class Actuator:
# class for the control surface actuator
def __init__(self, max, servo_to_hinge, rate):
self.max = max # max min limit of the FINAL control surface deflection in degrees (e.g. 30 degrees of aileron deflection is +-15 deg)
self.in_to_servo = 1000 / 175 # ratio of input channel to the corresponding servo deflection in degrees (in our case 1000 equals ~170-175 deg)
self.servo_to_hinge = servo_to_hinge # ratio of the servo deflection in degrees to the corresponding control surface deflection, depends on the mechanical arrangement
self.rate = rate # target deflection speed of the control surface in deg / s
self.output = 0 # set to zero to initialise
self.antiAliasing = LowPassFilter(
1,
0.05) # anti-wonkifying smoothing of the input signal to the servo
def step(
self, stick_input, sas_input, dt
): #stick_input is in 0 to 1000 whereas sas_input is stability augmentation input in degrees corresponding to the surface deflection
max_1 = self.max * self.servo_to_hinge * self.in_to_servo
stick_input_1 = mapInput(stick_input, 0, 1000, 0, max_1)
rate_1 = self.rate * self.servo_to_hinge * self.in_to_servo
sas_to_in = sas_input * self.servo_to_hinge * self.in_to_servo
input_1 = self.antiAliasing.step(
limit(stick_input_1 + sas_to_in, max_1, 0), dt)
self.output = limitByRate(input_1, self.output, rate_1, dt)
return self.output
