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Howto:Implement a Fly-By-Wire System for Airliners: Difference between revisions
Howto:Implement a Fly-By-Wire System for Airliners (view source)
Revision as of 15:05, 7 February 2012
, 7 February 2012→/Nasal/fbw.nas: move elevator processing to separate method
m (→/Nasal/fbw.nas: use a vector of throttles instead) |
m (→/Nasal/fbw.nas: move elevator processing to separate method) |
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| Line 110: | Line 110: | ||
## Fix Damp Rate according to Framerate | ## Fix Damp Rate according to Framerate | ||
me.fpsfix = 1; | |||
if (getprop("/sim/frame-rate") != nil) fpsfix = 25 / getprop("/sim/frame-rate"); | if (getprop("/sim/frame-rate") != nil) me.fpsfix = 25 / getprop("/sim/frame-rate"); | ||
## Bank Limit Setting | ## Bank Limit Setting | ||
| Line 134: | Line 134: | ||
var aileronin = getprop(fcs~"aileron-cmd-norm"); | var aileronin = getprop(fcs~"aileron-cmd-norm"); | ||
me.elevatorin = getprop(fcs~"elevator-cmd-norm"); | |||
var rudderin = getprop(fcs~"rudder-cmd-norm"); | var rudderin = getprop(fcs~"rudder-cmd-norm"); | ||
| Line 140: | Line 140: | ||
var aileronout = getprop(fcs~"aileron-fbw-output"); | var aileronout = getprop(fcs~"aileron-fbw-output"); | ||
me.elevatorout = getprop(fcs~"elevator-fbw-output"); | |||
var rudderout = getprop(fcs~"rudder-fbw-output"); | var rudderout = getprop(fcs~"rudder-fbw-output"); | ||
| Line 185: | Line 185: | ||
if (((roll <= banklimit) and (roll >= -banklimit)) or (rolldir != ailerondir)) { | if (((roll <= banklimit) and (roll >= -banklimit)) or (rolldir != ailerondir)) { | ||
if (aileronin > aileronout) aileronout += 0.05 * fpsfix; | if (aileronin > aileronout) aileronout += 0.05 * me.fpsfix; | ||
if (aileronin < aileronout) aileronout -= 0.05 * fpsfix; | if (aileronin < aileronout) aileronout -= 0.05 * me.fpsfix; | ||
} else { | } else { | ||
| Line 196: | Line 196: | ||
if (roll > banklimit) me.targetaileron = -(roll - banklimit) * 0.025; | if (roll > banklimit) me.targetaileron = -(roll - banklimit) * 0.025; | ||
if (aileronout < me.targetaileron) aileronout += 0.025 * fpsfix; | if (aileronout < me.targetaileron) aileronout += 0.025 * me.fpsfix; | ||
if (aileronout > me.targetaileron) aileronout -= 0.025 * fpsfix; | if (aileronout > me.targetaileron) aileronout -= 0.025 * me.fpsfix; | ||
} | } | ||
me.update_elevator(); | |||
## AUTO-STABILIZATION | ## AUTO-STABILIZATION | ||
| Line 213: | Line 207: | ||
### Get the aircraft to maintain pitch and roll when stick is at the center | ### Get the aircraft to maintain pitch and roll when stick is at the center | ||
if ((elevatorin <= 0.1) and (elevatorin >= -0.1) and (aileronin <= 0.1) and (aileronin >= -0.1)) { | if ((me.elevatorin <= 0.1) and (me.elevatorin >= -0.1) and (aileronin <= 0.1) and (aileronin >= -0.1)) { | ||
if (me.stabilize == 0) { | if (me.stabilize == 0) { | ||
| Line 253: | Line 247: | ||
if (me.targetthrottle > throttles[0]) { | if (me.targetthrottle > throttles[0]) { | ||
throttles[0] += 0.001 * fpsfix; | throttles[0] += 0.001 * me.fpsfix; | ||
throttles[1] += 0.001 * fpsfix; | throttles[1] += 0.001 * me.fpsfix; | ||
} elsif (me.targetthrottle < throttles[0]) { | } elsif (me.targetthrottle < throttles[0]) { | ||
throttles[0] -= 0.001 * fpsfix; | throttles[0] -= 0.001 * me.fpsfix; | ||
throttles[1] -= 0.001 * fpsfix; | throttles[1] -= 0.001 * me.fpsfix; | ||
} | } | ||
| Line 265: | Line 259: | ||
if (throttles[0] <= me.throttleinit - 0.05) { | if (throttles[0] <= me.throttleinit - 0.05) { | ||
throttles[0] += 0.001 * fpsfix; | throttles[0] += 0.001 * me.fpsfix; | ||
throttles[1] += 0.001 * fpsfix; | throttles[1] += 0.001 * me.fpsfix; | ||
} elsif (throttles[0] > me.throttleinit + 0.05) { | } elsif (throttles[0] > me.throttleinit + 0.05) { | ||
throttles[0] -= 0.001 * fpsfix; | throttles[0] -= 0.001 * me.fpsfix; | ||
throttles[1] -= 0.001 * fpsfix; | throttles[1] -= 0.001 * me.fpsfix; | ||
} else me.turnthrottlefix = 0; | } else me.turnthrottlefix = 0; | ||
} | } | ||
| Line 276: | Line 270: | ||
if ((airspeedkt >= 250) and (altitudemsl <= 10000) and (throttles[0] != 0) and (throttles[1] != 0)) { | if ((airspeedkt >= 250) and (altitudemsl <= 10000) and (throttles[0] != 0) and (throttles[1] != 0)) { | ||
throttles[0] -= 0.001 * fpsfix; | throttles[0] -= 0.001 * me.fpsfix; | ||
throttles[1] -= 0.001 * fpsfix; | throttles[1] -= 0.001 * me.fpsfix; | ||
me.throttlefix = 1; | me.throttlefix = 1; | ||
} | } | ||
if ((me.throttlefix == 1) and (airspeedkt < 245) and (altitudemsl <= 10000) and (throttles[0] != 1) and (throttles[1] != 1)) { | if ((me.throttlefix == 1) and (airspeedkt < 245) and (altitudemsl <= 10000) and (throttles[0] != 1) and (throttles[1] != 1)) { | ||
throttles[0] += 0.001 * fpsfix; | throttles[0] += 0.001 * me.fpsfix; | ||
throttles[1] += 0.001 * fpsfix; | throttles[1] += 0.001 * me.fpsfix; | ||
} | } | ||
| Line 289: | Line 283: | ||
if ((airspeedkt >= 350) and (altitudemsl > 10000) and (throttles[0] != 0) and (throttles[1] != 0)) { | if ((airspeedkt >= 350) and (altitudemsl > 10000) and (throttles[0] != 0) and (throttles[1] != 0)) { | ||
throttles[0] -= 0.001 * fpsfix; | throttles[0] -= 0.001 * me.fpsfix; | ||
throttles[1] -= 0.001 * fpsfix; | throttles[1] -= 0.001 * me.fpsfix; | ||
me.throttlefix = 1; | me.throttlefix = 1; | ||
} | } | ||
if ((me.throttlefix == 1) and (airspeedkt < 340) and (altitudemsl > 10000) and (throttles[0] != 1) and (throttles[1] != 1)) { | if ((me.throttlefix == 1) and (airspeedkt < 340) and (altitudemsl > 10000) and (throttles[0] != 1) and (throttles[1] != 1)) { | ||
throttles[0] += 0.001 * fpsfix; | throttles[0] += 0.001 * me.fpsfix; | ||
throttles[1] += 0.001 * fpsfix; | throttles[1] += 0.001 * me.fpsfix; | ||
} | } | ||
| Line 302: | Line 296: | ||
if ((airspeedkt < 125) and (altitudeagl > 250) and (throttles[0] != 1) and (throttles[1] != 1)) { | if ((airspeedkt < 125) and (altitudeagl > 250) and (throttles[0] != 1) and (throttles[1] != 1)) { | ||
throttles[0] += 0.001 * fpsfix; | throttles[0] += 0.001 * me.fpsfix; | ||
throttles[1] += 0.001 * fpsfix; | throttles[1] += 0.001 * me.fpsfix; | ||
### Also help by pushing forward on the stick | ### Also help by pushing forward on the stick | ||
elevatorout += 0.02; | me.elevatorout += 0.02; | ||
} | } | ||
| Line 327: | Line 321: | ||
if (getprop("/controls/fbw/yaw-damper")) { | if (getprop("/controls/fbw/yaw-damper")) { | ||
if (rudderin > rudderout) rudderout += 0.05 * fpsfix; | if (rudderin > rudderout) rudderout += 0.05 * me.fpsfix; | ||
if (rudderin < rudderout) rudderout -= 0.05 * fpsfix; | if (rudderin < rudderout) rudderout -= 0.05 * me.fpsfix; | ||
} else { | } else { | ||
| Line 340: | Line 334: | ||
setprop(fcs~"aileron-fbw-output", aileronout); | setprop(fcs~"aileron-fbw-output", aileronout); | ||
setprop(fcs~"elevator-fbw-output", elevatorout); | setprop(fcs~"elevator-fbw-output", me.elevatorout); | ||
setprop(fcs~"rudder-fbw-output", rudderout); | setprop(fcs~"rudder-fbw-output", rudderout); | ||
| Line 353: | Line 347: | ||
setprop(fcs~"aileron-fbw-output", aileronin); | setprop(fcs~"aileron-fbw-output", aileronin); | ||
setprop(fcs~"elevator-fbw-output", elevatorin); | setprop(fcs~"elevator-fbw-output", me.elevatorin); | ||
setprop(fcs~"rudder-fbw-output", rudderin); | setprop(fcs~"rudder-fbw-output", rudderin); | ||
} | } | ||
}, | |||
update_elevator: func { | |||
## ELEVATOR CONTROLS | |||
if (me.elevatorin > me.elevatorout) me.elevatorout += 0.05 * me.fpsfix; | |||
if (me.elevatorin < me.elevatorout) me.elevatorout -= 0.05 * me.fpsfix; | |||
if ((me.elevatorin - me.elevatorout < 0.05) and (me.elevatorin - me.elevatorout > 0)) me.elevatorout += 0.01; | |||
if ((me.elevatorout - me.elevatorin < 0.05) and (me.elevatorin - me.elevatorout < 0)) me.elevatorout -= 0.01; | |||
}, | }, | ||
reset : func { | reset : func { | ||