num = 0 # var. is used to create numbers for plains
print('====Hello====')
print('Lets create a plain')
while check == 'y': # main cycle
answ1 = input('what kind of plain will be created ? (pass/mil)'
) # user select type of plain
while answ1 != 'pass' and answ1 != 'mil':
answ1 = input('try again.. (pass/mil)')
if answ1 == 'pass' and answ1 == 'mil':
break
answ2 = input(
'what color of plain will you select ?') # user select color of plain
num += 1 # generation number of plain
if answ1 == 'pass': # info collected from user is used to create objects
p = PassPlain(num, answ2) # p is instance of PassPlain class
print(p)
status = p.status
else:
m = MilPlain(num, answ2) # m is instance of MIlPlain class
print(m)
status = m.status
Pilot(status)
check = input('One more plain ? (y/n)')
if check == 'n':
break
def __init__(self, navdb):
self.wind = WindSim()
# Define the periodic loggers
# ToDo: explain what these line sdo in comments (type of logs?)
datalog.definePeriodicLogger('SNAPLOG', 'SNAPLOG logfile.',
settings.snapdt)
datalog.definePeriodicLogger('INSTLOG', 'INSTLOG logfile.',
settings.instdt)
datalog.definePeriodicLogger('SKYLOG', 'SKYLOG logfile.',
settings.skydt)
with RegisterElementParameters(self):
# Register the following parameters for logging
with datalog.registerLogParameters('SNAPLOG', self):
# Aircraft Info
self.id = [] # identifier (string)
self.type = [] # aircaft type (string)
# Positions
self.lat = np.array([]) # latitude [deg]
self.lon = np.array([]) # longitude [deg]
self.alt = np.array([]) # altitude [m]
self.hdg = np.array([]) # traffic heading [deg]
self.trk = np.array([]) # track angle [deg]
# Velocities
self.tas = np.array([]) # true airspeed [m/s]
self.gs = np.array([]) # ground speed [m/s]
self.gsnorth = np.array([]) # ground speed [m/s]
self.gseast = np.array([]) # ground speed [m/s]
self.cas = np.array([]) # calibrated airspeed [m/s]
self.M = np.array([]) # mach number
self.vs = np.array([]) # vertical speed [m/s]
# Atmosphere
self.p = np.array([]) # air pressure [N/m2]
self.rho = np.array([]) # air density [kg/m3]
self.Temp = np.array([]) # air temperature [K]
self.dtemp = np.array([]) # delta t for non-ISA conditions
# Traffic autopilot settings
self.aspd = np.array([]) # selected spd(CAS) [m/s]
self.aptas = np.array([]) # just for initializing
self.ama = np.array(
[]) # selected spd above crossover altitude (Mach) [-]
self.apalt = np.array([]) # selected alt[m]
self.avs = np.array([]) # selected vertical speed [m/s]
# Whether to perform LNAV and VNAV
self.swlnav = np.array([], dtype=np.bool)
self.swvnav = np.array([], dtype=np.bool)
# Flight Models
self.asas = ASAS(self)
self.ap = Autopilot(self)
self.pilot = Pilot(self)
self.adsb = ADSB(self)
self.trails = Trails(self)
self.actwp = ActiveWaypoint(self)
# Traffic performance data
self.avsdef = np.array(
[]) # [m/s]default vertical speed of autopilot
self.aphi = np.array([]) # [rad] bank angle setting of autopilot
self.ax = np.array(
[]) # [m/s2] absolute value of longitudinal accelleration
self.bank = np.array([]) # nominal bank angle, [radian]
self.hdgsel = np.array(
[], dtype=np.bool) # determines whether aircraft is turning
# Crossover altitude
self.abco = np.array([])
self.belco = np.array([])
# limit settings
self.limspd = np.array([]) # limit speed
self.limspd_flag = np.array(
[], dtype=np.bool
) # flag for limit spd - we have to test for max and min
self.limalt = np.array([]) # limit altitude
self.limvs = np.array(
[]) # limit vertical speed due to thrust limitation
self.limvs_flag = np.array([])
# Display information on label
self.label = [] # Text and bitmap of traffic label
# Miscallaneous
self.coslat = np.array([]) # Cosine of latitude for computations
self.eps = np.array([]) # Small nonzero numbers
# Default bank angles per flight phase
self.bphase = np.deg2rad(np.array([15, 35, 35, 35, 15, 45]))
self.reset(navdb)
from pilot import Pilot
if __name__ == '__main__':
p = Pilot()
p.drone.land()
p.drone.halt()
#!/usr/bin/env python3
# Author: Kari Lavikka
import math
from ev3dev.ev3 import *
from time import sleep
from pilot import Pilot
if __name__ == "__main__":
print("Kukkuu")
pilot = Pilot(4.25, 14.2, LargeMotor("outA"), LargeMotor("outB"))
ir = InfraredSensor()
assert ir.connected, "Connect a single infrared sensor to any sensor port"
ir.mode = 'IR-PROX'
btn = Button()
wall_distance = ir.value()
print("Initial wall distance: " + str(wall_distance))
pilot.travel_indefinitely()
last_blocked = pilot.get_travelled_distance()
previous_print = -10000000
while True:
wall_distance = ir.value()
def execute(self):
if self.process and self.execute:
pilot = Pilot(self.device.base_url())
pilot.inject(self.process, self.command)
else:
raise JobExecutionError("Process or command missing")
