public OnlineLinTrainerWindow(OnlineLinTrainer trainer, string name, int wnd_id, Rect window) :
base(name, wnd_id, window)
{
this.trainer = trainer;
}
void initialize_lin_tainers()
{
// Initial dumb aero values
if (HasControlSurfaces)
{
pitch_aero_torque_model.tpars[2] = 10.0;
pitch_aero_torque_model_gen.tpars[2] = 10.0;
roll_aero_torque_model.tpars[3] = 10.0;
roll_aero_torque_model_gen.tpars[3] = 10.0;
yaw_aero_torque_model.tpars[2] = 10.0;
yaw_aero_torque_model_gen.tpars[2] = 10.0;
}
pitch_lift_model.tpars[2] = sum_mass;
yaw_lift_model.tpars[2] = sum_mass;
// Initialize pitch rotation trainer
pitch_aero_torque_task.linmodel = pitch_aero_torque_model;
pitch_aero_torque_task.base_gen_weight = 0.0001f;
pitch_aero_torque_task.linear_time_decay = 0.005f;
pitch_aero_torque_task.nonlin_time_decay = 0.01f;
pitch_aero_torque_task.validator = (a, b) => pitch_validator(pitch_aero_torque_model, a, b);
pitch_aero_torque_task_gen.linmodel = pitch_aero_torque_model_gen;
pitch_aero_torque_task_gen.base_gen_weight = 0.5f;
pitch_aero_torque_task_gen.linear_time_decay = 0.005f;
pitch_aero_torque_task_gen.nonlin_time_decay = 0.01f;
pitch_aero_torque_task_gen.validator = (a, b) => pitch_validator(pitch_aero_torque_model_gen, a, b);
pitch_trainer = new OnlineLinTrainer(IMM_BUF_SIZE, new double[] { 0.01, 0.05 },
new int[] { 20, 20 }, pitch_input_method, pitch_output_method, pitch_aero_torque_task_gen, pitch_aero_torque_task);
pitch_trainer.max_value_decay = 0.001f;
pitch_trainer.linear_err_criteria = 0.01f;
pitch_trainer.nonlin_trigger = 100;
pitch_trainer.nonlin_cutoff_time = 500;
// Initialize roll rotation trainer
roll_aero_torque_task.linmodel = roll_aero_torque_model;
roll_aero_torque_task.base_gen_weight = 0.001f;
roll_aero_torque_task.linear_time_decay = 0.005f;
roll_aero_torque_task.nonlin_time_decay = 0.01f;
roll_aero_torque_task.validator = (a, b) => roll_validator(roll_aero_torque_model, a, b);
roll_aero_torque_task_gen.linmodel = roll_aero_torque_model_gen;
roll_aero_torque_task_gen.base_gen_weight = 0.5f;
roll_aero_torque_task_gen.linear_time_decay = 0.005f;
roll_aero_torque_task_gen.nonlin_time_decay = 0.01f;
roll_aero_torque_task_gen.validator = (a, b) => roll_validator(roll_aero_torque_model_gen, a, b);
roll_trainer = new OnlineLinTrainer(IMM_BUF_SIZE, new double[] { 0.01, 0.05, 0.05, 0.05 },
new int[] { 15, 15, 15, 15 }, roll_input_method, roll_output_method, roll_aero_torque_task_gen, roll_aero_torque_task);
roll_trainer.max_value_decay = 0.001f;
roll_trainer.linear_err_criteria = 0.02f;
roll_trainer.nonlin_trigger = 100;
roll_trainer.nonlin_cutoff_time = 500;
// Initialize yaw rotation trainer
yaw_aero_torque_task.linmodel = yaw_aero_torque_model;
yaw_aero_torque_task.base_gen_weight = 0.0001f;
yaw_aero_torque_task.linear_time_decay = 0.005f;
yaw_aero_torque_task.nonlin_time_decay = 0.01f;
yaw_aero_torque_task.validator = (a, b) => pitch_validator(yaw_aero_torque_model, a, b);
yaw_aero_torque_task_gen.linmodel = yaw_aero_torque_model_gen;
yaw_aero_torque_task_gen.base_gen_weight = 0.5f;
yaw_aero_torque_task_gen.linear_time_decay = 0.005f;
yaw_aero_torque_task_gen.nonlin_time_decay = 0.01f;
yaw_aero_torque_task_gen.validator = (a, b) => pitch_validator(yaw_aero_torque_model_gen, a, b);
yaw_trainer = new OnlineLinTrainer(IMM_BUF_SIZE, new double[] { 0.01, 0.05 },
new int[] { 20, 20 }, yaw_input_method, yaw_output_method, yaw_aero_torque_task_gen, yaw_aero_torque_task);
yaw_trainer.max_value_decay = 0.001f;
yaw_trainer.linear_err_criteria = 0.01f;
yaw_trainer.nonlin_trigger = 100;
yaw_trainer.nonlin_cutoff_time = 500;
// Initialize pitch lift trainer
pitch_lift_task.linmodel = pitch_lift_model;
pitch_lift_task.base_gen_weight = 2.0f;
pitch_lift_task.linear_time_decay = 0.002f;
pitch_lift_task.nonlin_time_decay = 0.005f;
pitch_lift_task.validator = (a, b) => pitch_lift_validator(pitch_lift_model, a, b);
pitch_lift_trainer = new OnlineLinTrainer(IMM_BUF_SIZE, new double[] { 0.01, 0.05 },
new int[] { 20, 20 }, pitch_lift_input_method, pitch_lift_output_method, pitch_lift_task);
pitch_lift_trainer.max_value_decay = 0.0005f;
pitch_lift_trainer.linear_err_criteria = 0.0005f;
pitch_lift_trainer.nonlin_trigger = 100;
pitch_lift_trainer.nonlin_cutoff_time = 500;
// Initialize yaw lift trainer
yaw_lift_task.linmodel = yaw_lift_model;
yaw_lift_task.base_gen_weight = 2.0f;
yaw_lift_task.linear_time_decay = 0.002f;
yaw_lift_task.nonlin_time_decay = 0.005f;
yaw_lift_task.validator = (a, b) => pitch_lift_validator(yaw_lift_model, a, b);
yaw_lift_trainer = new OnlineLinTrainer(IMM_BUF_SIZE, new double[] { 0.01, 0.05 },
new int[] { 20, 20 }, yaw_lift_input_method, yaw_lift_output_method, yaw_lift_task);
yaw_lift_trainer.max_value_decay = 0.0005f;
yaw_lift_trainer.linear_err_criteria = 0.001f;
yaw_lift_trainer.nonlin_trigger = 100;
yaw_lift_trainer.nonlin_cutoff_time = 500;
}
