def create(self, n=1):
super(Pilot, self).create(n)
self.alt[-n:] = bs.traf.alt[-n:]
self.spd[-n:] = vtas2eas(bs.traf.tas[-n:], bs.traf.alt[-n:])
self.hdg[-n:] = bs.traf.hdg[-n:]
self.trk[-n:] = bs.traf.trk[-n:]
def resolve(self, conf, ownship, intruder):
''' Resolve all current conflicts '''
# required change in velocity
dv = np.zeros((ownship.ntraf, 3))
for ((ac1, ac2), qdr, dist, tcpa, tLOS) in zip(conf.confpairs, conf.qdr, conf.dist, conf.tcpa, conf.tLOS):
idx1 = ownship.id.index(ac1)
idx2 = intruder.id.index(ac2)
if idx1 > -1 and idx2 > -1:
dv_eby = self.Eby_straight(
ownship, intruder, conf, qdr, dist, tcpa, tLOS, idx1, idx2)
dv[idx1] -= dv_eby
dv[idx2] += dv_eby
# now we have the change in speed vector for each aircraft.
dv=np.transpose(dv)
# the old speed vector, cartesian coordinates
trkrad = np.radians(ownship.trk)
v = np.array([np.sin(trkrad) * ownship.tas,\
np.cos(trkrad)*ownship.tas,\
ownship.vs])
# the new speed vector
newv = dv + v
# the new speed vector in polar coordinates
newtrack = (np.arctan2(newv[0,:], newv[1,:]) * 180 / np.pi) % 360
newgs = np.sqrt(newv[0,:] ** 2 + newv[1,:] ** 2)
neweas = vtas2eas(newgs, ownship.alt)
# Cap the velocity
neweascapped = np.maximum(ownship.perf.vmin, np.minimum(ownship.perf.vmax, neweas))
return newtrack, neweascapped, newv[2, :], np.sign(newv[2, :]) * 1e5
def resolve(asas, traf):
if not asas.swasas:
return
# required change in velocity
dv = np.zeros((traf.ntraf, 3))
#if possible, solve conflicts once and copy results for symmetrical conflicts,
#if that is not possible, solve each conflict twice, once for each A/C
if not traf.ADSBtrunc and not traf.ADSBtransnoise:
for conflict in asas.conflist_now:
id1, id2 = asas.ConflictToIndices(conflict)
if id1 != "Fail" and id2 != "Fail":
dv_eby = Eby_straight(traf, asas, id1, id2)
dv[id1] -= dv_eby
dv[id2] += dv_eby
else:
for i in range(asas.nconf):
confpair = asas.confpairs[i]
ac1 = confpair[0]
ac2 = confpair[1]
id1 = traf.id.index(ac1)
id2 = traf.id.index(ac2)
dv_eby = Eby_straight(asas, id1, id2)
dv[id1] -= dv_eby
# now we have the change in speed vector for each aircraft.
dv=np.transpose(dv)
# the old speed vector, cartesian coordinates
trkrad=np.radians(traf.trk)
v=np.array([np.sin(trkrad)*traf.tas,\
np.cos(trkrad)*traf.tas,\
traf.vs])
# the new speed vector
newv=dv+v
# the new speed vector in polar coordinates
newtrack=(np.arctan2(newv[0,:],newv[1,:])*180/np.pi) %360
newgs=np.sqrt(newv[0,:]**2+newv[1,:]**2)
neweas=vtas2eas(newgs,traf.alt)
# Cap the velocity
neweascapped=np.maximum(asas.vmin,np.minimum(asas.vmax,neweas))
# now assign in the traf class
asas.hdg = newtrack
asas.tas = neweascapped
asas.vs = newv[2,:]
asas.alt = np.sign(asas.vs)*1e5
def resolve(asas, traf):
if not asas.swasas:
return
# required change in velocity
dv = np.zeros((traf.ntraf, 3))
#if possible, solve conflicts once and copy results for symmetrical conflicts,
#if that is not possible, solve each conflict twice, once for each A/C
if not traf.ADSBtrunc and not traf.ADSBtransnoise:
for conflict in asas.conflist_now:
id1, id2 = asas.ConflictToIndices(conflict)
if id1 != "Fail" and id2 != "Fail":
dv_eby = Eby_straight(traf, asas, id1, id2)
dv[id1] -= dv_eby
dv[id2] += dv_eby
else:
for i in range(asas.nconf):
confpair = asas.confpairs[i]
ac1 = confpair[0]
ac2 = confpair[1]
id1 = traf.id.index(ac1)
id2 = traf.id.index(ac2)
dv_eby = Eby_straight(asas, id1, id2)
dv[id1] -= dv_eby
# now we have the change in speed vector for each aircraft.
dv = np.transpose(dv)
# the old speed vector, cartesian coordinates
trkrad = np.radians(traf.trk)
v=np.array([np.sin(trkrad)*traf.tas,\
np.cos(trkrad)*traf.tas,\
traf.vs])
# the new speed vector
newv = dv + v
# the new speed vector in polar coordinates
newtrack = (np.arctan2(newv[0, :], newv[1, :]) * 180 / np.pi) % 360
newgs = np.sqrt(newv[0, :]**2 + newv[1, :]**2)
neweas = vtas2eas(newgs, traf.alt)
# Cap the velocity
neweascapped = np.maximum(asas.vmin, np.minimum(asas.vmax, neweas))
# now assign in the traf class
asas.hdg = newtrack
asas.tas = neweascapped
asas.vs = newv[2, :]
asas.alt = np.sign(asas.vs) * 1e5
def resolve(dbconf, traf):
# -------------------------------------------------------------------------
# First, perform special Conflict Detection to find which conflicts to resolve
# Relative horizontal positions: p[a,b] is p from a to b
qdrrel = np.radians(dbconf.qdr-traf.trk.reshape((len(traf.trk),1)))
xrel= np.sin(qdrrel)*dbconf.dist
yrel= np.cos(qdrrel)*dbconf.dist
# Define the two borders:
b1=np.where( yrel -np.abs(xrel) > -dbconf.dist_a ,True,False)
b2=np.where( xrel**2 + (yrel-dbconf.dist_b)**2 < (dbconf.dist_a+dbconf.dist_b)**2 ,True,False)
# Create conflict matrix
dbconf.swconfl_dg = b1*b2*(1.-np.eye(traf.ntraf))
# -------------------------------------------------------------------------
# Second, create a list of conflicts and aircraft indices to iterate over
dgconfidxs = np.where(dbconf.swconfl_dg)
dgnconf = len(dgconfidxs[0])
dgiown = dgconfidxs[0]
dgioth = dgconfidxs[1]
# -------------------------------------------------------------------------
# Third, create control matrix and find controls
# Also, aircraft in DGconflict should follow ASAS
dbconf.asasactive.fill(False)
controls=np.zeros((traf.ntraf,3),dtype=np.int)
for i in range(dgnconf):
id1=dgiown[i]
id2=dgioth[i]
dbconf.asasactive[id1]=True
dbconf.asasactive[id2]=True
ctrl=Difgamehor(traf, dbconf,id1,id2)
controls[id1]+=ctrl-np.array([1,1,1])
# Now, write controls as limits in traf class
# First: limit superpositioned controls to maximum values
controls+=np.array([1,1,1])
maxcontrols=np.array([2,2,2])
controls=np.where(controls<0,0,controls)
controls=np.where(controls>maxcontrols,maxcontrols,controls)
# From indices to values
acccontrol=dbconf.a_o[controls[:,0]]
bankcontrol=dbconf.b_o[controls[:,1]]
climbcontrol=traf.avsdef*np.sign(controls[:,2])
# Now assign in the traf class --------------------------------------------
# Change autopilot desired speed
dbconf.asasspd=vtas2eas(np.where(acccontrol==0,traf.gs,\
np.where(acccontrol>0,dbconf.vmax,dbconf.vmin)),traf.alt)
# Set acceleration for aircraft in conflict
traf.ax=np.where(dbconf.asasactive,abs(acccontrol),kts)
# Change autopilot desired heading
dbconf.asashdg=np.where(bankcontrol==0,traf.trk,\
np.where(bankcontrol>0,traf.trk+90,traf.trk-90))%360
# Set bank angle for aircraft in conflict
traf.aphi=np.radians(np.where(dbconf.asasactive,np.abs(bankcontrol),25.))
# Change autopilot desired altitude
traf.aalt=np.where(climbcontrol==0,traf.alt,\
np.where(climbcontrol>0,1e9,-1e9))
# Set climb rate for aircraft in conflict
dbconf.asasvsp=np.abs(climbcontrol)
