraft/ec135/Sounds/strt_ec135_out2.wav + + + engines/engine[0]/n1-pct + 0.1 + + + + 0.03 + + + sim/model/ec135/sound/volume + 5 + + 50 + 200 + + + + turbine0-loop + looped + Aircraft/ec135/Sounds/idle_ec135_out.wav + + engines/engine[0]/running + + 45 + + 0.03 + + + sim/model/ec135/sound/volume + 5 + + 50 + 200 + + + + turbine0-shutdown + once + Sounds/turbine_shutdown.wav + + + engines/engine[0]/running + + + + 0.03 + + + sim/model/ec135/sound/volume + 5 + + 50 + 200 + + + + turbine1-start + once + Aircraft/ec135/Sounds/strt_ec135_out2.wav + + + engines/engine[1]/n1-pct + 0.1 + + + + 0.03 + + + sim/model/ec135/sound/volume + 5 + + 50 + 200 + + + + turbine1-loop + looped + Aircraft/ec135/Sounds/idle_ec135_out.wav + + engines/engine[1]/running + + 45 + + 0.03 + + + sim/model/ec135/sound/volume + 5 + + 50 + 200 + + + + turbine1-shutdown + once + Sounds/turbine_shutdown.wav + + + engines/engine[1]/running + + + + 0.03 + + + sim/model/ec135/sound/volume + 5 + + 50 + 200 + + + + + rotor-outside + looped + Aircraft/ec135/Sounds/flight_ec135_out.wav + + + + sim/current-view/internal + + + rotors/main/rpm + 200 + + + sim/crashed + + + + + rotors/main/rpm + 0.002 + + + rotors/main/rpm + 0.00252 + 0 + 0 + 1.5 + + + 200 + 1000 + + + + rotor-inside + looped + Sounds/rotor.wav + Aircraft/ec135/Sounds/ec_rotor_in.wav + + + sim/current-view/internal + + rotors/main/rpm + 200 + + + sim/crashed + + + + + 0.5 + + + rotors/main/rpm + 0.002 + + + rotors/main/rpm + 0.00252 + 0 + 0 + 1.5 + + 500 + 1000 + + + + stall + looped + Aircraft/ec135/Sounds/R-1535Slow.wav + + + + rotors/main/rpm + 50 + + + sim/crashed + + + + + sim/model/ec135/sound/volume + 0.8 + + + rotors/main/stall-filtered + 75 + 1.0 + + + rotors/main/rpm + 0.00252 + 0 + 1.75 + + 500 + 1500 + + + + blade-vortex-interaction + looped + Aircraft/ec135/Sounds/R-1535Slow.wav + + + sim/sound/vibration + 0.01 + + + + sim/sound/vibration + + + rotors/main/rpm + 0.00252 + 0 + 0 + 1.5 + + 500 + 3000 + + + + + + overspeed + looped + Sounds/overspeed.wav + + + velocities/airspeed-kt + 146 + + + sim/current-view/view-number + 0 + + + + 1.0 + + + 0.1 + + 1.0 + 2.0 + + + + + + 650 Hz + looped + Aircraft/ec135/Sounds/warn650.wav + + sim/sound/warn650 + + 0.5 + 1.0 + + + + 2600 Hz + looped + Aircraft/ec135/Sounds/warn2600.wav + + sim/sound/warn2600 + + 0.5 + 1.0 + + + + + ground contact + once + Aircraft/ec135/Sounds/TC1.wav + + gear/gear[0]/wow + + + 1.0 + + + 0.01 + + 5.0 + 10.0 + + + + ground contact + once + Aircraft/ec135/Sounds/TC1.wav + + gear/gear[1]/wow + + + 1.0 + + + 0.01 + + 5.0 + 10.0 + + + + ground contact + once + Aircraft/ec135/Sounds/TC1.wav + + gear/gear[2]/wow + + + 1.0 + + + 0.01 + + 5.0 + 10.0 + + + + ground contact + once + Aircraft/ec135/Sounds/TC1.wav + + gear/gear[3]/wow + + + 1.0 + + + 0.01 + + 5.0 + 10.0 + + + + ground contact + once + Aircraft/ec135/Sounds/TC1.wav + + gear/gear[4]/wow + + + 1.0 + + + 0.01 + + 5.0 + 10.0 + + + + ground contact + once + Aircraft/ec135/Sounds/TC1.wav + + gear/gear[5]/wow + + + 1.0 + + + 0.01 + + 5.0 + 10.0 + + + + skid sliding1 + looped + Sounds/rumble.wav + + + gear/gear[0]/wow + + sim/crashed + + + + + 0.5 + + + sim/model/ec135/sound/slide[0]/volume + 1 + + + sim/model/ec135/sound/slide[0]/pitch + + + + + skid sliding2 + looped + Sounds/rumble.wav + + + gear/gear[1]/wow + + sim/crashed + + + + + 0.5 + + + sim/model/ec135/sound/slide[1]/volume + 1 + + + sim/model/ec135/sound/slide[1]/pitch + + + + + skid sliding3 + looped + Sounds/rumble.wav + + + gear/gear[2]/wow + + sim/crashed + + + + + 0.5 + + + sim/model/ec135/sound/slide[2]/volume + 1 + + + sim/model/ec135/sound/slide[2]/pitch + + + + + skid sliding4 + looped + Sounds/rumble.wav + + + gear/gear[3]/wow + + sim/crashed + + + + + 0.5 + + + sim/model/ec135/sound/slide[3]/volume + 1 + + + sim/model/ec135/sound/slide[3]/pitch + + + + + wind + looped + Sounds/wind.wav + + + velocities/airspeed-kt + + sim/crashed + + + + + position/altitude-ft + -0.000015 + 1.0 + 0.1 + 1.0 + + + velocities/airspeed-kt + 0.0015 + 0.03 + 0.25 + + + velocities/airspeed-kt + 0.01 + 1.25 + + 3 + 4 + + + + intense ground contact + once + Sounds/crash.wav + sim/crashed + + 1 + + + 0.1 + + 100 + 500 + + + + + + close right frontdoor + once + Sounds/door_close.wav + + + sim/model/ec135/doors/door[0]/position-norm + 0 + + + + 1.0 + 1.5 + -1.5 + + + 0.3 + + 15 + 50 + + + + close left frontdoor + once + Sounds/door_close.wav + + + sim/model/ec135/doors/door[1]/position-norm + 0 + + + + -1.0 + 1.5 + -1.5 + + + 0.3 + + 15 + 50 + + + + close right backdoor + once + Sounds/door_close.wav + + + sim/model/ec135/doors/door[2]/position-norm + 0 + + + + 1.0 + 1.0 + -1.5 + + + 0.3 + + 15 + 50 + + + + close left backdoor + once + Sounds/door_close.wav + + + sim/model/ec135/doors/door[3]/position-norm + 0 + + + + -1.0 + 1.0 + -1.5 + + + 0.3 + + 15 + 50 + + + + close right reardoor + once + Sounds/door_close.wav + + + sim/model/ec135/doors/door[4]/position-norm + 0 + + + + 0.0 + -1.5 + -1.0 + + + 0.3 + + 15 + 50 + + + + close left reardoor + once + Sounds/door_close.wav + + + sim/model/ec135/doors/door[5]/position-norm + 0 + + + + 0.0 + -1.5 + -1.0 + + + 0.3 + + 15 + 50 + + + diff --git a/Sounds/starter_loop.wav b/Sounds/starter_loop.wav new file mode 100644 index 000000000..d6a04ff71 Binary files /dev/null and b/Sounds/starter_loop.wav differ diff --git a/Sounds/starter_start.wav b/Sounds/starter_start.wav new file mode 100644 index 000000000..2eb8c9de7 Binary files /dev/null and b/Sounds/starter_start.wav differ diff --git a/Sounds/starter_stop.wav b/Sounds/starter_stop.wav new file mode 100644 index 000000000..5cedc9c5e Binary files /dev/null and b/Sounds/starter_stop.wav differ diff --git a/Sounds/strt_ec135_out2.wav b/Sounds/strt_ec135_out2.wav new file mode 100644 index 000000000..44dc683ef Binary files /dev/null and b/Sounds/strt_ec135_out2.wav differ diff --git a/Sounds/warn2600.wav b/Sounds/warn2600.wav new file mode 100644 index 000000000..8f4776c03 Binary files /dev/null and b/Sounds/warn2600.wav differ diff --git a/Sounds/warn650.wav b/Sounds/warn650.wav new file mode 100644 index 000000000..3a7ec4218 Binary files /dev/null and b/Sounds/warn650.wav differ diff --git a/instrumentation/FDM1.rgb b/instrumentation/FDM1.rgb new file mode 100644 index 000000000..f1fe415aa Binary files /dev/null and b/instrumentation/FDM1.rgb differ diff --git a/instrumentation/GH14-391/ai.png b/instrumentation/GH14-391/ai.png new file mode 100644 index 000000000..2a1777fc8 Binary files /dev/null and b/instrumentation/GH14-391/ai.png differ diff --git a/instrumentation/GH14-391/ai.xml b/instrumentation/GH14-391/ai.xml new file mode 100644 index 000000000..f6083f5a1 --- /dev/null +++ b/instrumentation/GH14-391/ai.xml @@ -0,0 +1,58 @@ + + + + gh14391.ac + + + rotate + ball + /orientation/roll-deg +
+ -0.075 + 0.00 + 0.002 +
+ + 1 + 0 + 0 + + + + + rotate + Circle + /orientation/roll-deg +
+ 0.007 + 0.00 + 0.002 +
+ + 1 + 0 + 0 + + + + + rotate + ball + /orientation/pitch-deg + 0.5 +
+ -0.075 + 0.00 + 0.002 +
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b/instrumentation/kfc200/kas297.xml new file mode 100644 index 000000000..afe371cfc --- /dev/null +++ b/instrumentation/kfc200/kas297.xml @@ -0,0 +1,229 @@ + + + + + kas297.ac + + + material + Arm.btn + Set.knob + + 0.028 + 0.014 + 0.007 + systems/electrical/outputs/instrument-lights + + + + + select + altmsg + altmsg.001 + altmsg.002 + altmsg.003 + altmsg.004 + + + systems/electrical/volts + 1 + + + + + + + select + Alert.msg + + + /instrumentation/kfc200/alt-alert + + systems/electrical/volts + 1 + + + + + + + select + Arm.msg + + + + /instrumentation/kfc200/vnav + 1 + + + systems/electrical/volts + 1 + + + + + + + + + textranslate + altmsg + instrumentation/kfc200/alt-preset + 0.00001 + 10000 + + 0 + 1 + 0 + + + + + textranslate + altmsg.001 + instrumentation/kfc200/alt-preset + 0.0001 + 1000 + + 0 + 1 + 0 + + + + + textranslate + altmsg.002 + instrumentation/kfc200/alt-preset + 0.001 + 100 + + 0 + 1 + 0 + + + + + textranslate + altmsg.003 + instrumentation/kfc200/alt-preset + 0.01 + 10 + + 0 + 1 + 0 + + + + + textranslate + altmsg.004 + instrumentation/kfc200/alt-preset + 0.1 + 1 + + 0 + 1 + 0 + + + + + + \ No newline at end of file diff --git a/instrumentation/kfc200/kfc-200.nas b/instrumentation/kfc200/kfc-200.nas new file mode 100644 index 000000000..683015757 --- /dev/null +++ b/instrumentation/kfc200/kfc-200.nas @@ -0,0 +1,219 @@ +#### Bendix-King KFC-200 Flight Director #### + +#Buttons +# HDG ...heading hold +# FD ..... flightdirector on/off +# ALT ....altitude arm +# NAV ...VOR / LOC arm +# BC ....LOC back course +# APPR ... LOC / GS arm + +#### lnav #### +# 0 = wingleveler +# 1 = heading hold +# 2 = NAV arm +# 3 = NAV cap +# 4 = APPR arm +# 5 = APPR cap + +#### vnav #### +# 0 = pitch hold +# 1 = ALT arm +# 2 = ALT cap +# 3 = GS arm +# 4 = GS cap + +var L_list=["wing-leveler","dg-heading-hold","dg-heading-hold","nav1-hold","dg-heading-hold","nav1-hold","dg-heading-hold","nav1-hold"]; + +var V_list=["pitch-hold","pitch-hold","altitude-hold","pitch-hold","gs1-hold"]; + +var fdprop = props.globals.getNode("/instrumentation/kfc200",1); +var lnav = 0; +var vnav = 0; +var current_alt=0.0; +var alt_select = 0.0; +var DH = 0; + +var HASGS = "/instrumentation/nav/has-gs"; +var NAVLOC = "/instrumentation/nav/nav-loc"; +var NAVDST = "/instrumentation/nav/nav-dist"; +var NAVRNG = "/instrumentation/nav/in-range"; +var HDEFL = "/instrumentation/nav/heading-needle-deflection"; +var GSDEFL = "/instrumentation/nav/gs-needle-deflection"; +var BC = "/instrumentation/nav/back-course-btn"; + +var HDG = props.globals.getNode("/autopilot/locks/heading",1); +var ALT = props.globals.getNode("/autopilot/locks/altitude",1); +var SPD = props.globals.getNode("/autopilot/locks/speed",1); +var SRVC = 0; + +setlistener("/sim/signals/fdm-initialized", func { + fdprop.getNode("serviceable",1).setBoolValue(1); + fdprop.getNode("armed",1).setBoolValue(0); + fdprop.getNode("cpld",1).setBoolValue(0); + fdprop.getNode("pitch-trim",1).setIntValue(0); + fdprop.getNode("alt-trim",1).setIntValue(0); + fdprop.getNode("fd-on",1).setBoolValue(0); + fdprop.getNode("gs-arm",1).setBoolValue(0); + fdprop.getNode("lnav",1).setValue(0); + fdprop.getNode("vnav",1).setValue(0); + fdprop.getNode("alt-preset",1).setDoubleValue(0.0); + fdprop.getNode("alt-alert",1).setBoolValue(0); + fdprop.getNode("dh-alert",1).setBoolValue(0); + DH = getprop("/autopilot/route-manager/min-lock-altitude-agl-ft"); + alt_select = 0; + ALT.setValue(V_list[vnav]); + HDG.setValue(L_list[lnav]); + settimer(update,5); + print("KFC-200 ... Check"); + }); + +setlistener("/instrumentation/kfc200/fd-on", func(fd){ + var fdON = fd.getBoolValue(); + clear_ap(); + },0,0); + +setlistener("/autopilot/locks/passive-mode", func(ap){ + if(!ap.getBoolValue()){ + setprop("autopilot/settings/target-pitch-deg",getprop("/orientation/pitch-deg")); + } + },0,0); + +setlistener("/instrumentation/kfc200/serviceable", func(srv){ + if(srv.getBoolValue()){SRVC=1; + }else{ + SRVC=0; + } + },0,0); + +setlistener("/autopilot/settings/target-altitude-ft",func(at){ + alt_select = at.getValue(); + },0,0); + +setlistener("/autopilot/route-manager/min-lock-altitude-agl-ft",func(dh){ + DH = dh.getValue(); + },0,0); + +setlistener("/instrumentation/kfc200/lnav",func(ln){ + if(SRVC == 0)return; + lnav = ln.getValue(); + + if(lnav == 4){ + if(!getprop(NAVLOC)){ + lnav=2; + setprop("/instrumentation/kfc200/lnav",lnav); + }else{ + if(getprop(HASGS)){ + if(!getprop(BC)){ + setprop("/instrumentation/kfc200/gs-arm",1); + } + } + } + } +HDG.setValue(L_list[lnav]); +},0,0); + +setlistener("/instrumentation/kfc200/vnav", func(vn){ + if(SRVC == 0)return; + vnav = vn.getValue(); + ALT.setValue(V_list[vnav]); +},0,0); + +var clear_ap = func { + setprop("/autopilot/settings/target-pitch-deg",getprop("/orientation/pitch-deg")); + vnav = 0; + lnav=0; + setprop("/instrumentation/kfc200/lnav",lnav); + setprop("/instrumentation/kfc200/vnav",vnav); + HDG.setValue(L_list[lnav]); + ALT.setValue(V_list[vnav]); +} + +#### PITCH TRIM = 1 degree per second #### +var pitch_trim = func { + var temp_pitch = getprop("autopilot/settings/target-pitch-deg"); + var FR =getprop("sim/frame-rate"); + if(FR > 0){ + var trim = (1/FR) * arg[0]; + setprop("autopilot/settings/target-pitch-deg",temp_pitch + trim); + } +} + +#### ALTITUDE TRIM = 600 fpm #### +var alt_trim = func { + var temp_alt = getprop("autopilot/settings/target-altitude-ft"); + var FR =getprop("sim/frame-rate"); + if(FR > 0){ + var trim = (10/FR) * arg[0]; + setprop("autopilot/settings/target-altitude-ft",temp_alt + trim); + } +} + + + + +var update_nav = func { + if(SRVC == 1){ + var inrange= getprop(NAVRNG); + + if(inrange){ + + if(lnav == 2 or lnav == 4){ + setprop("instrumentation/kfc200/armed",1); + setprop("instrumentation/kfc200/cpld",0); + var DF = getprop(HDEFL); + if(DF > -9 and DF < 9){ + setprop("/instrumentation/kfc200/lnav",lnav + 1); + setprop("instrumentation/kfc200/armed",0); + setprop("instrumentation/kfc200/cpld",1); + } + } + + if(lnav ==5){ + if(getprop("instrumentation/kfc200/gs-arm")){ + if(getprop("instrumentation/nav/gs-distance") < 25000){ + var GS1 = getprop(GSDEFL); + if( GS1< 1.0 and GS1 > -1.0){vnav = 4; + setprop("/instrumentation/kfc200/vnav",vnav); + } + } + } + } + } + + if(vnav == 1){ + var offset = get_altoffset(); + if(offset > -990 and offset < 990){ + setprop("/instrumentation/kfc200/vnav",vnav + 1); + } + } + + } +} + +var get_altoffset = func(){ + current_alt = getprop("/instrumentation/altimeter/pressure-alt-ft"); + var offset = (current_alt - alt_select); + var alert =0; + if(offset > -1000 and offset < -1000){ + if(offset < -300 and offset > 300)alert = 1; + } + fdprop.getNode("alt-alert").setBoolValue(alert); + return(offset); + } + +var update = func { + var PT = getprop("instrumentation/kfc200/pitch-trim"); + var AT = getprop("instrumentation/kfc200/alt-trim"); + if(PT !=0)pitch_trim(PT); + if(AT!=0)alt_trim(AT); + if(getprop("/position/altitude-agl-ft") < DH){ + props.globals.getNode("/autopilot/locks/passive-mode").setBoolValue(1); + setprop("instrumentation/kfc200/dh-alert",1); + }else{ + setprop("instrumentation/kfc200/dh-alert",0); + } + update_nav(); + settimer(update, 0); + } + diff --git a/instrumentation/kfc200/kfc200.ac b/instrumentation/kfc200/kfc200.ac new file mode 100644 index 000000000..15381d615 --- /dev/null +++ b/instrumentation/kfc200/kfc200.ac @@ -0,0 +1,2116 @@ +AC3Db +MATERIAL "illum.001" rgb 1 1 1 amb 0 0 0 emis 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