def stack_all_commands(self):
"""create and stack command"""
params = ('lat', 'lon', 'alt', 'speed', 'heading', 'callsign')
for i, d in self.acpool.items():
# check if all needed keys are in dict
if set(params).issubset(d):
acid = d['callsign']
# check is aircraft is already beening displayed
if(traf.id2idx(acid) < 0):
mdl = self.default_ac_mdl
v = aero.tas2cas(d['speed'], d['alt'] * aero.ft)
cmdstr = 'CRE %s, %s, %f, %f, %f, %d, %d' % \
(acid, mdl, d['lat'], d['lon'],
d['heading'], d['alt'], v)
stack.stack(cmdstr)
else:
cmdstr = 'MOVE %s, %f, %f, %d' % \
(acid, d['lat'], d['lon'], d['alt'])
stack.stack(cmdstr)
cmdstr = 'HDG %s, %f' % (acid, d['heading'])
stack.stack(cmdstr)
v_cas = aero.tas2cas(d['speed'], d['alt'] * aero.ft)
cmdstr = 'SPD %s, %f' % (acid, v_cas)
stack.stack(cmdstr)
return
def stack_all_commands(self):
"""create and stack command"""
params = ('lat', 'lon', 'alt', 'speed', 'heading', 'callsign')
for i, d in list(self.acpool.items()):
# check if all needed keys are in dict
if set(params).issubset(d):
acid = d['callsign']
# check is aircraft is already beening displayed
if(traf.id2idx(acid) < 0):
mdl = self.default_ac_mdl
v = aero.tas2cas(d['speed'], d['alt'] * aero.ft)
cmdstr = 'CRE %s, %s, %f, %f, %f, %d, %d' % \
(acid, mdl, d['lat'], d['lon'],
d['heading'], d['alt'], v)
stack.stack(cmdstr)
else:
cmdstr = 'MOVE %s, %f, %f, %d' % \
(acid, d['lat'], d['lon'], d['alt'])
stack.stack(cmdstr)
cmdstr = 'HDG %s, %f' % (acid, d['heading'])
stack.stack(cmdstr)
v_cas = aero.tas2cas(d['speed'], d['alt'] * aero.ft)
cmdstr = 'SPD %s, %f' % (acid, v_cas)
stack.stack(cmdstr)
return
def setspeedforRTA(self, idx, torta, xtorta):
#debug print("setspeedforRTA called, torta,xtorta =",torta,xtorta/nm)
# Calculate required CAS to meet RTA
# for aircraft nr. idx (scalar)
if torta < -90. : # -999 signals there is no RTA defined in remainder of route
return False
deltime = torta-bs.sim.simt # Remaining time to next RTA [s] in simtime
if deltime>0: # Still possible?
trafax = abs(bs.traf.perf.acceleration()[idx])
gsrta = calcvrta(bs.traf.gs[idx], xtorta, deltime, trafax)
# Subtract tail wind speed vector
tailwind = (bs.traf.windnorth[idx]*bs.traf.gsnorth[idx] + bs.traf.windeast[idx]*bs.traf.gseast[idx]) / \
bs.traf.gs[idx]*bs.traf.gs[idx]
# Convert to CAS
rtacas = tas2cas(gsrta-tailwind,bs.traf.alt[idx])
# Performance limits on speed will be applied in traf.update
if bs.traf.actwp.spdcon[idx]<0. and bs.traf.swvnavspd[idx]:
bs.traf.actwp.spd[idx] = rtacas
#print("setspeedforRTA: xtorta =",xtorta)
return rtacas
else:
return False
def setspeedforRTA(self, idx, torta, xtorta):
#print(bs.sim.simt,"setspeedforRTA: idx,torta,xtorta = ",idx,torta,xtorta)
# Calculate required CAS to meet RTA
# for aircraft nr. idx (scalar)
if torta < -90.: # no RTA defined in remainder of route
return False
deltime = torta - bs.sim.simt # Remaining time to next RTA [s] in simtime
#print("deltime =",deltime)
if deltime > 0: # Still possible?
# xtorta does not include speed constraint legs, and torta has been compensated for that
gsrta = xtorta / deltime # Calculate along track ground speed
#print("gsrta =",gsrta/kts)
#print('torta, xtorta =',torta, xtorta/nm)
# Subtract tail wind speed vector
tailwind = (bs.traf.windnorth[idx]*bs.traf.gsnorth[idx] + bs.traf.windeast[idx]*bs.traf.gseast[idx]) / \
bs.traf.gs[idx]*bs.traf.gs[idx]
#print("tailwind =",tailwind)
#print("ETA wp =", tim2txt(bs.sim.simt+xtortaa / (bs.traf.gs[idx] + tailwind)))
#print("RTA wp =", tim2txt(bs.sim.simt+xtorta / gsrta))
# Convert to CAS
rtacas = tas2cas(gsrta - tailwind, bs.traf.alt[idx])
# Performance limits on speed will be applied in traf.update
bs.traf.actwp.spd[idx] = rtacas
#print("SetSpeedforRTA: rtacas =",rtacas/kts)
return True
else:
return False
def creconfs(self,
acid,
actype,
targetidx,
dpsi,
cpa,
tlosh,
dH=None,
tlosv=None,
spd=None):
latref = self.lat[targetidx] # deg
lonref = self.lon[targetidx] # deg
altref = self.alt[targetidx] # m
trkref = radians(self.trk[targetidx])
gsref = self.gs[targetidx] # m/s
vsref = self.vs[targetidx] # m/s
cpa = cpa * nm
pzr = settings.asas_pzr * nm
pzh = settings.asas_pzh * ft
trk = trkref + radians(dpsi)
gs = gsref if spd is None else spd
if dH is None:
acalt = altref
acvs = 0.0
else:
acalt = altref + dH
tlosv = tlosh if tlosv is None else tlosv
acvs = vsref - np.sign(dH) * (abs(dH) - pzh) / tlosv
# Horizontal relative velocity vector
gsn, gse = gs * cos(trk), gs * sin(trk)
vreln, vrele = gsref * cos(trkref) - gsn, gsref * sin(trkref) - gse
# Relative velocity magnitude
vrel = sqrt(vreln * vreln + vrele * vrele)
# Relative travel distance to closest point of approach
drelcpa = tlosh * vrel + (0 if cpa > pzr else sqrt(pzr * pzr -
cpa * cpa))
# Initial intruder distance
dist = sqrt(drelcpa * drelcpa + cpa * cpa)
# Rotation matrix diagonal and cross elements for distance vector
rd = drelcpa / dist
rx = cpa / dist
# Rotate relative velocity vector to obtain intruder bearing
brn = degrees(atan2(-rx * vreln + rd * vrele, rd * vreln + rx * vrele))
# Calculate intruder lat/lon
aclat, aclon = geo.kwikpos(latref, lonref, brn, dist / nm)
# convert groundspeed to CAS, and track to heading
wn, we = self.wind.getdata(aclat, aclon, acalt)
tasn, tase = gsn - wn, gse - we
acspd = tas2cas(sqrt(tasn * tasn + tase * tase), acalt)
achdg = degrees(atan2(tase, tasn))
# Create and, when necessary, set vertical speed
self.create(1, actype, acalt, acspd, None, aclat, aclon, achdg, acid)
self.ap.selaltcmd(len(self.lat) - 1, altref, acvs)
self.vs[-1] = acvs
def creconfs(self,
acid,
actype,
targetidx,
dpsi,
dcpa,
tlosh,
dH=None,
tlosv=None,
spd=None):
''' Create an aircraft in conflict with target aircraft.
Arguments:
- acid: callsign of new aircraft
- actype: aircraft type of new aircraft
- targetidx: id (callsign) of target aircraft
- dpsi: Conflict angle (angle between tracks of ownship and intruder) (deg)
- cpa: Predicted distance at closest point of approach (NM)
- tlosh: Horizontal time to loss of separation ((hh:mm:)sec)
- dH: Vertical distance (ft)
- tlosv: Vertical time to loss of separation
- spd: Speed of new aircraft (CAS/Mach, kts/-)
'''
latref = self.lat[targetidx] # deg
lonref = self.lon[targetidx] # deg
altref = self.alt[targetidx] # m
trkref = radians(self.trk[targetidx])
gsref = self.gs[targetidx] # m/s
tasref = self.tas[targetidx] # m/s
vsref = self.vs[targetidx] # m/s
cpa = dcpa * nm
pzr = bs.settings.asas_pzr * nm
pzh = bs.settings.asas_pzh * ft
trk = trkref + radians(dpsi)
if dH is None:
acalt = altref
acvs = 0.0
else:
acalt = altref + dH
tlosv = tlosh if tlosv is None else tlosv
acvs = vsref - np.sign(dH) * (abs(dH) - pzh) / tlosv
if spd:
# CAS or Mach provided: convert to groundspeed, assuming that
# wind at intruder position is similar to wind at ownship position
tas = tasref if spd is None else casormach2tas(spd, acalt)
tasn, tase = tas * cos(trk), tas * sin(trk)
wn, we = self.wind.getdata(latref, lonref, acalt)
gsn, gse = tasn + wn, tase + we
else:
# Groundspeed is the same as ownship
gsn, gse = gsref * cos(trk), gsref * sin(trk)
# Horizontal relative velocity vector
vreln, vrele = gsref * cos(trkref) - gsn, gsref * sin(trkref) - gse
# Relative velocity magnitude
vrel = sqrt(vreln * vreln + vrele * vrele)
# Relative travel distance to closest point of approach
drelcpa = tlosh * vrel + (0 if cpa > pzr else sqrt(pzr * pzr -
cpa * cpa))
# Initial intruder distance
dist = sqrt(drelcpa * drelcpa + cpa * cpa)
# Rotation matrix diagonal and cross elements for distance vector
rd = drelcpa / dist
rx = cpa / dist
# Rotate relative velocity vector to obtain intruder bearing
brn = degrees(atan2(-rx * vreln + rd * vrele, rd * vreln + rx * vrele))
# Calculate intruder lat/lon
aclat, aclon = geo.kwikpos(latref, lonref, brn, dist / nm)
# convert groundspeed to CAS, and track to heading using actual
# intruder position
wn, we = self.wind.getdata(aclat, aclon, acalt)
tasn, tase = gsn - wn, gse - we
acspd = tas2cas(sqrt(tasn * tasn + tase * tase), acalt)
achdg = degrees(atan2(tase, tasn))
# Create and, when necessary, set vertical speed
self.cre(acid, actype, aclat, aclon, achdg, acalt, acspd)
self.ap.selaltcmd(len(self.lat) - 1, altref, acvs)
self.vs[-1] = acvs
