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Commit d3c468ec authored by Claire Dross's avatar Claire Dross
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Layer2_MMS_SW_SPARK: update F_FC after answers on #28

parent 512eb5bc
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UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt-f_fc-behavior-guarantees.adb
View file @ d3c468ec
......@@ -24,12 +24,13 @@ package body MMS.F_PT.F_FC.Behavior.Guarantees with SPARK_Mode is
Propulsion_Braking_Mutual_Exclusion;
Reference_Trajectory_Computation;
Gain_Scheduling;
if Engine_State = PROPULSION then
Gain_Scheduling;
Propulsion_Control;
State.Braking_Torque := 0.0;
elsif Engine_State = BRAKING then
Gain_Scheduling;
Braking_Control;
State.Propulsion_Torque := 0.0;
else
......
UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt-f_fc-behavior.ads
View file @ d3c468ec
......@@ -412,64 +412,94 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
-- Reference Trajectory Computation --
--------------------------------------
function Use_Set_Point_Altitude return Boolean is
(Running_State = LANDING or else Selected_Option = ALTITUDE)
with Pre => On_State = RUNNING;
function Set_Point_Altitude return Current_Altitude_Type with
Global => (Input => Trajectory_State,
Proof_In => (Private_State,
Proof_In => (Input_State,
Private_State,
Operating_Mode_State,
Mutual_Exclusion_State)),
Pre => On_State = RUNNING;
Pre => On_State = RUNNING
and then Use_Set_Point_Altitude;
function Intermediate_Set_Point_Altitude return Current_Altitude_Type with
Global => (Input => Trajectory_State,
Proof_In => (Private_State,
Proof_In => (Input_State,
Private_State,
Operating_Mode_State,
Mutual_Exclusion_State)),
Pre => On_State = RUNNING;
Pre => On_State = RUNNING
and then Use_Set_Point_Altitude;
function Close_To_Set_Point_Altitude return Boolean with
Global => (Input => Trajectory_State,
Proof_In => (Private_State,
Proof_In => (Input_State,
Private_State,
Operating_Mode_State,
Mutual_Exclusion_State)),
Pre => On_State = RUNNING;
Pre => On_State = RUNNING
and then Use_Set_Point_Altitude;
-- True if we are close enough to the set point. Used to avoid Zeno effect.
function Intermediate_Set_Point_Altitude_Reached return Boolean with
Global => (Input => Trajectory_State,
Proof_In => (Private_State,
Proof_In => (Input_State,
Private_State,
Operating_Mode_State,
Mutual_Exclusion_State)),
Pre => On_State = RUNNING and then Already_Running;
Pre => On_State = RUNNING
and then Already_Running
and then not Operating_Mode_Changed
and then not Operating_Point_Changed
and then Use_Set_Point_Altitude;
-- True if we have reached the previous intermediate set point.
function Use_Set_Point_Speed return Boolean is
(Running_State = LANDING or else Selected_Option = SPEED)
with Pre => On_State = RUNNING;
function Set_Point_Speed return Current_Speed_Type with
Global => (Input => Trajectory_State,
Proof_In => (Private_State,
Proof_In => (Input_State,
Private_State,
Operating_Mode_State,
Mutual_Exclusion_State)),
Pre => On_State = RUNNING;
Pre => On_State = RUNNING
and then Use_Set_Point_Speed;
function Intermediate_Set_Point_Speed return Current_Speed_Type with
Global => (Input => Trajectory_State,
Proof_In => (Private_State,
Proof_In => (Input_State,
Private_State,
Operating_Mode_State,
Mutual_Exclusion_State)),
Pre => On_State = RUNNING;
Pre => On_State = RUNNING
and then Use_Set_Point_Speed;
function Close_To_Set_Point_Speed return Boolean with
Global => (Input => Trajectory_State,
Proof_In => (Private_State,
Proof_In => (Input_State,
Private_State,
Operating_Mode_State,
Mutual_Exclusion_State)),
Pre => On_State = RUNNING;
Pre => On_State = RUNNING
and then Use_Set_Point_Speed;
-- True if we are close enough to the set point. Used to avoid Zeno effect.
function Intermediate_Set_Point_Speed_Reached return Boolean with
Global => (Input => Trajectory_State,
Proof_In => (Private_State,
Proof_In => (Input_State,
Private_State,
Operating_Mode_State,
Mutual_Exclusion_State)),
Pre => On_State = RUNNING and then Already_Running;
Pre => On_State = RUNNING
and then Already_Running
and then not Operating_Mode_Changed
and then not Operating_Point_Changed
and then Use_Set_Point_Speed;
-- True if we have reached the previous intermediate set point.
function Set_Point_Distance return Current_Range_Type with
......@@ -505,8 +535,11 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
and then Set_Point_Speed = 0
and then Set_Point_Distance = Mission_Range
else
(Set_Point_Altitude = Operating_Point.Altitude
and then Set_Point_Speed = Operating_Point.Speed))
(case Selected_Option is
when ALTITUDE =>
Set_Point_Altitude = Operating_Point.Altitude,
when SPEED =>
Set_Point_Speed = Operating_Point.Speed))
-- Instead of giving the true set-point to propulsion control, it gives
-- half of the change amplitude. When current intermediate set-point is
......@@ -515,25 +548,29 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
-- Module is reset by any operating point change.
and then
Intermediate_Set_Point_Speed =
(if Use_Set_Point_Speed then
Intermediate_Set_Point_Speed =
(if not Already_Running
or else Operating_Point_Changed
or else Operating_Mode_Changed
or else (Intermediate_Set_Point_Speed_Reached
and then not Close_To_Set_Point_Speed)
then
(Set_Point_Speed + Current_Speed) / 2
elsif Close_To_Set_Point_Speed then Set_Point_Speed
else Intermediate_Set_Point_Speed'Old)
else Intermediate_Set_Point_Speed'Old))
and then
Intermediate_Set_Point_Altitude =
(if Use_Set_Point_Altitude then
Intermediate_Set_Point_Altitude =
(if not Already_Running
or else Operating_Point_Changed
or else Operating_Mode_Changed
or else (Intermediate_Set_Point_Altitude_Reached
and then not Close_To_Set_Point_Altitude)
then (Set_Point_Altitude + Current_Altitude) / 2
elsif Close_To_Set_Point_Altitude then Set_Point_Altitude
else Intermediate_Set_Point_Altitude'Old)
else Intermediate_Set_Point_Altitude'Old))
-- Changes in the operating point provoque termination of the current
-- cruise phase and activate a transient climb or descent phase to
......@@ -585,7 +622,8 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
Private_State,
Mutual_Exclusion_State),
In_Out => Gain_Scheduling_State),
Pre => On_State = RUNNING,
Pre => On_State = RUNNING
and then Engine_State in BRAKING | PROPULSION,
Post =>
-- 1. Assembling mission profile.
......@@ -631,20 +669,38 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
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),
(if Engine_State = PROPULSION then
Data.Climb_Propulsion_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)
else
Data.Climb_Braking_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),
(if Engine_State = PROPULSION then
Data.Cruise_Propulsion_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)
else
Data.Cruise_Braking_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)))
(if Engine_State = PROPULSION then
Data.Descent_Propulsion_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)
else
Data.Descent_Braking_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.
......@@ -656,15 +712,16 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
function Propulsion_Altitude_Error return Current_Altitude_Type'Base is
(Current_Altitude - Intermediate_Set_Point_Altitude)
with Pre => On_State = RUNNING;
with Pre => On_State = RUNNING
and then Use_Set_Point_Altitude;
function Propulsion_Speed_Error return Current_Speed_Type'Base is
(Current_Speed - Intermediate_Set_Point_Speed)
with Pre => On_State = RUNNING;
with Pre => On_State = RUNNING
and then Use_Set_Point_Speed;
function Propulsion_Error return Error_Type with
Global => (Proof_In => Private_State,
Input => Propulsion_State);
Global => 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...
......@@ -672,14 +729,12 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
-- 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
Global => Propulsion_State;
-- Cumulative past Propulsion_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
Global => Propulsion_State;
-- Propulsion_Error variation at current time
procedure Propulsion_Control with
Global => (Input => (Input_State,
......@@ -699,24 +754,27 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
-- Braking Control --
---------------------
function Braking_Altitude_Error return Current_Altitude_Type'Base is
(Current_Altitude - Intermediate_Set_Point_Altitude)
with Pre => On_State = RUNNING
and then Use_Set_Point_Altitude;
function Braking_Speed_Error return Current_Speed_Type'Base is
(Current_Speed - Data.Recovery_Speed)
with Pre => On_State = RUNNING;
(Current_Speed - Intermediate_Set_Point_Speed)
with Pre => On_State = RUNNING
and then Use_Set_Point_Speed;
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...
Global => Braking_State;
-- Same as propulsion, see #28.
function Braking_Integral_Error return Error_Type with
Global => (Proof_In => Private_State,
Input => Braking_State);
-- Cumulative past error during the last Ti seconds
Global => Braking_State;
-- Cumulative past Braking_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
Global => Braking_State;
-- Braking_Error variation at current time
procedure Braking_Control with
Global => (Input => (Input_State,
......
UseCaseDevelopment/Layer2_MMS_SW_SPARK/mms-f_pt-f_fc-data.ads
View file @ d3c468ec
......@@ -14,7 +14,7 @@ package MMS.F_PT.F_FC.Data with SPARK_Mode is
Flight_Domain_Mesh : constant Flight_Domain_Mesh_Type (1 .. 100, 1 .. 100); -- ??? bounds
function Climb_Gains
function Climb_Propulsion_Gains
(S : Flight_Speed_Center;
A : Flight_Altitude_Center;
M : Payload_Mass_Center) return Gain_Triple
......@@ -23,7 +23,7 @@ package MMS.F_PT.F_FC.Data with SPARK_Mode is
and then A in Flight_Domain_Mesh'Range (2)
and then M in MMS.F_PT.Data.Payload_Mass_Grid'Range;
function Cruise_Gains
function Cruise_Propulsion_Gains
(S : Flight_Speed_Center;
A : Flight_Altitude_Center;
M : Payload_Mass_Center) return Gain_Triple
......@@ -32,7 +32,34 @@ package MMS.F_PT.F_FC.Data with SPARK_Mode is
and then A in Flight_Domain_Mesh'Range (2)
and then M in MMS.F_PT.Data.Payload_Mass_Grid'Range;
function Descent_Gains
function Descent_Propulsion_Gains
(S : Flight_Speed_Center;
A : Flight_Altitude_Center;
M : Payload_Mass_Center) return Gain_Triple
with
Pre => S in Flight_Domain_Mesh'Range (1)
and then A in Flight_Domain_Mesh'Range (2)
and then M in MMS.F_PT.Data.Payload_Mass_Grid'Range;
function Climb_Braking_Gains
(S : Flight_Speed_Center;
A : Flight_Altitude_Center;
M : Payload_Mass_Center) return Gain_Triple
with
Pre => S in Flight_Domain_Mesh'Range (1)
and then A in Flight_Domain_Mesh'Range (2)
and then M in MMS.F_PT.Data.Payload_Mass_Grid'Range;
function Cruise_Braking_Gains
(S : Flight_Speed_Center;
A : Flight_Altitude_Center;
M : Payload_Mass_Center) return Gain_Triple
with
Pre => S in Flight_Domain_Mesh'Range (1)
and then A in Flight_Domain_Mesh'Range (2)
and then M in MMS.F_PT.Data.Payload_Mass_Grid'Range;
function Descent_Braking_Gains
(S : Flight_Speed_Center;
A : Flight_Altitude_Center;
M : Payload_Mass_Center) return Gain_Triple
......
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