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Ref T260, interpolator improvements

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* use last interpolated situation when recalculating interpolant
* flag if interpolation factor is to be calculated, or guessed
This commit is contained in:
Klaus Basan
2018-04-18 05:08:45 +02:00
committed by Roland Winklmeier
parent d0addd547a
commit 5243682124
5 changed files with 50 additions and 27 deletions
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15
src/blackmisc/simulation/interpolator.cpp
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@@ -148,17 +148,26 @@ namespace BlackMisc
// Pitch bank heading
// first, so follow up steps could use those values
const auto pbh = interpolant.pbh();
const CInterpolatorPbh pbh = interpolant.pbh();
currentSituation.setHeading(pbh.getHeading());
currentSituation.setPitch(pbh.getPitch());
currentSituation.setBank(pbh.getBank());
currentSituation.setGroundSpeed(pbh.getGroundSpeed());
// use derived interpolant function
currentSituation = interpolant.interpolatePositionAndAltitude(currentSituation);
const bool interpolateGndFlag = pbh.getNewSituation().hasGroundDetailsForGndInterpolation() && pbh.getOldSituation().hasGroundDetailsForGndInterpolation();
currentSituation = interpolant.interpolatePositionAndAltitude(currentSituation, interpolateGndFlag);
if (!interpolateGndFlag) { currentSituation.guessOnGround(m_model.isVtol(), m_cg); }
// correct itself
const CAircraftSituation::AltitudeCorrection altCorrection = currentSituation.correctAltitude(m_cg, true);
CAircraftSituation::AltitudeCorrection altCorrection = CAircraftSituation::NoCorrection;
if (!interpolateGndFlag && currentSituation.getOnGroundDetails() != CAircraftSituation::OnGroundByGuessing)
{
// just in case
altCorrection = currentSituation.correctAltitude(m_cg, true);
}
// status
status.setInterpolatedAndCheckSituation(true, currentSituation);
// logging

23
src/blackmisc/simulation/interpolatorlinear.cpp
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@@ -49,7 +49,7 @@ namespace BlackMisc
m_pbh(m_simulationTimeFraction, situation1, situation2)
{}
CAircraftSituation CInterpolatorLinear::Interpolant::interpolatePositionAndAltitude(const CAircraftSituation &situation) const
CAircraftSituation CInterpolatorLinear::Interpolant::interpolatePositionAndAltitude(const CAircraftSituation &situation, bool interpolateGndFactor) const
{
const std::array<double, 3> oldVec(m_oldSituation.getPosition().normalVectorDouble());
const std::array<double, 3> newVec(m_newSituation.getPosition().normalVectorDouble());
@@ -75,17 +75,20 @@ namespace BlackMisc
newSituation.setAltitude(altitude);
newSituation.setMSecsSinceEpoch(this->getInterpolatedTime());
const double oldGroundFactor = m_oldSituation.getOnGroundFactor();
const double newGroundFactor = m_newSituation.getOnGroundFactor();
do
if (interpolateGndFactor)
{
if (gfEqualAirborne(oldGroundFactor, newGroundFactor)) { newSituation.setOnGround(false); break; }
if (gfEqualOnGround(oldGroundFactor, newGroundFactor)) { newSituation.setOnGround(true); break; }
const double groundFactor = (newGroundFactor - oldGroundFactor) * m_simulationTimeFraction + oldGroundFactor;
newSituation.setOnGroundFactor(groundFactor);
newSituation.setOnGroundFromGroundFactorFromInterpolation();
const double oldGroundFactor = m_oldSituation.getOnGroundFactor();
const double newGroundFactor = m_newSituation.getOnGroundFactor();
do
{
if (gfEqualAirborne(oldGroundFactor, newGroundFactor)) { newSituation.setOnGround(false); break; }
if (gfEqualOnGround(oldGroundFactor, newGroundFactor)) { newSituation.setOnGround(true); break; }
const double groundFactor = (newGroundFactor - oldGroundFactor) * m_simulationTimeFraction + oldGroundFactor;
newSituation.setOnGroundFactor(groundFactor);
newSituation.setOnGroundFromGroundFactorFromInterpolation();
}
while (false);
}
while (false);
return newSituation;
}

2
src/blackmisc/simulation/interpolatorlinear.h
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@@ -47,7 +47,7 @@ namespace BlackMisc
//! @}
//! Perform the interpolation
Aviation::CAircraftSituation interpolatePositionAndAltitude(const Aviation::CAircraftSituation &situation) const;
Aviation::CAircraftSituation interpolatePositionAndAltitude(const Aviation::CAircraftSituation &situation, bool interpolateGndFactor) const;
//! Interpolator for pitch, bank, heading, groundspeed
const CInterpolatorPbh &pbh() const { return m_pbh; }

35
src/blackmisc/simulation/interpolatorspline.cpp
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@@ -105,7 +105,8 @@ namespace BlackMisc
Q_UNUSED(setup);
// recalculate derivatives only if they changed
bool recalculate = currentTimeMsSinceEpoc > m_nextSampleAdjustedTime; // new step
const bool newStep = currentTimeMsSinceEpoc > m_nextSampleAdjustedTime; // new step
bool recalculate = newStep;
const qint64 lastModified = this->situationsLastModified(m_callsign);
if (!recalculate && (lastModified > m_situationsLastModifiedUsed) && this->isAnySituationNearGroundRelevant())
{
@@ -136,6 +137,12 @@ namespace BlackMisc
if (situationsNewer.isEmpty() || situationsOlder.size() < 2) { return m_interpolant; }
m_s = std::array<CAircraftSituation, 3> {{ *(situationsOlder.begin() + 1), *situationsOlder.begin(), *(situationsNewer.end() - 1) }};
// we interpolate from 1 -> 2, 0 for smoother interpolation
if (newStep && !m_lastInterpolation.isNull())
{
m_s[1] = m_lastInterpolation; // true only for the moment we create a new step
}
const std::array<std::array<double, 3>, 3> normals {{ m_s[0].getPosition().normalVectorDouble(), m_s[1].getPosition().normalVectorDouble(), m_s[2].getPosition().normalVectorDouble() }};
PosArray pa;
pa.x = {{ normals[0][0], normals[1][0], normals[2][0] }}; // oldest -> latest
@@ -261,7 +268,7 @@ namespace BlackMisc
return true;
}
CAircraftSituation CInterpolatorSpline::Interpolant::interpolatePositionAndAltitude(const CAircraftSituation &situation) const
CAircraftSituation CInterpolatorSpline::Interpolant::interpolatePositionAndAltitude(const CAircraftSituation &currentSituation, bool interpolateGndFactor) const
{
const double t1 = m_pa.t[1];
const double t2 = m_pa.t[2];
@@ -269,7 +276,7 @@ namespace BlackMisc
const double newY = evalSplineInterval(m_currentTimeMsSinceEpoc, t1, t2, m_pa.y[1], m_pa.y[2], m_pa.dy[1], m_pa.dy[2]);
const double newZ = evalSplineInterval(m_currentTimeMsSinceEpoc, t1, t2, m_pa.z[1], m_pa.z[2], m_pa.dz[1], m_pa.dz[2]);
CAircraftSituation newSituation(situation);
CAircraftSituation newSituation(currentSituation);
const std::array<double, 3> normalVector = {{ newX, newY, newZ }};
const CCoordinateGeodetic currentPosition(normalVector);
@@ -280,17 +287,21 @@ namespace BlackMisc
newSituation.setAltitude(alt);
newSituation.setMSecsSinceEpoch(this->getInterpolatedTime());
const double gnd1 = m_pa.gnd[1];
const double gnd2 = m_pa.gnd[2];
do
if (interpolateGndFactor)
{
if (gfEqualAirborne(gnd1, gnd2)) { newSituation.setOnGround(false); break; }
if (gfEqualOnGround(gnd1, gnd2)) { newSituation.setOnGround(true); break; }
const double newGnd = evalSplineInterval(m_currentTimeMsSinceEpoc, t1, t2, gnd1, gnd2, m_pa.dgnd[1], m_pa.dgnd[2]);
newSituation.setOnGroundFactor(newGnd);
newSituation.setOnGroundFromGroundFactorFromInterpolation();
const double gnd1 = m_pa.gnd[1];
const double gnd2 = m_pa.gnd[2];
do
{
newSituation.setOnGroundDetails(CAircraftSituation::OnGroundByInterpolation);
if (gfEqualAirborne(gnd1, gnd2)) { newSituation.setOnGround(false); break; }
if (gfEqualOnGround(gnd1, gnd2)) { newSituation.setOnGround(true); break; }
const double newGnd = evalSplineInterval(m_currentTimeMsSinceEpoc, t1, t2, gnd1, gnd2, m_pa.dgnd[1], m_pa.dgnd[2]);
newSituation.setOnGroundFactor(newGnd);
newSituation.setOnGroundFromGroundFactorFromInterpolation();
}
while (false);
}
while (false);
return newSituation;
}

2
src/blackmisc/simulation/interpolatorspline.h
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@@ -60,7 +60,7 @@ namespace BlackMisc
m_pa(pa), m_altitudeUnit(altitudeUnit), m_pbh(pbh) {}
//! Perform the interpolation
Aviation::CAircraftSituation interpolatePositionAndAltitude(const Aviation::CAircraftSituation &situation) const;
Aviation::CAircraftSituation interpolatePositionAndAltitude(const Aviation::CAircraftSituation &currentSituation, bool interpolateGndFactor) const;
//! Interpolator for pitch, bank, heading, groundspeed
const CInterpolatorPbh &pbh() const { return m_pbh; }