WSF
Public Member Functions | Protected Member Functions | List of all members
wsf::six_dof::RigidBodyCommonController Class Reference

#include <WsfRigidBodySixDOF_CommonController.hpp>

Inheritance diagram for wsf::six_dof::RigidBodyCommonController:
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Public Member Functions

 RigidBodyCommonController ()=default
 RigidBodyCommonController (UtInput &aInput, const std::string &aCommand)
 ~RigidBodyCommonController ()=default
RigidBodyCommonController & operator= (const RigidBodyCommonController &other)=delete
RigidBodyCommonController * Clone () const
void ReadSupportFile (const std::string &aFilename)
void Update (sAutopilotControls &aControls, int64_t aSimTime_nanosec) override
void SetParentVehicle (Mover *aVehicle) override
void SetTaxiMode (bool aTaxiModeActive)
bool GetTaxiMode () const
void SetDesiredTaxiRadius (double aTaxiRadius_ft)
bool GetStickForZeroMomentVsMachAlpha (double aMach, double aAlpha_rad, double aThrottleSetting, double &aStickBack) const
bool UseSimpleYawDamper () const
Public Member Functions inherited from wsf::six_dof::CommonController
 CommonController ()=default
virtual ~CommonController ()=default
CommonController & operator= (const CommonController &other)=delete
void AngleDeltas (double aYaw_rad, double aPitch_rad, double aRoll_rad)
void ResetDeltaYawAngle ()
void ResetDeltaPitchAngle ()
void ResetDeltaRollAngle ()
void ResetLateralDeltaAngles ()
void ResetAllDeltaAngles ()
void ResetAccumulatedPidData ()
void ResetAllPidTimings ()
bool GetWaypointAchieved () const
std::vector< PidGainData > * GetAutopilotPidGainData (Pid::Type aTableType)
void GetAutopilotPidValues (AutopilotPidGroupValueData *aData)
bool GetAutopilotPidGainData (Pid::Type aTableType, size_t &aNumElements, PidGainData aPidGainData[])
void SetPidGainData (Pid::Type aPidType, int aNumElements, PidGainData aPidGainData[])
bool AddNewPidGainElement (Pid::Type aTableType, PidGainData &aPidGainData)
void SetControlAugmentationModeActive (bool aControlAugmentationIsActive)
bool ControlAugmentationModeIsActive ()
void SetPitchStabilityAugmentationModeActive (bool aPitchStabilityAugmentationIsActive)
void SetYawStabilityAugmentationModeActive (bool aYawStabilityAugmentationIsActive)
void SetRollStabilityAugmentationModeActive (bool aRollStabilityAugmentationIsActive)
bool PitchStabilityAugmentationModeIsActive ()
bool YawStabilityAugmentationModeIsActive ()
bool RollStabilityAugmentationModeIsActive ()
bool GetCLMaxMach (double aMach, double &aCLMax) const
bool GetCLMinMach (double aMach, double &aCLMin) const
bool GetAlphaMaxMach (double aMach, double &aAlphaMax_deg) const
bool GetAlphaMinMach (double aMach, double &aAlphaMin_deg) const
AutopilotAction * GetCurrentActivity () const
void SetCurrentActivity (AutopilotAction *aAPActivity)
void GetAutoPilotTurnData (double &aAimHeading_rad, double &aStartTurnHdg_rad, double &aTurnRadius_m, double &aTurnAngle_rad, double &aTurnRefPtLat, double &aTurnRefPtLon, bool &aTurnCW, bool &aTurning, double &aTurnCenterLat, double &aTurnCenterLon)
Control::Method GetControlMethod ()
const AutopilotLimitsAndSettings & GetCurrentLimitsAndSettings () const
void SetCurrentLimitsAndSettings (const AutopilotLimitsAndSettings &aData)
void RevertLimitsAndSettingsToDefaults ()
void SetCurrentMinPitchGLimit (double aMinPitchGLimit)
void SetCurrentMaxPitchGLimit (double aMaxPitchGLimit)
void SetCurrentMinAlphaLimit (double aMinAlphaLimit)
void SetCurrentMaxAlphaLimit (double aMaxAlphaLimit)
void SetCurrentMinPitchRateLimit (double aMinPitchRateLimit)
void SetCurrentMaxPitchRateLimit (double aMaxPitchRateLimit)
void SetCurrentMinVertSpeedLimit (double aMinVertSpeedLimit)
void SetCurrentMaxVertSpeedLimit (double aMaxVertSpeedLimit)
void SetCurrentMaxYawGLimit (double aMaxYawGLimit)
void SetCurrentMaxBetaLimit (double aMaxBetaLimit)
void SetCurrentMaxYawRateLimit (double aMaxYawRateLimit)
void SetCurrentMaxRollRateLimit (double aMaxRollRateLimit)
void SetCurrentMaxBankAngleLimit (double aMaxBankAngleLimit)
void SetCurrentMinForwardAccelLimit (double aMinForwardAccelLimit)
void SetCurrentMaxForwardAccelLimit (double aMaxForwardAccelLimit)
void SetCurrentMaxTaxiSpeedLimit (double aMaxTaxiSpeedLimit)
void SetCurrentMaxTaxiYawRateLimit (double aMaxTaxiYawRateLimit)
double GetDefaultTurnRollInMultiplier ()
double GetDefaultRouteAllowableAngleError_rad ()
void SetRouteAllowableAngleError_rad (double aValue_rad)
void SetCurrentTurnRollInMultiplier (double aValue)
void SetAfterburnerEnabled (bool aEnabled)
void SetAfterburnerThreshold (double aValue=1.0)
void SetSpeedBrakeEnabled (bool aEnabled)
void SetSpeedBrakeThreshold (double aValue=0.0)
bool SetPidGainKP (Pid::Type aTableType, float aControllingValue, float aGainValue)
bool SetPidGainKI (Pid::Type aTableType, float aControllingValue, float aGainValue)
bool SetPidGainKD (Pid::Type aTableType, float aControllingValue, float aGainValue)
bool SetPidAlpha (Pid::Type aTableType, float aControllingValue, float aAlphaValue)
bool SetPidMaxAccum (Pid::Type aTableType, float aControllingValue, float aMaxAccumValue)
bool GetEffectiveCLVsMachAlpha (double aMach, double aAlpha_rad, double &aCL) const
bool GetAlphaVsMachCL (double aMach, double aCL, double &aAlpha_deg) const

Protected Member Functions

 RigidBodyCommonController (const RigidBodyCommonController &aSrc)
void LoadConfigFile (const std::string &aFilename)
void ProcessInputCommand (UtInput &aInput, const std::string &aCommand) override
void ProcessLaternalNavChannelsBankToTurn (double aSimTime) override
void ProcessVerticalNavChannelBankToTurn (double aSimTime) override
void ProcessSpeedChannelBankToTurn (double aSimTime) override
void ProcessLaternalNavChannelsYawToTurn (double aSimTime) override
void ProcessVerticalNavChannelYawToTurn (double aSimTime) override
void ProcessSpeedChannelYawToTurn (double aSimTime) override
void ProcessLateralNavMode_Taxi_Waypoint (double aSimTime)
void ProcessLateralNavMode_Taxi_Heading (double aSimTime)
void ProcessLateralNavMode_Taxi_YawRate (double aSimTime)
void ProcessStandardLateralNavMode_Beta (double aCommandedBeta_deg, double aSimTime) override
void ProcessStandardLateralNavMode_TaxiHeading (double aHeading_deg, double aTurnRate_dps, double aSimTime)
void ProcessStandardLateralNavMode_TaxiYawRate (double aCommandedYawRate_dps, double aSimTime)
void ProcessStandardVerticalNavMode_Alpha (double aCommandedAlpha_deg, double aSimTime) override
void ProcessVerticalNavMode_Taxi (double aSimTime)
double ProcessSpeedMode_Taxi_Waypoint (double aSimTime)
double ProcessSpeedMode_Taxi_ForwardAccel (double aSimTime)
double ProcessSpeedMode_Taxi_KIAS (double aSimTime)
double ProcessSpeedMode_Taxi_KTAS (double aSimTime)
double ProcessStandardSpeedModeTaxi_FPS (double aSpeed_fps, double aSimTime)
PID * GetPID_ByType (Pid::Type aTableType) override
void GetAimHeadingAndTurnRateForTaxiWaypointNav_deg (double aSimTime, double &aAimHeading_deg, double &aTurnRate_dps)
void SetControllingValueForAllPIDs (double aControllingValue)
Protected Member Functions inherited from wsf::six_dof::CommonController
 CommonController (const CommonController &aSrc)=default
void ProcessInput (UtInput &aInput)
bool ProcessCommonInputCommand (UtInput &aInput, const std::string &aCommand)
void ProcessPidGroupInputBlock (UtInputBlock &aInputBlock, UtInput &aInput)
void ProcessLimitsAndSettingsInputBlock (UtInputBlock &aInputBlock)
void UpdateBankToTurn (sAutopilotControls &aControls, double aSimTime)
void UpdateYawToTurn (sAutopilotControls &aControls, double aSimTime)
virtual void ProcessLateralNavMode_Bank (double aSimTime)
virtual void ProcessLateralNavMode_DeltaRoll (double aSimTime)
virtual void ProcessLateralNavMode_RollRate (double aSimTime)
virtual void ProcessLateralNavMode_YawWaypoint (double aSimTime)
virtual void ProcessLateralNavMode_YawPoint (double aSimTime)
virtual void ProcessLateralNavMode_YawHeading (double aSimTime)
virtual void ProcessLateralNavMode_YawRate (double aSimTime)
virtual void ProcessLateralNavMode_NoControl ()
virtual void ProcessLateralNavMode_NoRollControl ()
virtual void ProcessLateralNavMode_NoYawControl ()
virtual void ProcessLateralNavMode_RollWaypoint (double aSimTime)
virtual void ProcessLateralNavMode_RollPoint (double aSimTime)
virtual void ProcessLateralNavMode_RollHeading (double aSimTime)
virtual void CalcLateralNavMode_RollHeadingCore (double aHeading_deg, double aMaxBankAngle_rad, double aSimTime)
virtual void ProcessStandardLateralNavMode_Bank (double aBankAngle_deg, double aSimTime)
virtual void ProcessStandardLateralNavMode_RollHeading (double aHeading_deg, double aSimTime)
virtual void ProcessStandardLateralNavMode_WaypointRollHeading (double aHeading_deg, double aSimTime)
virtual void ProcessStandardLateralNavMode_RollRate (double aCommandedRollRate_dps, double aSimTime)
virtual void ProcessLateralNavMode_Beta (double aSimTime)
virtual void ProcessLateralNavMode_YawGLoad (double aSimTime)
virtual void ProcessStandardLateralNavMode_YawHeading (double aHeading_deg, double aSimTime)
virtual void ProcessStandardLateralNavMode_YawRate (double aCommandedYawRate_dps, double aSimTime)
virtual void ProcessVerticalNavMode_Waypoint (double aSimTime)
virtual void ProcessVerticalNavMode_Altitude (double aSimTime)
virtual void ProcessVerticalNavMode_VertSpeed (double aSimTime)
virtual void ProcessVerticalNavMode_PitchGLoad (double aSimTime)
virtual void ProcessVerticalNavMode_PitchAng (double aSimTime)
virtual void ProcessVerticalNavMode_PitchRate (double aSimTime)
virtual void ProcessVerticalNavMode_FltPathAng (double aSimTime)
virtual void ProcessVerticalNavMode_DeltaPitch (double aSimTime)
virtual void ProcessVerticalNavMode_Point (double aSimTime)
virtual void ProcessVerticalNavMode_NoControl (double aSimTime)
virtual void ProcessVerticalNavMode_Alpha (double aSimTime)
virtual void ProcessStandardVerticalNavMode_Altitude (double aAltitude_ft, double aSimTime)
virtual void ProcessStandardVerticalNavMode_VertSpeed (double aCommandedVertSpeed_fpm, double aSimTime)
virtual void ProcessStandardVerticalNavMode_PitchRate (double aCommandedPitchRate_dps, double aSimTime)
virtual double ProcessSpeedMode_Waypoint (double aSimTime)
virtual double ProcessSpeedMode_ForwardAccel (double aSimTime)
virtual double ProcessSpeedMode_KIAS (double aSimTime)
virtual double ProcessSpeedMode_KTAS (double aSimTime)
virtual double ProcessSpeedMode_Mach (double aSimTime)
virtual double ProcessSpeedMode_FPS (double aSimTime)
virtual double ProcessSpeedMode_Throttle (double aSimTime)
virtual double ProcessSpeedMode_NoControl ()
virtual double ProcessStandardSpeedMode_FPS (double aSpeed_fps, double aSimTime)
virtual double ProcessStandardForwardAccel (double aForwardAccel_g, double aSimTime)
virtual double ProcessStandardSpeedMode_Throttle (double aThrottle, double aSimTime)
void CalcAlphaBetaGLimits ()
void CalcGBiasData (double &aGBias_g, double &aGBiasAlpha_deg)
double GetAimHeadingForWaypointNav_deg (double aSimTime)
double GetAimHeadingForPoint_deg ()
double CalcTurnRateBasedOnTurnRadiusAndCurrentSpeed_dps (double aTurnRadius_ft)
double CalcTurnRadiusBasedOnTurnRateAndCurrentSpeed_ft (double aTurnRate_dps)
void EnforceControlLimits ()
void EnforceSingleControlLimit (double &aValue, const double &aMinValue, const double &aMaxValue)

Additional Inherited Members

Public Types inherited from wsf::six_dof::CommonController
enum  eAutopilotTurnDir { TD_DEFAULT , TD_LEFT , TD_RIGHT }
Protected Attributes inherited from wsf::six_dof::CommonController
int64_t mLastUpdateTime_nanosec = 0
NestedFeedbackLoop mVerticalControlLoop
NestedFeedbackLoop mLateralControlLoop
NestedFeedbackLoop mSpeedControlLoop
WaypointNavData mNavData
sAutopilotControls mControlOutputs
AutopilotLimitsAndSettings mDefaultLimitsAndSettings
AutopilotLimitsAndSettings mCurrentLimitsAndSettings
AutopilotAction * mCurrentActivityPtr = nullptr
Control::Method mControlMethod = Control::Undefined
bool mTurning = false
bool mAchievedWaypoint = false
double mStartTurnHdg_rad = 0.0
double mTurnRadius_m = 0.0
double mTurnAngle_rad = 0.0
bool mTurnCW = true
UtLLAPos mTurnRefPoint
double mAimHeading_rad = 0.0
double mTurnCenterLat = 0.0
double mTurnCenterLon = 0.0
double mExternalFlapsControlValue = 0.0
double mExternalSpoilersControlValue = 0.0
double mExternalSpeedBrakesControlValue = 0.0
double mExternalAfterburnerControlValue = 0.0
double mLastCommandedVertRate_fpm = 0.0
double mLastCommandedAlpha_deg = 0.0
double mLastCommandedYawRate_dps = 0.0
double mLastCommandedBeta_deg = 0.0
double mLastComandedBankAngle_deg = 0.0
double mLastCommandedRollRate_dps = 0.0
double mLastCommandedSpeed_fps = 0.0
double mLastCommandedForwardAccel_g = 0.0
PID mAlphaPID
PID mVerticalSpeedPID
PID mPitchAnglePID
PID mPitchRatePID
PID mFlightPathAnglePID
PID mDeltaPitchPID
PID mAltitudePID
PID mBetaPID
PID mYawRatePID
PID mYawHeadingPID
PID mTaxiHeadingPID
PID mRollRatePID
PID mDeltaRollPID
PID mBankAnglePID
PID mRollHeadingPID
PID mForwardAccelPID
PID mSpeedPID
PID mTaxiForwardAccelPID
PID mTaxiSpeedPID
PID mTaxiYawRatePID
double mLimitedBeta_deg = 0.0
double mLimitedMinAlpha_deg = 0.0
double mLimitedMaxAlpha_deg = 0.0
double mIntegratedDeltaYaw_deg = 0.0
double mIntegratedDeltaPitch_deg = 0.0
double mIntegratedDeltaRoll_deg = 0.0
bool mControlAugmentationModeActive = false
bool mYawStabilityAugmentationModeActive = false
bool mPitchStabilityAugmentationModeActive = false
bool mRollStabilityAugmentationModeActive = false
double mCurrentGBias_g = 1.0
double mCurrentGBiasAlpha_deg = 0.0
UtCloneablePtr< UtTable::Curve > mCLMaxMachTablePtr {nullptr}
UtCloneablePtr< UtTable::Curve > mCLMinMachTablePtr {nullptr}
UtCloneablePtr< UtTable::Curve > mAlphaMaxMachTablePtr {nullptr}
UtCloneablePtr< UtTable::Curve > mAlphaMinMachTablePtr {nullptr}
UtCloneablePtr< UtTable::Table > mEffectiveCLVsMachAlphaTablePtr {nullptr}
UtCloneablePtr< UtTable::Table > mAlphaVsMachCLTablePtr {nullptr}
const Environment * mEnvironment = nullptr

Constructor & Destructor Documentation

◆ RigidBodyCommonController() [1/3]

wsf::six_dof::RigidBodyCommonController::RigidBodyCommonController ( )
default

References RigidBodyCommonController().

Referenced by Clone(), operator=(), RigidBodyCommonController(), and RigidBodyCommonController().

◆ RigidBodyCommonController() [2/3]

wsf::six_dof::RigidBodyCommonController::RigidBodyCommonController ( UtInput & aInput,
const std::string & aCommand )
explicit

References wsf::six_dof::CommonController::CommonController(), and ProcessInputCommand().

◆ ~RigidBodyCommonController()

wsf::six_dof::RigidBodyCommonController::~RigidBodyCommonController ( )
default

◆ RigidBodyCommonController() [3/3]

wsf::six_dof::RigidBodyCommonController::RigidBodyCommonController ( const RigidBodyCommonController & aSrc)
protected

References wsf::six_dof::CommonController::CommonController(), and RigidBodyCommonController().

Member Function Documentation

◆ Clone()

wsf::six_dof::RigidBodyCommonController * wsf::six_dof::RigidBodyCommonController::Clone ( ) const

References RigidBodyCommonController().

Referenced by operator=().

◆ GetAimHeadingAndTurnRateForTaxiWaypointNav_deg()

void wsf::six_dof::RigidBodyCommonController::GetAimHeadingAndTurnRateForTaxiWaypointNav_deg ( double aSimTime,
double & aAimHeading_deg,
double & aTurnRate_dps )
protected

References wsf::six_dof::Route::CalcTaxiAimHeadingAngle(), wsf::six_dof::CommonController::CalcTurnRadiusBasedOnTurnRateAndCurrentSpeed_ft(), wsf::six_dof::CommonController::CalcTurnRateBasedOnTurnRadiusAndCurrentSpeed_dps(), wsf::six_dof::KinematicState::GetCurrentPositionLLA(), wsf::six_dof::Route::GetInitialHeading_rad(), wsf::six_dof::KinematicState::GetLocalHeading_rad(), wsf::six_dof::KinematicState::GetSpeed_mps(), wsf::six_dof::CommonController::mAchievedWaypoint, wsf::six_dof::CommonController::mCurrentActivityPtr, wsf::six_dof::CommonController::mCurrentLimitsAndSettings, wsf::six_dof::CommonController::mLastUpdateTime_nanosec, wsf::six_dof::CommonController::mNavData, and wsf::six_dof::utils::TimeToTime().

Referenced by ProcessLateralNavMode_Taxi_Waypoint().

◆ GetPID_ByType()

wsf::six_dof::PID * wsf::six_dof::RigidBodyCommonController::GetPID_ByType ( Pid::Type aTableType)
overrideprotectedvirtual

Implements wsf::six_dof::CommonController.

References wsf::six_dof::Pid::Alpha, wsf::six_dof::Pid::Altitude, wsf::six_dof::Pid::BankAngle, wsf::six_dof::Pid::Beta, wsf::six_dof::Pid::DeltaPitch, wsf::six_dof::Pid::DeltaRoll, wsf::six_dof::Pid::FlightPathAngle, wsf::six_dof::Pid::ForwardAccel, wsf::six_dof::CommonController::mAlphaPID, wsf::six_dof::CommonController::mAltitudePID, wsf::six_dof::CommonController::mBankAnglePID, wsf::six_dof::CommonController::mBetaPID, wsf::six_dof::CommonController::mDeltaPitchPID, wsf::six_dof::CommonController::mDeltaRollPID, wsf::six_dof::CommonController::mFlightPathAnglePID, wsf::six_dof::CommonController::mForwardAccelPID, wsf::six_dof::CommonController::mPitchAnglePID, wsf::six_dof::CommonController::mPitchRatePID, wsf::six_dof::CommonController::mRollHeadingPID, wsf::six_dof::CommonController::mRollRatePID, wsf::six_dof::CommonController::mSpeedPID, wsf::six_dof::CommonController::mTaxiForwardAccelPID, wsf::six_dof::CommonController::mTaxiHeadingPID, wsf::six_dof::CommonController::mTaxiSpeedPID, wsf::six_dof::CommonController::mTaxiYawRatePID, wsf::six_dof::CommonController::mVerticalSpeedPID, wsf::six_dof::CommonController::mYawHeadingPID, wsf::six_dof::CommonController::mYawRatePID, wsf::six_dof::Pid::PitchAngle, wsf::six_dof::Pid::PitchRate, wsf::six_dof::Pid::RollHeading, wsf::six_dof::Pid::RollRate, wsf::six_dof::Pid::Speed, wsf::six_dof::Pid::TaxiForwardAccel, wsf::six_dof::Pid::TaxiHeading, wsf::six_dof::Pid::TaxiSpeed, wsf::six_dof::Pid::TaxiYawRate, wsf::six_dof::Pid::VerticalSpeed, wsf::six_dof::Pid::YawHeading, and wsf::six_dof::Pid::YawRate.

◆ GetStickForZeroMomentVsMachAlpha()

bool wsf::six_dof::RigidBodyCommonController::GetStickForZeroMomentVsMachAlpha ( double aMach,
double aAlpha_rad,
double aThrottleSetting,
double & aStickBack ) const

References wsf::six_dof::MassProperties::GetBaseCmPosRelToRef_ft(), wsf::six_dof::MassProperties::GetBaseMass_lbs(), and wsf::six_dof::MassProperties::GetCmPosRelToRef_ft().

Referenced by wsf::six_dof::RigidBodyMoverTestObject::CalcLevelFlightDragAndAlpha(), wsf::six_dof::RigidBodyMover::CalculateStickBackForZeroMoment(), and wsf::six_dof::RigidBodyMoverTestObject::MaxInstantaneousGLoad().

◆ GetTaxiMode()

bool wsf::six_dof::RigidBodyCommonController::GetTaxiMode ( ) const

◆ LoadConfigFile()

void wsf::six_dof::RigidBodyCommonController::LoadConfigFile ( const std::string & aFilename)
protected

References wsf::six_dof::CommonController::ProcessInput().

◆ operator=()

RigidBodyCommonController & wsf::six_dof::RigidBodyCommonController::operator= ( const RigidBodyCommonController & other)
delete

References Clone(), ReadSupportFile(), and RigidBodyCommonController().

◆ ProcessInputCommand()

void wsf::six_dof::RigidBodyCommonController::ProcessInputCommand ( UtInput & aInput,
const std::string & aCommand )
overrideprotectedvirtual

Implements wsf::six_dof::CommonController.

References wsf::six_dof::CommonController::ProcessCommonInputCommand().

Referenced by RigidBodyCommonController().

◆ ProcessLateralNavMode_Taxi_Heading()

void wsf::six_dof::RigidBodyCommonController::ProcessLateralNavMode_Taxi_Heading ( double aSimTime)
protected

References wsf::six_dof::CommonController::CalcTurnRateBasedOnTurnRadiusAndCurrentSpeed_dps(), wsf::six_dof::CommonController::mCurrentActivityPtr, and ProcessStandardLateralNavMode_TaxiHeading().

Referenced by ProcessLaternalNavChannelsBankToTurn().

◆ ProcessLateralNavMode_Taxi_Waypoint()

void wsf::six_dof::RigidBodyCommonController::ProcessLateralNavMode_Taxi_Waypoint ( double aSimTime)
protected

References GetAimHeadingAndTurnRateForTaxiWaypointNav_deg(), and ProcessStandardLateralNavMode_TaxiHeading().

Referenced by ProcessLaternalNavChannelsBankToTurn().

◆ ProcessLateralNavMode_Taxi_YawRate()

void wsf::six_dof::RigidBodyCommonController::ProcessLateralNavMode_Taxi_YawRate ( double aSimTime)
protected

References wsf::six_dof::CommonController::mCurrentActivityPtr, and ProcessStandardLateralNavMode_TaxiYawRate().

Referenced by ProcessLaternalNavChannelsBankToTurn().

◆ ProcessLaternalNavChannelsBankToTurn()

void wsf::six_dof::RigidBodyCommonController::ProcessLaternalNavChannelsBankToTurn ( double aSimTime)
overrideprotectedvirtual

Implements wsf::six_dof::CommonController.

References wsf::six_dof::Lateral::Bank, wsf::six_dof::Control::BankToTurnNoYaw, wsf::six_dof::Control::BankToTurnWithYaw, wsf::six_dof::Lateral::Beta, wsf::six_dof::Lateral::DeltaRoll, wsf::six_dof::Lateral::Heading, wsf::six_dof::CommonController::mControlMethod, wsf::six_dof::CommonController::mCurrentActivityPtr, wsf::six_dof::Lateral::Point, wsf::six_dof::CommonController::ProcessLateralNavMode_Bank(), wsf::six_dof::CommonController::ProcessLateralNavMode_Beta(), wsf::six_dof::CommonController::ProcessLateralNavMode_DeltaRoll(), wsf::six_dof::CommonController::ProcessLateralNavMode_NoControl(), wsf::six_dof::CommonController::ProcessLateralNavMode_NoRollControl(), wsf::six_dof::CommonController::ProcessLateralNavMode_NoYawControl(), wsf::six_dof::CommonController::ProcessLateralNavMode_RollHeading(), wsf::six_dof::CommonController::ProcessLateralNavMode_RollPoint(), wsf::six_dof::CommonController::ProcessLateralNavMode_RollRate(), wsf::six_dof::CommonController::ProcessLateralNavMode_RollWaypoint(), ProcessLateralNavMode_Taxi_Heading(), ProcessLateralNavMode_Taxi_Waypoint(), ProcessLateralNavMode_Taxi_YawRate(), wsf::six_dof::CommonController::ProcessLateralNavMode_YawGLoad(), wsf::six_dof::CommonController::ProcessLateralNavMode_YawRate(), ProcessStandardLateralNavMode_Beta(), wsf::six_dof::Lateral::RollRate, wsf::six_dof::Lateral::Undefined, wsf::six_dof::Lateral::Waypoint, wsf::six_dof::Lateral::YawGLoad, and wsf::six_dof::Lateral::YawRate.

◆ ProcessLaternalNavChannelsYawToTurn()

void wsf::six_dof::RigidBodyCommonController::ProcessLaternalNavChannelsYawToTurn ( double aSimTime)
overrideprotectedvirtual

Implements wsf::six_dof::CommonController.

References wsf::six_dof::Lateral::Bank, wsf::six_dof::Lateral::Beta, wsf::six_dof::Lateral::DeltaRoll, wsf::six_dof::Lateral::Heading, wsf::six_dof::CommonController::mControlMethod, wsf::six_dof::CommonController::mCurrentActivityPtr, wsf::six_dof::Lateral::Point, wsf::six_dof::CommonController::ProcessLateralNavMode_Bank(), wsf::six_dof::CommonController::ProcessLateralNavMode_Beta(), wsf::six_dof::CommonController::ProcessLateralNavMode_DeltaRoll(), wsf::six_dof::CommonController::ProcessLateralNavMode_NoRollControl(), wsf::six_dof::CommonController::ProcessLateralNavMode_NoYawControl(), wsf::six_dof::CommonController::ProcessLateralNavMode_RollRate(), wsf::six_dof::CommonController::ProcessLateralNavMode_YawGLoad(), wsf::six_dof::CommonController::ProcessLateralNavMode_YawHeading(), wsf::six_dof::CommonController::ProcessLateralNavMode_YawPoint(), wsf::six_dof::CommonController::ProcessLateralNavMode_YawRate(), wsf::six_dof::CommonController::ProcessLateralNavMode_YawWaypoint(), wsf::six_dof::CommonController::ProcessStandardLateralNavMode_Bank(), wsf::six_dof::CommonController::ProcessStandardLateralNavMode_RollRate(), wsf::six_dof::Lateral::RollRate, wsf::six_dof::Lateral::Undefined, wsf::six_dof::Lateral::Waypoint, wsf::six_dof::Lateral::YawGLoad, wsf::six_dof::Lateral::YawRate, wsf::six_dof::Control::YawToTurnNoRoll, wsf::six_dof::Control::YawToTurnRollRate, and wsf::six_dof::Control::YawToTurnZeroBank.

◆ ProcessSpeedChannelBankToTurn()

void wsf::six_dof::RigidBodyCommonController::ProcessSpeedChannelBankToTurn ( double aSimTime)
overrideprotectedvirtual

Implements wsf::six_dof::CommonController.

References wsf::six_dof::Speed::ForwardAccel, wsf::six_dof::Speed::FPS, wsf::six_dof::Speed::KIAS, wsf::six_dof::Speed::KTAS, wsf::six_dof::Speed::Mach, wsf::six_dof::CommonController::mControlOutputs, wsf::six_dof::CommonController::mCurrentActivityPtr, wsf::six_dof::CommonController::mCurrentLimitsAndSettings, wsf::six_dof::CommonController::ProcessSpeedMode_ForwardAccel(), wsf::six_dof::CommonController::ProcessSpeedMode_FPS(), wsf::six_dof::CommonController::ProcessSpeedMode_KIAS(), wsf::six_dof::CommonController::ProcessSpeedMode_KTAS(), wsf::six_dof::CommonController::ProcessSpeedMode_Mach(), wsf::six_dof::CommonController::ProcessSpeedMode_NoControl(), ProcessSpeedMode_Taxi_Waypoint(), wsf::six_dof::CommonController::ProcessSpeedMode_Throttle(), wsf::six_dof::CommonController::ProcessSpeedMode_Waypoint(), wsf::six_dof::Speed::Throttle, and wsf::six_dof::Speed::Waypoint.

◆ ProcessSpeedChannelYawToTurn()

void wsf::six_dof::RigidBodyCommonController::ProcessSpeedChannelYawToTurn ( double aSimTime)
overrideprotectedvirtual

Implements wsf::six_dof::CommonController.

References wsf::six_dof::Speed::ForwardAccel, wsf::six_dof::Speed::FPS, wsf::six_dof::Speed::KIAS, wsf::six_dof::Speed::KTAS, wsf::six_dof::Speed::Mach, wsf::six_dof::CommonController::mControlOutputs, wsf::six_dof::CommonController::mCurrentActivityPtr, wsf::six_dof::CommonController::mCurrentLimitsAndSettings, wsf::six_dof::CommonController::ProcessSpeedMode_ForwardAccel(), wsf::six_dof::CommonController::ProcessSpeedMode_FPS(), wsf::six_dof::CommonController::ProcessSpeedMode_KIAS(), wsf::six_dof::CommonController::ProcessSpeedMode_KTAS(), wsf::six_dof::CommonController::ProcessSpeedMode_Mach(), wsf::six_dof::CommonController::ProcessSpeedMode_NoControl(), wsf::six_dof::CommonController::ProcessSpeedMode_Throttle(), wsf::six_dof::CommonController::ProcessSpeedMode_Waypoint(), wsf::six_dof::Speed::Throttle, and wsf::six_dof::Speed::Waypoint.

◆ ProcessSpeedMode_Taxi_ForwardAccel()

double wsf::six_dof::RigidBodyCommonController::ProcessSpeedMode_Taxi_ForwardAccel ( double aSimTime)
protected

◆ ProcessSpeedMode_Taxi_KIAS()

double wsf::six_dof::RigidBodyCommonController::ProcessSpeedMode_Taxi_KIAS ( double aSimTime)
protected

◆ ProcessSpeedMode_Taxi_KTAS()

double wsf::six_dof::RigidBodyCommonController::ProcessSpeedMode_Taxi_KTAS ( double aSimTime)
protected

◆ ProcessSpeedMode_Taxi_Waypoint()

double wsf::six_dof::RigidBodyCommonController::ProcessSpeedMode_Taxi_Waypoint ( double aSimTime)
protected

References wsf::six_dof::CommonController::mCurrentActivityPtr, wsf::six_dof::CommonController::mEnvironment, wsf::six_dof::CommonController::mNavData, ProcessStandardSpeedModeTaxi_FPS(), wsf::six_dof::Waypoint::SPD_TYPE_CAS_KNOTS, wsf::six_dof::Waypoint::SPD_TYPE_FPS, wsf::six_dof::Waypoint::SPD_TYPE_MACH, wsf::six_dof::Waypoint::SPD_TYPE_TAS_KNOTS, wsf::six_dof::Waypoint::sSpeed::type, and wsf::six_dof::Waypoint::sSpeed::val.

Referenced by ProcessSpeedChannelBankToTurn().

◆ ProcessStandardLateralNavMode_Beta()

void wsf::six_dof::RigidBodyCommonController::ProcessStandardLateralNavMode_Beta ( double aCommandedBeta_deg,
double aSimTime )
overrideprotectedvirtual

Reimplemented from wsf::six_dof::CommonController.

References wsf::six_dof::Control::IsYawToTurn(), wsf::six_dof::CommonController::mBetaPID, wsf::six_dof::CommonController::mControlMethod, wsf::six_dof::CommonController::mControlOutputs, wsf::six_dof::CommonController::mLastCommandedBeta_deg, and wsf::six_dof::CommonController::mLimitedBeta_deg.

Referenced by ProcessLaternalNavChannelsBankToTurn().

◆ ProcessStandardLateralNavMode_TaxiHeading()

void wsf::six_dof::RigidBodyCommonController::ProcessStandardLateralNavMode_TaxiHeading ( double aHeading_deg,
double aTurnRate_dps,
double aSimTime )
protected

References wsf::six_dof::CommonController::CalcTurnRateBasedOnTurnRadiusAndCurrentSpeed_dps(), wsf::six_dof::CommonController::mAimHeading_rad, wsf::six_dof::CommonController::mCurrentLimitsAndSettings, wsf::six_dof::CommonController::mLastCommandedYawRate_dps, wsf::six_dof::CommonController::mTaxiHeadingPID, and ProcessStandardLateralNavMode_TaxiYawRate().

Referenced by ProcessLateralNavMode_Taxi_Heading(), and ProcessLateralNavMode_Taxi_Waypoint().

◆ ProcessStandardLateralNavMode_TaxiYawRate()

void wsf::six_dof::RigidBodyCommonController::ProcessStandardLateralNavMode_TaxiYawRate ( double aCommandedYawRate_dps,
double aSimTime )
protected

References wsf::six_dof::CommonController::CalcTurnRateBasedOnTurnRadiusAndCurrentSpeed_dps(), wsf::six_dof::RigidBodyLandingGear::GetNoseGear(), wsf::six_dof::KinematicState::GetSpeed_fps(), wsf::six_dof::RigidBodyGroundReactionPoint::GetSteeringData(), wsf::six_dof::KinematicState::GetYawRate_dps(), wsf::six_dof::CommonController::mControlOutputs, wsf::six_dof::CommonController::mCurrentLimitsAndSettings, wsf::six_dof::CommonController::mLastCommandedYawRate_dps, wsf::six_dof::CommonController::mTaxiYawRatePID, and wsf::six_dof::RigidBodyLandingGear::SteeringAngleForDesiredRadiusFt_deg().

Referenced by ProcessLateralNavMode_Taxi_YawRate(), and ProcessStandardLateralNavMode_TaxiHeading().

◆ ProcessStandardSpeedModeTaxi_FPS()

double wsf::six_dof::RigidBodyCommonController::ProcessStandardSpeedModeTaxi_FPS ( double aSpeed_fps,
double aSimTime )
protected

References wsf::six_dof::CommonController::mSpeedPID, and wsf::six_dof::CommonController::mTaxiSpeedPID.

Referenced by ProcessSpeedMode_Taxi_Waypoint().

◆ ProcessStandardVerticalNavMode_Alpha()

void wsf::six_dof::RigidBodyCommonController::ProcessStandardVerticalNavMode_Alpha ( double aCommandedAlpha_deg,
double aSimTime )
overrideprotectedvirtual

Reimplemented from wsf::six_dof::CommonController.

References wsf::six_dof::CommonController::mAlphaPID, wsf::six_dof::CommonController::mControlOutputs, wsf::six_dof::CommonController::mLastCommandedAlpha_deg, wsf::six_dof::CommonController::mLimitedMaxAlpha_deg, and wsf::six_dof::CommonController::mLimitedMinAlpha_deg.

◆ ProcessVerticalNavChannelBankToTurn()

void wsf::six_dof::RigidBodyCommonController::ProcessVerticalNavChannelBankToTurn ( double aSimTime)
overrideprotectedvirtual

Implements wsf::six_dof::CommonController.

References wsf::six_dof::Vertical::Alpha, wsf::six_dof::Vertical::Altitude, wsf::six_dof::Vertical::DeltaPitch, wsf::six_dof::Vertical::FltPathAng, wsf::six_dof::CommonController::mCurrentActivityPtr, wsf::six_dof::Vertical::PitchAng, wsf::six_dof::Vertical::PitchGLoad, wsf::six_dof::Vertical::PitchRate, wsf::six_dof::Vertical::Point, wsf::six_dof::CommonController::ProcessVerticalNavMode_Alpha(), wsf::six_dof::CommonController::ProcessVerticalNavMode_Altitude(), wsf::six_dof::CommonController::ProcessVerticalNavMode_DeltaPitch(), wsf::six_dof::CommonController::ProcessVerticalNavMode_FltPathAng(), wsf::six_dof::CommonController::ProcessVerticalNavMode_NoControl(), wsf::six_dof::CommonController::ProcessVerticalNavMode_PitchAng(), wsf::six_dof::CommonController::ProcessVerticalNavMode_PitchGLoad(), wsf::six_dof::CommonController::ProcessVerticalNavMode_PitchRate(), wsf::six_dof::CommonController::ProcessVerticalNavMode_Point(), wsf::six_dof::CommonController::ProcessVerticalNavMode_VertSpeed(), wsf::six_dof::CommonController::ProcessVerticalNavMode_Waypoint(), wsf::six_dof::Vertical::VertSpeed, and wsf::six_dof::Vertical::Waypoint.

◆ ProcessVerticalNavChannelYawToTurn()

void wsf::six_dof::RigidBodyCommonController::ProcessVerticalNavChannelYawToTurn ( double aSimTime)
overrideprotectedvirtual

Implements wsf::six_dof::CommonController.

References wsf::six_dof::Vertical::Alpha, wsf::six_dof::Vertical::Altitude, wsf::six_dof::Vertical::DeltaPitch, wsf::six_dof::Vertical::FltPathAng, wsf::six_dof::CommonController::mCurrentActivityPtr, wsf::six_dof::Vertical::PitchAng, wsf::six_dof::Vertical::PitchGLoad, wsf::six_dof::Vertical::PitchRate, wsf::six_dof::Vertical::Point, wsf::six_dof::CommonController::ProcessVerticalNavMode_Alpha(), wsf::six_dof::CommonController::ProcessVerticalNavMode_Altitude(), wsf::six_dof::CommonController::ProcessVerticalNavMode_DeltaPitch(), wsf::six_dof::CommonController::ProcessVerticalNavMode_FltPathAng(), wsf::six_dof::CommonController::ProcessVerticalNavMode_NoControl(), wsf::six_dof::CommonController::ProcessVerticalNavMode_PitchAng(), wsf::six_dof::CommonController::ProcessVerticalNavMode_PitchGLoad(), wsf::six_dof::CommonController::ProcessVerticalNavMode_PitchRate(), wsf::six_dof::CommonController::ProcessVerticalNavMode_Point(), wsf::six_dof::CommonController::ProcessVerticalNavMode_VertSpeed(), wsf::six_dof::CommonController::ProcessVerticalNavMode_Waypoint(), wsf::six_dof::Vertical::VertSpeed, and wsf::six_dof::Vertical::Waypoint.

◆ ProcessVerticalNavMode_Taxi()

void wsf::six_dof::RigidBodyCommonController::ProcessVerticalNavMode_Taxi ( double aSimTime)
protected

◆ ReadSupportFile()

void wsf::six_dof::RigidBodyCommonController::ReadSupportFile ( const std::string & aFilename)

References wsf::six_dof::CommonController::mAlphaMaxMachTablePtr, wsf::six_dof::CommonController::mAlphaMinMachTablePtr, wsf::six_dof::CommonController::mAlphaVsMachCLTablePtr, wsf::six_dof::CommonController::mCLMaxMachTablePtr, wsf::six_dof::CommonController::mCLMinMachTablePtr, and wsf::six_dof::CommonController::mEffectiveCLVsMachAlphaTablePtr.

Referenced by operator=(), and wsf::six_dof::RigidBodyPilotManager::ProcessInput().

◆ SetControllingValueForAllPIDs()

void wsf::six_dof::RigidBodyCommonController::SetControllingValueForAllPIDs ( double aControllingValue)
protected

References wsf::six_dof::CommonController::mAlphaPID, wsf::six_dof::CommonController::mAltitudePID, wsf::six_dof::CommonController::mBankAnglePID, wsf::six_dof::CommonController::mBetaPID, wsf::six_dof::CommonController::mDeltaPitchPID, wsf::six_dof::CommonController::mDeltaRollPID, wsf::six_dof::CommonController::mFlightPathAnglePID, wsf::six_dof::CommonController::mForwardAccelPID, wsf::six_dof::CommonController::mPitchAnglePID, wsf::six_dof::CommonController::mPitchRatePID, wsf::six_dof::CommonController::mRollHeadingPID, wsf::six_dof::CommonController::mRollRatePID, wsf::six_dof::CommonController::mSpeedPID, wsf::six_dof::CommonController::mTaxiForwardAccelPID, wsf::six_dof::CommonController::mTaxiHeadingPID, wsf::six_dof::CommonController::mTaxiSpeedPID, wsf::six_dof::CommonController::mTaxiYawRatePID, wsf::six_dof::CommonController::mVerticalSpeedPID, wsf::six_dof::CommonController::mYawHeadingPID, and wsf::six_dof::CommonController::mYawRatePID.

Referenced by Update().

◆ SetDesiredTaxiRadius()

void wsf::six_dof::RigidBodyCommonController::SetDesiredTaxiRadius ( double aTaxiRadius_ft)

Referenced by wsf::six_dof::RigidBodyMover::SetTaxiRadius().

◆ SetParentVehicle()

void wsf::six_dof::RigidBodyCommonController::SetParentVehicle ( Mover * aVehicle)
inlineoverridevirtual

Implements wsf::six_dof::CommonController.

References wsf::six_dof::utils::CastToRigidBody().

◆ SetTaxiMode()

void wsf::six_dof::RigidBodyCommonController::SetTaxiMode ( bool aTaxiModeActive)

Referenced by wsf::six_dof::RigidBodyMover::SetTaxiMode().

◆ Update()

void wsf::six_dof::RigidBodyCommonController::Update ( sAutopilotControls & aControls,
int64_t aSimTime_nanosec )
overridevirtual

Implements wsf::six_dof::CommonController.

References wsf::six_dof::CommonController::CalcAlphaBetaGLimits(), wsf::six_dof::CommonController::EnforceControlLimits(), wsf::six_dof::Control::IsBankToTurn(), wsf::six_dof::Control::IsYawToTurn(), wsf::six_dof::CommonController::mControlMethod, wsf::six_dof::CommonController::mControlOutputs, wsf::six_dof::CommonController::mEnvironment, wsf::six_dof::CommonController::mLastUpdateTime_nanosec, SetControllingValueForAllPIDs(), wsf::six_dof::utils::TimeToTime(), wsf::six_dof::CommonController::UpdateBankToTurn(), and wsf::six_dof::CommonController::UpdateYawToTurn().

◆ UseSimpleYawDamper()

bool wsf::six_dof::RigidBodyCommonController::UseSimpleYawDamper ( ) const
inline

Referenced by wsf::six_dof::RigidBodyMover::UseSimpleYawDamper().

The documentation for this class was generated from the following files:
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