[Csp-commits] svn:csp r1524 - in trunk/CSP/CSPSim: . Data/XML/vehicles/aircraft/F16/DJ Tools/FlightControlSystem/F16

[<sv...@ww...>]

Author: mkrose
Date: 2005-04-27 23:22:44 -0700 (Wed, 27 Apr 2005)
New Revision: 1524

Modified:
   trunk/CSP/CSPSim/CHANGES.current
   trunk/CSP/CSPSim/Data/XML/vehicles/aircraft/F16/DJ/fcs.xml
   trunk/CSP/CSPSim/Tools/FlightControlSystem/F16/sensors.py
   trunk/CSP/CSPSim/Tools/FlightControlSystem/F16/yaw.py
Log:
Fix a small bug in the F16 yaw control circuit.  Stops rudder jitter.

Browse at: https://www.zerobar.net/viewcvs/viewcvs.cgi?view=rev&rev=1524

Modified: trunk/CSP/CSPSim/CHANGES.current
===================================================================
--- trunk/CSP/CSPSim/CHANGES.current	2005-04-28 05:36:56 UTC (rev 1523)
+++ trunk/CSP/CSPSim/CHANGES.current	2005-04-28 06:22:44 UTC (rev 1524)
@@ -37,6 +37,8 @@
  * Tweaked the m2k flight model slightly to allow the aircraft to reach
    higher AOA.  The new values are entirely ad-hoc.
 
+ * Fix a small bug in the F16 yaw control circuit.  Stops rudder jitter.
+
 2005-04-25: delta
  * Need to include a few headers to avoid a syntax error (g++ and vc++ don't
    manage forward class declaration equivalently).

Modified: trunk/CSP/CSPSim/Data/XML/vehicles/aircraft/F16/DJ/fcs.xml
===================================================================
--- trunk/CSP/CSPSim/Data/XML/vehicles/aircraft/F16/DJ/fcs.xml	2005-04-28 05:36:56 UTC (rev 1523)
+++ trunk/CSP/CSPSim/Data/XML/vehicles/aircraft/F16/DJ/fcs.xml	2005-04-28 06:22:44 UTC (rev 1524)
@@ -2,7 +2,7 @@
 <!-- 
      *** WARNING: THIS IS A GENERATED FILE ***
      Think twice before editing this file directly!
-     Generated from /b/mrose/projects/csp/CSP.cockpit/CSP/CSPSim/Tools/FlightControlSystem/F16 at Mon Apr 25 23:45:46 2005
+     Generated from /b/mrose/projects/csp/CSP.cockpit/CSP/CSPSim/Tools/FlightControlSystem/F16 at Wed Apr 27 23:08:32 2005
 -->
 <Object class="FlightControlSystem">
 	<List name="nodes">
@@ -179,13 +179,11 @@
 			<Float name="dlef_qbar_ps">-9.05</Float>
 		</Object>
 
-		<Object class="Adder3">
+		<Object class="Adder">
 			<Key name="id">dr</Key>
 			<Float name="gain_b">0.75</Float>
-			<Float name="gain_c">-0.5</Float>
 			<Key name="input_a">limited_yaw_command</Key>
 			<Key name="input_b">yaw_rate_f</Key>
-			<Key name="input_c">lateral_acceleration_compensation</Key>
 		</Object>
 
 		<Object class="LagFilter">
@@ -324,12 +322,6 @@
 			<String name="channel">Kinetics.AccelerationBody</String>
 		</Object>
 
-		<Object class="Scale">
-			<Key name="id">lateral_acceleration_compensation</Key>
-			<Float name="gain">1.97142857143</Float>
-			<Key name="input">lateral_acceleration</Key>
-		</Object>
-
 		<Object class="OutputChannel">
 			<Key name="id">leading_edge_deflection</Key>
 			<String name="channel">ControlSurfaces.LeadingEdgeDeflection</String>
@@ -542,6 +534,12 @@
 			<Float name="rate_limit_inc">1.0471975512</Float>
 		</Object>
 
+		<!-- Roll rate in radians/sec. -->
+		<Object class="InputVectorYChannel">
+			<Key name="id">roll_rate</Key>
+			<String name="channel">Kinetics.AngularVelocityBody</String>
+		</Object>
+
 		<Object class="OutputChannel">
 			<Key name="id">rudder_deflection</Key>
 			<String name="channel">ControlSurfaces.RudderDeflection</String>

Modified: trunk/CSP/CSPSim/Tools/FlightControlSystem/F16/sensors.py
===================================================================
--- trunk/CSP/CSPSim/Tools/FlightControlSystem/F16/sensors.py	2005-04-28 05:36:56 UTC (rev 1523)
+++ trunk/CSP/CSPSim/Tools/FlightControlSystem/F16/sensors.py	2005-04-28 06:22:44 UTC (rev 1524)
@@ -33,9 +33,9 @@
 	"""Pitch rate in radians/sec."""
 	channel = "Kinetics.AngularVelocityBody"
 
-#class roll_rate(InputVectorYChannel):
-#	"""Roll rate in radians/sec."""
-#	channel = "Kinetics.AngularVelocityBody"
+class roll_rate(InputVectorYChannel):
+	"""Roll rate in radians/sec."""
+	channel = "Kinetics.AngularVelocityBody"
 
 class yaw_rate(InputVectorZChannel):
 	"""Yaw rate in radians/sec."""

Modified: trunk/CSP/CSPSim/Tools/FlightControlSystem/F16/yaw.py
===================================================================
--- trunk/CSP/CSPSim/Tools/FlightControlSystem/F16/yaw.py	2005-04-28 05:36:56 UTC (rev 1523)
+++ trunk/CSP/CSPSim/Tools/FlightControlSystem/F16/yaw.py	2005-04-28 06:22:44 UTC (rev 1524)
@@ -21,18 +21,42 @@
 	input = "yaw_rate"
 	gain = RadiansToDegrees
 
-class dr(Adder3):
+class dr(Adder):
 	input_a = "limited_yaw_command"
 	input_b = "yaw_rate_f"
-	input_c = "lateral_acceleration_compensation"
 	gain_b = 0.75
-	gain_c = -0.5
 
 class dr_f(LagFilter):
 	input = "dr"
 	a = 20.2
 
-class lateral_acceleration_compensation(Scale):
-	input = "lateral_acceleration"
-	gain = 19.32 / 9.8  # in g's
+# TODO aoa >= 29 deg
+"""
+class roll_to_yaw_factor(Multiply):
+	input_a = roll_rate  # rad/s
+	input_b = alpha_f    # deg
 
+class yaw_roll_target(Adder):
+	input_a = "yaw_rate"
+	input_b = "roll_to_yaw_factor"
+	gain_a = RadiansToDegrees
+	gain_b = -1.0
+
+class yaw_roll_target_f(LeadLagFilter):
+	input = "yaw_roll_target"
+	a = 15.0
+	b = 5.0
+	c = 3.0
+
+class yaw_roll_target_f2(LeadFilter):
+	input = "yaw_roll_target_f"
+	gain = 1.5
+	a = 1.0
+
+class yaw_target(Adder3):
+	input_a = "yaw_roll_target_f2"
+	input_b = "lateral_acceleration"
+	input_c = "zero" # TODO
+	gain_a = 0.5
+	gain_b = 0.5 * 19.32 / 9.8  # in g's
+"""