124 lines
4.2 KiB
Plaintext
124 lines
4.2 KiB
Plaintext
# ****************************************************************************
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# CUI
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#
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# The Advanced Framework for Simulation, Integration, and Modeling (AFSIM)
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#
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# The use, dissemination or disclosure of data in this file is subject to
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# limitation or restriction. See accompanying README and LICENSE for details.
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# ****************************************************************************
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// converted BRAWLER v7.5 alt3g.f and brlrol.f
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// Replicates the barrel roll 3,16,1,1 alternative behavior
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// DO A BARREL ROLL! - Peppy
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behavior alt3G11_barrel_roll
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script_debug_writes off
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script_variables
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WsfQuantumTaskerProcessor processor;
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WsfBrawlerPlatform brawlerPlatform;
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//**********************************************************************//
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//** debugging parameters **//
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//**********************************************************************//
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bool mDrawSteering = false;
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//**********************************************************************//
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//** alternative parameters **//
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//**********************************************************************//
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// Flag used to enable/disable this alternative
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// Takes the place of 'brlflg'
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bool mAlternative3G11Enabled = true;
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// Alternative ID
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int ilevel = 3;
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int kalt = 16;
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int icall = 1;
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int lcall = 1;
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// Barrel Roll Generation Parameters (formerly from rules file)
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// See Brawler Production Rule Handbook 2.1.2.4 Barrel Roll - brlrol
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double rolrat = 15; // Desired roll rate in degrees/sec
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double ptchrt = 30; // Desired pitch rate in degrees/sec
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double lgees = 0; // Desired longitudinal acceleration in units of gees.
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// Maneuver Alternative flight values
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Vec3 mA0 = Vec3();
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Vec3 mAl0 = Vec3();
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double mAccmod = 0.0;
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//**********************************************************************//
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//********* VARIABLES BELOW THIS LINE ARE NOT FOR USER EDITING *********//
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//**********************************************************************//
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double grav = 32.17405; // From pcon.fi
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end_script_variables
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on_init
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if (PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
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{
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processor = (WsfQuantumTaskerProcessor)PROCESSOR;
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}
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brawlerPlatform = (WsfBrawlerPlatform)PLATFORM;
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end_on_init
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precondition
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#writeln_d(PLATFORM.Name(), " precondition behavior_alt3G11_barrel_roll, T=", TIME_NOW);
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### Evaluate conditions that would prevent behavior alternative from running
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if (!PROCESSOR.IsA_TypeOf("WSF_QUANTUM_TASKER_PROCESSOR"))
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{
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writeln_d("not a quantum tasker!");
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return Failure("behavior not attached to a WSF_QUANTUM_TASKER_PROCESSOR");
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}
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if (!mAlternative3G11Enabled)
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{
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writeln_d("behavior not enabled!");
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return Failure("behavior alternative not enabled");
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}
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// ALL CONDITIONS PASS
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### Generate Maneuver Alternative
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# brlrol.f
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#--NEXT LINE ALLOWS ALT3G TO GENERATE ALTERNATIVE
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#brlflg=.true.
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#if(lprnt) write(ioutp,1000) rolrat,ptchrt,lgees
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#--SET DESIRED RATES
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#w0(1)=rolrat*rad
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#w0(2)=ptchrt*rad
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#w0(3)=0.0
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#al0 = grav*lgees
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#accmod = desacc
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#call xmit(5,althld(5),baralt)
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mA0.SetX(rolrat * Math.RAD_PER_DEG());
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mA0.SetY(ptchrt * Math.RAD_PER_DEG());
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mA0.SetZ(0.0);
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mAl0.SetX(grav * lgees); // Note al0 is actually a singe value, it is set to vector accreq(1) in command.f
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//mAccmod = ??; where do we get desacc?
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# alt3g.f
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#iactn = 1
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#lenalt=lactn(iactn)
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#altdsc = indpk(3,16,1,1)
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#call xmit(5,baralt,althld(5)) <- copy predefined barrel roll maneuver into alternative storage
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### Evaluate [Projected] Maneuver Alternative
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double score = brawlerPlatform.EvaluateRates(mA0, mAl0, ilevel, kalt, icall, lcall);
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return score;
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end_precondition
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execute
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## what was evaluated should be actually performed now
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brawlerPlatform.FlyRates(mA0, mAl0);
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end_execute
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end_behavior
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