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Re: [Flightgear-devel] GPSS : GPS with Steering Capability
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From: Scott H. <sco...@pl...> - 2013-10-30 09:00:29
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Something that has not been discussed yet, the route plan *may* have a fly-over or fly-by constraint on the waypoint. I assume this would change the default (un-constrained) behaviour to fly-by. S. On Mon, 2013-10-28 at 12:35 +0100, Dirk Dittmann wrote: > Am Montag, 28. Oktober 2013, 11:20:25 schrieb James Turner: > > On 28 Oct 2013, at 10:46, Dirk Dittmann <dir...@gm...> wrote: > > > In sort anticipate the turns between the current leg and the next. With a > > > defined turn rate. Give all needed properties to the AP to drive the run > > > to end up on the next leg. > > > > > > there is not much time left for feature-freeze 3.0 so comments are > > > welcome. > > > > > > an snapshot can be found: > > > > > https://gitorious.org/fg/dirks-flightgear/source/0e3724d4e886cb9071b4447ca29ab99dc7dcf88f: > > We should get cleaned up version of this into next (maybe with an #ifdef) - > > can you rebase & squash this and then I'll pull? > > > ATM > > > > > > The property tree looks like: > > > > > > instrumentation/gps/gpss/ # outputs for AP(only in turn) > > > . in-turn = 0 (BOOL, T, #2) > > > . target-course-true-deg = 0 (DOUBLE, T, #2) > > > . target-turn-rate-degps = 0 (DOUBLE, T, #2) > > > . target-bank-angle-deg = 0 (DOUBLE, T, #1) # not yet > > > . cross-track-error-nm = 0 (DOUBLE, T, #1) > > > . course-deviation-deg = 0 (DOUBLE, T, #1) > > > > > > instrumentation/gps/gpss/config/ > > > . . enabled = 1 (BOOL, T, #1) # main switch for gpss > > > . . turn-look-ahead-sec = 0 (DOUBLE, T, #1) # all computation sec > > > ahead ? . . turn-rate-degps = 3.0 (DOUBLE, T, #1) # max turnrate > > > . . turn-rate-dynamic = 0 (BOOL, T, #1) # 0-max trunrate linear > to > > > turnangle (0-135) > > > . . bank-angle-deg = 0 (DOUBLE, T, #1) # max not yet > > > > > > > > > The code-flow goes like this: > > > > > > Routemanager switches next waypoint. > > > The Waypointcontroller gets active decides to anticipate the next-turn. > > > The gps internal gpss computes the next-turn. When reaching the start the > > > gpss saves the turn data and ask the waypoint controller to switch to the > > > next waypoint. When the waypoint is sequenced the gpss starts the turn. > > > > > > a new Waypointcontroller gets active decides to anticipate the next-turn > > > and waiting for the active-turn end. > > > > > > The gpss is continuously computing the next turn to check passing the > > > start of the next turn. If reaching the next turn start before the active > > > turn ends the waypoint controller is ask for seqencing next waypoint . > > > > > > > > > from aircraft view: > > > > > > flying in leg mode the AP should listen to the properties in > > > /instrumentation/gps/wp/wp1 > > > > > > when instrumentation/gps/gpss/in-turn gets true > > > listen to instrumentation/gps/gpss/ and fly the turn > > > > As said earlier, I really don't want the GPSS distinction exposed to > > properties, the GPS property interface is unfortunately confusing enough, I > > don't think adding more folders helps. I would prefer: > > > > - add all the configuration to gps/config > > - add the outputs to gps/ > > - define a config variables which says if we automatically drive > > gps/desired-course-deg when in a turn, or if the AP needs to watch > > gps/in-turn and instead use > > gps/<whatever-the-turn-course-property-is-called> > > > > Reading the course from gps/wp/wp1 is only supported for compatibility, most > > newer APs are hopefully using gps/desired-course-deg already. > yes that's the goal i will rework this , i described the snapshot atm > > > > Regards, > > James > > > > > > ---------------------------------------------------------------------------- > > -- October Webinars: Code for Performance > > Free Intel webinars can help you accelerate application performance. > > Explore tips for MPI, OpenMP, advanced profiling, and more. Get the most > > from the latest Intel processors and coprocessors. See abstracts and > > register > > > http://pubads.g.doubleclick.net/gampad/clk?id=60135991&iu=/4140/ostg.clktrk > > _______________________________________________ > > Flightgear-devel mailing list > > Fli...@li... > > https://lists.sourceforge.net/lists/listinfo/flightgear-devel > > > ------------------------------------------------------------------------------ > October Webinars: Code for Performance > Free Intel webinars can help you accelerate application performance. > Explore tips for MPI, OpenMP, advanced profiling, and more. Get the most from > the latest Intel processors and coprocessors. See abstracts and register > > http://pubads.g.doubleclick.net/gampad/clk?id=60135991&iu=/4140/ostg.clktrk > _______________________________________________ > Flightgear-devel mailing list > Fli...@li... > https://lists.sourceforge.net/lists/listinfo/flightgear-devel |