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shiplanding_formula_combined.tbt
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shiplanding_formula_combined.tbt
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// SPDX-FileCopyrightText: 2023 German Aerospace Center (DLR)
// SPDX-License-Identifier: Apache-2.0
Deg45_HeightAboveShip = 20.0;
Deg45_DistanceToShip = 30.0;
Deg45_AngleToShip = 135.0;
Deg45_AboveTouchdown = 20.0;
Lateral_HeightAboveShip = 20.0;
Lateral_DistanceToShip = 20.0;
Lateral_AngleToShip = 90.0;
Lateral_AboveTouchdown = 20.0;
Oblique_HeightAboveShip = 20.0;
Oblique_DistanceToShip = 30.0;
Oblique_AngleToShip = 135.0;
Oblique_AngleOblique = 45.0;
Oblique_AboveTouchdown = 20.0;
Straight_HeightAboveShip = 20.0;
Straight_DistanceToShip = 20.0;
Straight_AngleToShip = 180.0;
Straight_AboveTouchdown = 20.0;
In_Position_Pos_Slack = 2.5;
In_Position_HeadingAligned_Slack = 1.0;
In_Position_HeadingOblique_Slack = 1.0;
In_Position_Velocity_Slack = 2.0;
Move_to_Touchdown_Slack = 2.5;
Descend_Slack = 1.0;
-> (
? (
-> (
'move_to_position_45deg'
<> in_pos(uas_x, uas_y, uas_z, ship_x, ship_y, ship_z, ship_heading)
[
In_Position_Pos_Slack -
!sqrt(
(ship_x + Deg45_DistanceToShip * !cos(!degToRad(Deg45_AngleToShip) + ship_heading) - uas_x)^2 +
(ship_y + Deg45_DistanceToShip * !sin(!degToRad(Deg45_AngleToShip) + ship_heading) - uas_y)^2 +
(ship_z + Deg45_HeightAboveShip - uas_z)^2
)
]
,
'stay_in_position'
[0..5] combined_inpos_ha_va(uas_x, uas_y, uas_z, uas_u, uas_v, uas_w, uas_heading, ship_x, ship_y, ship_z, ship_u, ship_v, ship_w, ship_heading)
[
!min(
In_Position_Pos_Slack -
!sqrt(
(ship_x + Deg45_DistanceToShip * !cos(!degToRad(Deg45_AngleToShip) + ship_heading) - uas_x)^2 +
(ship_y + Deg45_DistanceToShip * !sin(!degToRad(Deg45_AngleToShip) + ship_heading) - uas_y)^2 +
(ship_z + Deg45_HeightAboveShip - uas_z)^2
)
,
!min(
In_Position_HeadingAligned_Slack - !abs(!radToDeg(uas_heading - ship_heading))
,
In_Position_Velocity_Slack - !abs(!sqrt( uas_u^2 + uas_v^2 + uas_w^2) - !sqrt( ship_u^2 + ship_v^2 + ship_w^2))
)
)
]
,
'move_to_touchdown'
<> combined_movetp_ha(uas_x, uas_y, uas_z, uas_heading, ship_x, ship_y, ship_z, ship_heading)
[
!min(
Move_to_Touchdown_Slack -
!sqrt(
(uas_x - ship_x)^2 +
(uas_y - ship_y)^2 +
(uas_z - (ship_z + Deg45_AboveTouchdown))^2
)
,
In_Position_HeadingAligned_Slack - !abs(!radToDeg(uas_heading - ship_heading))
)
]
)
,
-> (
'move_to_position_oblique'
<> in_pos(uas_x, uas_y, uas_z, ship_x, ship_y, ship_z, ship_heading)
[
In_Position_Pos_Slack -
!sqrt(
(ship_x + Oblique_DistanceToShip * !cos(!degToRad(Oblique_AngleToShip) + ship_heading) - uas_x)^2 +
(ship_y + Oblique_DistanceToShip * !sin(!degToRad(Oblique_AngleToShip) + ship_heading) - uas_y)^2 +
(ship_z + Oblique_HeightAboveShip - uas_z)^2
)
]
,
'stay_in_position'
[0..5] combined_inpos_ho_va(uas_x, uas_y, uas_z, uas_u, uas_v, uas_w, uas_heading, ship_x, ship_y, ship_z, ship_u, ship_v, ship_w, ship_heading)
[
!min(
In_Position_Pos_Slack -
!sqrt(
(ship_x + Oblique_DistanceToShip * !cos(!degToRad(Oblique_AngleToShip) + ship_heading) - uas_x)^2 +
(ship_y + Oblique_DistanceToShip * !sin(!degToRad(Oblique_AngleToShip) + ship_heading) - uas_y)^2 +
(ship_z + Oblique_HeightAboveShip - uas_z)^2
)
,
!min(
In_Position_HeadingOblique_Slack - !abs( !abs(!radToDeg(uas_heading - ship_heading)) - Oblique_AngleOblique )
,
In_Position_Velocity_Slack - !abs(!sqrt( uas_u^2 + uas_v^2 + uas_w^2) - !sqrt( ship_u^2 + ship_v^2 + ship_w^2))
)
)
]
,
'move_to_touchdown'
<> move_to_touchdown_oblique(uas_x, uas_y, uas_z, uas_heading, ship_x, ship_y, ship_z, ship_heading)
[
!min(
Move_to_Touchdown_Slack -
!sqrt(
(uas_x - ship_x)^2 +
(uas_y - ship_y)^2 +
(uas_z - (ship_z + Oblique_AboveTouchdown))^2
)
,
In_Position_HeadingOblique_Slack - !abs( !abs(!radToDeg(uas_heading - ship_heading)) - Oblique_AngleOblique )
)
]
)
,
-> (
'move_to_position_lateral'
<> in_pos(uas_x, uas_y, uas_z, ship_x, ship_y, ship_z, ship_heading)
[
In_Position_Pos_Slack -
!sqrt(
(ship_x + Lateral_DistanceToShip * !cos(!degToRad(Lateral_AngleToShip) + ship_heading) - uas_x)^2 +
(ship_y + Lateral_DistanceToShip * !sin(!degToRad(Lateral_AngleToShip) + ship_heading) - uas_y)^2 +
(ship_z + Lateral_HeightAboveShip - uas_z)^2
)
]
,
'stay_in_position'
[0..5] combined_inpos_ha_va(uas_x, uas_y, uas_z, uas_u, uas_v, uas_w, uas_heading, ship_x, ship_y, ship_z, ship_u, ship_v, ship_w, ship_heading)
[
!min(
In_Position_Pos_Slack -
!sqrt(
(ship_x + Lateral_DistanceToShip * !cos(!degToRad(Lateral_AngleToShip) + ship_heading) - uas_x)^2 +
(ship_y + Lateral_DistanceToShip * !sin(!degToRad(Lateral_AngleToShip) + ship_heading) - uas_y)^2 +
(ship_z + Lateral_HeightAboveShip - uas_z)^2
)
,
!min(
In_Position_HeadingAligned_Slack - !abs(!radToDeg(uas_heading - ship_heading))
,
In_Position_Velocity_Slack - !abs(!sqrt( uas_u^2 + uas_v^2 + uas_w^2) - !sqrt( ship_u^2 + ship_v^2 + ship_w^2))
)
)
]
,
'move_to_touchdown'
<> combined_movetp_ha(uas_x, uas_y, uas_z, uas_heading, ship_x, ship_y, ship_z, ship_heading)
[
!min(
Move_to_Touchdown_Slack -
!sqrt(
(uas_x - ship_x)^2 +
(uas_y - ship_y)^2 +
(uas_z - (ship_z + Lateral_AboveTouchdown))^2
)
,
In_Position_HeadingAligned_Slack - !abs(!radToDeg(uas_heading - ship_heading))
)
]
)
,
-> (
'move_to_position_straight'
<> in_pos(uas_x, uas_y, uas_z, ship_x, ship_y, ship_z, ship_heading)
[
In_Position_Pos_Slack -
!sqrt(
(ship_x + Straight_DistanceToShip * !cos(!degToRad(Straight_AngleToShip) + ship_heading) - uas_x)^2 +
(ship_y + Straight_DistanceToShip * !sin(!degToRad(Straight_AngleToShip) + ship_heading) - uas_y)^2 +
(ship_z + Straight_HeightAboveShip - uas_z)^2
)
]
,
'stay_in_position'
[0..5] combined_inpos_ha_va(uas_x, uas_y, uas_z, uas_u, uas_v, uas_w, uas_heading, ship_x, ship_y, ship_z, ship_u, ship_v, ship_w, ship_heading)
[
!min(
In_Position_Pos_Slack -
!sqrt(
(ship_x + Straight_DistanceToShip * !cos(!degToRad(Straight_AngleToShip) + ship_heading) - uas_x)^2 +
(ship_y + Straight_DistanceToShip * !sin(!degToRad(Straight_AngleToShip) + ship_heading) - uas_y)^2 +
(ship_z + Straight_HeightAboveShip - uas_z)^2
)
,
!min(
In_Position_HeadingAligned_Slack - !abs(!radToDeg(uas_heading - ship_heading))
,
In_Position_Velocity_Slack - !abs(!sqrt( uas_u^2 + uas_v^2 + uas_w^2) - !sqrt( ship_u^2 + ship_v^2 + ship_w^2))
)
)
]
,
'move_to_touchdown'
<> combined_movetp_ha(uas_x, uas_y, uas_z, uas_heading, ship_x, ship_y, ship_z, ship_heading)
[
!min(
Move_to_Touchdown_Slack -
!sqrt(
(uas_x - ship_x)^2 +
(uas_y - ship_y)^2 +
(uas_z - (ship_z + Straight_AboveTouchdown))^2
)
,
In_Position_HeadingAligned_Slack - !abs(!radToDeg(uas_heading - ship_heading))
)
]
)
)
,
'descend'
<> descend(uas_x, uas_y, uas_z, ship_x, ship_y, ship_z)
[
Descend_Slack -
!sqrt(
(uas_x - ship_x)^2 +
(uas_y - ship_y)^2 +
(uas_z - ship_z )^2
)
]
)