141 lines
4.1 KiB
Text
141 lines
4.1 KiB
Text
# AUTOPUSH
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# Basic pushback logic class.
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#
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# Copyright (c) 2018 Autopush authors:
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# Michael Danilov <mike.d.ft402 -eh- gmail.com>
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# Joshua Davidson http://github.com/Octal450
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# Merspieler http://gitlab.com/merspieler
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# Distribute under the terms of GPLv2.
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var _K_p = nil;
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var _F_p = nil;
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var _K_i = nil;
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var _F_i = nil;
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var _K_d = nil;
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var _F_d = nil;
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var _F = nil;
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var _int = nil;
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var _V = nil;
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var _T_f = nil;
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var _K_yaw = nil;
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var _yasim = 0;
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var _time = nil;
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# (ft / s^2) / ((km / h) / s)
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var _unitconv = M2FT / 3.6;
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var _debug = nil;
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var _loop = func() {
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if (!getprop("/sim/model/autopush/available")) {
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_stop();
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return;
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}
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var force = 0.0;
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var x = 0.0;
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var y = 0.0;
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var z = 0.0;
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# Rollspeed is only adequate if the wheel is touching the ground.
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if (getprop("/gear/gear[0]/wow")) {
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var V = getprop("/gear/gear[0]/rollspeed-ms") * 3.6;
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var deltaV = getprop("/sim/model/autopush/target-speed-km_h") - V;
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var minus_dV = _V - V;
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var time = getprop("/sim/time/elapsed-sec");
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var prop = math.min(math.max(_K_p * deltaV, -_F_p), _F_p);
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var dt = time - _time;
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var deriv = 0.0;
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# XXX Sanitising dt. Smaller chance of freakout on lag spike.
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if(dt > 0.0) {
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if(dt < 0.05) {
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_int = math.min(math.max(_int + _K_i * deltaV * dt, -_F_i), _F_i);
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}
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if(dt > 0.002) {
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deriv = math.min(math.max(_K_d * minus_dV / dt, -_F_d), _F_d);
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}
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}
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var accel = prop + _int + deriv;
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if (_debug > 2) {
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print("pushback prop " ~ prop ~ ", _int " ~ _int ~ ", deriv " ~ deriv);
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}
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_V = V;
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_time = time;
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if (!_yasim) {
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force = accel * getprop("/fdm/jsbsim/inertia/weight-lbs") * _unitconv;
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} else {
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force = accel * getprop("/fdm/yasim/gross-weight-lbs") * _unitconv;
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}
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var pitch = getprop("/sim/model/autopush/pitch-deg") * D2R;
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z = math.sin(pitch);
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var pz = math.cos(pitch);
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var yaw = getprop("/sim/model/autopush/yaw") * _K_yaw;
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x = math.cos(yaw) * pz;
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y = math.sin(yaw) * pz;
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setprop("/sim/model/autopush/force-x", x);
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setprop("/sim/model/autopush/force-y", y);
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# JSBSim force's z is down.
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setprop("/sim/model/autopush/force-z", -z);
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}
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setprop("/sim/model/autopush/force-lbf", force);
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if (_yasim) {
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# The force is divided by YASim thrust="100000.0" setting.
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setprop("/sim/model/autopush/force-x-yasim", x * force * 0.00001);
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# YASim force's y is to the left.
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setprop("/sim/model/autopush/force-y-yasim", -y * force * 0.00001);
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setprop("/sim/model/autopush/force-z-yasim", z * force * 0.00001);
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}
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}
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var _timer = maketimer(0.0167, func{_loop()});
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var _start = func() {
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# Else overwritten by dialog.
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settimer(func() {
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setprop("/sim/model/autopush/target-speed-km_h", 0.0)
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}, 0.1);
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_K_p = getprop("/sim/model/autopush/K_p");
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_F_p = getprop("/sim/model/autopush/F_p");
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_K_i = getprop("/sim/model/autopush/K_i");
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_F_i = getprop("/sim/model/autopush/F_i");
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_K_d = getprop("/sim/model/autopush/K_d");
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_F_d = getprop("/sim/model/autopush/F_d");
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_F = getprop("/sim/model/autopush/F");
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_T_f = getprop("/sim/model/autopush/T_f");
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_K_yaw = getprop("/sim/model/autopush/yaw-mult") * D2R;
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_yasim = (getprop("/sim/flight-model") == "yasim");
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_debug = getprop("/sim/model/autopush/debug") or 0;
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_int = 0.0;
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_V = 0.0;
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_time = getprop("/sim/time/elapsed-sec");
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setprop("/sim/model/autopush/connected", 1);
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if (!_timer.isRunning) {
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if (getprop("/sim/model/autopush/chocks")) {
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setprop("/sim/model/autopush/chocks", 0);
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screen.log.write("(pushback): Pushback connected, chocks removed. Please release brakes.");
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} else {
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screen.log.write("(pushback): Pushback connected, please release brakes.");
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}
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}
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_timer.start();
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}
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var _stop = func() {
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if (_timer.isRunning) {
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screen.log.write("(pushback): Pushback and bypass pin removed.");
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}
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_timer.stop();
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setprop("/sim/model/autopush/force-lbf", 0.0);
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if (_yasim) {
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setprop("/sim/model/autopush/force-x-yasim", 0.0);
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setprop("/sim/model/autopush/force-y-yasim", 0.0);
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}
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setprop("/sim/model/autopush/connected", 0);
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setprop("/sim/model/autopush/enabled", 0);
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}
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setlistener("/sim/model/autopush/enabled", func(p) {
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var enabled = p.getValue();
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if ((enabled) and getprop("/sim/model/autopush/available")) {
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_start();
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} else {
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_stop();
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}
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}, 1, 0);
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