public void TestTrimControl()
{
FlightControlSystem fcs = new FlightControlSystem();
fcs.trimControl = true;
fcs.TrimCollective = 0.5;
fcs.CollectiveInput = 0.5;
fcs.Update(0.01);
Assert.AreEqual(0.75, fcs.Collective, 0.001);
fcs.TrimCollective = -0.5;
fcs.CollectiveInput = -0.5;
fcs.Update(0.01);
Assert.AreEqual(-0.75, fcs.Collective, 0.001);
fcs.TrimCollective = -0.5;
fcs.CollectiveInput = 0.5;
fcs.Update(0.01);
Assert.AreEqual(0.25, fcs.Collective, 0.001);
fcs.TrimCollective = 0.5;
fcs.CollectiveInput = -0.5;
fcs.Update(0.01);
Assert.AreEqual(-0.25, fcs.Collective, 0.001);
}
public override Helicopter LoadDefault()
{
Mass = 750;
Inertia = Matrix <double> .Build.DenseOfDiagonalArray(3, 3, new double[] { 1000, 3000, 3000 });
foreach (var rotor in Rotors)
{
rotor.LoadDefaultTailRotor();
}
Rotors[0].Translation = Vector <double> .Build.DenseOfArray(new double[] { 2, 2, -1 });
Rotors[1].Translation = Vector <double> .Build.DenseOfArray(new double[] { -2, 2, -1 });
Rotors[2].Translation = Vector <double> .Build.DenseOfArray(new double[] { -2, -2, -1 });
Rotors[3].Translation = Vector <double> .Build.DenseOfArray(new double[] { 2, -2, -1 });
Rotors[0].direction = Rotors[2].direction = Rotor.Direction.CounterClockwise;
Rotors[1].direction = Rotors[3].direction = Rotor.Direction.Clockwise;
FCS = new FlightControlSystem().LoadDefault();
Engine = new Engine().LoadDefault();
GearBox = new GearBox().LoadDefault();
Fuselage = new Fuselage();
return(this);
}
public void NullZone_AboveNegative_Scales()
{
FlightControlSystem fcs = new FlightControlSystem();
fcs.latNullZone = 0.2;
fcs.LatInput = -0.8;
fcs.Update(0.01);
Assert.AreEqual(-0.75, fcs.LatCyclic, 0.001);
}
public void NullZone_BelowNegative_Returns0()
{
FlightControlSystem fcs = new FlightControlSystem();
fcs.longNullZone = 0.5;
fcs.LongInput = -0.2;
fcs.Update(0.01);
Assert.AreEqual(0.0, fcs.LongCyclic, 0.001);
}
public void CollectiveNullZone_NotTrimControl_DoesNotApply()
{
FlightControlSystem fcs = new FlightControlSystem();
fcs.trimControl = false;
fcs.collectiveNullZone = 0.2;
fcs.CollectiveInput = 0.8;
fcs.Update(0.01);
Assert.AreEqual(0.8, fcs.Collective, 0.001);
}
public void CollectiveNullZone_TrimControl_Applies()
{
FlightControlSystem fcs = new FlightControlSystem();
fcs.trimControl = true;
fcs.collectiveNullZone = 0.2;
fcs.CollectiveInput = 0.8;
fcs.Update(0.01);
Assert.AreEqual(0.75, fcs.Collective, 0.001);
}
public override Helicopter LoadDefault()
{
Mass = 2450;
Inertia = Matrix <double> .Build.DenseOfArray(new double[, ] {
{ 1762, 0, 1085 },
{ 0, 9167, 0 },
{ 1085, 0, 8687 }
});
MainRotor = new Rotor().LoadDefault();
MainRotor.Translation = Vector <double> .Build.DenseOfArray(new double[] { 0.0071, 0, -1.5164 });
MainRotor.Rotation = Matrix <double> .Build.RotationY(-6.3 *Math.PI / 180.0);
TailRotor = new Rotor().LoadDefaultTailRotor();
TailRotor.Translation = Vector <double> .Build.DenseOfArray(new double[] { -7.5, 0, -0.8001 });
TailRotor.Rotation = Matrix <double> .Build.DenseOfArray(new double[, ] {
{ 1, 0, 0 },
{ 0, 0, -1 },
{ 0, 1, 0 }
});
HorizontalStabilizer = new Stabilizer().LoadDefaultHorizontal();
HorizontalStabilizer.Translation = Vector <double> .Build.DenseOfArray(new double[] { -5.8, 0, -0.5 });
HorizontalStabilizer.Rotation = Matrix <double> .Build.RotationY(5 *Math.PI / 180.0);
VerticalStabilizer = new Stabilizer().LoadDefaultVertical();
VerticalStabilizer.Translation = Vector <double> .Build.DenseOfArray(new double[] { -7.3, 0, -1.5 });
VerticalStabilizer.Rotation = Matrix <double> .Build.RotationX(90 *Math.PI / 180.0) * Matrix <double> .Build.RotationY(5 *Math.PI / 180.0);
Fuselage = new Fuselage().LoadDefault();
Fuselage.Translation = Vector <double> .Build.DenseOfArray(new double[] { 0.0178, 0, 0.0127 });
FCS = new FlightControlSystem().LoadDefault();
Engine = new Engine().LoadDefault();
GearBox = new GearBox().LoadDefault();
return(this);
}
