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improving tail

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This commit is contained in:
Alexsandro Percy 2023-06-29 21:44:38 -03:00
parent 85227b0d7b
commit 244288490a
3 changed files with 39 additions and 7 deletions
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8
lib_planes/control.lua
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@ -235,7 +235,7 @@ function airutils.autopilot(self, dtime, hull_direction, longit_speed, accel, cu
local retval_accel = accel
local max_autopilot_power = 85
--[[local max_autopilot_power = 85
--climb
local velocity = self.object:get_velocity()
@ -248,7 +248,7 @@ function airutils.autopilot(self, dtime, hull_direction, longit_speed, accel, cu
self._acceleration = 0
if self._engine_running then
--engine acceleration calc
local engineacc = (self._power_lever * airutils.max_engine_acc) / 100;
local engineacc = (self._power_lever * self._max_engine_acc) / 100;
--self.engine:set_animation_frame_speed(60 + self._power_lever)
local factor = math.abs(climb_rate * 0.1) --getAdjustFactor(curr_pos.y, self._auto_pilot_altitude)
@ -261,7 +261,7 @@ function airutils.autopilot(self, dtime, hull_direction, longit_speed, accel, cu
airutils.powerAdjust(self, dtime, factor, 1, max_autopilot_power)
end
--do not exceed
local max_speed = airutils.max_speed
local max_speed = self._max_speed
if longit_speed > max_speed then
engineacc = engineacc - (longit_speed-max_speed)
if engineacc < 0 then engineacc = 0 end
@ -287,7 +287,7 @@ function airutils.autopilot(self, dtime, hull_direction, longit_speed, accel, cu
if airutils.elevator_auto_correction then
self._elevator_angle = airutils.elevator_auto_correction(self, longit_speed, self.dtime, airutils.max_speed, self._elevator_angle, airutils.elevator_limit, airutils.ideal_step, self._elevator_auto_estabilize)
end
end
end]]--
return retval_accel
end

19
lib_planes/entities.lua
View File

@ -108,16 +108,28 @@ end
local function ground_pitch(self, longit_speed, curr_pitch)
newpitch = curr_pitch
if self._last_longit_speed == nil then self._last_longit_speed = 0 end
-- Estado atual do sistema
if self._current_value == nil then self._current_value = 0 end -- Valor atual do sistema
if self._last_error == nil then self._last_error = 0 end -- Último erro registrado
-- adjust pitch at ground
if math.abs(longit_speed) < self._tail_lift_max_speed then
--minetest.chat_send_all(math.abs(longit_speed))
local speed_range = self._tail_lift_max_speed - self._tail_lift_min_speed
local percentage = 1-((math.abs(longit_speed) - self._tail_lift_min_speed)/speed_range)
if percentage > 1 then percentage = 1 end
if percentage < 0 then percentage = 0 end
local angle = self._tail_angle * percentage
local calculated_newpitch = math.rad(angle)
if newpitch < calculated_newpitch then newpitch = calculated_newpitch end --ja aproveita o pitch atual se ja estiver cerrto
local rad_angle = math.rad(angle)
if newpitch < rad_angle then newpitch = rad_angle end --ja aproveita o pitch atual se ja estiver cerrto
--[[self._current_value = curr_pitch
local kp = (longit_speed - self._tail_lift_min_speed)/10
local output, last_error = airutils.pid_controller(self._current_value, rad_angle, self._last_error, self.dtime, kp)
self._last_error = last_error
newpitch = output]]--
if newpitch > math.rad(self._tail_angle) then newpitch = math.rad(self._tail_angle) end --não queremos arrastar o cauda no chão
end
@ -489,6 +501,7 @@ function airutils.logic(self)
--saves last velocity for collision detection (abrupt stop)
self._last_vel = self.object:get_velocity()
self._last_longit_speed = longit_speed
end
local function damage_vehicle(self, toolcaps, ttime, damage)

19
lib_planes/utilities.lua
View File

@ -551,6 +551,25 @@ function airutils.paint_with_mask(self, colstr, target_texture, mask_texture)
end
end
function airutils.pid_controller(current_value, setpoint, last_error, d_time, kp, ki, kd)
kp = kp or 0
ki = ki or 0.00000000000001
kd = kd or 0.005
local ti = kp/ki
local td = kd/kp
local delta_t = d_time
local _error = setpoint - current_value
local derivative = _error - last_error
--local output = kpv*erro + (kpv/Tiv)*I + kpv*Tdv*((erro - erro_passado)/delta_t);
if integrative == nil then integrative = 0 end
integrative = integrative + (((_error + last_error)/delta_t)/2);
local output = kp*_error + (kp/ti)*integrative + kp * td*((_error - last_error)/delta_t)
last_error = _error
return output, last_error
end
function airutils.add_destruction_effects(pos, radius)
local node = airutils.nodeatpos(pos)
local is_liquid = false