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add stl & more efficient scope

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Valk Richard Li
2021-04-02 22:19:29 +08:00
parent 125fc8a9fe
commit c88620920b
21 changed files with 256 additions and 11154 deletions
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test/auto_crash.nas
+31 -28
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@@ -1,5 +1,8 @@
# Road check and auto pilot(??) by ValKmjolnir
# Road check and auto pilot by ValKmjolnir
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)
position_val += value-360;
@@ -10,12 +13,11 @@ var position_change = func(position_val,value){
return position_val;
}
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;
# the friction_factor of freeway runway and road is 1
if((position_names[0]=="Freeway") or (position_names[0]=="Road"))
{
@@ -24,14 +26,14 @@ var road_check_func = func(){
var lon_change = 0;
var left_range = 0;
var right_range = 0;
for(var i=0;i>-0.00005;i-=0.000001)
{
car_heading = props.getNode("/orientation/heading-deg",1).getValue();
lat_change = math.sin(math.pi*car_heading/180);
lon_change = -math.cos(math.pi*car_heading/180);
lat = props.getNode("/position/latitude-deg",1).getValue()+0.0001*math.cos(math.pi*car_heading/180);
lon = props.getNode("/position/longitude-deg",1).getValue()+0.0001*math.sin(math.pi*car_heading/180);
lat_change = math.sin(D2R*car_heading);
lon_change = -math.cos(D2R*car_heading);
lat = props.getNode("/position/latitude-deg",1).getValue()+0.0001*math.cos(D2R*car_heading);
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"))
@@ -42,10 +44,10 @@ var road_check_func = func(){
for(var i=0;i<0.00005;i+=0.000001)
{
car_heading = props.getNode("/orientation/heading-deg",1).getValue();
lat_change = math.sin(math.pi*car_heading/180);
lon_change = -math.cos(math.pi*car_heading/180);
lat = props.getNode("/position/latitude-deg",1).getValue()+0.0001*math.cos(math.pi*car_heading/180);
lon = props.getNode("/position/longitude-deg",1).getValue()+0.0001*math.sin(math.pi*car_heading/180);
lat_change = math.sin(D2R*car_heading);
lon_change = -math.cos(D2R*car_heading);
lat = props.getNode("/position/latitude-deg",1).getValue()+0.0001*math.cos(D2R*car_heading);
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"))
@@ -53,25 +55,26 @@ var road_check_func = func(){
else
break;
}
#if(left_range>right_range)
#{
# setprop("/controls/flight/rudder",-(right_range-left_range)*(right_range-left_range)/10000);
# print("right ",right_range);
#}
#else if(left_range<right_range)
#{
# setprop("/controls/flight/rudder",(right_range-left_range)*(right_range-left_range)/10000);
# print("left ",left_range);
#}
#else
# setprop("/controls/flight/rudder",0);
props.getNode("/controls/flight/rudder",1).setValue((right_range-left_range)/200);
var error=right_range-left_range;
intergral+=error*dt;
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)
props.getNode("/", 1).setValue("/controls/flight/rudder",-Kp*error*error+Ki*intergral+Kd*derivative);
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);
previous_error=error;
}
};
var road_check_timer = maketimer(0.1,road_check_func);
var road_check_timer = maketimer(0.01,road_check_func);
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!");
}
@@ -80,4 +83,4 @@ var toggle_auto_pilot = func(){
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.");
}
}
}