public Autopilot(Task t, PIDSetup pidSetup)
{
PIDSetup = pidSetup;
Navigation = NavigationState.EnRoute;
Actions = Actions.None;
Task = t;
Output = new OutputController(pidSetup);
IsTruePositionWithinRadius = false;
}
private static PIDSetup ParsePIDSetup(XmlNode pidSetupNode)
{
var result = new PIDSetup();
result.Name = pidSetupNode.GetAttribute("Name");
result.PitchAngle = ParsePID(pidSetupNode.SelectSingleNode("PID[@Name='PitchAngle']"));
result.RollAngle = ParsePID(pidSetupNode.SelectSingleNode("PID[@Name='RollAngle']"));
result.YawAngle = ParsePID(pidSetupNode.SelectSingleNode("PID[@Name='YawAngle']"));
result.Throttle = ParsePID(pidSetupNode.SelectSingleNode("PID[@Name='Throttle']"));
result.ForwardsAccel = ParsePID(pidSetupNode.SelectSingleNode("PID[@Name='Velocity']"));
result.RightwardsAccel = ParsePID(pidSetupNode.SelectSingleNode("PID[@Name='Velocity']"));
return result;
}
private static PIDSetup ParsePIDSetup(XmlNode pidSetupNode)
{
var result = new PIDSetup();
result.Name = pidSetupNode.GetAttribute("Name");
result.PitchAngle = ParsePID(pidSetupNode.SelectSingleNode("PID[@Name='PitchAngle']"));
result.RollAngle = ParsePID(pidSetupNode.SelectSingleNode("PID[@Name='RollAngle']"));
result.YawAngle = ParsePID(pidSetupNode.SelectSingleNode("PID[@Name='YawAngle']"));
result.Throttle = ParsePID(pidSetupNode.SelectSingleNode("PID[@Name='Throttle']"));
result.ForwardsAccel = ParsePID(pidSetupNode.SelectSingleNode("PID[@Name='Velocity']"));
result.RightwardsAccel = ParsePID(pidSetupNode.SelectSingleNode("PID[@Name='Velocity']"));
return(result);
}
public HelicopterBase(Game game, TestConfiguration testConfiguration, TerrainCollision collision,
ICameraProvider cameraProvider, BasicEffect effect, SunlightParameters skyParams, HelicopterScenario scenario,
bool playEngineSound, bool isPlayerControlled, bool drawText)
: base(game)
{
if (game == null || cameraProvider == null || effect == null || skyParams == null)
{
throw new ArgumentNullException("", @"One or several of the necessary arguments were null!");
}
_game = game;
_testConfiguration = testConfiguration;
_sensorSpecifications = testConfiguration.Sensors;
_collision = collision;
_flyBySensors = testConfiguration.FlyBySensors;
if (_collision != null)
{
_collision.CollidedWithTerrain += gameTime => Crashed(gameTime);
}
_basicEffect = effect;
_skyParams = skyParams;
_scenario = scenario;
_drawText = drawText;
_cameraProvider = cameraProvider;
IsPlayerControlled = isPlayerControlled;
_playEngineSound = playEngineSound;
_estimatedState = new HeliState();
PIDSetup pidSetup = SimulatorResources.GetPIDSetups()[0];
Autopilot = new Autopilot(_scenario.Task, pidSetup);
Log = new List <HelicopterLogSnapshot>();
}
public void SetPIDSetup(PIDSetup pidSetup)
{
if (_helicopter != null) // && _helicopter.Autopilot != null && _helicopter.Autopilot.Output != null)
_helicopter.Autopilot.Output.PIDSetup = pidSetup;
else
_initialPIDSetup = pidSetup;
}
