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RESSAC
RESSAC_Use_Case
Commits
512eb5bc
Commit
512eb5bc
authored
Jul 13, 2017
by
Claire Dross
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Layer2_MMS_SW_SPARK: Add missing parts of F_FC functional behavior
parent
1495ed82
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4 changed files
with
197 additions
and
6 deletions
+197
-6
mms-f_pt-f_fc-behavior.ads
...evelopment/Layer2_MMS_SW_SPARK/mms-f_pt-f_fc-behavior.ads
+156
-3
mms-f_pt-f_fc-data.ads
...aseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt-f_fc-data.ads
+2
-2
mms-f_pt-f_fc.ads
UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt-f_fc.ads
+38
-0
mms-f_pt.ads
UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt.ads
+1
-1
No files found.
UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt-f_fc-behavior.ads
View file @
512eb5bc
with
MMS
.
F_PT
.
F_FC
.
Data
;
with
External
;
with
Types
;
use
Types
;
with
MMS
.
F_PT
.
Data
;
package
MMS
.
F_PT
.
F_FC
.
Behavior
with
SPARK_Mode
is
pragma
Unevaluated_Use_Of_Old
(
Allow
);
...
...
@@ -33,6 +34,9 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
function
Emergency_Landing
return
Boolean
with
Global
=>
Input_State
;
function
Payload_Mass
return
Payload_Mass_Type
with
Global
=>
Input_State
;
--------------------------
--
Properties
on
Inputs
--
--------------------------
...
...
@@ -551,13 +555,131 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
else DESCENT)
else CRUISE);
---------------------
-- Gain Scheduling --
---------------------
function Mission_Profile return Mission_Profile_Type with
Global => Gain_Scheduling_State;
function Distance_With_Neighbour
(Neighbour : Mission_Profile_Type) return Mission_Profile_Distance_Type
with
Global => Gain_Scheduling_State;
-- Compute the distance between Mission_Profile and its Neighbour.
function Nearest_Neighbours return Neighbour_Mission_Profiles with
Global => Gain_Scheduling_State;
function Extract_Gain_Triple_For_Neighbours return Gain_Triples with
Global => Gain_Scheduling_State;
function Interpolated_Gain_Triple return Gain_Triple with
Global => Gain_Scheduling_State;
-- Compute the interpolation of the energy levels of the neighbours of
-- Mission_Profile by distance-based averaging.
procedure Gain_Scheduling with
Global => (Input => (Input_State,
Trajectory_State,
Private_State,
Mutual_Exclusion_State),
In_Out => Gain_Scheduling_State),
Pre => On_State = RUNNING;
Pre => On_State = RUNNING,
Post =>
-- 1. Assembling mission profile.
Mission_Profile =
(Mass => Payload_Mass,
Altitude => Current_Altitude,
Speed => Current_Speed)
-- 2. Computing the nearest neighbours of Mission_Profile in
-- Flight_Domain_Mesh, and the distance of Mission_Profile to its nearest
-- neignbours.
and then
(for all Neighbour_Center of Nearest_Neighbours.Neighbours =>
Neighbour_Center.Mission_Profile.M in
MMS.F_PT.Data.Payload_Mass_Grid'
Range
and
then
Neighbour_Center
.
Mission_Profile
.
S
in
Data
.
Flight_Domain_Mesh
'Range (1)
and then Neighbour_Center.Mission_Profile.A in
Data.Flight_Domain_Mesh'
Range
(
2
)
and
then
Neighbour_Center
.
Distance
=
Distance_With_Neighbour
(
Mission_Profile_Type
'
(Mass =>
MMS.F_PT.Data.Payload_Mass_Grid
(Neighbour_Center.Mission_Profile.M),
Altitude =>
Data.Flight_Domain_Mesh
(Neighbour_Center.Mission_Profile.S,
Neighbour_Center.Mission_Profile.A).Altitude,
Speed =>
Data.Flight_Domain_Mesh
(Neighbour_Center.Mission_Profile.S,
Neighbour_Center.Mission_Profile.A).Speed)))
-- 3. Extracting gain triples for the neighbours.
and then Extract_Gain_Triple_For_Neighbours.Size =
Nearest_Neighbours.Size
and then
(for all I in 1 .. Extract_Gain_Triple_For_Neighbours.Size =>
Extract_Gain_Triple_For_Neighbours.Neighbours (I) =
(case Flight_Phase is
when CLIMB =>
Data.Climb_Gains
(M => Nearest_Neighbours.Neighbours (I).Mission_Profile.M,
A => Nearest_Neighbours.Neighbours (I).Mission_Profile.A,
S => Nearest_Neighbours.Neighbours (I).Mission_Profile.S),
when CRUISE =>
Data.Cruise_Gains
(M => Nearest_Neighbours.Neighbours (I).Mission_Profile.M,
A => Nearest_Neighbours.Neighbours (I).Mission_Profile.A,
S => Nearest_Neighbours.Neighbours (I).Mission_Profile.S),
when DESCENT =>
Data.Descent_Gains
(M => Nearest_Neighbours.Neighbours (I).Mission_Profile.M,
A => Nearest_Neighbours.Neighbours (I).Mission_Profile.A,
S => Nearest_Neighbours.Neighbours (I).Mission_Profile.S)))
-- 4. Compute MP'
s
gain
triple
by
interpolation
of
its
neighbours
--
Set
appropriate
value
to
Interpolated_Gain_Triple
.
;
------------------------
--
Propulsion
Control
--
------------------------
function
Propulsion_Altitude_Error
return
Current_Altitude_Type
'Base is
(Current_Altitude - Intermediate_Set_Point_Altitude)
with Pre => On_State = RUNNING;
function Propulsion_Speed_Error return Current_Speed_Type'
Base
is
(
Current_Speed
-
Intermediate_Set_Point_Speed
)
with
Pre
=>
On_State
=
RUNNING
;
function
Propulsion_Error
return
Error_Type
with
Global
=>
(
Proof_In
=>
Private_State
,
Input
=>
Propulsion_State
);
--
In
Flight
and
maybe
also
Take
-
Off
phase
,
should
be
--
Propulsion_Altitude_Error
if
Selected_Mode
is
ALTITUDE
and
--
Propulsion_Speed_Error
otherwise
,
but
I
am
confused
about
the
units
...
--
In
Landing
phase
,
should
depend
on
speed
,
altitude
,
and
also
distance
,
--
see
#
29.
function
Propulsion_Integral_Error
return
Error_Type
with
Global
=>
(
Proof_In
=>
Private_State
,
Input
=>
Propulsion_State
);
--
Cumulative
past
error
during
the
last
Ti
seconds
function
Propulsion_Derivative_Error
return
Error_Type
with
Global
=>
(
Proof_In
=>
Private_State
,
Input
=>
Propulsion_State
);
--
Error
variation
at
current
time
procedure
Propulsion_Control
with
Global
=>
(
Input
=>
(
Input_State
,
...
...
@@ -567,7 +689,34 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
Mutual_Exclusion_State
),
In_Out
=>
Propulsion_State
),
Pre
=>
On_State
=
RUNNING
and then Engine_State = PROPULSION;
and
then
Engine_State
=
PROPULSION
,
Post
=>
Propulsion_Torque
=
Torque_Type
(
Interpolated_Gain_Triple
.
Kp
*
Propulsion_Error
)
+
Torque_Type
(
Interpolated_Gain_Triple
.
Ki
*
Propulsion_Integral_Error
)
+
Torque_Type
(
Interpolated_Gain_Triple
.
Kd
*
Propulsion_Derivative_Error
);
---------------------
--
Braking
Control
--
---------------------
function
Braking_Speed_Error
return
Current_Speed_Type
'Base is
(Current_Speed - Data.Recovery_Speed)
with Pre => On_State = RUNNING;
function Braking_Error return Error_Type with
Global => (Proof_In => Private_State,
Input => Braking_State);
-- Should be Braking_Speed_Error, but I am confused about the units...
function Braking_Integral_Error return Error_Type with
Global => (Proof_In => Private_State,
Input => Braking_State);
-- Cumulative past error during the last Ti seconds
function Braking_Derivative_Error return Error_Type with
Global => (Proof_In => Private_State,
Input => Braking_State);
-- Error variation at current time
procedure Braking_Control with
Global => (Input => (Input_State,
...
...
@@ -577,6 +726,10 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
Mutual_Exclusion_State),
In_Out => Braking_State),
Pre => On_State = RUNNING
and then Engine_State = BRAKING;
and then Engine_State = BRAKING,
Post => Braking_Torque =
Torque_Type (Interpolated_Gain_Triple.Kp * Braking_Error) +
Torque_Type (Interpolated_Gain_Triple.Ki * Braking_Integral_Error) +
Torque_Type (Interpolated_Gain_Triple.Kd * Braking_Derivative_Error);
end MMS.F_PT.F_FC.Behavior;
UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt-f_fc-data.ads
View file @
512eb5bc
...
...
@@ -65,7 +65,7 @@ package MMS.F_PT.F_FC.Data with SPARK_Mode is
Commutation_Duration : constant Time_Type; -- in s
Hazard_Duration : constant Time_Type; -- in s
Recovery_Speed : constant
Integer
; -- in m.s
Recovery_Speed : constant
Current_Speed_Type
; -- in m.s
J0 : constant Integer; -- in kg.m2
L : constant Integer; -- in m
...
...
@@ -95,7 +95,7 @@ private
Commutation_Duration : constant Time_Type := 0;
Hazard_Duration : constant Time_Type := 0;
Recovery_Speed : constant
Integer
:= 0;
Recovery_Speed : constant
Current_Speed_Type
:= 0;
J0 : constant Integer := 0;
L : constant Integer := 0;
...
...
UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt-f_fc.ads
View file @
512eb5bc
...
...
@@ -35,9 +35,47 @@ is
Ki
:
Gain_Type
;
end
record
;
subtype
Error_Type
is
Gain_Type
'Base; -- ??? what is the type of a PID error?
type Time_Type is new Integer; -- in s ??? some bounds
type Engine_State_Type is
(PROPULSION, WAITING_BRAK, BRAKING, WAITING_PROP);
type Mission_Profile_Type is record
Mass : Payload_Mass_Type;
Altitude : Current_Altitude_Type;
Speed : Current_Speed_Type;
end record;
type Center_Mission_Profile_Type is record
M : Payload_Mass_Center;
A : Flight_Altitude_Center;
S : Flight_Speed_Center;
end record;
type Mission_Profile_Distance_Type is new Natural;
type Neighbour_Mission_Profile_Type is record
Mission_Profile : Center_Mission_Profile_Type;
Distance : Mission_Profile_Distance_Type;
end record;
type Num_Of_Neighbours is new Positive range 1 .. 8;
type Neighbour_Mission_Profile_Array_Type is array
(Num_Of_Neighbours range <>)
of Neighbour_Mission_Profile_Type;
type Neighbour_Mission_Profiles (Size : Num_Of_Neighbours) is record
Neighbours : Neighbour_Mission_Profile_Array_Type (1 .. Size);
end record;
type Gain_Triple_Array_Type is array (Num_Of_Neighbours range <>)
of Gain_Triple;
type Gain_Triples (Size : Num_Of_Neighbours) is record
Neighbours : Gain_Triple_Array_Type (1 .. Size);
end record;
end MMS.F_PT.F_FC;
UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt.ads
View file @
512eb5bc
...
...
@@ -4,7 +4,7 @@ package MMS.F_PT is
type
Current_Range_Type
is
range
1
..
1
_000_000
;
--
in
meters
type
Current_Speed_Type
is
range
1
..
500
;
--
in
km
/
h
type
Current_Speed_Type
is
range
0
..
500
;
--
in
km
/
h
type
Current_Altitude_Type
is
range
-
200
..
1
_000
;
--
in
meters
...
...
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