bool LaeroModel::flyPsi(const double psiCmdDeg, const double psiDotCmdDps)
{
//-------------------------------------------------------
// get data pointers
//-------------------------------------------------------
Simulation::Player* pPlr = static_cast<Simulation::Player*>( findContainerByType(typeid(Simulation::Player)) );
bool ok = (pPlr != nullptr);
if (ok) {
//-------------------------------------------------------
// convert argument units (deg -> rad)
//-------------------------------------------------------
double psiCmdRad = psiCmdDeg * Basic::Angle::D2RCC;
double psiDotCmdRps = psiDotCmdDps * Basic::Angle::D2RCC;
//-------------------------------------------------------
// current psi error (rad)
//-------------------------------------------------------
double psiRad = pPlr->getHeadingR();
double psiErrRad = psiCmdRad - psiRad;
//-------------------------------------------------------
// psi error break point (rad)
//-------------------------------------------------------
const double TAU = 1.0; // time constant [sec]
double psiErrBrkRad = psiDotCmdRps * TAU;
//-------------------------------------------------------
// control signal for commanded psi (rps)
//-------------------------------------------------------
double psiDotRps = sign(psiErrRad) * psiDotCmdRps;
if (std::abs(psiErrRad) < psiErrBrkRad) {
psiDotRps = (psiErrRad / psiErrBrkRad) * psiDotCmdRps;
}
//-------------------------------------------------------
// assign result to azimuth control
//-------------------------------------------------------
psiDot = psiDotRps;
}
return ok;
}
//------------------------------------------------------------------------------
// updateRAC -- update Robot Aircraft
//------------------------------------------------------------------------------
void RacModel::updateRAC(const LCreal dt)
{
// Get our Player (must have one!)
Simulation::Player* pp = static_cast<Simulation::Player*>( findContainerByType(typeid(Simulation::Player)) );
if (pp == nullptr) return;
// Acceleration of Gravity (M/S)
LCreal g = ETHG * Basic::Distance::FT2M;
// Set default commanded values
if (cmdAltitude < -9000.0)
cmdAltitude = static_cast<LCreal>(pp->getAltitudeM());
if (cmdHeading < -9000.0)
cmdHeading = static_cast<LCreal>(pp->getHeadingD());
if (cmdVelocity < -9000.0)
cmdVelocity = pp->getTotalVelocityKts();
// ---
// Compute delta altitude; commanded vertical velocity and
// commanded flight path angle
// ---
// Max altitude rate 6000 ft /min converted to M/S
double maxAltRate = (3000.0 / 60.0) * Basic::Distance::FT2M;
// commanded vertical velocity is delta altitude limited to max rate
double cmdAltRate = (cmdAltitude - pp->getAltitudeM());
if (cmdAltRate > maxAltRate) cmdAltRate = maxAltRate;
else if (cmdAltRate < -maxAltRate) cmdAltRate = -maxAltRate;
// Compute commanded flight path angle (gamma)
double cmdPitch = 0;
LCreal vt = pp->getTotalVelocity();
if (vt > 0) {
cmdPitch = std::asin( cmdAltRate/vt );
}
// ---
// Compute Max G
// ---
LCreal gmax = gMax; // Max g,s
if(pp->getTotalVelocity() < vpMaxG) {
gmax = 1.0f + (gMax - 1.0f) * (pp->getTotalVelocity() - vpMin) / (vpMaxG - vpMin);
}
// ---
// Computer max turn rate, max/min pitch rates
// ---
LCreal ra_max = gmax * g / pp->getTotalVelocity(); // Turn rate base on vp and g,s (rad/sec)
LCreal qa_max = ra_max; // Max pull up pitch rate (rad/sec)
LCreal qa_min = -qa_max; // Max pushover pitch rate (rad/sec)
if(gmax > 2.0) {
// Max yaw rate (rad/sec)
qa_min = -( 2.0f * g / pp->getTotalVelocity());
}
// ---
// Get old angular values
// ---
const osg::Vec3 oldRates = pp->getAngularVelocities();
//LCreal pa1 = oldRates[Simulation::Player::IROLL];
LCreal qa1 = oldRates[Simulation::Player::IPITCH];
LCreal ra1 = oldRates[Simulation::Player::IYAW];
// ---
// Find pitch rate and update pitch
// ---
double qa = Basic::Angle::aepcdRad(cmdPitch - pp->getPitchR()) * 0.1;
if(qa > qa_max) qa = qa_max;
if(qa < qa_min) qa = qa_min;
// Find turn rate
double ra = Basic::Angle::aepcdRad((cmdHeading * Basic::Angle::D2RCC) - pp->getHeadingR()) * 0.1;
if(ra > ra_max) ra = ra_max;
if(ra < -ra_max) ra = -ra_max;
// Damage
double dd = pp->getDamage();
if (dd > 0.5) {
ra += (dd - 0.5) * ra_max;
qa -= (dd - 0.5) * qa_max;
}
// Using Pitch rate, integrate pitch
double newTheta = static_cast<LCreal>(pp->getPitch() + (qa + qa1) * dt / 2.0);
// Use turn rate integrate heading
double newPsi = static_cast<LCreal>(pp->getHeading() + (ra + ra1) * dt / 2.0);
if(newPsi > 2.0*PI) newPsi -= 2.0*PI;
if(newPsi < 0.0) newPsi += 2.0*PI;
// Roll angle is proportional to max turn rate - filtered
double pa = 0.0;
double newPhi = 0.98 * pp->getRollR() + 0.02 * (ra / ra_max * (Basic::Angle::D2RCC * 60.0));
// Find Acceleration
double cmdVelMPS = cmdVelocity * (Basic::Distance::NM2M / 3600.0);
double vpdot = (cmdVelMPS - pp->getTotalVelocity()) * 0.05;
if(vpdot > maxAccel) vpdot = maxAccel;
if(vpdot < -maxAccel) vpdot = -maxAccel;
// Compute new velocity (body coordinates)
double newVP = pp->getTotalVelocity() + vpdot * dt;
// Set our angular values
pp->setEulerAngles(newPhi, newTheta, newPsi);
pp->setAngularVelocities(pa, qa, ra);
// Set our velocity vector (body coordinates)
pp->setVelocityBody( static_cast<LCreal>(newVP), 0.0, 0.0);
// Set our acceleration vector (body coordinates)
pp->setAccelerationBody( static_cast<LCreal>(vpdot), 0.0, 0.0);
}