private void InitObject()
{
_config = Config.Instance();
_udpHelper = new UdpHelper();
_deviceControlElement = DeviceControlElement.GetInstance();
_deviceControlElement.AddJoystick(_config.Default.DefaultControlElement.Rus.Guid);
_deviceControlElement.AddJoystick(_config.Default.DefaultControlElement.Rud.Guid);
_dynamicModelToBmpi = new DynamicModelToBmpi();
_aircraftPosition = new AircraftPosition();
_dynamicModelToVaps = new DynamicModelToVaps();
_modelState = new ModelState();
_channelRadar = new ChannelRadar();
_channelThermalEffect = new ChannelThermalEffect();
_channelTvHeadEffect = new ChannelTvHeadEffect();
_ethernetControlElement = new EthernetControlElement();
_cLSEControl = new CLSEControl();
_cLSEState = new CLSEState();
_parametersOfControl = new ParametersOfControl();
_lptp = new Lptp();
_commandPue = new CommandPue();
if (_typeModel == 0)
{
_controlElement = new ControlElementKa52();
_dynamicModel = new ModelKa52();
}
_startPosition = new StartPosition();
_landing = new Landing();
_route = new Route();
uint version = 0;
uint release = 0;
uint releaseDay = 0;
uint releaseMonth = 0;
uint releaseYear = 0;
IntPtr pversion = GetIntPtr(version);
IntPtr prelease = GetIntPtr(release);
IntPtr preleaseDay = GetIntPtr(releaseDay);
IntPtr preleaseMonth = GetIntPtr(releaseMonth);
IntPtr preleaseYear = GetIntPtr(releaseYear);
GetDllVersion(pversion, prelease, preleaseDay, preleaseMonth, preleaseYear);
version = (uint)Marshal.ReadInt32(pversion);
release = (uint)Marshal.ReadInt32(prelease);
releaseDay = (uint)Marshal.ReadInt32(preleaseDay);
releaseMonth = (uint)Marshal.ReadInt32(preleaseMonth);
releaseYear = (uint)Marshal.ReadInt32(preleaseYear);
Init("ConfigBrunner.xml");
}
public override byte[] GetForVaps(DynamicModelToVaps modelToVaps)
{
double Vpth = Math.Sqrt(out_36 * out_36 + out_37 * out_37); // м/с
double PsiP = Math.Asin(out_37 / Vpth);
double D2R = 180 / Math.PI;
double Psi = out_Kurs;
double psi_hi, psi_p_hi; // значения угла курса и путевого угла +-Pi (+-180)
if (PsiP >= 0)
{
psi_p_hi = PsiP;
}
else
{
psi_p_hi = PsiP - 2.0 * Math.PI; // путевой угол +-Pi (+-180)
}
if (Psi >= 0)
{
psi_hi = Psi;
}
else
{
psi_hi = Psi - 2.0 * Math.PI; // угол курса +-Pi (+-180)
}
double hi = psi_p_hi - psi_hi; // угол сноса +-Pi (+-180)
if (hi >= Math.PI)
{
hi = hi - 2.0 * Math.PI;
}
if (hi <= -Math.PI)
{
hi = hi + 2.0 * Math.PI;
}
double Tetr = 0; // угол наклона траектории, рад
// 1 вариант
//if (vhcloutp.instrumentsstate.tas != 0)
// tetr = math.asin(kinematicsstate.absspeed.y / vhcloutp.instrumentsstate.tas);
//// 2 вариант, альтернативно
//// истинная воздушная скорость полета
//double vp = math.sqrt(
// kinematicsstate.absspeed.x
// * kinematicsstate.absspeed.x
// + kinematicsstate.absspeed.y
// * kinematicsstate.absspeed.y
// + kinematicsstate.absspeed.z
// * kinematicsstate.absspeed.z);
////(кинематическая)м / с
//if (vp != 0)
// tetr = math.asin(kinematicsstate.absspeed.y / vp);
//// ограничение для обоих вараинтов
//if (tetr > math.pi / 2.0) tetr = tetr - math.pi / 2.0;
//if (tetr < -math.pi / 2.0) tetr = tetr + math.pi / 2.0;
//todo: тут нужно заполнить модель
modelToVaps.Eng1.N = out_NOborotL;
modelToVaps.Eng1.Mode = out_EngPwrL;
modelToVaps.Eng1.Egt = out_TGazL;
modelToVaps.Eng1.MaxAllowedEgt = 705;
modelToVaps.Eng1.EmergencyEgt = 735;
modelToVaps.Eng1.EngState = upr_EngineLeftOff;
modelToVaps.Eng1.FuelFlow = out_ToplivoCurL;
modelToVaps.Eng2.N = out_NOborotR;
modelToVaps.Eng2.Mode = out_EngPwrR;
modelToVaps.Eng2.Egt = out_TGazR;
modelToVaps.Eng2.MaxAllowedEgt = 705;
modelToVaps.Eng2.EmergencyEgt = 735;
modelToVaps.Eng2.EngState = upr_EngineRightOff;
modelToVaps.Eng2.FuelFlow = out_ToplivoCurR;
modelToVaps.ModeFly = 1;
modelToVaps.RemainingFuel = in_Massa0 - out_MassaCur;
modelToVaps.RotorSpeed = out_Nnv;
//todo: нужно написать условия о смене значения от скорости
///98 - до 200
///93 - от 200 до 270
///91 - от 270 до 300
modelToVaps.MaximumPermissibleRotor = 93;
modelToVaps.TotalRotor = out_OShag;
modelToVaps.RecommendedValueRotor = 0;
modelToVaps.HeadingCurrent = out_Kurs;
modelToVaps.HeadingTrack = PsiP * D2R;
modelToVaps.AngleDrift = hi * D2R;
modelToVaps.Angleslip = out_Skolj;
modelToVaps.RollCurrent = out_Kren;
modelToVaps.MaximumPermissibleRoll = out_KrenMax;
modelToVaps.RecommendedRollValue = 0;
modelToVaps.PitchCurrent = out_Tang;
modelToVaps.RecommendedPitchValue = 0;
modelToVaps.RermissiblePitchPitching = out_TangMaxKabr;
modelToVaps.PermissiblePitchDiving = out_TangMaxPikir;
modelToVaps.AngleAttack = 0;
modelToVaps.PermissibleAngleAttack = 0;
modelToVaps.PositionBall = out_Skolj;
modelToVaps.AngleTrajectory = 0;
modelToVaps.Vy = out_Vy;
modelToVaps.MinVy = -5;
modelToVaps.MaxVy = +5;
modelToVaps.InstrumentSpeedCurrent = out_Vprib;
modelToVaps.MaxInstrumentSpeed = out_Vmax;
modelToVaps.MinInstrumentSpeed = 50;
modelToVaps.SpeedX = out_Vxprib; //??
modelToVaps.SpeedZ = out_Vzprib; //??
modelToVaps.RecommendedDiveSpeed = 0;
modelToVaps.RecommendedSpeedDiveEnd = 0;
modelToVaps.TrueSpeedCurrent = in_V; //??
modelToVaps.GroundSpeedX = out_Wxg; //??
modelToVaps.GroundSpeedZ = out_Wzg; //??
modelToVaps.Mach = 0; //??
modelToVaps.RelativeHeight = out_Hotn;
modelToVaps.BarometricHeight = in_Hbar;
modelToVaps.Pressure = 0;
//минус высота рельефа
modelToVaps.HeightAltimeter = out_Hotn;
modelToVaps.DangerousHeight = 50;
modelToVaps.Ny.Value = out_ny;
modelToVaps.Ny.Min = -0.5;
modelToVaps.Ny.Max = out_nyMax;
modelToVaps.Nx.Value = 0;
modelToVaps.Nx.Min = 0;
modelToVaps.Nx.Max = 0;
modelToVaps.Nz.Value = out_nz;
modelToVaps.Nz.Min = 0;
modelToVaps.Nz.Max = 0;
modelToVaps.HeadingWind = in_WindDir;
modelToVaps.HorizontalWindSpeed = in_WindPwrHorz;
modelToVaps.MaxPermissibleWindSpeed = 25;
modelToVaps.Mechanization[0] = 0;
modelToVaps.Mechanization[1] = 0;
modelToVaps.Mechanization[2] = 0;
modelToVaps.Mechanization[3] = 0;
var dgram = ConvertHelper.ObjectToByte(modelToVaps);
for (int i = 68; i < dgram.Length; i = i + 8)
{
Array.Reverse(dgram, i, 8);
}
return(dgram);
}
public virtual byte[] GetForVaps(DynamicModelToVaps modelToVaps)
{
return(new byte[1]);
}
public override byte[] GetForVaps(DynamicModelToVaps modelToVaps)
{
double Vpth = Math.Sqrt(KinematicsState.AbsSpeed.X * KinematicsState.AbsSpeed.X + KinematicsState.AbsSpeed.Z * KinematicsState.AbsSpeed.Z); // м/с
double PsiP = Math.Asin(KinematicsState.AbsSpeed.Z / Vpth);
double D2R = 180 / Math.PI;
double Psi = KinematicsState.Angs.Psi;
double psi_hi, psi_p_hi; // значения угла курса и путевого угла +-Pi (+-180)
if (PsiP >= 0)
{
psi_p_hi = PsiP;
}
else
{
psi_p_hi = PsiP - 2.0 * Math.PI; // путевой угол +-Pi (+-180)
}
if (Psi >= 0)
{
psi_hi = Psi;
}
else
{
psi_hi = Psi - 2.0 * Math.PI; // угол курса +-Pi (+-180)
}
double hi = psi_p_hi - psi_hi; // угол сноса +-Pi (+-180)
if (hi >= Math.PI)
{
hi = hi - 2.0 * Math.PI;
}
if (hi <= -Math.PI)
{
hi = hi + 2.0 * Math.PI;
}
double Tetr = 0; // угол наклона траектории, рад
// 1 вариант
if (VhclOutp.InstrumentsState.TAS != 0)
{
Tetr = Math.Asin(KinematicsState.AbsSpeed.Y / VhclOutp.InstrumentsState.TAS);
}
// 2 вариант, альтернативно
// истинная воздушная скорость полета
double Vp = Math.Sqrt(
KinematicsState.AbsSpeed.X
* KinematicsState.AbsSpeed.X
+ KinematicsState.AbsSpeed.Y
* KinematicsState.AbsSpeed.Y
+ KinematicsState.AbsSpeed.Z
* KinematicsState.AbsSpeed.Z);
//(кинематическая)м / с
if (Vp != 0)
{
Tetr = Math.Asin(KinematicsState.AbsSpeed.Y / Vp);
}
// ограничение для обоих вараинтов
if (Tetr > Math.PI / 2.0)
{
Tetr = Tetr - Math.PI / 2.0;
}
if (Tetr < -Math.PI / 2.0)
{
Tetr = Tetr + Math.PI / 2.0;
}
//todo: тут нужно заполнить модель
modelToVaps.Eng1.N = VhclOutp.EngLeft.N1;
modelToVaps.Eng1.Mode = 1;
modelToVaps.Eng1.Egt = VhclOutp.EngLeft.Egt;
modelToVaps.Eng1.MaxAllowedEgt = 705;
modelToVaps.Eng1.EmergencyEgt = 735;
modelToVaps.Eng1.EngState = 1;
modelToVaps.Eng1.FuelFlow = VhclOutp.EngLeft.FuelFlow;
modelToVaps.Eng2.N = VhclOutp.EngRight.N1;
modelToVaps.Eng2.Mode = 1;
modelToVaps.Eng2.Egt = VhclOutp.EngRight.Egt;
modelToVaps.Eng2.MaxAllowedEgt = 705;
modelToVaps.Eng2.EmergencyEgt = 735;
modelToVaps.Eng2.EngState = 1;
modelToVaps.Eng2.FuelFlow = VhclOutp.EngRight.FuelFlow;
modelToVaps.ModeFly = 1;
modelToVaps.RemainingFuel = VhclOutp.InstrumentsState.FuelMass;
modelToVaps.RotorSpeed = VhclOutp.InstrumentsState.RotorRPM;
//todo: нужно написать условия о смене значения от скорости
///98 - до 200
///93 - от 200 до 270
///91 - от 270 до 300
modelToVaps.MaximumPermissibleRotor = 93;
modelToVaps.TotalRotor = VhclOutp.InstrumentsState.CollectivePitch;
modelToVaps.RecommendedValueRotor = 0;
modelToVaps.HeadingCurrent = 360.0 - KinematicsState.Angs.Psi;
modelToVaps.HeadingTrack = PsiP * D2R;
modelToVaps.AngleDrift = hi * D2R;
modelToVaps.Angleslip = VhclOutp.InstrumentsState.AirPars.Beta;
modelToVaps.RollCurrent = KinematicsState.Angs.Gam;
//modelToVaps.MaximumPermissibleRoll = VhclInp.FCSState.RoolLimit;
modelToVaps.RecommendedRollValue = 0;
modelToVaps.PitchCurrent = KinematicsState.Angs.Fi;
modelToVaps.RecommendedPitchValue = 0;
modelToVaps.RermissiblePitchPitching = 60;
modelToVaps.PermissiblePitchDiving = -60;
modelToVaps.AngleAttack = VhclOutp.InstrumentsState.AirPars.AOA;
modelToVaps.PermissibleAngleAttack = 0;
modelToVaps.PositionBall = VhclOutp.InstrumentsState.SlipBallPos;
modelToVaps.AngleTrajectory = Tetr * D2R;
modelToVaps.Vy = VhclOutp.InstrumentsState.VyVar;
modelToVaps.MinVy = -5;
modelToVaps.MaxVy = +5;
modelToVaps.InstrumentSpeedCurrent = VhclOutp.InstrumentsState.IAS * 3.6;
modelToVaps.MaxInstrumentSpeed = 300;
modelToVaps.MinInstrumentSpeed = 50;
modelToVaps.SpeedX = VhclOutp.InstrumentsState.VsurfX;
modelToVaps.SpeedZ = VhclOutp.InstrumentsState.VsurfZ;
modelToVaps.RecommendedDiveSpeed = 0;
modelToVaps.RecommendedSpeedDiveEnd = 0;
modelToVaps.TrueSpeedCurrent = VhclOutp.InstrumentsState.TAS * 3.6;
modelToVaps.GroundSpeedX = KinematicsState.AbsSpeed.X * 3.6;
modelToVaps.GroundSpeedZ = KinematicsState.AbsSpeed.Z * 3.6;
modelToVaps.Mach = VhclOutp.InstrumentsState.TAS / 343.0;
modelToVaps.RelativeHeight = KinematicsState.Pos.Elevation;
modelToVaps.BarometricHeight = VhclOutp.InstrumentsState.Hbaro;
modelToVaps.Pressure = VhclInp.VehicleCtrl.AltimeterBaroPressure;
//минус высота рельефа
modelToVaps.HeightAltimeter = KinematicsState.Pos.Elevation;
modelToVaps.DangerousHeight = 50;
modelToVaps.Ny.Value = VhclOutp.InstrumentsState.GLoad.Y;
modelToVaps.Ny.Min = -0.5;
modelToVaps.Ny.Max = 2.5;
modelToVaps.Nx.Value = VhclOutp.InstrumentsState.GLoad.X;
modelToVaps.Nx.Min = 0;
modelToVaps.Nx.Max = 0;
modelToVaps.Nz.Value = VhclOutp.InstrumentsState.GLoad.Z;
modelToVaps.Nz.Min = 0;
modelToVaps.Nz.Max = 0;
modelToVaps.HeadingWind = 0;
modelToVaps.HorizontalWindSpeed = Math.Sqrt(
VhclInp.AirState.WindSpeed.X *
VhclInp.AirState.WindSpeed.X +
VhclInp.AirState.WindSpeed.Z *
VhclInp.AirState.WindSpeed.Z);
modelToVaps.MaxPermissibleWindSpeed = 25;
modelToVaps.Mechanization[0] = VhclOutp.NoseGear.RodShift;
modelToVaps.Mechanization[1] = VhclOutp.NoseGear.TireShift;
modelToVaps.Mechanization[2] = VhclOutp.NoseGear.WheelRot;
modelToVaps.Mechanization[3] = VhclOutp.NoseGear.WheelSteer;
modelToVaps.Mechanization[4] = VhclOutp.MainGearLeft.RodShift;
modelToVaps.Mechanization[5] = VhclOutp.MainGearLeft.TireShift;
modelToVaps.Mechanization[6] = VhclOutp.MainGearLeft.WheelRot;
modelToVaps.Mechanization[7] = VhclOutp.MainGearLeft.WheelSteer;
modelToVaps.Mechanization[8] = VhclOutp.MainGearRight.RodShift;
modelToVaps.Mechanization[9] = VhclOutp.MainGearRight.TireShift;
modelToVaps.Mechanization[10] = VhclOutp.MainGearRight.WheelRot;
modelToVaps.Mechanization[11] = VhclOutp.MainGearRight.WheelSteer;
var dgram = ConvertHelper.ObjectToByte(modelToVaps);
for (int i = 68; i < dgram.Length; i = i + 8)
{
Array.Reverse(dgram, i, 8);
}
return(dgram);
}
public override byte[] GetForVaps(DynamicModelToVaps modelToVaps)
{
//todo: тут нужно заполнить модель
modelToVaps.Eng1.N = VhclOutp.EngLeft.N1;
modelToVaps.Eng1.Mode = 1;
modelToVaps.Eng1.Egt = VhclOutp.EngLeft.Egt;
modelToVaps.Eng1.MaxAllowedEgt = 0;
modelToVaps.Eng1.EmergencyEgt = 0;
modelToVaps.Eng1.EngState = 1;
modelToVaps.Eng1.FuelFlow = VhclOutp.EngLeft.FuelFlow;
modelToVaps.Eng2.N = VhclOutp.EngRight.N1;
modelToVaps.Eng2.Mode = 1;
modelToVaps.Eng2.Egt = VhclOutp.EngRight.Egt;
modelToVaps.Eng2.MaxAllowedEgt = 0;
modelToVaps.Eng2.EmergencyEgt = 0;
modelToVaps.Eng2.EngState = 1;
modelToVaps.Eng2.FuelFlow = VhclOutp.EngRight.FuelFlow;
modelToVaps.ModeFly = 1;
modelToVaps.RemainingFuel = 0;
modelToVaps.RotorSpeed = VhclOutp.RotorRPM;
modelToVaps.MaximumPermissibleRotor = 0;
modelToVaps.TotalRotor = VhclOutp.CollectivePitch;
modelToVaps.RecommendedValueRotor = 0;
modelToVaps.HeadingCurrent = KinematicsState.Angs.Psi;
modelToVaps.HeadingTrack = 0;
modelToVaps.AngleDrift = 0;
modelToVaps.Angleslip = 0;
modelToVaps.RollCurrent = KinematicsState.Angs.Gam;
modelToVaps.MaximumPermissibleRoll = 0;
modelToVaps.RecommendedRollValue = 0;
modelToVaps.PitchCurrent = KinematicsState.Angs.Fi;
modelToVaps.RecommendedPitchValue = 0;
modelToVaps.RermissiblePitchPitching = 0;
modelToVaps.PermissiblePitchDiving = 0;
modelToVaps.AngleAttack = 0;
modelToVaps.PermissibleAngleAttack = 0;
modelToVaps.PositionBall = 0;
modelToVaps.AngleTrajectory = 0;
modelToVaps.Vy = 0;
modelToVaps.MinVy = 0;
modelToVaps.MaxVy = 0;
modelToVaps.InstrumentSpeedCurrent = 0;
modelToVaps.MaxInstrumentSpeed = 0;
modelToVaps.MinInstrumentSpeed = 0;
modelToVaps.SpeedX = KinematicsState.Accel.X;
modelToVaps.SpeedZ = KinematicsState.Accel.X;
modelToVaps.RecommendedDiveSpeed = 0;
modelToVaps.RecommendedSpeedDiveEnd = 0;
modelToVaps.TrueSpeedCurrent = 0;
modelToVaps.GroundSpeedX = 0;
modelToVaps.GroundSpeedZ = 0;
modelToVaps.Mach = 0;
modelToVaps.RelativeHeight = KinematicsState.Pos.Elevation;
modelToVaps.BarometricHeight = 0;
modelToVaps.Pressure = 0;
modelToVaps.HeightAltimeter = 0;
modelToVaps.DangerousHeight = 0;
modelToVaps.Ny.Value = 0;
modelToVaps.Ny.Min = 0;
modelToVaps.Ny.Max = 0;
modelToVaps.Nx.Value = 0;
modelToVaps.Nx.Min = 0;
modelToVaps.Nx.Max = 0;
modelToVaps.Nz.Value = 0;
modelToVaps.Nz.Min = 0;
modelToVaps.Nz.Max = 0;
modelToVaps.HeadingWind = 0;
modelToVaps.HorizontalWindSpeed = 0;
modelToVaps.MaxPermissibleWindSpeed = 0;
modelToVaps.Mechanization[0] = VhclOutp.NoseGear.RodShift;
modelToVaps.Mechanization[1] = VhclOutp.NoseGear.TireShift;
modelToVaps.Mechanization[2] = VhclOutp.NoseGear.WheelRot;
modelToVaps.Mechanization[3] = VhclOutp.NoseGear.WheelSteer;
modelToVaps.Mechanization[4] = VhclOutp.MainGearLeft.RodShift;
modelToVaps.Mechanization[5] = VhclOutp.MainGearLeft.TireShift;
modelToVaps.Mechanization[6] = VhclOutp.MainGearLeft.WheelRot;
modelToVaps.Mechanization[7] = VhclOutp.MainGearLeft.WheelSteer;
modelToVaps.Mechanization[8] = VhclOutp.MainGearRight.RodShift;
modelToVaps.Mechanization[9] = VhclOutp.MainGearRight.TireShift;
modelToVaps.Mechanization[10] = VhclOutp.MainGearRight.WheelRot;
modelToVaps.Mechanization[11] = VhclOutp.MainGearRight.WheelSteer;
var dgram = ConvertHelper.ObjectToByte(modelToVaps);
for (int i = 68; i < dgram.Length; i = i + 8)
{
Array.Reverse(dgram, i, 8);
}
return(dgram);
}
