uavsim.flightdynamicsmodel
Class AircraftModelController

java.lang.Object
  uavsim.flightdynamicsmodel.AircraftModelController

public class AircraftModelController
extends java.lang.Object

Defines the basic inputs to the control surfaces of the aircraft, which in turn modify its state with respect to the flight-dynamics model.

Author:

Dan Tappan [21.08.11]

Field Summary

private java.util.Queue<HistoryEntry<SevenDOFDescriptor>>	_DOFHistory the restricted-length history queue for the degree-of-freedom state at each simulation update
private AircraftModel	_model the aircraft model
private static int	HISTORY_WINDOW_LENGTH the number of history entries in the averaging window
static double	THRUST_DELTA the step for incrementing and decrementing the thrust
static double	THRUST_MAX the maximum thrust in RPM
static double	THRUST_MIN the minimum thrust in RPM

Constructor Summary

AircraftModelController(AircraftModel model)
Creates a controller for the aircraft.

Method Summary

(package private) void	addHistoryEntry() Records the current degree-of-freedom state containing 3D coordinate and attitude.
boolean	areFlapsExtended() Returns whether the flaps are fully extended.
Course	determineCourse() Calculates the current course as the average change of latitude and longitude over the history window.
void	determinePositionAcceleration() Calculates the change in position in zzz per second squared as the average over the history window.
void	determinePositionVelocity() Calculates the change in position in zzz per second as the average over the history window.
void	doAileronsDownUp() Deflects the port and starboard ailerons down and up a full 15 degrees, respectively.
void	doAileronsNeutral() Neutralizes the ailerons to 0 degrees.
void	doAileronsUpDown() Deflects the port and starboard ailerons up and down a full 15 degrees, respectively.
void	doAllInputsNeutral() Neutralizes the rudder, ailerons, and elevator.
void	doElevatorDown() Deflects the elevator down a full 15 degrees.
void	doElevatorNeutral() Neutralizes the elevator to 0 degrees.
void	doElevatorUp() Deflects the elevator up a full 15 degrees.
void	doFlapsExtend() Extends the flaps to a full 15 degrees.
void	doFlapsRetract() Retracts the flaps to 0 degrees.
void	doRudderLeft() Deflects the rudder left a full 15 degrees.
void	doRudderNeutral() Neutralizes the rudder right to 0 degrees.
void	doRudderRight() Deflects the rudder right a full 15 degrees.
void	doThrustDecrease() Decreases the thrust by THRUST_DELTA down to THRUST_MIN.
void	doThrustIncrease() Increases the thrust by THRUST_DELTA up to THRUST_MAX.
void	export(java.io.BufferedWriter outfile, boolean isHeaderIncluded) Exports the state of the model to a text file.
private java.lang.String	format(double value) Formats a number to four decimal places.
Airspeed	getAirspeed() Returns the airspeed.
SevenDOFDescriptor	getDOFDescriptor() Determines the current degree-of-freedom state.
double	getLiftCoefficient() Returns the current coefficient of lift.
AircraftModel	getModel() Returns the aircraft model.
AircraftRigidBody	getRigidBody() Returns a copy of the rigid body.
RevolutionsPerMinute	getRPM() Returns the current thrust as an absolute value on the interval [THRUST_MIN,THRUST_MAX].
int	getStepNumber() Returns the current simulation step number.
double	getThrustAbsolute() Returns the current thrust as an absolute value on the interval [THRUST_MIN,THRUST_MAX].
double	getThrustRelative() Returns the current thrust as a relative value on the interval [0,1], which corresponds to 0 to 100%.
Vector	getThrustVector() Returns the 3D vector of the thrust.
Time	getTimeAbsolute() Returns the absolute simulation time.
Time	getTimeRelative() Returns the relative simulation time since the last update.
boolean	isStalled() Returns whether the aircraft is fully stalled.
boolean	isStalling() Returns whether the aircraft is approaching a stall.
void	printState() Prints the state of the model to standard output.
void	setThrustAbsolute(double thrust) Sets the current thrust as an absolute value on the interval [THRUST_MIN,THRUST_MAX].
void	setThrustRelative(double thrustRatio) Set the current thrust as a relative value on the interval [0,1], which corresponds to 0 to 100%.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

_DOFHistory

private final java.util.Queue<HistoryEntry<SevenDOFDescriptor>> _DOFHistory

the restricted-length history queue for the degree-of-freedom state at each simulation update

_model

private final AircraftModel _model

the aircraft model

HISTORY_WINDOW_LENGTH

private static final int HISTORY_WINDOW_LENGTH

the number of history entries in the averaging window

See Also:

Constant Field Values

THRUST_DELTA

public static final double THRUST_DELTA

the step for incrementing and decrementing the thrust

See Also:

Constant Field Values

THRUST_MAX

public static final double THRUST_MAX

the maximum thrust in RPM

See Also:

Constant Field Values

THRUST_MIN

public static final double THRUST_MIN

the minimum thrust in RPM

See Also:

Constant Field Values

Constructor Detail

AircraftModelController

public AircraftModelController(AircraftModel model)

Creates a controller for the aircraft.

Parameters:

model - - the aircraft model

Method Detail

addHistoryEntry

void addHistoryEntry()

Records the current degree-of-freedom state containing 3D coordinate and attitude.

areFlapsExtended

public boolean areFlapsExtended()

Returns whether the flaps are fully extended.
Proportional control is not implemented yet.

Returns:

the state

determineCourse

public Course determineCourse()

Calculates the current course as the average change of latitude and longitude over the history window.

Returns:

the course, with a default of north if no history is available yet

determinePositionAcceleration

public void determinePositionAcceleration()

Calculates the change in position in zzz per second squared as the average over the history window.

determinePositionVelocity

public void determinePositionVelocity()

Calculates the change in position in zzz per second as the average over the history window.

doAileronsDownUp

public void doAileronsDownUp()

Deflects the port and starboard ailerons down and up a full 15 degrees, respectively.
Proportional control is not implemented yet.

doAileronsNeutral

public void doAileronsNeutral()

Neutralizes the ailerons to 0 degrees.
Proportional control is not implemented yet.

doAileronsUpDown

public void doAileronsUpDown()

Deflects the port and starboard ailerons up and down a full 15 degrees, respectively.
Proportional control is not implemented yet.

doAllInputsNeutral

public void doAllInputsNeutral()

Neutralizes the rudder, ailerons, and elevator.

doElevatorDown

public void doElevatorDown()

Deflects the elevator down a full 15 degrees. The model defines the elevator as two control surfaces, but for semantic consistency, they are referred to in the singular because they always operate synchronized as one surface.
Proportional control is not implemented yet.

doElevatorNeutral

public void doElevatorNeutral()

Neutralizes the elevator to 0 degrees. The model defines the elevator as two control surfaces, but for semantic consistency, they are referred to in the singular because they always operate synchronized as one surface.
Proportional control is not implemented yet.

doElevatorUp

public void doElevatorUp()

Deflects the elevator up a full 15 degrees. The model defines the elevator as two control surfaces, but for semantic consistency, they are referred to in the singular because they always operate synchronized as one surface.
Proportional control is not implemented yet.

doFlapsExtend

public void doFlapsExtend()

Extends the flaps to a full 15 degrees.
Proportional or multi-position flaps are not implemented yet.

doFlapsRetract

public void doFlapsRetract()

Retracts the flaps to 0 degrees.
Proportional or multi-position flaps are not implemented yet.

doRudderLeft

public void doRudderLeft()

Deflects the rudder left a full 15 degrees.
Proportional or multi-position flaps are not implemented yet.

doRudderNeutral

public void doRudderNeutral()

Neutralizes the rudder right to 0 degrees.
Proportional or multi-position flaps are not implemented yet.

doRudderRight

public void doRudderRight()

Deflects the rudder right a full 15 degrees.
Proportional or multi-position flaps are not implemented yet.

doThrustDecrease

public void doThrustDecrease()

Decreases the thrust by THRUST_DELTA down to THRUST_MIN.

doThrustIncrease

public void doThrustIncrease()

Increases the thrust by THRUST_DELTA up to THRUST_MAX.

export

public void export(java.io.BufferedWriter outfile,
                   boolean isHeaderIncluded)
            throws java.io.IOException

Exports the state of the model to a text file.

Parameters:

outfile - - the outfile file

isHeaderIncluded - - whether to export the field headers first

Throws:

java.io.IOException - - if the export file cannot be written to

format

private java.lang.String format(double value)

Formats a number to four decimal places.

Parameters:

value - - the value

Returns:

the formatted value

getAirspeed

public Airspeed getAirspeed()

Returns the airspeed.

Returns:

the airspeed

getDOFDescriptor

public SevenDOFDescriptor getDOFDescriptor()

Determines the current degree-of-freedom state. The position and attitude are based directly on the latest update; the course is derived from the average change in position over the history window. If there is no history, course defaults to north.

Returns:

the descriptor

getLiftCoefficient

public double getLiftCoefficient()

Returns the current coefficient of lift.

Returns:

the coefficient

getModel

public AircraftModel getModel()

Returns the aircraft model.

Returns:

the model

getRigidBody

public AircraftRigidBody getRigidBody()

Returns a copy of the rigid body.

Returns:

the body

getRPM

public RevolutionsPerMinute getRPM()

Returns the current thrust as an absolute value on the interval [THRUST_MIN,THRUST_MAX]. xxx need set

Returns:

the thrust

getStepNumber

public int getStepNumber()

Returns the current simulation step number.

Returns:

the number

getThrustAbsolute

public double getThrustAbsolute()

Returns the current thrust as an absolute value on the interval [THRUST_MIN,THRUST_MAX].

Returns:

the thrust

getThrustRelative

public double getThrustRelative()

Returns the current thrust as a relative value on the interval [0,1], which corresponds to 0 to 100%.

Returns:

the thrust

getThrustVector

public Vector getThrustVector()

Returns the 3D vector of the thrust.

Returns:

the vector

getTimeAbsolute

public Time getTimeAbsolute()

Returns the absolute simulation time.

Returns:

the time in seconds

getTimeRelative

public Time getTimeRelative()

Returns the relative simulation time since the last update. This is based on the delta-time argument supplied to the update, not on any real-time clock.

Returns:

the time in seconds

isStalled

public boolean isStalled()

Returns whether the aircraft is fully stalled. If any of the lifting surfaces has a zero coefficient of lift, a full stall is assumed. There is no partial-stall condition, which precludes realistic spins.

Returns:

the state

isStalling

public boolean isStalling()

Returns whether the aircraft is approaching a stall. If any of the lifting surfaces has a coefficient of lift near zero, an imminent stall is assumed.

Returns:

the state

See Also:

AircraftModel.IMMINENT_STALL_LIFT_COEFFICIENT

printState

public void printState()

Prints the state of the model to standard output.

setThrustAbsolute

public void setThrustAbsolute(double thrust)

Sets the current thrust as an absolute value on the interval [THRUST_MIN,THRUST_MAX].

Parameters:

thrust - - the thrust

setThrustRelative

public void setThrustRelative(double thrustRatio)

Set the current thrust as a relative value on the interval [0,1], which corresponds to 0 to 100%.

Parameters:

thrustRatio - - the thrust ratio