public void EnableHeadingHold()
{
HeadingHoldEnabled = true;
RollHoldEnabled = true;
YawPIDController.Reset();
RollPIDController.Reset();
}
public override void Drive(FlightCtrlState s)
{
UpdatePID();
//SpeedHold (set AccelerationTarget automatically to hold speed)
if (SpeedHoldEnabled)
{
double spd = vesselState.speedSurface;
cur_acc = (spd - _spd) / Time.fixedDeltaTime;
_spd = spd;
RealAccelerationTarget = (SpeedTarget - spd) / 4;
a_err = (RealAccelerationTarget - cur_acc);
AccelerationPIDController.intAccum = MuUtils.Clamp(AccelerationPIDController.intAccum, -1 / AccKi, 1 / AccKi);
double t_act = AccelerationPIDController.Compute(a_err);
if (!double.IsNaN(t_act))
{
core.thrust.targetThrottle = (float)MuUtils.Clamp(t_act, 0, 1);
}
else
{
core.thrust.targetThrottle = 0.0f;
AccelerationPIDController.Reset();
}
}
//AltitudeHold (set VertSpeed automatically to hold altitude)
if (AltitudeHoldEnabled)
{
RealVertSpeedTarget = convertAltitudeToVerticalSpeed(AltitudeTarget - vesselState.altitudeASL);
RealVertSpeedTarget = UtilMath.Clamp(RealVertSpeedTarget, -VertSpeedTarget, VertSpeedTarget);
}
else
{
RealVertSpeedTarget = VertSpeedTarget;
}
pitch_err = roll_err = yaw_err = 0;
pitch_act = roll_act = yaw_act = 0;
//VertSpeedHold
if (VertSpeedHoldEnabled)
{
// NOTE: 60-to-1 rule:
// deltaAltitude = 2 * PI * r * deltaPitch / 360
// Vvertical = 2 * PI * TAS * deltaPitch / 360
// deltaPitch = Vvertical / Vhorizontal * 180 / PI
double deltaVertSpeed = RealVertSpeedTarget - vesselState.speedVertical;
double adjustment = 180 / vesselState.speedSurface * deltaVertSpeed / Math.PI;
RealPitchTarget = vesselState.vesselPitch + adjustment;
RealPitchTarget = UtilMath.Clamp(RealPitchTarget, -PitchDownLimit, PitchUpLimit);
pitch_err = MuUtils.ClampDegrees180(RealPitchTarget - vesselState.vesselPitch);
PitchPIDController.intAccum = UtilMath.Clamp(PitchPIDController.intAccum, -100 / PitKi, 100 / PitKi);
pitch_act = PitchPIDController.Compute(pitch_err) / 100;
//Debug.Log (p_act);
if (double.IsNaN(pitch_act))
{
PitchPIDController.Reset();
}
else
{
s.pitch = Mathf.Clamp((float)pitch_act, -1, 1);
}
}
//HeadingHold
double curFlightPath = vesselState.HeadingFromDirection(vesselState.forward);
// NOTE: we can not use vesselState.vesselHeading here because it interpolates headings internally
// i.e. turning from 1° to 359° will end up as (1+359)/2 = 180°
// see class MovingAverage for more details
curr_yaw = vesselState.currentHeading - curFlightPath;
if (HeadingHoldEnabled)
{
double toturn = MuUtils.ClampDegrees180(HeadingTarget - curFlightPath);
if (Math.Abs(toturn) < 0.2)
{
// yaw for small adjustments
RealYawTarget = MuUtils.Clamp(toturn * 2, -YawLimit, YawLimit);
RealRollTarget = 0;
}
else
{
// roll for large adjustments
RealYawTarget = 0;
RealRollTarget = MuUtils.Clamp(toturn * 2, -RollLimit, RollLimit);
}
}
else
{
RealRollTarget = RollTarget;
RealYawTarget = 0;
}
if (RollHoldEnabled)
{
RealRollTarget = UtilMath.Clamp(RealRollTarget, -BankAngle, BankAngle);
RealRollTarget = UtilMath.Clamp(RealRollTarget, -RollLimit, RollLimit);
roll_err = MuUtils.ClampDegrees180(RealRollTarget - -vesselState.currentRoll);
RollPIDController.intAccum = MuUtils.Clamp(RollPIDController.intAccum, -100 / RolKi, 100 / RolKi);
roll_act = RollPIDController.Compute(roll_err) / 100;
if (double.IsNaN(roll_act))
{
RollPIDController.Reset();
}
else
{
s.roll = Mathf.Clamp((float)roll_act, -1, 1);
}
}
if (HeadingHoldEnabled)
{
RealYawTarget = UtilMath.Clamp(RealYawTarget, -YawLimit, YawLimit);
yaw_err = MuUtils.ClampDegrees180(RealYawTarget - curr_yaw);
YawPIDController.intAccum = MuUtils.Clamp(YawPIDController.intAccum, -100 / YawKi, 100 / YawKi);
yaw_act = YawPIDController.Compute(yaw_err) / 100;
if (double.IsNaN(yaw_act))
{
YawPIDController.Reset();
}
else
{
s.yaw = Mathf.Clamp((float)yaw_act, -1, 1);
}
}
}
public override void Drive(FlightCtrlState s)
{
UpdatePID();
//SpeedHold (set AccelerationTarget automatically to hold speed)
if (SpeedHoldEnabled)
{
double spd = vesselState.speedSurface;
cur_acc = (spd - _spd) / Time.fixedDeltaTime;
_spd = spd;
RealAccelerationTarget = (SpeedTarget - spd) / 4;
a_err = (RealAccelerationTarget - cur_acc);
AccelerationPIDController.intAccum = MuUtils.Clamp(AccelerationPIDController.intAccum, -1 / AccKi, 1 / AccKi);
double t_act = AccelerationPIDController.Compute(a_err);
if (!double.IsNaN(t_act))
{
core.thrust.targetThrottle = (float)MuUtils.Clamp(t_act, 0, 1);
}
else
{
core.thrust.targetThrottle = 0.0f;
AccelerationPIDController.Reset();
}
}
//AltitudeHold (set VertSpeed automatically to hold altitude)
if (AltitudeHoldEnabled)
{
RealVertSpeedTarget = MuUtils.Clamp(fixVertSpeed(AltitudeTarget - vesselState.altitudeASL), -VertSpeedMax, VertSpeedMax);
}
else
{
RealVertSpeedTarget = VertSpeedTarget;
}
//VertSpeedHold
if (VertSpeedHoldEnabled)
{
double vertspd = vesselState.speedVertical;
v_err = RealVertSpeedTarget - vertspd;
VertSpeedPIDController.intAccum = MuUtils.Clamp(VertSpeedPIDController.intAccum, -1 / (VerKi * VerPIDScale), 1 / (VerKi * VerPIDScale));
double p_act = VertSpeedPIDController.Compute(v_err);
//Log.dbg(p_act);
if (double.IsNaN(p_act))
{
VertSpeedPIDController.Reset();
}
else
{
s.pitch = Mathf.Clamp((float)p_act, -1, 1);
}
}
//HeadingHold
double curHeading = vesselState.HeadingFromDirection(vesselState.forward);
if (HeadingHoldEnabled)
{
double toturn = MuUtils.ClampDegrees180(HeadingTarget - curHeading);
RealRollTarget = MuUtils.Clamp(toturn * 2, -RollMax, RollMax);
}
else
{
RealRollTarget = RollTarget;
}
if (RollHoldEnabled)
{
double roll_err = MuUtils.ClampDegrees180(vesselState.vesselRoll + RealRollTarget);
RollPIDController.intAccum = MuUtils.Clamp(RollPIDController.intAccum, -100 / AccKi, 100 / AccKi);
double roll_act = RollPIDController.Compute(roll_err);
s.roll = Mathf.Clamp((float)roll_act / 100, -1, 1);
}
if (HeadingHoldEnabled)
{
double yaw_err = MuUtils.ClampDegrees180(HeadingTarget - curHeading);
YawPIDController.intAccum = MuUtils.Clamp(YawPIDController.intAccum, -YawLimit * 100 / AccKi, YawLimit * 100 / AccKi);
double yaw_act = YawPIDController.Compute(yaw_err);
s.yaw = (float)MuUtils.Clamp(yaw_act / 100, -YawLimit, +YawLimit);
}
}
