WsfRotorcraftMover.hpp

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// ****************************************************************************
// CUI
//
// The Advanced Framework for Simulation, Integration, and Modeling (AFSIM)
//
// Copyright 2003-2015 The Boeing Company. All rights reserved.
//
// The use, dissemination or disclosure of data in this file is subject to
// limitation or restriction. See accompanying README and LICENSE for details.
// ****************************************************************************
// ****************************************************************************
// Updated by Infoscitex, a DCS Company.
// ****************************************************************************
 
#ifndef WSFROTORCRAFTMOVER_HPP
#define WSFROTORCRAFTMOVER_HPP
 
#include "UtControl.hpp"
#include "UtDCM.hpp"
class UtInput;
class UtInputBlock;
#include "wsf_export.h"
 
#include "UtPID_Controller.hpp"
#include "UtVec3dX.hpp"
#include "WsfIterativeRouteMover.hpp"
#include "WsfMoverMode.hpp"
#include "WsfWaypointPathGuidance.hpp"

 
class WSF_EXPORT WsfRotorcraftMover : public WsfIterativeRouteMover
{
public:
   WsfRotorcraftMover() = delete;
   WsfRotorcraftMover(WsfScenario& aScenario);
   WsfRotorcraftMover(const WsfRotorcraftMover& aRhs);
   WsfRotorcraftMover& operator=(const WsfRotorcraftMover&) = delete;
   ~WsfRotorcraftMover() override;
 
   WsfMover* Clone() const override;
   bool      Initialize(double aSimTime) override;
 
   // This is needed only for Data Logging infrastructure.
   // May be removed later as the algorithm becomes more mature.
   bool Initialize2(double aSimTime) override;
 
   bool ProcessInput(UtInput& aInput) override;
 
   WsfSpatialDomain GetSpatialDomain() const override { return WSF_SPATIAL_DOMAIN_AIR; }
 
   void SetMode(WsfStringId aModeId) override;
 
   void SetHeading(double aHeading) override;
 
   bool TurnToHeading(double aSimTime, double aHeading, double aRadialAccel, WsfPath::TurnDirection aTurnDirection) override;
 
   void SetOrientationNED(double aHeading, double aPitch, double aRoll) override;
 
   bool GoToLocation(double aSimTime, double aLatitude, double aLongitude, double aAltitude) override;
 
   bool GoToAltitude(double aSimTime, double aAltitude, double aClimbDiveRate, bool aKeepRoute) override;
 
   bool GoToSpeed(double aSimTime, double aSpeed, double aLinearAccel, bool aKeepRoute) override;
 
   bool Unpause(double aSimTime, bool aInterrupt) override;
 
   // ============= Begin Mode ===================
   class RotorcraftMode : public WsfMoverMode
   {
   public:
      static const double cNOT_SET;
 
      RotorcraftMode();
      RotorcraftMode(const RotorcraftMode& aSrc);
      RotorcraftMode& operator=(const RotorcraftMode&) = delete;
      ~RotorcraftMode() override                       = default;
 
      WsfMode* Clone() const override;
      bool     ProcessInput(UtInput& aInput) override;
 
      void Deselect(double aSimTime) override;
      void Select(double aSimTime) override;
 
      double mWeathercockSpeed;
      double mMaximumAttitudeRate;
      double mMinimumUpwardAccel; // "mast bumping" constraint m/s2
      double mBodyRatesGain;
      double mMaximumGroundSpeed;   // m/s
      double mMaximumRateOfClimb;   // m/s
      double mMaximumRateOfDescent; // m/s
      double mMaximumTotalAccel;    // m/s2
   };
   // ============= End Mode ===================
 
   // This struct is filled in directly purely
   // from WsfWaypointPathGuidance or Script-Provided values:
   struct LocalGuidance
   {
      LocalGuidance();
 
      double mTargetGroundSpeed;
      double mTargetCourseRad;
 
      double mTargetLatitude;
      double mTargetLongitude;
 
      double mTargetAltitude;
      double mTargetHeadingRad; // (Persistent.)
 
      bool mLatLonIsValid;
      bool mCmdSpeedIsZero;
   };
 
protected:
   void SetModeId_P(WsfStringId aModeId);
 
   bool SetLocalGuidance(double aSimTime);
 
   void SetSwitches(double aSimTime);
 
   void SetPositionHold(double aSimTime, bool aValue);
   void SetAltitudeHold(double aSimTime, bool aValue);
 
   void LocalUpdate(double aSimTime, bool& aMoved, bool& aAdvanceToNextWaypoint) override;
 
   bool ComputeAccel(double aCurrentRate, double aCurrentValue, double aTargetValue, double aCriticalAccel, double& aCriticalTime);
 
   void ExportMotionState();
 
   double MaximumGroundSpeed() const;
   double MaximumAcceleration() const;
   double MaximumClimbRate() const;
   double MaximumDescentRate() const;
   double MinimumUpwardAccel() const;
   double BodyRatesGain() const;
   double WeathercockSpeed() const;
   double MaximumBodyRate() const;
 
   unsigned int mFlightIndex;
 
   WsfStringId mStartModeId;
 
   bool mIsWeatherCocking;
   bool mNeedToClimb;
   bool mIsAltitudeHold;
   bool mIsPositionHold;

   std::vector<RotorcraftMode*> mRotorcraftModeList;
 
   LocalGuidance mLocalGuidance;
 
   double mLocalUpdateTime;
   double mCourseRad;
   double mAltErrToROC_Gain;
   double mFabsROC_Limit;
   double mHeadingRad;
   double mHeadingErrorRad;
   double mSouthAndEastTipTimeConstant;
   double mPosHoldCaptureRadius;
   double mDesiredAccelUp;
 
   UtVec3dX mDesiredAccelNED;
   UtVec3dX mDesiredVelNED;
 
   UtVec3dX mVelNED;   // Reference value (WCS is actual)
   UtVec3dX mAccelNED; // Reference Value (WCS is actual)
 
   UtVec3dX mNetAccelNED; // Does not include gravity
 
   UtVec3dX mNetAccelWCS; // *** Integrated Value (no gravity incl)
   UtVec3dX mPrevNetAccelWCS;
 
   UtVec3dX mVelWCS; // *** Integrated Value
   UtVec3dX mPrevVelWCS;
   UtVec3dX mLocWCS; // *** Integrated Value
   UtVec3dX mPrevLocWCS;
 
   UtVec3dX mNED_Error;
   UtVec3dX mVelNED_Error;
 
   // All lateral acceleration commands get sent through
   // a first order filter after coming from the PID.
   UtControl::TF_1V mSouthTipFilter;
   UtControl::TF_1V mEastTipFilter;
 
   UtDCM mDcmWCStoNED;
   UtDCM mDcmNEDtoDisk;
   UtDCM mDcmDiskToECS;
   UtDCM mDcmNEDtoECS;
 
   UtPID_Controller mNorthAccelValuePID;
   UtPID_Controller mEastAccelValuePID;
   UtPID_Controller mVerticalAccelValuePID;
   UtPID_Controller mNorthAccelRatePID;
   UtPID_Controller mEastAccelRatePID;
   UtPID_Controller mVerticalAccelRatePID;
 
   WsfWaypointPathGuidance* mWPP_GuidancePtr;
 
   RotorcraftMode* mModePtr;
 
   double mLatitudeDeg;
   double mLongitudeDeg;
   double mAltitude;
   double mAltitudeRate;
   double mGroundSpeed;
   double mAltitudeError;
   double mTimeToTargetAlt;
   double mDesiredROC;
   double mReductionRatio;
   double mDistToTgtLL;
   double mTimeToTgtLL;
};
 
#endif