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AI: Fix unit problems for AIBase::vs

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It was supposed to be in ft/min, but everything except AIAircraft was
using it as ft/sec. Change the name to AIBase::vs_fps and ensure the
same unit is used everywhere.
This commit is contained in:
Colin Geniet 2021-02-10 18:34:01 +01:00 committed by James Turner
parent 130cd2ae41
commit 9008b3194f
10 changed files with 33 additions and 34 deletions
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4
src/AIModel/AIAircraft.cxx
View file

@ -1329,10 +1329,10 @@ void FGAIAircraft::updateActualState(double dt)
roll = _performance->actualBankAngle(this, tgt_roll, dt);
// adjust altitude (meters) based on current vertical speed (fpm)
altitude_ft += vs / 60.0 * dt;
altitude_ft += vs_fps * dt;
pos.setElevationFt(altitude_ft);
vs = _performance->actualVerticalSpeed(this, tgt_vs, dt);
vs_fps = _performance->actualVerticalSpeed(this, tgt_vs, dt) / 60;
pitch = _performance->actualPitch(this, tgt_pitch, dt);
}

2
src/AIModel/AIAircraft.hxx
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@ -98,7 +98,7 @@ public:
inline double getRoll() const { return roll; };
inline double getPitch() const { return pitch; };
inline double getAltitude() const { return altitude_ft; };
inline double getVerticalSpeed() const { return vs; };
inline double getVerticalSpeedFPM() const { return vs_fps * 60; };
inline double altitudeAGL() const { return props->getFloatValue("position/altitude-agl-ft");};
inline double airspeed() const { return props->getFloatValue("velocities/airspeed-kt");};
const std::string& atGate();

24
src/AIModel/AIBallistic.cxx
View file

@ -225,7 +225,7 @@ void FGAIBallistic::bind() {
tie("position/global-z",
SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getCartPosZ, 0));
tie("velocities/vertical-speed-fps",
SGRawValuePointer<double>(&vs));
SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getVS_fps, &FGAIBase::_setVS_fps));
tie("velocities/true-airspeed-kt",
SGRawValuePointer<double>(&speed));
tie("velocities/horizontal-speed-fps",
@ -780,8 +780,8 @@ void FGAIBallistic::Run(double dt) {
normal_force_lbs = 0;
pos.setElevationFt(0 + _ground_offset);
if (vs < 0)
vs = -vs * 0.5;
if (vs_fps < 0)
vs_fps *= -0.5;
// Calculate friction. We assume a static coefficient of
// friction (mu) of 0.62 (wood on concrete)
@ -844,10 +844,10 @@ void FGAIBallistic::Run(double dt) {
// adjust vertical speed for acceleration of gravity, buoyancy, and vertical force
double gravity = SG_METER_TO_FEET * (Environment::Gravity::instance()->getGravity(pos));
vs -= (gravity - _buoyancy - v_force_acc_fpss - normal_force_fpss) * dt;
vs_fps -= (gravity - _buoyancy - v_force_acc_fpss - normal_force_fpss) * dt;
if (vs <= 0.00001 && vs >= -0.00001)
vs = 0;
if (vs_fps <= 0.00001 && vs_fps >= -0.00001)
vs_fps = 0;
// set new position
if (_slave_load_to_ac) {
@ -878,19 +878,19 @@ void FGAIBallistic::Run(double dt) {
pos.setLongitudeDeg( pos.getLongitudeDeg()
+ (speed_east_deg_sec - wind_speed_from_east_deg_sec
+ force_speed_east_deg_sec + friction_force_speed_east_deg_sec) * dt );
pos.setElevationFt(pos.getElevationFt() + vs * dt);
pos.setElevationFt(pos.getElevationFt() + vs_fps * dt);
}
// cout << _name << " run hs " << hs << " vs " << vs << endl;
// recalculate total speed
if ( vs == 0 && hs == 0)
if ( vs_fps == 0 && hs == 0)
speed = 0;
else
speed = sqrt( vs * vs + hs * hs) / SG_KT_TO_FPS;
speed = sqrt( vs_fps * vs_fps + hs * hs) / SG_KT_TO_FPS;
// recalculate elevation and azimuth (velocity vectors)
_elevation = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
_elevation = atan2( vs_fps, hs ) * SG_RADIANS_TO_DEGREES;
_azimuth = atan2((_speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps),
(_speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps))
* SG_RADIANS_TO_DEGREES;
@ -1147,10 +1147,10 @@ void FGAIBallistic::calcVSHS() {
double speed_fps = speed * SG_KT_TO_FPS;
if (speed == 0.0) {
hs = vs = 0.0;
hs = vs_fps = 0.0;
}
else {
vs = sin( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps;
vs_fps = sin( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps;
hs = cos( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps;
}
}

6
src/AIModel/AIBase.cxx
View file

@ -136,7 +136,7 @@ FGAIBase::FGAIBase(object_type ot, bool enableHot) :
_otype(ot)
{
tgt_heading = hdg = tgt_altitude_ft = tgt_speed = 0.0;
tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs = pitch = 0.0;
tgt_roll = roll = tgt_pitch = tgt_yaw = tgt_vs = vs_fps = pitch = 0.0;
bearing = elevation = range = rdot = 0.0;
x_shift = y_shift = rotation = 0.0;
in_range = false;
@ -946,7 +946,7 @@ double FGAIBase::_getRdot() const {
}
double FGAIBase::_getVS_fps() const {
return vs/60.0;
return vs_fps;
}
double FGAIBase::_get_speed_east_fps() const {
@ -958,7 +958,7 @@ double FGAIBase::_get_speed_north_fps() const {
}
void FGAIBase::_setVS_fps( double _vs ) {
vs = _vs*60.0;
vs_fps = _vs;
}
double FGAIBase::_getAltitude() const {

2
src/AIModel/AIBase.hxx
View file

@ -192,7 +192,7 @@ protected:
double pitch; // degrees, nose-down is negative
double speed; // knots true airspeed
double altitude_ft; // feet above sea level
double vs; // vertical speed, feet per minute
double vs_fps; // vertical speed
double speed_north_deg_sec;
double speed_east_deg_sec;
double turn_radius_ft; // turn radius ft at 15 kts rudder angle 15 degrees

2
src/AIModel/AIMultiplayer.cxx
View file

@ -521,7 +521,7 @@ void FGAIMultiplayer::update(double dt)
if (dt < 1.0)
Weighting = dt;
// simple smoothing over 1 second
vs = (1.0-Weighting)*vs + Weighting * (altitude_ft - recent_alt_ft) / dT * 60;
vs_fps = (1.0-Weighting)*vs_fps + Weighting * (altitude_ft - recent_alt_ft) / dT * 60;
}
lastUpdateTime = curtime;

18
src/AIModel/AIWingman.cxx
View file

@ -136,7 +136,7 @@ void FGAIWingman::bind() {
(*this, &FGAIBallistic::getElevHitchToUser));
tie("velocities/vertical-speed-fps",
SGRawValuePointer<double>(&vs));
SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getVS_fps, &FGAIBase::_setVS_fps));
tie("velocities/true-airspeed-kt",
SGRawValuePointer<double>(&speed));
tie("velocities/speed-east-fps",
@ -475,9 +475,9 @@ void FGAIWingman::Run(double dt) {
// calculate vertical and horizontal speed components
if (speed == 0.0) {
hs = vs = 0.0;
hs = vs_fps = 0.0;
} else {
vs = sin( pitch * SG_DEGREES_TO_RADIANS ) * speed_fps;
vs_fps = sin( pitch * SG_DEGREES_TO_RADIANS ) * speed_fps;
hs = cos( pitch * SG_DEGREES_TO_RADIANS ) * speed_fps;
}
@ -506,8 +506,8 @@ void FGAIWingman::Run(double dt) {
if (hs <= 0.00001)
hs = 0;
if (vs <= 0.00001 && vs >= -0.00001)
vs = 0;
if (vs_fps <= 0.00001 && vs_fps >= -0.00001)
vs_fps = 0;
//cout << "lat " << pos.getLatitudeDeg()<< endl;
// set new position
@ -515,18 +515,18 @@ void FGAIWingman::Run(double dt) {
+ (speed_north_deg_sec - wind_speed_from_north_deg_sec) * dt );
pos.setLongitudeDeg( pos.getLongitudeDeg()
+ (speed_east_deg_sec - wind_speed_from_east_deg_sec ) * dt );
pos.setElevationFt(pos.getElevationFt() + vs * dt);
pos.setElevationFt(pos.getElevationFt() + vs_fps * dt);
//cout << _name << " run hs " << hs << " vs " << vs << endl;
// recalculate total speed
if ( vs == 0 && hs == 0)
if ( vs_fps == 0 && hs == 0)
speed = 0;
else
speed = sqrt( vs * vs + hs * hs) / SG_KT_TO_FPS;
speed = sqrt( vs_fps * vs_fps + hs * hs) / SG_KT_TO_FPS;
// recalculate elevation and azimuth (velocity vectors)
pitch = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
pitch = atan2( vs_fps, hs ) * SG_RADIANS_TO_DEGREES;
hdg = atan2((speed_east_fps),(speed_north_fps))* SG_RADIANS_TO_DEGREES;
// rationalise heading

4
src/AIModel/performancedata.cxx
View file

@ -188,11 +188,11 @@ double PerformanceData::actualAltitude(FGAIAircraft* ac, double tgt_altitude, do
//FIXME: a return sensible value here
return 0.0; // 0 for now to avoid compiler errors
} else
return ac->getAltitude() + ac->getVerticalSpeed()*dt/60.0;
return ac->getAltitude() + ac->getVerticalSpeedFPM()*dt/60.0;
}
double PerformanceData::actualVerticalSpeed(FGAIAircraft* ac, double tgt_vs, double dt) {
double vs = ac->getVerticalSpeed();
double vs = ac->getVerticalSpeedFPM();
double vs_diff = tgt_vs - vs;
if (fabs(vs_diff) > .001) {

2
src/FDM/AIWake/AIWakeGroup.cxx
View file

@ -64,7 +64,7 @@ void AIWakeGroup::AddAI(FGAIAircraft* ai)
ai->getPitch(), 0.0);
double hVel = ai->getSpeed()*SG_KT_TO_FPS;
double vVel = ai->getVerticalSpeed()/60;
double vVel = ai->getVerticalSpeedFPM()/60;
double gamma = atan2(vVel, hVel);
double vel = sqrt(hVel*hVel + vVel*vVel);
double weight = perfData->weight();

3
test_suite/unit_tests/AI/test_submodels.cxx
View file

@ -254,7 +254,6 @@ void SubmodelsTests::testInitialState()
* speed
+ speed_east,
sm->_get_speed_east_fps(), 0.1);
// In AIBase, attribute 'vs' is in fpm, but AIBallistic uses it as fps?!
CPPUNIT_ASSERT_DOUBLES_EQUAL(sin((pitch + pitch_offset) * SG_DEGREES_TO_RADIANS) * speed,
sm->_getVS_fps() * 60, 0.1);
sm->_getVS_fps(), 0.1);
}