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)
Execute step input on elevator and record step response in log
"""
from fgclient import FgClient
c = FgClient()
# require level flight to begin
vs = c.vertical_speed_fps()
if abs(vs) > 0.2:
raise ValueError('Vertical speed too large: ', vs)
# and require zero elevator
el = c.get_elevator()
if el != 0.0:
raise ValueError('Elevator not central: ', el)
c.ap_pitch_off()
time_step = 0.5
for kk in range(120):
c.tic()
vs = c.vertical_speed_fps()
if kk < 10:
el = 0.0
else:
el = -0.02
c.set_elevator(el)
print(kk, el, vs)
c.toc(0.5)
c.set_elevator(0.0)
c.ap_pitch_vs(0.0)
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()
c.ap_pitch_off()
from math import sin
kk = 0
while True:
kk += 1
c.tic()
vs = c.vertical_speed_fps()
print(vs)
c.set_elevator(0.75*sin(0.5*kk))
c.toc(0.5)
"""
Initial skeleton example: run a proportional controller
on the vertical speed, and look at a step response
"""
from fgclient import FgClient
c = FgClient()
# check zero elevator
el = c.get_elevator()
if el != 0.0:
raise ValueError('Elevator not central: ', el)
c.ap_pitch_off()
kk = 0
dt = 0.5
while True:
kk += 1
c.tic()
if kk > 10:
vs_des = 5.0
else:
vs_des = 0.0
vs = c.vertical_speed_fps()
c.set_elevator(-0.01 * (vs_des - vs))
print(vs)
c.toc(dt)
from fgclient import FgClient
c = FgClient()
c.ap_pitch_off()
initial_altitide = c.altitude_ft()
integral_error = 0.0
kk = 0
dt = 0.5
while True:
kk += 1
c.tic()
if kk > 10:
alt_des = initial_altitide + 100
else:
alt_des = initial_altitide
alt = c.altitude_ft()
vs_des = 0.03*(alt_des - alt)
vs = c.vertical_speed_fps()
integral_error = integral_error + dt*(vs_des - vs)
c.set_elevator(-0.014*((vs_des - vs) + 0.4*integral_error))
print(alt_des,alt,vs_des,vs)
c.toc(dt)
from fgclient import FgClient
c = FgClient()
c.ap_pitch_off()
kk = 0
error = 0
err_sum = 0
while True:
kk += 1
c.tic()
if kk > 10:
vs_des = 5.0
else:
vs_des = 0.0
vs = c.vertical_speed_fps()
error = vs_des - vs
err_sum += error
c.set_elevator(-0.03 * (error) - 0.005 * err_sum)
print(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)