public void Update(double dt)
{
CollectiveCommand = CollectiveInput;
LongCommand = LongInput;
LatCommand = LatInput;
PedalCommand = PedalInput;
if (enabled)
{
// Apply nullzones
if (trimControl && collectiveNullZone > 1e-5)
{
CollectiveCommand = Math.Abs(CollectiveCommand) > collectiveNullZone
? (CollectiveCommand - Math.Sign(CollectiveCommand) * collectiveNullZone) / (1.0 - collectiveNullZone)
: 0.0;
}
if (longNullZone > 1e-5)
{
LongCommand = Math.Abs(LongCommand) > longNullZone
? (LongCommand - Math.Sign(LongCommand) * longNullZone) / (1.0 - longNullZone)
: 0.0;
}
if (latNullZone > 1e-5)
{
LatCommand = Math.Abs(LatCommand) > latNullZone
? (LatCommand - Math.Sign(LatCommand) * latNullZone) / (1.0 - latNullZone)
: 0.0;
}
if (pedalNullZone > 1e-5)
{
PedalCommand = Math.Abs(PedalCommand) > pedalNullZone
? (PedalCommand - Math.Sign(PedalCommand) * pedalNullZone) / (1.0 - pedalNullZone)
: 0.0;
}
// Apply exponential controls
if (trimControl && collectiveExpo > 1e-5)
{
CollectiveCommand = Math.Sign(CollectiveCommand) * Math.Pow(Math.Abs(CollectiveCommand), collectiveExpo);
}
if (longExpo > 1e-5)
{
LongCyclic = Math.Sign(LongCommand) * Math.Pow(Math.Abs(LongCommand), longExpo);
}
if (latExpo > 1e-5)
{
LatCyclic = Math.Sign(LatCommand) * Math.Pow(Math.Abs(LatCommand), latExpo);
}
if (pedalExpo > 1e-5)
{
PedalCommand = Math.Sign(PedalCommand) * Math.Pow(Math.Abs(PedalCommand), pedalExpo);
}
}
// Start with 1:1 control
Collective = CollectiveCommand * collectiveDirect;
LongCyclic = LongCommand * longDirect;
LatCyclic = LatCommand * latDirect;
Pedal = PedalCommand * pedalDirect;
if (!enabled)
{
return;
}
// Apply PID controllers
if (pitchRatePID != null)
{
LongCyclic -= pitchRatePID.Calculate(dt, -LongCommand, AngularVelocity.y());
}
if (rollRatePID != null)
{
LatCyclic += rollRatePID.Calculate(dt, LatCommand, AngularVelocity.x());
}
if (verticalRateControl && verticalRatePID != null)
{
if (IsOnGround)
{
verticalRatePID.Reset();
if (trimControl)
{
CollectiveCommand -= 0.1;
}
}
Collective += verticalRatePID.Calculate(dt, CollectiveCommand, -HorizonVelocity.z());
}
var desiredPitchAngle = TrimAttitude.y();
var desiredRollAngle = TrimAttitude.x();
if (attitudeControl)
{
desiredPitchAngle -= LongCommand * maxPitchAngle * Math.PI / 180.0;
desiredRollAngle += LatCommand * maxRollAngle * Math.PI / 180.0;
}
if (lateralControl)
{
if (longitudinalPID != null)
{
if (IsOnGround || LongCommand > 1e-5 || Math.Abs(HorizonVelocity.x()) > lateralResetVelocity)
{
longitudinalPID.Reset();
}
LongPositionOutput = longitudinalPID.Calculate(dt, LongCommand, HorizonVelocity.x() - DesiredSpeed);
// Longitudinal pitch bypass used for tiltrotor control
desiredPitchAngle -= (1.0 - LongitudinalPositionBypass) * LongPositionOutput * maxPitchAngle * Math.PI / 180.0;
}
if (lateralPID != null)
{
if (IsOnGround || LatCommand > 1e-5 || Math.Abs(HorizonVelocity.y()) > lateralResetVelocity)
{
lateralPID.Reset();
}
desiredRollAngle += lateralPID.Calculate(dt, LatCommand, HorizonVelocity.y()) * maxRollAngle * Math.PI / 180.0;
}
}
if (attitudeControl || lateralControl)
{
if (pitchPID != null)
{
LongCyclic -= pitchPID.Calculate(dt, desiredPitchAngle, Attitude.y());
}
if (rollPID != null)
{
LatCyclic += rollPID.Calculate(dt, desiredRollAngle, Attitude.x());
}
}
if (Attitude != null && Math.Abs(Attitude.x()) < MAX_ROLL_FOR_YAW_CONTROL)
{
double yawscale = 1.0;
if (yawRatePID != null)
{
// Gradually decrease yaw damper output with airspeed
if (yawDamperVelocity1 > 1e-5 && yawDamperVelocity2 > 1e-5)
{
double v = Velocity.x();
if (v > yawDamperVelocity2)
{
yawscale = 0.0;
}
else if (v > yawDamperVelocity1)
{
yawscale = 1.0 - (v - yawDamperVelocity1) / (yawDamperVelocity2 - yawDamperVelocity1);
}
}
Pedal += yawscale * yawRatePID.Calculate(dt, PedalCommand, AngularVelocity.z());
}
}
if (trimControl)
{
Collective = TrimCollective + Collective * (1 - Math.Sign(Collective) * Math.Sign(TrimCollective) * Math.Abs(TrimCollective));
LongCyclic = TrimLongCyclic + LongCyclic * (1 - Math.Sign(LongCyclic) * Math.Sign(TrimLongCyclic) * Math.Abs(TrimLongCyclic));
LatCyclic = TrimLatCyclic + LatCyclic * (1 - Math.Sign(LatCyclic) * Math.Sign(TrimLatCyclic) * Math.Abs(TrimLatCyclic));
Pedal = TrimPedal + Pedal * (1 - Math.Sign(Pedal) * Math.Sign(TrimPedal) * Math.Abs(TrimPedal));
}
Collective = limit(Collective, 1);
LongCyclic = limit(LongCyclic, 1);
LatCyclic = limit(LatCyclic, 1);
Pedal = limit(Pedal, 1);
}
