floraachy/Nasal-Interpreter
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📝 update scripts

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This commit is contained in:
ValKmjolnir
2023-11-16 23:19:03 +08:00
parent a03739ebb2
commit 28a42346b7
72 changed files with 1285 additions and 1237 deletions
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test/auto_crash.nas
+14 -14
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@@ -10,30 +10,30 @@ var dt=0.01;
var intergral=0;
var derivative=0;
var previous_error=0;
var position_change = func(position_val,value){
if(position_val+value>180)
var position_change = func(position_val,value) {
if (position_val+value>180)
position_val += value-360;
else if(position_val+value<-180)
else if (position_val+value<-180)
position_val += value+360;
else
position_val += value;
return position_val;
}
var road_check_func = func(){
var road_check_func = func() {
var lat = props.getNode("/position/latitude-deg",1).getValue();
var lon = props.getNode("/position/longitude-deg",1).getValue();
var position_info = geodinfo(lat,lon);
var position_names = position_info[1].names;
if((position_names[0]=="Freeway") or (position_names[0]=="Road")){
if ((position_names[0]=="Freeway") or (position_names[0]=="Road")) {
var car_heading = 0;
var lat_change = 0;
var lon_change = 0;
var left_range = 0;
var right_range = 0;
for(var i=0;i>-0.00005;i-=0.000001){
for(var i=0;i>-0.00005;i-=0.000001) {
car_heading = props.getNode("/orientation/heading-deg",1).getValue();
lat_change = math.sin(D2R*car_heading);
lon_change = -math.cos(D2R*car_heading);
@@ -41,12 +41,12 @@ var road_check_func = func(){
lon = props.getNode("/position/longitude-deg",1).getValue()+0.0001*math.sin(D2R*car_heading);
var other_position_info = geodinfo(position_change(lat,i*lat_change),position_change(lon,i*lon_change));
var other_names = other_position_info[1].names;
if((other_names[0]=="Freeway") or (other_names[0]=="Road"))
if ((other_names[0]=="Freeway") or (other_names[0]=="Road"))
right_range += 1;
else
break;
}
for(var i=0;i<0.00005;i+=0.000001){
for(var i=0;i<0.00005;i+=0.000001) {
car_heading = props.getNode("/orientation/heading-deg",1).getValue();
lat_change = math.sin(D2R*car_heading);
lon_change = -math.cos(D2R*car_heading);
@@ -54,7 +54,7 @@ var road_check_func = func(){
lon = props.getNode("/position/longitude-deg",1).getValue()+0.0001*math.sin(D2R*car_heading);
var other_position_info = geodinfo(position_change(lat,i*lat_change),position_change(lon,i*lon_change));
var other_names = other_position_info[1].names;
if((other_names[0]=="Freeway") or (other_names[0]=="Road"))
if ((other_names[0]=="Freeway") or (other_names[0]=="Road"))
left_range+=1;
else
break;
@@ -64,9 +64,9 @@ var road_check_func = func(){
derivative=(error-previous_error)/dt;
var (Kp,Ki,Kd)=(1/900,0.05,0.005);
# print("change p ",Kp*error*error,' i ',Ki*intergral,' d ',Kd*derivative);
if(error<0)
if (error<0)
props.getNode("/", 1).setValue("/controls/flight/rudder",-Kp*error*error+Ki*intergral+Kd*derivative);
else if(error>0)
else if (error>0)
props.getNode("/", 1).setValue("/controls/flight/rudder",Kp*error*error+Ki*intergral+Kd*derivative);
else
props.getNode("/", 1).setValue("/controls/flight/rudder",0);
@@ -81,12 +81,12 @@ var road_check_func = func(){
};
var road_check_timer = maketimer(0.01,road_check_func);
var toggle_auto_pilot = func(){
if(!road_check_timer.isRunning){
var toggle_auto_pilot = func() {
if (!road_check_timer.isRunning) {
intergral=0;
road_check_timer.start();
props.getNode("/sim/messages/copilot",1).setValue('/',"ze dong sheng teaan see tong yee tse yung. Auto Sheng Teaan System Activated!");
}else{
} else {
road_check_timer.stop();
props.getNode("/sim/messages/copilot",1).setValue('/',"ze dong sheng teaan see tong yee guan bee. Auto Sheng Teaan System is off.");
}