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Howto:Implement pushback: Difference between revisions
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→Systems/pushback.xml: make sure the force follows the truck's heading
m (moved Howto: Implement pushback to Howto:Implement pushback: Robot: Moved page) |
(→Systems/pushback.xml: make sure the force follows the truck's heading) |
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=== Systems/pushback.xml === | === Systems/pushback.xml === | ||
Create the following directory, if not present <tt>[[$FG ROOT]]/Aircraft/.../Systems</tt> and create a file named pushback.xml with the following content: | Create the following directory, if not present <tt>[[$FG ROOT]]/Aircraft/.../Systems</tt> and create a file named pushback.xml with the following content: | ||
<syntaxhighlight lang="xml"> | |||
<?xml version='1.0' encoding='UTF-8' ?> | <?xml version='1.0' encoding='UTF-8' ?> | ||
<system name="pushback"> | <system name="pushback"> | ||
| Line 49: | Line 49: | ||
<output>external_reactions/pushback/magnitude</output> | <output>external_reactions/pushback/magnitude</output> | ||
</switch> | </switch> | ||
<fcs_function name="external_reactions/pushback/x"> | |||
<function> | |||
<cos> | |||
<toradians><property>fcs/steer-pos-deg[0]</property></toradians> | |||
</cos> | |||
</function> | |||
</fcs_function> | |||
<fcs_function name="external_reactions/pushback/y"> | |||
<function> | |||
<sin> | |||
<toradians><property>fcs/steer-pos-deg[0]</property></toradians> | |||
</sin> | |||
</function> | |||
</fcs_function> | |||
</channel> | </channel> | ||
</system> | </system> | ||
</syntaxhighlight> | |||
This is the "cruise control" for the pushback truck. You define the cruise speed at the dialog and the controller varies the external force in a way that the actual speed matches your given value. The working horses here are the summer, which compares actual and reference speed, and the PID controller which calculates the resulting force. A basic description is: "the more actual and reference speed differ, the more force is applied (kp) plus the more time passes until the reference speed is reached, the more force is applied (ki)". The switches check, if the pushback truck is actually linked to the aircraft. | This is the "cruise control" for the pushback truck. You define the cruise speed at the dialog and the controller varies the external force in a way that the actual speed matches your given value. The working horses here are the summer, which compares actual and reference speed, and the PID controller which calculates the resulting force. A basic description is: "the more actual and reference speed differ, the more force is applied (kp) plus the more time passes until the reference speed is reached, the more force is applied (ki)". The switches check, if the pushback truck is actually linked to the aircraft. | ||