DtFixedWingPilotController is a controller that models the capabilities of a fixed-wing pilot. More...

Inheritance diagram for DtFixedWingPilotController:

Public Member Functions
	DtFixedWingPilotController (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
virtual	~DtFixedWingPilotController ()
	destructor
virtual bool	init ()
	Initializes myFixedWingEntityState.
virtual void	tick ()
	Only gets actuator values the first time it's called.
virtual DtString	type () const
	Returns a string identifies the class type of component.
virtual void	clearTask ()
	Overridden to deactivate the port group when this controller completes a task.
virtual void	taxiTo (const DtVector &destination, double speed)
	The following functions assume that the FWE is on the GROUND.
virtual void	taxi (double speed, double turnRate)
	Call this to taxi at a given speed and turn rate.
virtual double	calculateSteering (double turnAngle) const
	Calculates the pedal port value for the given turn angle.
virtual double	approximateThrottle (double speed)
	Calculates the throttle port value for the given speed using: throttle = (slope/maxSlope + ((desiredSpeed/maxSpeed))
virtual double	calculateCurrentBrakingDistance () const
	Returns the braking distance using the current speed and breaking ability to determine how long it would take to brake.
virtual void	flyTo (const DtVector &destination, double speed)
	The following functions assume that the FWE is in the AIR.
virtual void	flyToDirect (const DtVector &destination, double speed)
	Call this to fly to a specified 3D point at the given speed.
virtual void	fly (double speed, double turnRate, double climbRate)
	Call this to fly at a given speed, turn rate and climb rate.
virtual void	flyFixedPitch (double speed, double turnRate, double desiredPitch)
	Call this to fly at a given speed, turn rate and pitch.
virtual void	circle (const DtVector &center, double radius, double speed, double altitude, bool clockwise=true)
	Call this to fly in a circle.
virtual double	calcControlForRoll (double rollRate)
	Calculates and returns the stickY value needed to achieve the desired roll rate.
virtual double	calcControlForThrottle (double speed, bool &deployFlaps)
	Calculates a throttle value based on the entity�s current speed, desired speed, and current acceleration.
virtual void	calcControlForTurnAndClimb (double turnRate, double climbRate, double &stickX, double &pedal)
	The calcControlForTurnAndClimb() method determines the appropriate pitch angle to use to achieve the desired climb rate, then calls calccontrolForTurnAndPitch().
virtual void	calcControlForTurnAndPitch (double turnRate, double desiredPitch, double &stickX, double &pedal)
	The calcControlForTurnAndClimb() method determines complementary stickX and pedal values to achieve a desired turn rate and climb rate.
virtual double	calculateClimbRate (double altitude, double climbTime) const
	Calculates a climb rate to achieve the specified altitude in the climbTime specified.
virtual double	calculateTurnRate (double turnAngle) const
	Determines the turn rate that will be used to change heading.
virtual double	calculateRollAngle (double turnRate, double speed) const
	Calculates a roll angle for a turn based on the turn rate desired and the entity�s current speed.
virtual double	calculateRollRate (double rollAngle)
	Calculates a desired rate of roll based on the current roll and the desired roll angle.
virtual void	calculateNormalizedBodyVelocity ()
	Put current velocity into body coordinates.
virtual void	calculateLocalAngularVelocity ()
	The calculateLocalAngularVelocity() function calculates the entity�s current rate of heading change and stores the value in myProcessState's myLocalAngularVelocity member.
virtual void	calculateSpeedRatioSquared ()
	Calculate the square of our current speed divided by our max speed.
virtual void	initializeControllerForTick ()
	The initializeControllerForTick() function is called to recompute the entity�s normalized body velocity, local angular velocity, and speed ratio squared.
virtual bool	createFixedWingControlPortGroup ()
	These are called in init to create the ports used to communicate with the actuator.
virtual bool	createThrottlePort ()
virtual bool	createStickPort ()
virtual bool	createPedalPort ()
virtual bool	createBrakePort ()
virtual bool	createFlapsDeployedPort ()
	This is not currently used.
virtual DtConstrainedAnalogOutputPort *	throttlePort ()
	These provide access to the ports.
virtual DtConstrainedDualAxisAnalogOutputPort *	stickPort ()
virtual DtConstrainedAnalogOutputPort *	pedalPort ()
virtual DtConstrainedAnalogOutputPort *	brakePort ()
virtual DtBooleanOutputPort *	flapsDeployedPort ()
virtual void	setMaxThrustAcceleration (double maxThrustAcceleration)
	These are used to set values in the process state repository.
virtual void	setTakeOffDir (const DtVector &takeOffDir)
	The direction vector for take off.
virtual const DtVector &	takeOffDir () const

virtual DtReal	maxTurningGs () const
	Parameter value from descriptor.
virtual DtReal	maxTurnRateCutoffAngle () const
	Parameter value from descriptor.
virtual DtReal	maxTaxiingTurnSpeed () const
	Parameter value from descriptor.
virtual DtReal	taxiingNearDistance () const
	Parameter value from descriptor.
virtual DtReal	taxiingAtDistance () const
	Parameter value from descriptor.
virtual DtReal	taxiingApproachSpeed () const
	Parameter value from descriptor.
virtual DtReal	maxPitchAngle () const
	Parameter value from descriptor.
virtual DtReal	timeToTargetAltitude () const
	Parameter value from descriptor.
Static Public Member Functions
static DtSimComponent *	creator (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
Protected Member Functions
virtual bool	createPorts ()
	Overridden to create the fixed wing ports.
virtual bool	createPortGroups ()
	Overridden to create myFixedWingControlPortGroup.
virtual void	lookupAndCacheProcessSR ()
	This function looks up a process state repository in the process state repository manager by name, and caches a pointer to it in myProcessState.
virtual bool	postAddComponentsInit ()
	Calls lookupAndCacheProcessSR(), to look up our process state repository after all of the components have been created and loaded.
virtual bool	decideToGiveUpTask () const
	If the entity is attached and the target of the current task is not, give up on the task.
	DtFixedWingPilotController ()
	default constructor; not implemented
	DtFixedWingPilotController (const DtFixedWingPilotController &orig)
	copy constructor; not implemented
const DtFixedWingPilotController &	operator= (const DtFixedWingPilotController &orig)
	assignment operator; not implemented
Protected Attributes
DtFixedWingEntityStateRepository *	myFixedWingEntityState
DtFixedWingFlightPSR *	myProcessState
	Pointer to a process state repository used to store state data associated with this component.
Ports and Port Groups
DtOutputPortGroup *	myFixedWingControlPortGroup
	Output Port Group Name: fixed-wing-control Output Port Group Description:
DtConstrainedAnalogOutputPort *	myThrottlePort
	Output Port Name: throttle Output Port Description: Output Port Range: 0.
DtConstrainedDualAxisAnalogOutputPort *	myStickPort
	Output Port Name: stick Output Port Description: Output Port Range: X: -1.
DtConstrainedAnalogOutputPort *	myPedalPort
	Output Port Name: pedal Output Port Description: Output Port Range: -1.
DtConstrainedAnalogOutputPort *	myBrakePort
	Output Port Name: brake Output Port Description: Output Port Range: 0.
DtBooleanOutputPort *	myFlapsDeployedPort
	Output Port Name: flaps Output Port Description: Output Port Range: Output Port Default Value: true Output Group Parent: fixed-wing-control.

Detailed Description

DtFixedWingPilotController is a controller that models the capabilities of a fixed-wing pilot.

Uses Descriptor Type: DtFixedWingPilotControllerDescriptor

Examples

Radar Warning Example

Constructor & Destructor Documentation

DtFixedWingPilotController::DtFixedWingPilotController	(	const DtString &	name,
		DtVrfObject *	owner,
		DtSimManager *	simManager,
		DtComponentDescriptor *	desc = `0`,
		DtReaderWriterRegistry *	parentRegistry = `0`
	)

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters:

name	Reader writer name of this component.
owner	The DtVrfObject that owns this component
simManager	The simulation manager (provides access to terrain, message interface, simulation clock).
desc	The component descriptor used to initialize this component.
parentRegistry	Pointer to the parent reader writer registry (the containing object that reads/writes this object).

(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

virtual DtFixedWingPilotController::~DtFixedWingPilotController ( ) [virtual]

destructor

DtFixedWingPilotController::DtFixedWingPilotController ( ) [protected]

default constructor; not implemented

DtFixedWingPilotController::DtFixedWingPilotController ( const DtFixedWingPilotController & orig ) [protected]

copy constructor; not implemented

Member Function Documentation

virtual bool DtFixedWingPilotController::init ( ) [virtual]

Initializes myFixedWingEntityState.

Reimplemented from DtControllerComponent.

Reimplemented in DtFixedWingDefaultController, DtFixedWingFlightCommandController, and DtCruiseMissileDefaultController.

virtual void DtFixedWingPilotController::tick ( ) [virtual]

Only gets actuator values the first time it's called.

Call lookupAndCacheProcessSR(), to look up myProcessState, if it hasn't already been found.

Reimplemented from DtSimComponent.

Reimplemented in DtFixedWingMoveAlongController, DtFixedWingFollowEntityController, DtFixedWingDefaultController, DtFixedWingFlightCommandController, DtCruiseMissileDefaultController, DtFixedWingJoyFlightController, DtFixedWingMoveToController, and DtSimpleRadarWarningResponse.

virtual DtString DtFixedWingPilotController::type ( ) const [virtual]

Returns a string identifies the class type of component.

Type values are defined in compTypes.h. DtSimComponent creation functions are registered with the DtSimComponentFactory using the type values as the key.

Returns:: DtFixedWingPilotControllerType

Implements DtTaskControllerComponent.

Reimplemented in DtFixedWingMoveAlongController, DtFixedWingFlyIntoController, DtFixedWingDefaultController, DtFixedWingFlightCommandController, DtFixedWingPatrolRouteController, DtCruiseMissileDefaultController, DtFixedWingJoyFlightController, DtFixedWingFollowEntityController, DtFixedWingMoveToController, DtFixedWingPatrolBetweenController, DtCruiseMissileMoveAlongController, DtFixedWingMoveToLocationController, and DtSimpleRadarWarningResponse.

virtual void DtFixedWingPilotController::clearTask ( ) [virtual]

Overridden to deactivate the port group when this controller completes a task.

Reimplemented from DtSingleTaskControllerComponent.

Reimplemented in DtFixedWingMoveAlongController, DtFixedWingMoveToController, and DtFixedWingFlightCommandController.

virtual void DtFixedWingPilotController::taxiTo	(	const DtVector &	destination,
		double	speed
	)		`[virtual]`

The following functions assume that the FWE is on the GROUND.

Do NOT call the functions when the FWE is in the AIR.

Call this to taxi to a specified point at a given speed. The taxiTo() member function is called to taxi to a specified point at a specified speed. Assumes that the FWE is on the ground, and that its throttle, brake, and pedal ports all exist. Calculates the port values for braking, turning, and throttle based on the given speed and destination. NOTE: If the entity tries to turn to a heading while it is moving faster than the maximum allowed for turning, it will turn at a maximum of TURNING_SPEED_TOL, in the right direction, until it has slowed enough to turn by a greater amount.

virtual void DtFixedWingPilotController::taxi	(	double	speed,
		double	turnRate
	)		`[virtual]`

Call this to taxi at a given speed and turn rate.

taxi() determines Assumes that the FWE is on the ground, and that its throttle, brake, and pedal ports all exist. Calculates the port values for braking, turning, and throttle based on the given speed and destination.

virtual double DtFixedWingPilotController::calculateSteering ( double turnAngle ) const [virtual]

Calculates the pedal port value for the given turn angle.

Takes into account the turning radius of the FWE as well as current speed.

virtual double DtFixedWingPilotController::approximateThrottle ( double speed ) [virtual]

Calculates the throttle port value for the given speed using: throttle = (slope/maxSlope + ((desiredSpeed/maxSpeed))

virtual double DtFixedWingPilotController::calculateCurrentBrakingDistance ( ) const [virtual]

Returns the braking distance using the current speed and breaking ability to determine how long it would take to brake.

virtual void DtFixedWingPilotController::flyTo	(	const DtVector &	destination,
		double	speed
	)		`[virtual]`

The following functions assume that the FWE is in the AIR.

Do NOT call the functions when the FWE is on the GROUND.

Call this to fly to a specified point at a given speed. The aircraft will fly to the ordered altitude as soon as possible and fly to the destination. The flyTo() member function is called to fly to a specified point at a specified speed. It creates a DtSmartPoint at the destination point and uses it to find the heading from the entity�s current position to this point. It then determines a turn rate by calling calculateTurnRate(), a climb rate by calling calculateClimbRate() (constrained by the plane's maxAltitude parameter), and then calls fly().

virtual void DtFixedWingPilotController::flyToDirect	(	const DtVector &	destination,
		double	speed
	)		`[virtual]`

Call this to fly to a specified 3D point at the given speed.

This causes the aircraft to pitch and yaw itself directly toward the destination and fly at the given speed. The flyToDirect() method calculates the turn rate and pitch which will take to the destination, and calls flyFixedPitch().

virtual void DtFixedWingPilotController::fly	(	double	speed,
		double	turnRate,
		double	climbRate
	)		`[virtual]`

Call this to fly at a given speed, turn rate and climb rate.

fly() determines a roll angle and rate based on the specified turn rate and calls calcControlForRoll() to get a stickY value. if the current roll angle sign is different from the desired roll angle sign, it sets stickX and pedal to 0, otherwise it calls calcControlForTurnAndClimb() to determine those values. Finally, it calls calcControlForThrottle() with the desired speed to set the throttle port value.

virtual void DtFixedWingPilotController::flyFixedPitch	(	double	speed,
		double	turnRate,
		double	desiredPitch
	)		`[virtual]`

Call this to fly at a given speed, turn rate and pitch.

fly() determines a roll angle and rate based on the specified turn rate and calls calcControlForRoll() to get a stickY value. if the current roll angle sign is different from the desired roll angle sign, it sets stickX and pedal to 0, otherwise it calls calcControlForTurnAndPitch() to determine those values. Finally, it calls calcControlForThrottle() with the desired speed to set the throttle port value.

virtual void DtFixedWingPilotController::circle	(	const DtVector &	center,
		double	radius,
		double	speed,
		double	altitude,
		bool	clockwise = `true`
	)		`[virtual]`

Call this to fly in a circle.

The center parameter is no longer ignored. The circle() member function is called to fly in a circle of a specified radius, at a specified speed, either clockwise or counter clockwise, and at a specified altitude. The circle() function:

Constrains the altitude to the entity's maxAltitude parameter
Determines the desired turn rate for this simulation frame by if the fixed wing is inside or outside of the specified orbit, and adjusts the desired heading appropriately. Also adjusts for clockwise/counter-clockwise.
Determines the desired heading, at the point tangent to the orbit.
Uses the desired heading, and the current heading, to determine a turn rate.
Determines a climb rate by calling calculateClimbRate().
Calls fly() with the desired speed, turn rate, and climb rate.

Parameters:

center	The center around which to circle.
radius	The radius of the desired flight circle.
speed	The desired flight speed.
altitude	The desired flight altitude.
clockwise	Fly in a circle clockwise(true) or counterclockwise (false).

Note:: If the specified parameters are not "physically" possible for the fixed wing to follow, it will fly come as close as possible.

virtual double DtFixedWingPilotController::calcControlForRoll ( double rollRate ) [virtual]

Calculates and returns the stickY value needed to achieve the desired roll rate.

virtual double DtFixedWingPilotController::calcControlForThrottle	(	double	speed,
		bool &	deployFlaps
	)		`[virtual]`

Calculates a throttle value based on the entity�s current speed, desired speed, and current acceleration.

First, the difference between the desired speed and the current speed is found, and the desired acceleration is chosen to be this difference over 1 second. The drag in the direction of motion is determined and added to the desired acceleration. The result is then divided by the maximum thrust acceleration parameter. Also sets the value of deployFlaps to TRUE if the desired speed is significanlty below the current speed.

virtual void DtFixedWingPilotController::calcControlForTurnAndClimb	(	double	turnRate,
		double	climbRate,
		double &	stickX,
		double &	pedal
	)		`[virtual]`

The calcControlForTurnAndClimb() method determines the appropriate pitch angle to use to achieve the desired climb rate, then calls calccontrolForTurnAndPitch().

virtual void DtFixedWingPilotController::calcControlForTurnAndPitch	(	double	turnRate,
		double	desiredPitch,
		double &	stickX,
		double &	pedal
	)		`[virtual]`

The calcControlForTurnAndClimb() method determines complementary stickX and pedal values to achieve a desired turn rate and climb rate.

It returns 0.0 for both values if the plane has a roll angle outside of +/- 90 degrees.

virtual double DtFixedWingPilotController::calculateClimbRate	(	double	altitude,
		double	climbTime
	)		const `[virtual]`

Calculates a climb rate to achieve the specified altitude in the climbTime specified.

This climb rate is then constrained to be no greater than the entity's max climb rate parameter. The end result is that all climbs happen at max climb rate until the altitude difference is such that the plane levels off over the last several meters

Parameters:

climbTime Specified in seconds.

virtual double DtFixedWingPilotController::calculateTurnRate ( double turnAngle ) const [virtual]

Determines the turn rate that will be used to change heading.

If the magnitude of the heading change needed is greater than or equal to the max-turnrate-cutoff-angle parameter, then the max-pitch-rate parameter is used. Otherwise, the turn rate is calculated as: The magnitude of the calculated turn rate is then constrained to be less than or equal to the turn rate corresponding to the max-turning-gs parameter for the entity�s current speed.

virtual double DtFixedWingPilotController::calculateRollAngle	(	double	turnRate,
		double	speed
	)		const `[virtual]`

Calculates a roll angle for a turn based on the turn rate desired and the entity�s current speed.

The angle is calculated as

virtual double DtFixedWingPilotController::calculateRollRate ( double rollAngle ) [virtual]

Calculates a desired rate of roll based on the current roll and the desired roll angle.

virtual void DtFixedWingPilotController::calculateNormalizedBodyVelocity ( ) [virtual]

Put current velocity into body coordinates.

The calculateNormalizedBodyVelocity() function calculates a normal vector that points in the direction of the current velocity vector in body coordinates. This is used in determining both slippage and angle of attack. It is calculated as: DtEuler_to_BodyToLocalRef(current orientation, body to local matrix) DtDcmTranspose(body to local matrix, local to body matrix) DtDcmVecMul(local to body matrix, current velocity, body velocity) DtVecNormalize(body velocity, myNormalizedBodyVelocity) If the magnitude of the velocity vector is 0.0, the normalized body velocity vector is arbitrarily set to point down the nose of the entity (<1.0, 0.0, 0.0>). myNormalizedBodyVelocity is a member variable of myProcessState.

virtual void DtFixedWingPilotController::calculateLocalAngularVelocity ( ) [virtual]

The calculateLocalAngularVelocity() function calculates the entity�s current rate of heading change and stores the value in myProcessState's myLocalAngularVelocity member.

It is computed as: local angular velocity = (SIN(current roll angle) * current pitch rate) + (COS(current roll angle) * current yaw rate).

virtual void DtFixedWingPilotController::calculateSpeedRatioSquared ( ) [virtual]

Calculate the square of our current speed divided by our max speed.

The calculateSpeedRatioSquared() function calculates this value and stores it in the process state member variable myProcessState's mySpeedRatioSquared member variable as: mySpeedRatioSquared = current speed / max speed mySpeedRatioSquared *=

virtual void DtFixedWingPilotController::initializeControllerForTick ( ) [virtual]

The initializeControllerForTick() function is called to recompute the entity�s normalized body velocity, local angular velocity, and speed ratio squared.

It calls: calculateNormalizedBodyVelocity() calculateLocalAngularVelocity() calculateSpeedRatioSquared().

virtual bool DtFixedWingPilotController::createFixedWingControlPortGroup ( ) [virtual]

These are called in init to create the ports used to communicate with the actuator.

virtual bool DtFixedWingPilotController::createThrottlePort ( ) [virtual]

virtual bool DtFixedWingPilotController::createStickPort ( ) [virtual]

virtual bool DtFixedWingPilotController::createPedalPort ( ) [virtual]

virtual bool DtFixedWingPilotController::createBrakePort ( ) [virtual]

virtual bool DtFixedWingPilotController::createFlapsDeployedPort ( ) [virtual]

This is not currently used.

virtual DtConstrainedAnalogOutputPort* DtFixedWingPilotController::throttlePort ( ) [virtual]

These provide access to the ports.

virtual DtConstrainedDualAxisAnalogOutputPort* DtFixedWingPilotController::stickPort ( ) [virtual]

virtual DtConstrainedAnalogOutputPort* DtFixedWingPilotController::pedalPort ( ) [virtual]

virtual DtConstrainedAnalogOutputPort* DtFixedWingPilotController::brakePort ( ) [virtual]

virtual DtBooleanOutputPort* DtFixedWingPilotController::flapsDeployedPort ( ) [virtual]

virtual void DtFixedWingPilotController::setMaxThrustAcceleration ( double maxThrustAcceleration ) [virtual]

These are used to set values in the process state repository.

virtual void DtFixedWingPilotController::setTakeOffDir ( const DtVector & takeOffDir ) [virtual]

The direction vector for take off.

virtual const DtVector& DtFixedWingPilotController::takeOffDir ( ) const [virtual]

virtual DtReal DtFixedWingPilotController::maxTurningGs ( ) const [virtual]