c.ap_pitch_off()
# compensator definition
comp_a = 0.9950124791926824
comp_b = 0.4987520807317687
comp_c = 0.09000000000000001
comp_d = 1.0
x_comp = 0.0 # initial internal state
kk = 0
dt = 0.5
for kk in range(120):
c.tic()
if kk > 10:
vs_des = 5.0
else:
vs_des = 0.0
vs = c.vertical_speed_fps()
err = vs_des - vs
# update compensator
y_comp = comp_c * x_comp + comp_d * err
x_comp = comp_a * x_comp + comp_b * err
# apply feedback
c.set_elevator(-0.005 * y_comp) # with compensator
#c.set_elevator(-0.005*err) # without compensator
print(vs)
c.toc(dt)
c.ap_pitch_vs(0.0)
from fgclient import FgClient
c = FgClient()
a_des = c.altitude_ft() + 100.0
int_err = 0.0
kk = 0
while True:
kk += 1
c.tic()
a = c.altitude_ft()
vs_des = 0.05 * (a_des - a)
vs = c.vertical_speed_fps()
err = (vs_des - vs)
int_err += 0.5 * err
c.set_elevator(-0.04 * err - 0.02 * int_err)
print(a_des, a, vs_des, vs)
c.toc(0.5)
Start up and take off from simulator reset
"""
from fgclient import FgClient
c = FgClient()
c.set_prop('/controls/engines/engine/magnetos', 3)
c.set_prop('/controls/engines/engine/throttle', 0.75)
c.set_prop('/controls/gear/brake-parking', 0)
c.set_prop('/sim/hud/visibility[0]', 1)
c.set_aileron(0.0)
c.set_elevator(0.0)
c.set_prop('/controls/engines/engine/starter', 1)
for kk in range(30):
c.tic()
sp = c.get_prop_float('/velocities/airspeed-kt')
print(sp)
if sp > 50:
c.set_elevator(-0.1)
c.toc(1.0)
for kk in range(30):
c.tic()
alt = c.altitude_ft()
print(alt)
if alt > 200:
c.set_elevator(0.0)
c.ap_roll_hdg(180)
c.ap_pitch_vs(10)
c.toc(1.0)