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proportional navigation now "works"

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This commit is contained in:
Brandon Danyluk 2021-04-03 21:04:16 -06:00
parent 7179a91c77
commit 53ff3bb1f5
2 changed files with 35 additions and 30 deletions
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59
addons/missileguidance/functions/fnc_guidancePFH.sqf
View File

@ -46,14 +46,14 @@ private _minDeflection = ((_flightParams select 0) - ((_flightParams select 0) *
private _maxDeflection = (_flightParams select 1) * _adjustTime;
// private _incDeflection = _flightParams select 2; // todo
private _projectilePos = getPosASLVisual _projectile;
// Run seeker function:
private _seekerTargetPos = [[0,0,0], _args, _seekerStateParams, _lastKnownPosState] call FUNC(doSeekerSearch);
// Run attack profile function:
private _profileAdjustedTargetPos = [_seekerTargetPos, _args, _attackProfileStateParams] call FUNC(doAttackProfile);
private _projectilePos = getPosASLVisual _projectile;
// If we have no seeker target, then do not change anything
// If there is no deflection on the missile, this cannot change and therefore is redundant. Avoid calculations for missiles without any deflection
if ((_minDeflection != 0 || {_maxDeflection != 0}) && {_profileAdjustedTargetPos isNotEqualTo [0,0,0]}) then {
@ -70,9 +70,11 @@ if ((_minDeflection != 0 || {_maxDeflection != 0}) && {_profileAdjustedTargetPos
private _integralGain = 0;
private _derivativeGain = 0;
private _projectileSpeed = vectorMagnitude velocity _projectile;
_pidData params ["_pid", "_lastMissileFrame", "_currentPitchYawRoll"];
_currentPitchYawRoll params ["_pitch", "_yaw", "_roll"];
_lastMissileFrame params ["_lastTargetPosition", "_lastTargetVelocity", "_lastAngle"];
_lastMissileFrame params ["_lastTargetPosition", "_lastTargetVelocity", "_lastAngles"];
// Proportional navigation implemented via "Fundamentals of proportional navigation" by Stephen Murtaugh and Harry Criel
private _navigationGain = 3;
@ -80,40 +82,43 @@ if ((_minDeflection != 0 || {_maxDeflection != 0}) && {_profileAdjustedTargetPos
private _targetVelocity = (_seekerTargetPos vectorDiff _lastTargetPosition) vectorMultiply (1 / diag_deltaTime);
private _targetAcceleration = (_targetVelocity vectorDiff _lastTargetVelocity) vectorMultiply (1 / diag_deltaTime);
private _currentLineOfSight = vectorNormalized (_seekerTargetPos vectorDiff _projectilePos);
private _targetVelocityAtPositon = _seekerTargetPos vectorAdd _targetVelocity;
private _lineOfSightAtPosition = _projectilePos vectorAdd _currentLineOfSight;
// get angle between LOS's
private _angleNow = acos (1 min (_targetVelocityAtPositon vectorCos _lineOfSightAtPosition));
private _losChange = (_angleNow - _lastAngle) / diag_deltaTime;
private _lineOfSight = vectorNormalized (_seekerTargetPos vectorDiff _projectilePos);
private _closingVelocity = (velocity _projectile) vectorDiff _targetVelocity;
private _commandedAcceleration = vectorMagnitude (_closingVelocity vectorMultiply (_navigationGain * _losChange));
_lastAngles params ["_lastAngleXY", "_lastAngleYZ", "_lastAngleXZ"];
// solve for xy frame
private _angleXY = (_lineOfSight#0) atan2 (_lineOfSight#1);
private _deltaAngleXY = (_angleXY - _lastAngleXY) / TIMESTEP_FACTOR;
private _commandedAccelerationX = _navigationGain * _deltaAngleXY * _projectileSpeed;
// commanded acceleration is normal to LOS
private _relativeLOS = vectorNormalized (_projectile vectorWorldToModelVisual (_currentLineOfSight vectorCrossProduct velocity _projectile));
_commandedAcceleration = _relativeLOS vectorMultiply _commandedAcceleration;
// solve for xz frame
private _angleXZ = (_lineOfSight#0) atan2 (_lineOfSight#2);
private _deltaAngleXZ = (_angleXZ - _lastAngleXZ) / TIMESTEP_FACTOR;
private _commandedAccelerationY = _navigationGain * _deltaAngleXZ * _projectileSpeed;
// solve for yz frame
private _angleYZ = (_lineOfSight#1) atan2 (_lineOfSight#2);
private _deltaAngleYZ = (_angleYZ - _lastAngleYZ) / TIMESTEP_FACTOR;
private _commandedAccelerationZ = _navigationGain * _deltaAngleYZ * _projectileSpeed;
private _commandedAcceleration = _projectile vectorWorldToModelVisual [_commandedAccelerationX, _commandedAccelerationY, _commandedAccelerationZ];
systemChat str [_deltaAngleXY, _deltaAngleXZ, _deltaAngleYZ];
#ifdef DRAW_GUIDANCE_INFO
TRACE_1("",_losChange);
private _projectilePosAGL = ASLToAGL _projectilePos;
drawLine3D [_projectilePosAGL, _projectilePosAGL vectorAdd ((_projectile vectorModelToWorldVisual _relativeLOS) vectorMultiply 15), [1, 0, 0, 1]];
drawLine3D [_projectilePosAGL, _projectilePosAGL vectorAdd (_currentLineOfSight vectorMultiply 15), [0, 0, 1, 1]];
drawLine3D [_projectilePosAGL, _projectilePosAGL vectorAdd ((vectorNormalized velocity _projectile) vectorMultiply 15), [0, 1, 0, 1]];
drawLine3D [_projectilePosAGL, _projectilePosAGL vectorAdd (_projectile vectorModelToWorldVisual _commandedAcceleration), [1, 1, 0, 1]];
drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,0,1], _projectilePosAGL vectorAdd [0, 0, 1], 0.75, 0.75, 0, str _commandedAcceleration, 1, 0.025, "TahomaB"];
drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,0,1], _projectilePosAGL vectorAdd [0, 0, 0.75], 0.75, 0.75, 0, str _losChange, 1, 0.025, "TahomaB"];
drawIcon3D ["\a3\ui_f\data\IGUI\Cfg\Cursors\selectover_ca.paa", [1,0,0,1], ASLToAGL (_seekerTargetPos vectorAdd _targetVelocity), 0.75, 0.75, 0, "Predicted Position", 1, 0.025, "TahomaB"];
private _seekerPosAGL = ASLToAGL _seekerTargetPos;
drawLine3D [_seekerPosAGL, _seekerPosAGL vectorAdd _targetVelocity, [0, 1, 1, 1]];
drawLine3D [_seekerPosAGL, _seekerPosAGL vectorAdd (_projectilePos vectorDiff _seekerTargetPos), [0, 1, 1, 1]];
#endif
if (!isGamePaused && accTime > 0) then {
_commandedAcceleration params ["_pitchChange", "_yawChange", ""];
_commandedAcceleration params ["_yawChange", "", "_pitchChange"];
private _clampedPitch = (-_pitchChange min _pitchDegreesPerSecond) max -_pitchDegreesPerSecond;
private _clampedYaw = (_yawChange min _yawDegreesPerSecond) max -_yawDegreesPerSecond;
private _clampedPitch = (_pitchChange min _pitchDegreesPerSecond) max -_pitchDegreesPerSecond;
private _clampedYaw = (-_yawChange min _yawDegreesPerSecond) max -_yawDegreesPerSecond;
_pitch = _pitch + _clampedPitch * diag_deltaTime;
_yaw = _yaw + _clampedYaw * diag_deltaTime;
@ -126,7 +131,7 @@ if ((_minDeflection != 0 || {_maxDeflection != 0}) && {_profileAdjustedTargetPos
_pidData set [0, _pid];
if (accTime > 0) then {
_pidData set [1, [_seekerTargetPos, _targetVelocity, _angleNow]];
_pidData set [1, [_seekerTargetPos, _targetVelocity, [_angleXY, _angleYZ, _angleXZ]]];
};
_pidData set [2, _currentPitchYawRoll];
_stateParams set [4, _pidData];

2
addons/missileguidance/functions/fnc_onFired.sqf
View File

@ -96,7 +96,7 @@ if (_seekLastTargetPos && {!isNil "_target"}) then {
};
private _pitchYaw = (vectorDir _projectile) call CBA_fnc_vect2Polar;
private _pidData = [[[0, 0, 0], [0, 0, 0], [0, 0, 0]], [[0, 0, 0], [0, 0, 0], 0], [_pitchYaw select 0, _pitchYaw select 1, 0]];
private _pidData = [[[0, 0, 0], [0, 0, 0], [0, 0, 0]], [[0, 0, 0], [0, 0, 0], [0, 0, 0]], [_pitchYaw select 0, _pitchYaw select 1, 0]];
TRACE_4("Beginning ACE guidance system",_target,_ammo,_seekerType,_attackProfile);
private _args = [_this,