def simulate():
'sim system and return res'
### Initial Conditions ###
power = 9 # engine power level (0-10)
# Default alpha & beta
alpha = deg2rad(2.1215) # Trim Angle of Attack (rad)
beta = 0 # Side slip angle (rad)
# Initial Attitude
alt = 6200 # altitude (ft)
vt = 540 # initial velocity (ft/sec)
phi = 0 # Roll angle from wings level (rad)
theta = (-math.pi / 2) * 0.7 # Pitch angle from nose level (rad)
psi = 0.8 * math.pi # Yaw angle from North (rad)
# Build Initial Condition Vectors
# state = [vt, alpha, beta, phi, theta, psi, P, Q, R, pn, pe, h, pow]
init = [vt, alpha, beta, phi, theta, psi, 0, 0, 0, 0, 0, alt, power]
tmax = 15 # simulation time
ap = GcasAutopilot(init_mode='waiting', stdout=True)
ap.waiting_time = 5
ap.waiting_cmd[1] = 2.2 # ps command
# custom gains
ap.cfg_k_prop = 1.4
ap.cfg_k_der = 0
ap.cfg_eps_p = deg2rad(20)
ap.cfg_eps_phi = deg2rad(15)
step = 1 / 30
res = run_f16_sim(init,
tmax,
ap,
step=step,
extended_states=True,
integrator_str='rk45')
print(f"Simulation Completed in {round(res['runtime'], 2)} seconds")
# Determine whether the GCAS system kept the plane in a safe state
# the entire time.
safety_limits = SafetyLimits( \
altitude=(0, 45000), #ft \
Nz=(-5, 18), #G's \
v=(300, 2500), # ft/s \
alpha=(-10, 45), # deg \
betaMaxDeg=30,# deg
psMaxAccelDeg=500) # deg/s/s
verifier = SafetyLimitsVerifier(safety_limits, ap.llc)
verifier.verify(res)
return res
def main():
'main function'
### Initial Conditions ###
power = 9 # engine power level (0-10)
# Default alpha & beta
alpha = deg2rad(2.1215) # Trim Angle of Attack (rad)
beta = 0 # Side slip angle (rad)
# Initial Attitude
alt = 1000 # altitude (ft)
vt = 540 # initial velocity (ft/sec)
phi = -math.pi * 0.9 # Roll angle from wings level (rad)
theta = (-math.pi/2)*0.01 # Pitch angle from nose level (rad)
psi = 0 # Yaw angle from North (rad)
# Build Initial Condition Vectors
# state = [vt, alpha, beta, phi, theta, psi, P, Q, R, pn, pe, h, pow]
init = [vt, alpha, beta, phi, theta, psi, 0, 0, 0, 0, 0, alt, power]
tmax = 10 # simulation time
ap = GcasAutopilot(init_mode='roll', stdout=True)
step = 1/30
res = run_f16_sim(init, tmax, ap, step=step, extended_states=True, integrator_str='rk45')
print(f"Simulation Completed in {round(res['runtime'], 2)} seconds")
plot.plot_single(res, 'alt', title='Altitude (ft)')
filename = 'alt.png'
plt.savefig(filename)
print(f"Made {filename}")
plot.plot_attitude(res)
filename = 'attitude.png'
plt.savefig(filename)
print(f"Made {filename}")
# plot inner loop controls + references
plot.plot_inner_loop(res)
filename = 'inner_loop.png'
plt.savefig(filename)
print(f"Made {filename}")
# plot outer loop controls + references
plot.plot_outer_loop(res)
filename = 'outer_loop.png'
plt.savefig(filename)
print(f"Made {filename}")
def simulate():
'sim system and return res'
### Initial Conditions ###
power = 9 # engine power level (0-10)
# Default alpha & beta
alpha = deg2rad(2.1215) # Trim Angle of Attack (rad)
beta = 0 # Side slip angle (rad)
# Initial Attitude
alt = 6200 # altitude (ft)
vt = 540 # initial velocity (ft/sec)
phi = 0 # Roll angle from wings level (rad)
theta = (-math.pi / 2) * 0.7 # Pitch angle from nose level (rad)
psi = 0.8 * math.pi # Yaw angle from North (rad)
# Build Initial Condition Vectors
# state = [vt, alpha, beta, phi, theta, psi, P, Q, R, pn, pe, h, pow]
init = [vt, alpha, beta, phi, theta, psi, 0, 0, 0, 0, 0, alt, power]
tmax = 15 # simulation time
ap = GcasAutopilot(init_mode='waiting', stdout=True)
ap.waiting_time = 5
ap.waiting_cmd[1] = 2.2 # ps command
# custom gains
ap.cfg_k_prop = 1.4
ap.cfg_k_der = 0
ap.cfg_eps_p = deg2rad(20)
ap.cfg_eps_phi = deg2rad(15)
step = 1 / 30
res = run_f16_sim(init,
tmax,
ap,
step=step,
extended_states=True,
integrator_str='rk45')
print(f"Simulation Completed in {round(res['runtime'], 2)} seconds")
return res
def main():
'main function'
### Initial Conditions ###
power = 7.6 # engine power level (0-10)
# Default alpha & beta
alpha = deg2rad(1.8) # Trim Angle of Attack (rad)
beta = 0 # Side slip angle (rad)
# Initial Attitude
alt = 3600 # altitude (ft)
vt = 500 # initial velocity (ft/sec)
phi = 0 # Roll angle from wings level (rad)
theta = 0.03 # Pitch angle from nose level (rad)
psi = 0 # Yaw angle from North (rad)
# Build Initial Condition Vectors
# state = [vt, alpha, beta, phi, theta, psi, P, Q, R, pn, pe, h, pow]
init = [vt, alpha, beta, phi, theta, psi, 0, 0, 0, 0, 0, alt, power]
tmax = 25 # simulation time
ap = StraightAndLevelAutopilot(alt)
res = run_f16_sim(init, tmax, ap)
print(f"Simulation Completed in {round(res['runtime'], 3)} seconds")
plot.plot_overhead(res)
filename = 'overhead.png'
plt.savefig(filename)
print(f"Made {filename}")
plot.plot_single(res, 'alt', title='Altitude (ft)')
filename = 'alt.png'
plt.savefig(filename)
print(f"Made {filename}")
def simulate(filename):
'simulate the system, returning waypoints, res'
### Initial Conditions ###
power = 9 # engine power level (0-10)
# Default alpha & beta
alpha = deg2rad(2.1215) # Trim Angle of Attack (rad)
beta = 0 # Side slip angle (rad)
# Initial Attitude
alt = 1500 # altitude (ft)
vt = 540 # initial velocity (ft/sec)
phi = 0 # Roll angle from wings level (rad)
theta = 0 # Pitch angle from nose level (rad)
psi = 0 # Yaw angle from North (rad)
# Build Initial Condition Vectors
# state = [vt, alpha, beta, phi, theta, psi, P, Q, R, pn, pe, h, pow]
init = [vt, alpha, beta, phi, theta, psi, 0, 0, 0, 0, 0, alt, power]
tmax = 150 # simulation time
# make waypoint list
waypoints = [[-5000, -7500, alt], [-15000, -7500, alt - 500],
[-15000, 5000, alt - 200]]
ap = WaypointAutopilot(waypoints, stdout=True)
step = 1 / 30
extended_states = True
res = run_f16_sim(init,
tmax,
ap,
step=step,
extended_states=extended_states,
integrator_str='rk45')
print(
f"Waypoint simulation completed in {round(res['runtime'], 2)} seconds (extended_states={extended_states})"
)
if filename.endswith('.mp4'):
skip_override = 4
elif filename.endswith('.gif'):
skip_override = 15
else:
skip_override = 30
anim_lines = []
modes = res['modes']
modes = modes[0::skip_override]
def init_extra(ax):
'initialize plot extra shapes'
l1, = ax.plot([], [], [], 'bo', ms=8, lw=0, zorder=50)
anim_lines.append(l1)
l2, = ax.plot([], [], [], 'lime', marker='o', ms=8, lw=0, zorder=50)
anim_lines.append(l2)
return anim_lines
def update_extra(frame):
'update plot extra shapes'
mode_names = ['Waypoint 1', 'Waypoint 2', 'Waypoint 3']
done_xs = []
done_ys = []
done_zs = []
blue_xs = []
blue_ys = []
blue_zs = []
for i, mode_name in enumerate(mode_names):
if modes[frame] == mode_name:
blue_xs.append(waypoints[i][0])
blue_ys.append(waypoints[i][1])
blue_zs.append(waypoints[i][2])
break
done_xs.append(waypoints[i][0])
done_ys.append(waypoints[i][1])
done_zs.append(waypoints[i][2])
anim_lines[0].set_data(blue_xs, blue_ys)
anim_lines[0].set_3d_properties(blue_zs)
anim_lines[1].set_data(done_xs, done_ys)
anim_lines[1].set_3d_properties(done_zs)
return res, init_extra, update_extra, skip_override, waypoints
def main():
'main function'
### Initial Conditions ###
power = 9 # engine power level (0-10)
# Default alpha & beta
alpha = deg2rad(2.1215) # Trim Angle of Attack (rad)
beta = 0 # Side slip angle (rad)
# Initial Attitude
alt = 3800 # altitude (ft)
vt = 540 # initial velocity (ft/sec)
phi = 0 # Roll angle from wings level (rad)
theta = 0 # Pitch angle from nose level (rad)
psi = math.pi / 8 # Yaw angle from North (rad)
# Build Initial Condition Vectors
# state = [vt, alpha, beta, phi, theta, psi, P, Q, R, pn, pe, h, pow]
init = [vt, alpha, beta, phi, theta, psi, 0, 0, 0, 0, 0, alt, power]
tmax = 70 # simulation time
# make waypoint list
e_pt = 1000
n_pt = 3000
h_pt = 4000
waypoints = [[e_pt, n_pt, h_pt], [e_pt + 2000, n_pt + 5000, h_pt - 100],
[e_pt - 2000, n_pt + 15000, h_pt - 250],
[e_pt - 500, n_pt + 25000, h_pt]]
ap = WaypointAutopilot(waypoints, stdout=True)
step = 1 / 30
extended_states = True
res = run_f16_sim(init,
tmax,
ap,
step=step,
extended_states=extended_states,
integrator_str='rk45')
print(
f"Simulation Completed in {round(res['runtime'], 2)} seconds (extended_states={extended_states})"
)
plot.plot_single(res, 'alt', title='Altitude (ft)')
filename = 'alt.png'
plt.savefig(filename)
print(f"Made {filename}")
plot.plot_overhead(res, waypoints=waypoints)
filename = 'overhead.png'
plt.savefig(filename)
print(f"Made {filename}")
plot.plot_attitude(res)
filename = 'attitude.png'
plt.savefig(filename)
print(f"Made {filename}")
# plot inner loop controls + references
plot.plot_inner_loop(res)
filename = 'inner_loop.png'
plt.savefig(filename)
print(f"Made {filename}")
# plot outer loop controls + references
plot.plot_outer_loop(res)
filename = 'outer_loop.png'
plt.savefig(filename)
print(f"Made {filename}")