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Radar: improvements

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Sidi Liang 2020-02-17 22:13:05 +08:00
parent 86b54c19f1
commit bc3f916daf
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GPG Key ID: 79F0A6B20B72F42F
3 changed files with 53 additions and 40 deletions
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24
Nasal/auto_crash.nas
View File

@ -10,7 +10,7 @@ var position_change = func(position_val,value){
return position_val;
}
var road_check_func = func(){
var lat = props.getNode("/position/latitude-deg",1).getValue();
var lon = props.getNode("/position/longitude-deg",1).getValue();
var position_info = geodinfo(lat,lon);
@ -24,14 +24,14 @@ var road_check_func = func(){
var lon_change = 0;
var left_range = 0;
var right_range = 0;
for(var i=0;i>-0.00005;i-=0.000001)
{
car_heading = props.getNode("/orientation/heading-deg",1).getValue();
lat_change = math.sin(math.pi*car_heading/180);
lon_change = -math.cos(math.pi*car_heading/180);
lat = props.getNode("/position/latitude-deg",1).getValue()+0.0001*math.cos(math.pi*car_heading/180);
lon = props.getNode("/position/longitude-deg",1).getValue()+0.0001*math.sin(math.pi*car_heading/180);
lat_change = math.sin(D2R*car_heading);
lon_change = -math.cos(D2R*car_heading);
lat = props.getNode("/position/latitude-deg",1).getValue()+0.0001*math.cos(D2R*car_heading);
lon = props.getNode("/position/longitude-deg",1).getValue()+0.0001*math.sin(D2R*car_heading);
var other_position_info = geodinfo(position_change(lat,i*lat_change),position_change(lon,i*lon_change));
var other_names = other_position_info[1].names;
if((other_names[0]=="Freeway") or (other_names[0]=="Road"))
@ -42,10 +42,10 @@ var road_check_func = func(){
for(var i=0;i<0.00005;i+=0.000001)
{
car_heading = props.getNode("/orientation/heading-deg",1).getValue();
lat_change = math.sin(math.pi*car_heading/180);
lon_change = -math.cos(math.pi*car_heading/180);
lat = props.getNode("/position/latitude-deg",1).getValue()+0.0001*math.cos(math.pi*car_heading/180);
lon = props.getNode("/position/longitude-deg",1).getValue()+0.0001*math.sin(math.pi*car_heading/180);
lat_change = math.sin(D2R*car_heading);
lon_change = -math.cos(D2R*car_heading);
lat = props.getNode("/position/latitude-deg",1).getValue()+0.0001*math.cos(D2R*car_heading);
lon = props.getNode("/position/longitude-deg",1).getValue()+0.0001*math.sin(D2R*car_heading);
var other_position_info = geodinfo(position_change(lat,i*lat_change),position_change(lon,i*lon_change));
var other_names = other_position_info[1].names;
if((other_names[0]=="Freeway") or (other_names[0]=="Road"))
@ -53,7 +53,7 @@ var road_check_func = func(){
else
break;
}
if(left_range>right_range)
{
props.getNode("/", 1).setValue("/controls/flight/rudder",-(right_range-left_range)*(right_range-left_range)/900);
@ -81,4 +81,4 @@ var toggle_auto_pilot = func(){
road_check_timer.stop();
props.getNode("/sim/messages/copilot",1).setValue("ze dong sheng teaan see tong yee guan bee. Auto Sheng Teaan System is off.");
}
}
}

69
Nasal/radar.nas
View File

@ -1,18 +1,22 @@
#Parking radar by Sidi Liang
var Radar = {
#//Class for any Parking Radar (currently only support terrain detection)
#//height: height of installation above ground;installCoord: coord of installation; maxRange: max radar range
#//For this vehicle: height 0.3m; installCoord:3.8m; maxRange:6m; maxWidth:2m
#//Class for any Parking Radar (currently only support terrain detection) which scans in a sector
#//height: height of installation above ground;installCoordY: coord of installation; maxRange: max radar range
#//For this vehicle: height 0.3m; installCoordY:3.8m; maxRange:3m;maxWidth:3m
#//To start scanning: myRadar.init();
#//To Stop: myRadar.stop();
new: func(height, installCoord, maxRange, maxWidth) {
return { parents:[Radar, followme.Appliance.new()], height: height, installCoord:installCoord, maxRange:maxRange, maxWidth:maxWidth};
new: func(height, installCoordX, installCoordY, maxRange, maxWidth) {
return { parents:[Radar, followme.Appliance.new()], height: height, installCoordX:installCoordX, installCoordY:installCoordY, maxRange:maxRange, maxWidth:maxWidth};
},
height: 0.3, #METERS
installCoord:3.8, #METERS
maxRange:6, #METERS
maxWidth:2, #METERS
installCoordX: 0, #METERS
installCoordY: 3.8, #METERS
maxRange: 3, #METERS
maxWidth: 3, #METERS
radarTimer: nil,
updateInterval:0.25,#SEC
searchAngle: 0, #RAD, half of the search angle
tanSearchAngle: 0,
vehiclePosition: nil,
coord: nil,
@ -30,12 +34,14 @@ var Radar = {
lastDis: 0,
init: func(){
me.searchAngle = math.acos(me.maxRange / math.sqrt((2/me.maxWidth)*(2/me.maxWidth) + me.maxRange*me.maxRange));
me.tanSearchAngle = math.tan(me.searchAngle);
me.getCoord();
me.backLatRange = me.calculateLatChange(me.maxRange);
me.backLonRange = me.calculateLonChange(me.maxRange, me.coord);
me.widthLatRange = me.calculateLatChange(me.maxWidth);
me.widthLonRange = me.calculateLonChange(me.maxWidth, me.coord);
if(me.radarTimer == nil) me.radarTimer = maketimer(0.2, func me.update());
if(me.radarTimer == nil) me.radarTimer = maketimer(me.updateInterval, func me.update());
if(me.warningTimer == nil) me.warningTimer = maketimer(me.warningInterval, func me.warn());
me.radarTimer.start();
print("Parking radar initialized!");
@ -58,7 +64,8 @@ var Radar = {
me.vehicleHeading = props.getNode("/orientation/heading-deg",1).getValue();
me.vehiclePosition = geo.aircraft_position();
me.coord = geo.Coord.new(me.vehiclePosition);
me.coord.apply_course_distance(me.vehicleHeading, -me.installCoord);
me.coord.apply_course_distance(geo.normdeg(me.vehicleHeading-90), me.installCoordX);
me.coord.apply_course_distance(me.vehicleHeading, -me.installCoordY);
#var model = geo.put_model(getprop("sim/aircraft-dir")~"/Nasal/waypoint.ac", me.coord);
},
calculateLonChange: func(meters, coord){
@ -102,55 +109,61 @@ var Radar = {
me.warningTimer.stop();
return;
}
if(!me.warningTimer.isRunning) me.warningTimer.start();
if(meters <= 0.5){
me.warningInterval = 0.2;
me.warningSound = "parking_radar_long.wav";
print("Caution! Something behind at less than 0.5 meters!");
return;
}else{
me.warningSound = "parking_radar.wav";
}
if(!me.warningTimer.isRunning) me.warningTimer.start();
meters = sprintf("%.2f", meters);
meters = sprintf("%.3f", meters);
if(meters != me.lastDis) me.warningInterval = (meters)/me.maxRange;
print("Caution! something behind at approximatly "~meters~" meters");
print("Caution! Something behind at approximatly "~meters~" meters");
me.lastDis = meters;
},
sample: func(stepLat, stepLon, searchLat, searchLon){ # returns an elevtion
var latChange = math.sin(math.pi * me.vehicleHeading/180);
var lonChange = -math.cos(math.pi * me.vehicleHeading/180);
var coord = geo.Coord.new();
coord.set_latlon(me.position_change(searchLat,stepLat*latChange), me.position_change(searchLon,stepLon*lonChange));
return coord;
var latChange = math.sin(me.vehicleHeading * D2R);
var lonChange = -math.cos(me.vehicleHeading * D2R);
var sampleCoord = geo.Coord.new();
sampleCoord.set_latlon(me.position_change(searchLat,stepLat*latChange), me.position_change(searchLon,stepLon*lonChange));
#var model = geo.put_model(getprop("sim/aircraft-dir")~"/Nasal/waypoint.ac", sampleCoord.lat(), sampleCoord.lon(), me.coord.alt());
return sampleCoord;
},
update: func(){
me.getCoord();
var searchDis = 0.01;#Meters
var searchStep = 0.1;#Meters
var searchStep = 0;#Meters
while(searchDis <= me.maxRange){
var searchWidth = math.abs(searchDis * me.tanSearchAngle);
var searchWidthLat = me.calculateLatChange(searchWidth);
var searchWidthLon = me.calculateLonChange(searchWidth, me.coord);
var searchCoord = geo.Coord.new();
searchCoord.set_latlon(me.coord.lat(), me.coord.lon());
searchCoord.apply_course_distance(me.vehicleHeading, 0-searchDis);
for(var i = 0; i > (0 - me.widthLatRange/2); i -= 0.000001){
var percentage = (0-i)/(me.widthLatRange/2); #use approximate value to reduce cost
var stepLon = 0 - me.widthLonRange * percentage;
for(var i = 0; i >= (0 - searchWidthLat); i -= searchWidthLat/1.5){
#print(me.widthLatRange/2);
var percentage = (0-i)/(searchWidthLat/2); #use approximate value to reduce cost
var stepLon = 0 - searchWidthLon * percentage;
var targetCoord = me.sample(i, stepLon, searchCoord.lat(), searchCoord.lon());
targetElev = me.getElevByCoord(targetCoord);
if(me.judgeElev(targetElev)){
var meters = me.coord.distance_to(targetCoord);
#var model = geo.put_model(getprop("sim/aircraft-dir")~"/Nasal/waypoint.ac", targetCoord.lat(), targetCoord.lon(), me.coord.alt());
me.warnControl(meters);
#var model = geo.put_model(getprop("sim/aircraft-dir")~"/Nasal/waypoint.ac", targetCoord);
return;
}
}
for(var i = 0; i < me.widthLatRange/2; i += 0.000001){
var percentage = i/(me.widthLatRange/2); #use approximate value to reduce cost
var stepLon = me.widthLonRange * percentage;
for(var i = 0; i <= searchWidthLat; i += searchWidthLat/1.5){
var percentage = i/(searchWidthLat/2); #use approximate value to reduce cost
var stepLon = searchWidthLon * percentage;
var targetCoord = me.sample(i, stepLon, searchCoord.lat(), searchCoord.lon());
targetElev = me.getElevByCoord(targetCoord);
if(me.judgeElev(targetElev)){
var meters = me.coord.distance_to(targetCoord);
#var model = geo.put_model(getprop("sim/aircraft-dir")~"/Nasal/waypoint.ac", targetCoord.lat(), targetCoord.lon(), me.coord.alt());
me.warnControl(meters);
#var model = geo.put_model(getprop("sim/aircraft-dir")~"/Nasal/waypoint.ac", targetCoord);
return;
}
}
@ -162,4 +175,4 @@ var Radar = {
},
};
var parkingRadar = Radar.new(0.3, 3.8, 6, 2);
var parkingRadar = Radar.new(0.3, 0, 3.8, 3, 3);

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Sounds/parking_radar_long.wav
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