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boring cleanup

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This commit is contained in:
mfranz 2006-11-02 21:06:36 +00:00
parent 07e3e2b05b
commit 0ff3f5da2b
1 changed files with 14 additions and 17 deletions
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31
Nasal/dynamic_view.nas
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@ -13,6 +13,16 @@ npow = func(v, w) { math.exp(math.ln(abs(v)) * w) * (v < 0 ? -1 : 1) }
clamp = func(v, min, max) { v < min ? min : v > max ? max : v } clamp = func(v, min, max) { v < min ? min : v > max ? max : v }
normatan = func(x) { math.atan2(x, 1) * 2 / math.pi } normatan = func(x) { math.atan2(x, 1) * 2 / math.pi }
normdeg = func(a) {
while (a >= 180) {
a -= 360;
}
while (a < -180) {
a += 360;
}
return a;
}
# Class that implements EWMA (Exponentially Weighted Moving Average) # Class that implements EWMA (Exponentially Weighted Moving Average)
@ -153,32 +163,19 @@ ViewManager = {
var pitch = me.pitchN.getValue(); var pitch = me.pitchN.getValue();
var roll = me.rollN.getValue(); var roll = me.rollN.getValue();
var wow = me.wow.get(); var wow = me.wow.get();
# var ax = me.ax.get();
# var ay = me.ay.get();
var az = me.az.get(); var az = me.az.get();
# var adir = math.atan2(ay, ax) * 180 / math.pi;
# var aval = math.sqrt(ax * ax + ay * ay);
var vx = me.vx.get(); var vx = me.vx.get();
# var vy = me.vy.get();
# var vdir = math.atan2(vy, vx) * 180 / math.pi;
# var vval = math.sqrt(vx * vx + vy * vy);
# calculate sideslip factor (zeroed when no forward ground speed)
var wspd = me.wind_speedN.getValue(); var wspd = me.wind_speedN.getValue();
var wdir = me.headingN.getValue() - me.wind_dirN.getValue(); var wdir = me.headingN.getValue() - me.wind_dirN.getValue();
var u = vx - wspd * cos(wdir); var u = vx - wspd * cos(wdir);
var slip = sin(me.slipN.getValue()) * me.ubody.filter(normatan(u / 15)); var slip = sin(me.slipN.getValue()) * me.ubody.filter(normatan(u / 10));
# calculate steering factor
var hdg = me.headingN.getValue(); var hdg = me.headingN.getValue();
var hdiff = me.last_heading - hdg; var hdiff = normdeg(me.last_heading - hdg);
me.last_heading = hdg; me.last_heading = hdg;
while (hdiff >= 180) {
hdiff -= 360;
}
while (hdiff < -180) {
hdiff += 360;
}
var steering = normatan(me.hdg_change.filter(hdiff)) * me.size_factor; var steering = normatan(me.hdg_change.filter(hdiff)) * me.size_factor;
me.heading_axis.apply( # heading ... me.heading_axis.apply( # heading ...