DtFixedWingPilotController Class Reference

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

Uses Descriptor Type: DtFixedWingPilotControllerDescriptor

Examples

• Radar Warning Example

Inheritance diagram for DtFixedWingPilotController:

Public Member Functions
	DtFixedWingPilotController (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtFixedWingPilotController ()
virtual bool	init ()
virtual void	tick ()
virtual const char *	type () const
virtual void	clearTask ()
virtual double	maxTurningGs () const
virtual bool	terrainAvoidanceEnabled ()
virtual double	terrainAvoidanceLookaheadTime ()
Public Member Functions inherited from DtSingleTaskControllerComponent
	DtSingleTaskControllerComponent (const DtString &name, DtLocalObject *owner, DtSimulationServices *simServices, DtComponentDescriptor *compDesc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtSingleTaskControllerComponent ()
virtual void	postTick ()
virtual bool	beginProcessingTask (const DtTaskMessage &task, DtSimTaskStatePtr taskState)
virtual void	taskNotify (const DtSimTask &task)
virtual void	taskComplete (bool success=true)
virtual void	suspendTask ()
virtual int	sendSubtask (DtSimTask &task)
virtual void	clearSubtask (int subtaskId)
virtual void	addPendingSubtaskId (int subtaskId)
virtual bool	findPendingSubtaskId (int subtaskId)
virtual bool	isSubtasked () const
virtual void	removePendingSubtaskId (int subtaskId)
virtual void	removeAllPendingSubtaskIds ()
virtual std::vector< int >	currentPendingSubstaskIds () const
virtual void	clearCurrentTaskMessage ()
virtual DtTaskMessage *	currentTaskMessage () const
virtual DtSimTaskStatePtr	currentTaskState () const
virtual void	giveUpTask ()
virtual bool	taskActive (int taskId) const
virtual bool	clearTopLevelTasks ()
virtual void	clearConflictingTopLevelTasks (const DtSimTaskMessageType &conflictType)
virtual void	clearTasksByType (const DtSimTaskMessageType &taskType)
virtual void	clearTaskById (int taskId)
virtual DtSuspendedTaskInfo *	suspendTaskById (int taskId)
virtual DtSuspendedTaskInfo *	suspendSubtaskById (int taskId, int subtaskId)
virtual std::list < DtTaskMessage * >	currentTaskMessages () const
virtual DtTaskWithTaskStateListPtr	topLevelTasks () const
virtual void	disable ()
Public Member Functions inherited from DtTaskControllerComponent
	DtTaskControllerComponent (const DtString &name, DtLocalObject *owner, DtSimulationServices *simServices, DtComponentDescriptor *compDesc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtTaskControllerComponent ()
virtual bool	showCurrentTaskInGui () const
virtual void	setRadio (DtSimRadio *radio)
virtual void	registerTaskMsgCallbacks ()
virtual void	addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr)
virtual void	addTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr)
virtual void	removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtMessageCallbackFcn fcn, void *usr)
virtual void	removeTaskProcessorCallback (const DtSimTaskMessageType &taskType, DtTaskMessageCallbackFcn fcn, void *usr)
virtual void	enable ()
virtual void	sendTaskCanceled (DtTaskMessage *taskMsg)
virtual bool	taskVisualizationsActive () const
virtual void	setTasked (bool tasked)
virtual bool	tasked () const
Public Member Functions inherited from DtControllerComponent
	DtControllerComponent (const DtString &name, DtLocalObject *owner, DtSimulationServices *simServices, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtControllerComponent ()
virtual DtSimRadio *	radio ()
virtual void	enableTaskTypes ()
virtual void	disableTaskTypes ()
Public Member Functions inherited from DtSimComponent
	DtSimComponent (const DtString &name, DtLocalObject *owner, DtSimulationServices *simServices, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
virtual	~DtSimComponent ()
virtual void	setParentSystem (DtComponentSystem *system)
DtComponentSystem *	parentSystem () const
virtual void	preFirstTickInit ()
virtual void	timedTick ()
virtual void	setMinTickPeriod (double minTickPeriod)
virtual double	minTickPeriod () const
virtual void	setMinTickPeriodVariance (double minTickPeriodVariance)
virtual double	minTickPeriodVariance () const
virtual void	setNextTickTime (double nextTickTime)
virtual double	nextTickTime () const
virtual double	calculateNextTickTime () const
virtual double	calculateFirstTickTime () const
virtual void	setEntity (DtLocalObject *entity)
virtual DtSimComponent *	nextComponent ()
virtual DtSimComponent *	prevComponent ()
virtual void	setListItem (DtListItem *item)
virtual DtListItem *	listItem ()
virtual void	putData (std::string &fp, int indentLevel=0)
virtual DtlObjPtr	getData (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths, const DtVariableBindingsList &variableBindings)
virtual void	addInputPort (DtInputPort *port)
virtual void	removeInputPort (DtInputPort *port)
virtual DtInputPort *	lookupInputPort (const DtString &portName)
virtual DtList	inputPortList () const
virtual void	addOutputPort (DtOutputPort *port)
virtual void	removeOutputPort (DtOutputPort *port)
virtual DtOutputPort *	lookupOutputPort (const DtString &portName)
virtual DtList	outputPortList () const
virtual void	addInputPortGroup (DtInputPortGroup *group)
virtual void	removeInputPortGroup (DtInputPortGroup *group)
virtual DtInputPortGroup *	lookupInputPortGroup (const DtString &groupName)
virtual DtList	inputPortGroupList () const
virtual void	addOutputPortGroup (DtOutputPortGroup *group)
virtual void	removeOutputPortGroup (DtOutputPortGroup *group)
virtual DtOutputPortGroup *	lookupOutputPortGroup (const DtString &groupName)
virtual DtList	outputPortGroupList () const
virtual int	priority () const
virtual void	setPriority (int priority)
double	dT () const
virtual void	setDT (double deltaT)
virtual void	setComponentDescriptor (DtComponentDescriptor *componentDescriptor)
virtual const DtComponentDescriptor *	componentDescriptor () const
virtual bool	tickWhileDestroyed () const
DtVrfProcessStateRepositoryManager *	psrManager ()
virtual const DtSymbolString &	componentFullName () const
DtPhysicalWorld *	physicalWorld ()
const DtPhysicalWorld *	physicalWorld () const
const DtAttachedTerrain *	terrainAttachedTo () const
DtLocalObject *	entity ()
const DtLocalObject *	entity () const
DtSimulationServices *	simulationServices ()
const DtSimulationServices *	simulationServices () const
const Coordinate_System *	coordinateSystem () const
virtual bool	taskVisualizationsEnabled () const
makVrf::DtTaskVisualizationMap &	taskVisualizations ()
virtual bool	isEnabled ()
virtual void	setIsEnabled (bool yesNo)
virtual DtOutputStream &	objectConsoleDebug (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleVerbose (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleInfo (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleWarn (const DtString &channel="") const
virtual DtOutputStream &	objectConsoleError (const DtString &channel="") const
virtual int	notifyLevel () const
virtual DtSimResourceManager &	resourceManager ()
virtual const DtSimResourceManager &	resourceManager () const
VRF4API_METHOD const DtSimulationServices *	simManager () const
Public Member Functions inherited from DtReaderWriter
	DtReaderWriter ()
	DtReaderWriter (const DtString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	DtReaderWriter (const DtSymbolString &name, DtReaderWriterRegistry *parentRegistry=NULL, bool readonly=false)
	DtReaderWriter (const DtString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	DtReaderWriter (const DtSymbolString &name, const DtReaderWriter &orig, DtReaderWriterRegistry *parentRegistry=NULL)
	DtReaderWriter (const DtReaderWriter &, DtReaderWriterRegistry *parentRegistry=NULL)
const DtReaderWriter &	operator= (const DtReaderWriter &orig)
bool	operator== (const DtReaderWriter &) const
bool	operator!= (const DtReaderWriter &rhs)
virtual	~DtReaderWriter ()
virtual void	putSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
virtual void	postPutSelf ()
virtual void	prePutSelf ()
virtual void	getSelf (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
virtual void	postGetSelf ()
virtual void	preGetSelf ()
virtual void	writeSelf (std::string &fp, int indentLevel=0, bool writeUnspecified=false, const DtFilename &path=DtFilename::nullFilename())
virtual DtSymbolString	name () const
virtual void	addAlias (const DtSymbolString &alias)
virtual void	addAlias (const DtString &alias)
virtual bool	hasAlias (const DtSymbolString &alias)
virtual const aliasContainer &	aliases () const
virtual void	setReadonly (bool flag)
bool	isReadonly () const
virtual void	reset ()
virtual int	alignment () const
virtual bool	variableIsBound () const
virtual void	unbindVariable ()
virtual void	setName (const DtString &)
virtual const char *	readerWriterType () const
virtual const char *	xmlType () const
virtual DtString	prettyPrint () const
std::string	debugText () const
virtual void	bindVariables (DtVariableBindingsList variableBindings)
virtual std::list < DtVariableNameType >	unboundVariables () const
bool	invalid () const
virtual bool	hasChild (const DtReaderWriter *p) const
virtual bool	hasVariableReference () const
virtual void	bindLocalVariables (const DtVariableBindingsList &variableBindings)
virtual void	recordUpdateTime () const
virtual bool	wasUpdatedSince (DtTime t) const
virtual bool	changedSinceLastChecked ()
virtual bool	peekChangedSinceLastChecked () const
virtual void	setValueSpecified (bool specified, bool recurse=false)
virtual bool	valueSpecified () const
virtual bool	isVariableReference () const
virtual void	setIsVariableReference (bool value)
virtual void	clearAllVariableReferenceFlags ()
virtual DtSymbolString	variableName () const
virtual void	setVariableName (const DtSymbolString variableName)
virtual const DtReaderWriter *	defaultRWValue () const
virtual DtReaderWriter *	defaultRWValue ()
virtual void	setDefaultRWValue (DtReaderWriter *)
virtual bool	checkAndSetDefaultRWValue (DtlObjPtr args, const DtReaderWriter::SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &variableBindings=nullVariableReference())
const DtReaderWriterRegistry &	registry () const
DtReaderWriterRegistry &	registry ()
virtual DtPropertyInterface *	property ()
virtual const DtPropertyInterface *	property () const
virtual DtString	toXml () const
virtual DtRwVariableBindings *	generateVariableBindings () const
virtual bool	toXml (const DtFilename &) const
virtual bool	fromXml (const DtString &)
virtual bool	fromXmlFile (const DtFilename &)
virtual void	putSelf (DtEnvironmentSP, DtEnvValueSP parent) const
virtual void	putData (DtEnvironmentSP, DtEnvValueSP value) const
virtual void	putVariableReference (DtEnvironmentSP, DtEnvValueSP value) const
virtual void	getSelf (const DtEnvironmentSP, const DtEnvValueSP root, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
virtual void	getData (const DtEnvironmentSP, const DtEnvValueSP, const SearchPaths &searchPaths=SearchPaths(), const DtVariableBindingsList &bindings=DtVariableBindingsList())
virtual void	unrecognizedItem (const DtEnvironmentSP env, const DtEnvValueSP root, const SearchPaths &searchPaths, const DtVariableBindingsList &varBindings)
virtual void	getVariableReference (DtEnvironmentSP, DtEnvValueSP value)

Static Public Member Functions
static DtSimComponent *	creator (const DtString &name, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
Static Public Member Functions inherited from DtTaskControllerComponent
static void	deprecatedTaskProcessorCallbackAdapter (DtSimMessage *msg, void *usr, DtSimTaskStatePtr taskState)
Static Public Member Functions inherited from DtSimComponent
static DtSimComponentFactory *	factory ()
static void	setFactory (DtSimComponentFactory *factory)
static DtSimComponent *	createComponent (const DtString &name, const DtString &type, DtLocalObject *owner, DtSimulationServices *simManager, DtComponentSystem *parentSystem, DtComponentDescriptor *desc=0, DtReaderWriterRegistry *parentRegistry=0)
static void	addSimComponentCreatorFcn (const DtString &type, DtSimComponentCreatorFcn fcn)
static VRF4API_METHOD DtSimComponent *	MarkThreadSafe (DtSimComponent *comp)
Static Public Member Functions inherited from DtReaderWriter
static void	putIndent (std::string &fp, int indentLevel)
static const DtVariableBindingsList &	nullVariableReference ()
static void	setPostGetSelfCallback (DtGetSelfCallbackFcn fcn, void *usrData)
static void	setPrePutSelfCallback (DtPutSelfCallbackFcn fcn, void *usrData)
static void	setPutIndent (bool)
static bool	putIndent ()
static const char *	theXmlType ()
static const DtFilename &	appPath ()
static void	setFactoryCreatorFunction (DtReaderWriterFactoryCreatorFcn fcn)
static void	createReaderWriterFactory ()
static void	cleanupFactory ()
static DtReaderWriterFactory *	factory ()
static void	setOutputStream (DtOutputStream *stream)
static DtOutputStream &	outputStream ()
static DtReaderWriter *	createFromXmlFile (const DtFilename &, bool createAsProperty=false)
static DtReaderWriter *	createFromXml (const DtString &, bool createAsProperty=false)
static DtReaderWriter *	createFromEnvironment (DtEnvironmentSP, bool createAsProperty=false)
static DtString	getAttribute (DtEnvironmentSP env, const DtString &name, DtEnvValueSP root)

Protected Member Functions
virtual DtReaderWriter *	processProvideMaxThrustAcceleration ()
virtual bool	createPorts ()
virtual bool	createPortGroups ()
virtual void	lookupAndCacheProcessSR ()
virtual bool	postAddComponentsInit ()
virtual bool	decideToGiveUpTask () const
virtual void	updateCurrentState ()
virtual void	processEstimatedTotCalculation ()
virtual double	calculateCollisionLookAhead (const double climbRate, const double speed, const double desiredAltitude)
virtual void	updateTaskVisualizations ()
virtual double	convertSpeedtoGroundSpeed (double speed, double currentAlt, DtAirSpeedType speedType)
	DtFixedWingPilotController ()
	DtFixedWingPilotController (const DtFixedWingPilotController &orig)
const DtFixedWingPilotController &	operator= (const DtFixedWingPilotController &orig)
Protected Member Functions inherited from DtSingleTaskControllerComponent
virtual void	clearPendingSubtasks ()
virtual void	clearSubtasksByType (const DtSimTaskMessageType &taskType)
virtual void	cleanupInactiveSubtaskStatus ()
Protected Member Functions inherited from DtTaskControllerComponent
virtual void	suspendSubtasksOfTask (int taskId, DtSuspendedTaskInfo *suspendInfo)
virtual void	suspendSubtaskOfTask (int taskId, int subtaskId, DtSuspendedTaskInfo *suspendInfo)
virtual DtSimTaskMessageType	remapScriptId (const DtSimTaskMessageType &) const
Protected Member Functions inherited from DtControllerComponent
	DtControllerComponent ()
	DtControllerComponent (const DtControllerComponent &orig)
const DtControllerComponent &	operator= (const DtControllerComponent &orig)
virtual void	onRestore ()
virtual void	initializeTargetingControlTableFromDescriptor (const DtReaderWriter *)
virtual void	sendCapableSetsAndTasks ()
Protected Member Functions inherited from DtSimComponent
virtual double	computeCurrentTime ()
bool	testInvariant () const
DtVrfProcessStateRepository *	createComponentPsr (const DtString &defaultPsrType, const DtString &defaultPsrName, bool useDescriptorParams=true)
virtual void	destroyTaskVisualizations ()
virtual void	destroyTaskVisualization (const DtString &name)
virtual makVrf::DtPointTaskVisualizationPtr	pointTaskVisualization (const DtString &name)
virtual makVrf::DtLineTaskVisualizationPtr	lineTaskVisualization (const DtString &name)
virtual makVrf::DtAreaTaskVisualizationPtr	areaTaskVisualization (const DtString &name)
virtual makVrf::DtTextTaskVisualizationPtr	textTaskVisualization (const DtString &name)
double	calculateNextTaskVisTickTime () const
DtVrfObjectStateRepository *	localStateRepository ()
const DtVrfObjectStateRepository *	localStateRepository () const
void	addSimObjectPredicateCallback (DtSimObjectReference, DtVrfObjectPredicateCallbackFunction function, const DtVrfObjectPredicate &predicate, DtTime evaluationPeriod=0, void *userData=0)
void	removeSimObjectPredicateCallback (const DtSimObject *, DtVrfObjectPredicateCallbackFunction function, const DtVrfObjectPredicate &predicate, DtTime evaluationPeriod=0, void *userData=0)
void	invokeSimObjectPredicateCallbacks ()
virtual void	clearPredicateCallbacks ()
Protected Member Functions inherited from DtReaderWriter
virtual void	bindToRwAsVariable (const DtReaderWriter *rw)

Protected Attributes
DtFixedWingEntityStateRepository *	myFixedWingEntityState
DtFixedWingFlightPSR *	myProcessState
DtAirspeedCalculator *	myAirSpeedCalculator
const double	DtEstimatedTotCalcInterval = 5.0
bool	myEstimatedTotCalcEnabled
double	myEstimatedTotValue
double	myEstimatedTotLastCalcTime
DtVector	myEstimatedTotTextPos
DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade
Ports and Port Groups
DtOutputPortGroup *	myFixedWingControlPortGroup
DtConstrainedAnalogOutputPort *	myThrottlePort
DtConstrainedDualAxisAnalogOutputPort *	myStickPort
DtConstrainedAnalogOutputPort *	myPedalPort
DtConstrainedAnalogOutputPort *	myBrakePort
DtBooleanOutputPort *	myFlapsDeployedPort
DtVector	myCurrentLocalPosition
DtVector	myCurrentLocalVelocity
double	myCurrentSpeed
DtDcm	myCurrentOrientationMatrix
double	myCurrentHeading
double	myCurrentTopoPitch
double	myCurrentTopoRoll
DtDcm	myLocalToTopoDcm
Protected Attributes inherited from DtTaskControllerComponent
DtTaskCallbackMap	myTaskCallbackMap
std::list < DtTaskProcessorCallbackInfo * >	myTaskProcessorCallbackInfoList
bool	myTaskIsRunning
Protected Attributes inherited from DtControllerComponent
DtSimRadio *	myRadio
bool	myTaskTypesEnabled
bool	myInitialized
Protected Attributes inherited from DtSimComponent
DtLocalObject *	myEntity
DtComponentSystem *	mySystem
DtListItem *	myListItem
DtInputPortMap	myInputPortList
DtOutputPortMap	myOutputPortList
DtInputPortGroupMap	myInputPortGroupList
DtOutputPortGroupMap	myOutputPortGroupList
int	myPriority
double	myMinTickPeriod
double	myMinTickPeriodVariance
double	myNextTickTime
double	myLastTickSimTime
double	myDT
bool	myIsEnabled
bool	myFirstTick
const DtComponentDescriptor *	myComponentDescriptor
std::list < DtVrfProcessStateRepository * >	myComponentPsrs
bool	myTickEveryFrame
makVrf::DtTaskVisualizationMap	myTaskVisualizations
double	myNextTaskVisTickTime
DtSymbolString	myFullComponentName
DtSimulationServices *	mySimServices
DtPredicateCallbackManager	myPredicateCallbackManager
Protected Attributes inherited from DtReaderWriter
const DtSymbolString	myName
DtReaderWriterRegistry	myRegistry
DtReaderWriterRegistry *	myParentRegistry
bool	myValueSpecified
bool	myReadOnlyFlag
bool	myIsVariableReference
DtSymbolString	myVariableName
bool	myVariableIsBound
DtReaderWriter *	myDefaultValue
aliasContainer	myAliases
bool	myInvalid
bool	myChangedFlag
virtual void	registerAttributeFunctions ()
virtual void	taxiTo (const DtVector &destination, double speed)
virtual void	taxi (double speed, double turnRate)
virtual double	calculateSteering (double turnAngle) const
virtual double	approximateThrottle (double speed)
virtual double	calculateCurrentBrakingDistance () const
virtual void	flyTo (const DtVector &destination, double speed, double maxTerrainAvoidanceLookaheadDist=-1)
virtual void	flyToDirect (const DtVector &destination, double speed, double maxTerrainAvoidanceLookaheadDist=-1)
virtual void	fly (double speed, double turnRate, double climbRate, double maxTerrainAvoidanceLookaheadDist=-1)
virtual void	flyFixedPitch (double speed, double turnRate, double desiredPitch, double maxTerrainAvoidanceLookaheadDist=-1)
virtual double	terrainAvoidancePitch (double speed, double desiredPitch, double maxTerrainAvoidanceLookaheadDist)
virtual bool	clearPathTo (const DtVector &localPosition, bool &dataAvailable)
virtual void	circle (const DtVector &center, double radius, double speed, double altitude, bool clockwise=true)
virtual double	calcControlForRoll (double rollRate)
virtual double	calcControlForThrottle (double speed, bool &deployFlaps)
virtual double	decelerationLimitedClimbRate (double altitudeError, double desiredSpeed, double finalClimbRate=0.0)
virtual void	calcControlForTurnAndClimb (double turnRate, double climbRate, double &stickX, double &pedal)
virtual void	calcControlForTurnAndPitch (double turnRate, double desiredPitch, double &stickX, double &pedal, double rollRate=0.0)
virtual double	calculateClimbRate (double altitude, double climbTime) const
virtual double	calculateTurnRate (double turnAngle, double additionalTurnRate=0) const
virtual double	calculateRollAngle (double turnRate, double speed) const
virtual double	calculateRollRate (double rollAngle, double turnRate)
virtual void	calculateNormalizedBodyVelocity ()
virtual void	calculateLocalAngularVelocity ()
virtual void	calculateSpeedRatioSquared ()
virtual void	initializeControllerForTick ()
virtual bool	createFixedWingControlPortGroup ()
virtual bool	createThrottlePort ()
virtual bool	createStickPort ()
virtual bool	createPedalPort ()
virtual bool	createBrakePort ()
virtual bool	createFlapsDeployedPort ()
virtual DtConstrainedAnalogOutputPort *	throttlePort ()
virtual DtConstrainedDualAxisAnalogOutputPort *	stickPort ()
virtual DtConstrainedAnalogOutputPort *	pedalPort ()
virtual DtConstrainedAnalogOutputPort *	brakePort ()
virtual DtBooleanOutputPort *	flapsDeployedPort ()
virtual void	setMaxThrustAcceleration (double maxThrustAcceleration)
virtual void	setTakeOffDir (const DtVector &takeOffDir)
virtual const DtVector &	takeOffDir () const
virtual DtReal	maxTurningGsForTask () const
virtual DtReal	maxTurnRateCutoffAngle () const
virtual DtReal	maxTaxiingTurnSpeed () const
virtual DtReal	taxiingNearDistance () const
virtual DtReal	taxiingAtDistance () const
virtual DtReal	taxiingApproachSpeed () const
virtual DtReal	maxPitchAngle () const
virtual DtReal	timeToTargetAltitude () const
static DtReaderWriter *	provideMaxThrustAcceleration (void *controller)

Additional Inherited Members
Public Types inherited from DtReaderWriter
typedef std::vector < DtSymbolString >	aliasContainer
typedef std::vector < DtSymbolString >::iterator	aliasIter
typedef std::vector < DtSymbolString > ::const_iterator	aliasConstIter
typedef std::vector< DtFilename >	SearchPaths
typedef std::pair < DtSymbolString, DtString >	DtVariableNameType
typedef DtReaderWriterFactory *(*	DtReaderWriterFactoryCreatorFcn )()
Protected Types inherited from DtTaskControllerComponent
typedef std::pair < DtTaskMessageCallbackFcn, void * >	DtTaskCallbackMapPair
typedef std::map < DtSimTaskMessageType, DtTaskCallbackMapPair >	DtTaskCallbackMap
Protected Types inherited from DtSimComponent
typedef std::map< DtString, DtInputPort * >	DtInputPortMap
typedef std::map< DtString, DtOutputPort * >	DtOutputPortMap
typedef std::map< DtString, DtInputPortGroup * >	DtInputPortGroupMap
typedef std::map< DtString, DtOutputPortGroup * >	DtOutputPortGroupMap
Static Protected Attributes inherited from DtSimComponent
static DtSimComponentFactory *	myFactory
Static Protected Attributes inherited from DtReaderWriter
static DtString	theUnspecifiedValue
static DtGetSelfCallbackInfo	thePostGetSelfCallback
static DtPutSelfCallbackInfo	thePrePutSelfCallback
static const DtVariableBindingsList	theEmptyVariableBindingsList
static bool	theCreatorFcnSet
static DtReaderWriterFactory *	theFactory
static DtReaderWriterFactoryCreatorFcn	theFactoryCreatorFcn
static bool	thePutIndent
static DtOutputStream *	theOutputStream

Constructor & Destructor Documentation

DtFixedWingPilotController::DtFixedWingPilotController	(	const DtString &	name,
		DtLocalObject *	owner,
		DtSimulationServices *	simManager,
		DtComponentDescriptor *	desc = 0,
		DtReaderWriterRegistry *	parentRegistry = 0
	)

Parameters

name	Reader writer name of this component.
owner	The DtLocalObject 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).

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 DtFixedWingMoveAlongController, DtFixedWingFlightCommandController, DtCruiseMissileDefaultController, and DtFixedWingDefaultController.

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, DtCruiseMissileDefaultController, DtFixedWingFlightCommandController, DtFixedWingFollowEntityController, DtFixedWingDefaultController, DtFixedWingMoveToController, DtSimpleRadarWarningResponse, and DtSimpleRadarWarningResponse.

virtual const char* 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. Warning: this function should always return the same pointer and it should be valid forever. This means the data should be static.

Returns

DtFixedWingPilotControllerType

Implements DtTaskControllerComponent.

Reimplemented in DtFixedWingMoveAlongController, DtCruiseMissileDefaultController, DtFixedWingFlyIntoController, DtFixedWingFlightCommandController, DtFixedWingDefaultController, DtFixedWingMoveToController, DtFixedWingPatrolRouteController, DtFixedWingFollowEntityController, DtFixedWingPatrolBetweenController, DtCruiseMissileMoveAlongController, DtFixedWingJoyFlightController, DtFixedWingMoveToLocationController, DtSimpleRadarWarningResponse, 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::registerAttributeFunctions ( )

virtual

Attribute functions:Overrides the simComponent version to register the functions below.

Reimplemented from DtSimComponent.

static DtReaderWriter* DtFixedWingPilotController::provideMaxThrustAcceleration ( void *  controller )

static

Function to be registered as a provider with the parent component system for the max-thrust-acceleration attribute. Calls processProvideMaxThrustAcceleration.

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, double  maxTerrainAvoidanceLookaheadDist = -1  )

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, double  maxTerrainAvoidanceLookaheadDist = -1  )

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, double  maxTerrainAvoidanceLookaheadDist = -1  )

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, double  maxTerrainAvoidanceLookaheadDist = -1  )

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 double DtFixedWingPilotController::terrainAvoidancePitch ( double  speed, double  desiredPitch, double  maxTerrainAvoidanceLookaheadDist  )

virtual

Checks for upcoming terrain collision along the path defined by the current heading and desiredPitch and if found, returns a new pitch to avoid terrain collision. If no collision is found, this returns the desiredPitch.

virtual bool DtFixedWingPilotController::clearPathTo ( const DtVector &  localPosition, bool &  dataAvailable  )

virtual

Checks if there is a clear path from the entity location to the specified location. Returns true if the path is clear, or if terrain data has not yet been loaded.

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:

1. Constrains the altitude to the entity's maxAltitude parameter
2. 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.
3. Determines the desired heading, at the point tangent to the orbit.
4. Uses the desired heading, and the current heading, to determine a turn rate.
5. Determines a climb rate by calling calculateClimbRate().
6. 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, desired body pitch rate, and current acceleration. First, the current speed is adjusted to be the speed in the direction of the orientation of the entity. (Other components of velocity will be decelerated to 0 by drag in the actuator.) 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 significantly below the current speed.

virtual double DtFixedWingPilotController::decelerationLimitedClimbRate ( double  altitudeError, double  desiredSpeed, double  finalClimbRate = 0.0  )

virtual

Estimates a limited climb rate that the entity can command this tick that will allow it to level out when the altitude error has been reduced to zero. Uses the current speed, current velocity vector, and current pitch to estimate the altitude change that the entity is committed to even with a zero commanded climb rate.

Parameters

altitudeError	is target altitude - current altitude.
desiredSpeed	is the goal speed of the entity during this maneuver.
finalClimbRate	is the climb rate the entity desires when it reaches the goal altitude. I.e. if the goal is a moving point, and that point is moving vertically, this would be the vertical rate of the goal point.

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, double  rollRate = 0.0  )

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, double  additionalTurnRate = 0  ) 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.

Parameters

additionalTurnRate

This is an additional turn rate that is desired in addition to a turn for the specified angle. The G-force constraints are applied to the combined turn rate result.

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, double  turnRate  )

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: updateCurrentState() 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

Attribute functions:Overrides the simComponent version to register the functions below.

virtual bool DtFixedWingPilotController::createStickPort ( )

virtual

Attribute functions:Overrides the simComponent version to register the functions below.

virtual bool DtFixedWingPilotController::createPedalPort ( )

virtual

Attribute functions:Overrides the simComponent version to register the functions below.

virtual bool DtFixedWingPilotController::createBrakePort ( )

virtual

Attribute functions:Overrides the simComponent version to register the functions below.

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

Attribute functions:Overrides the simComponent version to register the functions below.

virtual DtConstrainedAnalogOutputPort* DtFixedWingPilotController::pedalPort ( )

virtual

Attribute functions:Overrides the simComponent version to register the functions below.

virtual DtConstrainedAnalogOutputPort* DtFixedWingPilotController::brakePort ( )

virtual

Attribute functions:Overrides the simComponent version to register the functions below.

virtual DtBooleanOutputPort* DtFixedWingPilotController::flapsDeployedPort ( )

virtual

Attribute functions:Overrides the simComponent version to register the functions below.

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

Attribute functions:Overrides the simComponent version to register the functions below.

virtual DtReal DtFixedWingPilotController::maxTurningGsForTask ( ) const

virtual

Parameter value from descriptor.

virtual DtReal DtFixedWingPilotController::maxTurnRateCutoffAngle ( ) const

virtual

Attribute functions:Overrides the simComponent version to register the functions below.

virtual DtReal DtFixedWingPilotController::maxTaxiingTurnSpeed ( ) const

virtual

Attribute functions:Overrides the simComponent version to register the functions below.

virtual DtReal DtFixedWingPilotController::taxiingNearDistance ( ) const

virtual

Attribute functions:Overrides the simComponent version to register the functions below.

virtual DtReal DtFixedWingPilotController::taxiingAtDistance ( ) const

virtual

Attribute functions:Overrides the simComponent version to register the functions below.

virtual DtReal DtFixedWingPilotController::taxiingApproachSpeed ( ) const

virtual

Attribute functions:Overrides the simComponent version to register the functions below.

virtual DtReal DtFixedWingPilotController::maxPitchAngle ( ) const

virtual

Attribute functions:Overrides the simComponent version to register the functions below.

virtual DtReal DtFixedWingPilotController::timeToTargetAltitude ( ) const

virtual

Attribute functions:Overrides the simComponent version to register the functions below.

virtual double DtFixedWingPilotController::maxTurningGs ( ) const

virtual

This is a reference to the entity parameters, stored in the state repository. It indicates the max G pull that the entity is capable of.

virtual bool DtFixedWingPilotController::terrainAvoidanceEnabled ( )

virtual

Returns

True if all the conditions are correct for terrain avoidance to be enabled.

virtual double DtFixedWingPilotController::terrainAvoidanceLookaheadTime ( )

virtual

Returns

The number of seconds for the pilot to look ahead for terrain collisions if avoiding terrain. This implementation returns the value from the descriptor. Task controllers can override this to return custom values.

static DtSimComponent* DtFixedWingPilotController::creator ( const DtString &  name, DtLocalObject *  owner, DtSimulationServices *  simManager, DtComponentDescriptor *  desc = 0, DtReaderWriterRegistry *  parentRegistry = 0  )

static

Parameters

name	Reader writer name of this component.
owner	The DtLocalObject 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).

Returns

New instance of this class.

virtual DtReaderWriter* DtFixedWingPilotController::processProvideMaxThrustAcceleration ( )

protectedvirtual

Provides the max thrust acceleration (DtRwReal).

virtual bool DtFixedWingPilotController::createPorts ( )

protectedvirtual

Overridden to create the fixed wing ports.

Reimplemented from DtSimComponent.

Reimplemented in DtFixedWingMoveAlongController, DtSimpleRadarWarningResponse, and DtSimpleRadarWarningResponse.

virtual bool DtFixedWingPilotController::createPortGroups ( )

protectedvirtual

Overridden to create myFixedWingControlPortGroup.

Reimplemented from DtSimComponent.

virtual void DtFixedWingPilotController::lookupAndCacheProcessSR ( )

protectedvirtual

This function looks up a process state repository in the process state repository manager by name, and caches a pointer to it in myProcessState. The name (if it exists) is given in the component descriptor (DtComponentDescriptor::processStateRepositoryName). If the name does not exist, it uses the appropriate default name defined in procSRTypes.h. Another component is responsible for creating and destroying the process state repository.

virtual bool DtFixedWingPilotController::postAddComponentsInit ( )

protectedvirtual

Calls lookupAndCacheProcessSR(), to look up our process state repository after all of the components have been created and loaded. Initializes max turning Gs and max turn rate cutoff angle in the process state repository with values from pilot controller descriptor.

Reimplemented from DtControllerComponent.

Reimplemented in DtFixedWingDefaultController.

virtual bool DtFixedWingPilotController::decideToGiveUpTask ( ) const

protectedvirtual

If the entity is attached and the target of the current task is not, give up on the task.

Reimplemented from DtSingleTaskControllerComponent.

virtual void DtFixedWingPilotController::updateCurrentState ( )

protectedvirtual

Get the values of the current state at this sim time, integrating over the past dt. Sets myCurrentLocalPosition, myCurrentLocalVelocity, myCurrentSpeed, myCurrentHeading, myCurrentPitch, myCurrentRoll and myLocalToTopoDcm using the rates in myFixedWingEntityState and dT().

virtual void DtFixedWingPilotController::processEstimatedTotCalculation ( )

protectedvirtual

calculate estimated tot

Reimplemented in DtFixedWingMoveAlongController, and DtFixedWingMoveToController.

virtual double DtFixedWingPilotController::calculateCollisionLookAhead ( const double  climbRate, const double  speed, const double  desiredAltitude  )

protectedvirtual

Compute a limit for the terrain collision look-ahead distance. It is necessary to limit this if descending to an altitude near the ground, because a small pitch down will cause the test ray to intersect the ground when it is close.

Returns

-1 if there is no limit.

virtual void DtFixedWingPilotController::updateTaskVisualizations ( )

protectedvirtual

update visualizations

Reimplemented from DtSimComponent.

Reimplemented in DtFixedWingMoveAlongController, DtFixedWingMoveToController, DtFixedWingFollowEntityController, and DtFixedWingDefaultController.

virtual double DtFixedWingPilotController::convertSpeedtoGroundSpeed ( double  speed, double  currentAlt, DtAirSpeedType  speedType  )

protectedvirtual

Compute the.

const DtFixedWingPilotController& DtFixedWingPilotController::operator= ( const DtFixedWingPilotController &  orig )

protected

assignment operator; not implemented

Member Data Documentation

DtFixedWingEntityStateRepository* DtFixedWingPilotController::myFixedWingEntityState

protected

DtOutputPortGroup* DtFixedWingPilotController::myFixedWingControlPortGroup

protected

Output Port Group Name: fixed-wing-control
Output Port Group Description:

DtConstrainedAnalogOutputPort* DtFixedWingPilotController::myThrottlePort

protected

Output Port Name: throttle
Output Port Description:
Output Port Range: 0. to 1.
Output Port Default Value:
Output Group Parent: fixed-wing-control.

DtConstrainedDualAxisAnalogOutputPort* DtFixedWingPilotController::myStickPort

protected

Output Port Name: stick
Output Port Description:
Output Port Range: X: -1. to 1. Y: -1. to 1.
Output Port Default Value:
Output Group Parent: fixed-wing-control.

DtConstrainedAnalogOutputPort* DtFixedWingPilotController::myPedalPort

protected

Output Port Name: pedal
Output Port Description:
Output Port Range: -1. to 1.
Output Port Default Value:
Output Group Parent: fixed-wing-control.

DtConstrainedAnalogOutputPort* DtFixedWingPilotController::myBrakePort

protected

Output Port Name: brake
Output Port Description:
Output Port Range: 0. to 1.
Output Port Default Value:
Output Group Parent: fixed-wing-control.

DtBooleanOutputPort* DtFixedWingPilotController::myFlapsDeployedPort

protected

Output Port Name: flaps
Output Port Description:
Output Port Range:
Output Port Default Value: true
Output Group Parent: fixed-wing-control.

DtFixedWingFlightPSR* DtFixedWingPilotController::myProcessState

protected

Pointer to a process state repository used to store state data associated with this component. This process state repository is shared with other components. Another component is responsible for creating and destroying the process state repository. This state is saved and restored as part of a scenario (or checkpoint).

Referenced by DtFixedWingMoveAlongController::getPSR().

DtAirspeedCalculator* DtFixedWingPilotController::myAirSpeedCalculator

protected

Air Speed Calculator for updating state properties Created in init()

DtVector DtFixedWingPilotController::myCurrentLocalPosition

protected

State variables updated for the current time. Computed at the beginning of the tick, and used only in that tick.

DtVector DtFixedWingPilotController::myCurrentLocalVelocity

protected

State variables updated for the current time. Computed at the beginning of the tick, and used only in that tick.

double DtFixedWingPilotController::myCurrentSpeed

protected

State variables updated for the current time. Computed at the beginning of the tick, and used only in that tick.

DtDcm DtFixedWingPilotController::myCurrentOrientationMatrix

protected

State variables updated for the current time. Computed at the beginning of the tick, and used only in that tick.

double DtFixedWingPilotController::myCurrentHeading

protected

State variables updated for the current time. Computed at the beginning of the tick, and used only in that tick.

double DtFixedWingPilotController::myCurrentTopoPitch

protected

State variables updated for the current time. Computed at the beginning of the tick, and used only in that tick.

double DtFixedWingPilotController::myCurrentTopoRoll

protected

State variables updated for the current time. Computed at the beginning of the tick, and used only in that tick.

DtDcm DtFixedWingPilotController::myLocalToTopoDcm

protected

State variables updated for the current time. Computed at the beginning of the tick, and used only in that tick.

const double DtFixedWingPilotController::DtEstimatedTotCalcInterval = 5.0

protected

Interval for estimated tot calculations.

bool DtFixedWingPilotController::myEstimatedTotCalcEnabled

protected

enabled flag for the tot calculations

double DtFixedWingPilotController::myEstimatedTotValue

protected

the tot value

double DtFixedWingPilotController::myEstimatedTotLastCalcTime

protected

used for tot calculation intervals

DtVector DtFixedWingPilotController::myEstimatedTotTextPos

protected

tot text position

DtPlatformLocalObjectFacade DtFixedWingPilotController::myPlatformLocalObjectFacade

protected

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The documentation for this class was generated from the following file:

• /data/exports/nrhent7-1/nightly/docs/vrForces.vrf5-0-branch/include/vrfmodel/fixedWingPilotController.h