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http://172.16.200.102/RESSAC/RESSAC_Use_Case.git
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Layer2_MMS_SW_SPARK: update F_FC after answers on #28
This commit is contained in:
Claire Dross
@@ -24,12 +24,13 @@ package body MMS.F_PT.F_FC.Behavior.Guarantees with SPARK_Mode is
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Propulsion_Braking_Mutual_Exclusion;
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Reference_Trajectory_Computation;
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Gain_Scheduling;
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if Engine_State = PROPULSION then
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Gain_Scheduling;
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Propulsion_Control;
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State.Braking_Torque := 0.0;
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elsif Engine_State = BRAKING then
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Gain_Scheduling;
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Braking_Control;
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State.Propulsion_Torque := 0.0;
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else
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@@ -412,64 +412,94 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
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-- Reference Trajectory Computation --
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--------------------------------------
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function Use_Set_Point_Altitude return Boolean is
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(Running_State = LANDING or else Selected_Option = ALTITUDE)
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with Pre => On_State = RUNNING;
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function Set_Point_Altitude return Current_Altitude_Type with
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Global => (Input => Trajectory_State,
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Proof_In => (Private_State,
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Proof_In => (Input_State,
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Private_State,
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Operating_Mode_State,
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Mutual_Exclusion_State)),
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Pre => On_State = RUNNING;
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Pre => On_State = RUNNING
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and then Use_Set_Point_Altitude;
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function Intermediate_Set_Point_Altitude return Current_Altitude_Type with
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Global => (Input => Trajectory_State,
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Proof_In => (Private_State,
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Proof_In => (Input_State,
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Private_State,
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Operating_Mode_State,
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Mutual_Exclusion_State)),
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Pre => On_State = RUNNING;
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Pre => On_State = RUNNING
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and then Use_Set_Point_Altitude;
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function Close_To_Set_Point_Altitude return Boolean with
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Global => (Input => Trajectory_State,
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Proof_In => (Private_State,
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Proof_In => (Input_State,
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Private_State,
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Operating_Mode_State,
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Mutual_Exclusion_State)),
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Pre => On_State = RUNNING;
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Pre => On_State = RUNNING
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and then Use_Set_Point_Altitude;
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-- True if we are close enough to the set point. Used to avoid Zeno effect.
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function Intermediate_Set_Point_Altitude_Reached return Boolean with
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Global => (Input => Trajectory_State,
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Proof_In => (Private_State,
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Proof_In => (Input_State,
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Private_State,
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Operating_Mode_State,
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Mutual_Exclusion_State)),
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Pre => On_State = RUNNING and then Already_Running;
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Pre => On_State = RUNNING
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and then Already_Running
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and then not Operating_Mode_Changed
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and then not Operating_Point_Changed
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and then Use_Set_Point_Altitude;
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-- True if we have reached the previous intermediate set point.
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function Use_Set_Point_Speed return Boolean is
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(Running_State = LANDING or else Selected_Option = SPEED)
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with Pre => On_State = RUNNING;
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function Set_Point_Speed return Current_Speed_Type with
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Global => (Input => Trajectory_State,
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Proof_In => (Private_State,
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Proof_In => (Input_State,
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Private_State,
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Operating_Mode_State,
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Mutual_Exclusion_State)),
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Pre => On_State = RUNNING;
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Pre => On_State = RUNNING
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and then Use_Set_Point_Speed;
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function Intermediate_Set_Point_Speed return Current_Speed_Type with
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Global => (Input => Trajectory_State,
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Proof_In => (Private_State,
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Proof_In => (Input_State,
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Private_State,
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Operating_Mode_State,
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Mutual_Exclusion_State)),
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Pre => On_State = RUNNING;
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Pre => On_State = RUNNING
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and then Use_Set_Point_Speed;
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function Close_To_Set_Point_Speed return Boolean with
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Global => (Input => Trajectory_State,
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Proof_In => (Private_State,
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Proof_In => (Input_State,
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Private_State,
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Operating_Mode_State,
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Mutual_Exclusion_State)),
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Pre => On_State = RUNNING;
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Pre => On_State = RUNNING
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and then Use_Set_Point_Speed;
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-- True if we are close enough to the set point. Used to avoid Zeno effect.
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function Intermediate_Set_Point_Speed_Reached return Boolean with
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Global => (Input => Trajectory_State,
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Proof_In => (Private_State,
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Proof_In => (Input_State,
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Private_State,
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Operating_Mode_State,
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Mutual_Exclusion_State)),
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Pre => On_State = RUNNING and then Already_Running;
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Pre => On_State = RUNNING
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and then Already_Running
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and then not Operating_Mode_Changed
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and then not Operating_Point_Changed
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and then Use_Set_Point_Speed;
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-- True if we have reached the previous intermediate set point.
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function Set_Point_Distance return Current_Range_Type with
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@@ -505,8 +535,11 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
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and then Set_Point_Speed = 0
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and then Set_Point_Distance = Mission_Range
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else
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(Set_Point_Altitude = Operating_Point.Altitude
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and then Set_Point_Speed = Operating_Point.Speed))
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(case Selected_Option is
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when ALTITUDE =>
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Set_Point_Altitude = Operating_Point.Altitude,
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when SPEED =>
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Set_Point_Speed = Operating_Point.Speed))
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-- Instead of giving the true set-point to propulsion control, it gives
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-- half of the change amplitude. When current intermediate set-point is
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@@ -515,25 +548,29 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
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-- Module is reset by any operating point change.
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and then
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Intermediate_Set_Point_Speed =
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(if Use_Set_Point_Speed then
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Intermediate_Set_Point_Speed =
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(if not Already_Running
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or else Operating_Point_Changed
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or else Operating_Mode_Changed
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or else (Intermediate_Set_Point_Speed_Reached
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and then not Close_To_Set_Point_Speed)
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then
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(Set_Point_Speed + Current_Speed) / 2
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elsif Close_To_Set_Point_Speed then Set_Point_Speed
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else Intermediate_Set_Point_Speed'Old)
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else Intermediate_Set_Point_Speed'Old))
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and then
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Intermediate_Set_Point_Altitude =
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(if Use_Set_Point_Altitude then
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Intermediate_Set_Point_Altitude =
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(if not Already_Running
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or else Operating_Point_Changed
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or else Operating_Mode_Changed
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or else (Intermediate_Set_Point_Altitude_Reached
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and then not Close_To_Set_Point_Altitude)
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then (Set_Point_Altitude + Current_Altitude) / 2
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elsif Close_To_Set_Point_Altitude then Set_Point_Altitude
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else Intermediate_Set_Point_Altitude'Old)
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else Intermediate_Set_Point_Altitude'Old))
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-- Changes in the operating point provoque termination of the current
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-- cruise phase and activate a transient climb or descent phase to
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@@ -585,7 +622,8 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
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Private_State,
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Mutual_Exclusion_State),
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In_Out => Gain_Scheduling_State),
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Pre => On_State = RUNNING,
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Pre => On_State = RUNNING
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and then Engine_State in BRAKING | PROPULSION,
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Post =>
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-- 1. Assembling mission profile.
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@@ -631,20 +669,38 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
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Extract_Gain_Triple_For_Neighbours.Neighbours (I) =
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(case Flight_Phase is
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when CLIMB =>
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Data.Climb_Gains
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(M => Nearest_Neighbours.Neighbours (I).Mission_Profile.M,
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A => Nearest_Neighbours.Neighbours (I).Mission_Profile.A,
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S => Nearest_Neighbours.Neighbours (I).Mission_Profile.S),
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(if Engine_State = PROPULSION then
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Data.Climb_Propulsion_Gains
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(M => Nearest_Neighbours.Neighbours (I).Mission_Profile.M,
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A => Nearest_Neighbours.Neighbours (I).Mission_Profile.A,
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S => Nearest_Neighbours.Neighbours (I).Mission_Profile.S)
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else
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Data.Climb_Braking_Gains
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(M => Nearest_Neighbours.Neighbours (I).Mission_Profile.M,
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A => Nearest_Neighbours.Neighbours (I).Mission_Profile.A,
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S => Nearest_Neighbours.Neighbours (I).Mission_Profile.S)),
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when CRUISE =>
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Data.Cruise_Gains
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(M => Nearest_Neighbours.Neighbours (I).Mission_Profile.M,
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A => Nearest_Neighbours.Neighbours (I).Mission_Profile.A,
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S => Nearest_Neighbours.Neighbours (I).Mission_Profile.S),
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(if Engine_State = PROPULSION then
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Data.Cruise_Propulsion_Gains
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(M => Nearest_Neighbours.Neighbours (I).Mission_Profile.M,
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A => Nearest_Neighbours.Neighbours (I).Mission_Profile.A,
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S => Nearest_Neighbours.Neighbours (I).Mission_Profile.S)
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else
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Data.Cruise_Braking_Gains
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(M => Nearest_Neighbours.Neighbours (I).Mission_Profile.M,
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A => Nearest_Neighbours.Neighbours (I).Mission_Profile.A,
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S => Nearest_Neighbours.Neighbours (I).Mission_Profile.S)),
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when DESCENT =>
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Data.Descent_Gains
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(M => Nearest_Neighbours.Neighbours (I).Mission_Profile.M,
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A => Nearest_Neighbours.Neighbours (I).Mission_Profile.A,
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S => Nearest_Neighbours.Neighbours (I).Mission_Profile.S)))
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(if Engine_State = PROPULSION then
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Data.Descent_Propulsion_Gains
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(M => Nearest_Neighbours.Neighbours (I).Mission_Profile.M,
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A => Nearest_Neighbours.Neighbours (I).Mission_Profile.A,
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S => Nearest_Neighbours.Neighbours (I).Mission_Profile.S)
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else
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Data.Descent_Braking_Gains
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(M => Nearest_Neighbours.Neighbours (I).Mission_Profile.M,
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A => Nearest_Neighbours.Neighbours (I).Mission_Profile.A,
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S => Nearest_Neighbours.Neighbours (I).Mission_Profile.S))))
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-- 4. Compute MP's gain triple by interpolation of its neighbours
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-- Set appropriate value to Interpolated_Gain_Triple.
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@@ -656,15 +712,16 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
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function Propulsion_Altitude_Error return Current_Altitude_Type'Base is
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(Current_Altitude - Intermediate_Set_Point_Altitude)
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with Pre => On_State = RUNNING;
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with Pre => On_State = RUNNING
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and then Use_Set_Point_Altitude;
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function Propulsion_Speed_Error return Current_Speed_Type'Base is
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(Current_Speed - Intermediate_Set_Point_Speed)
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with Pre => On_State = RUNNING;
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with Pre => On_State = RUNNING
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and then Use_Set_Point_Speed;
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function Propulsion_Error return Error_Type with
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Global => (Proof_In => Private_State,
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Input => Propulsion_State);
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Global => Propulsion_State;
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-- In Flight and maybe also Take-Off phase, should be
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-- Propulsion_Altitude_Error if Selected_Mode is ALTITUDE and
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-- Propulsion_Speed_Error otherwise, but I am confused about the units...
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@@ -672,14 +729,12 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
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-- see #29.
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function Propulsion_Integral_Error return Error_Type with
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Global => (Proof_In => Private_State,
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Input => Propulsion_State);
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-- Cumulative past error during the last Ti seconds
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Global => Propulsion_State;
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-- Cumulative past Propulsion_Error during the last Ti seconds
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function Propulsion_Derivative_Error return Error_Type with
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Global => (Proof_In => Private_State,
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Input => Propulsion_State);
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-- Error variation at current time
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Global => Propulsion_State;
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-- Propulsion_Error variation at current time
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procedure Propulsion_Control with
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Global => (Input => (Input_State,
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@@ -699,24 +754,27 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
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-- Braking Control --
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---------------------
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function Braking_Altitude_Error return Current_Altitude_Type'Base is
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(Current_Altitude - Intermediate_Set_Point_Altitude)
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with Pre => On_State = RUNNING
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and then Use_Set_Point_Altitude;
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function Braking_Speed_Error return Current_Speed_Type'Base is
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(Current_Speed - Data.Recovery_Speed)
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with Pre => On_State = RUNNING;
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(Current_Speed - Intermediate_Set_Point_Speed)
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with Pre => On_State = RUNNING
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and then Use_Set_Point_Speed;
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function Braking_Error return Error_Type with
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Global => (Proof_In => Private_State,
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Input => Braking_State);
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-- Should be Braking_Speed_Error, but I am confused about the units...
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Global => Braking_State;
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-- Same as propulsion, see #28.
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function Braking_Integral_Error return Error_Type with
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Global => (Proof_In => Private_State,
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Input => Braking_State);
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-- Cumulative past error during the last Ti seconds
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Global => Braking_State;
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-- Cumulative past Braking_Error during the last Ti seconds
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function Braking_Derivative_Error return Error_Type with
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Global => (Proof_In => Private_State,
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Input => Braking_State);
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-- Error variation at current time
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Global => Braking_State;
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-- Braking_Error variation at current time
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procedure Braking_Control with
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Global => (Input => (Input_State,
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@@ -14,7 +14,7 @@ package MMS.F_PT.F_FC.Data with SPARK_Mode is
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Flight_Domain_Mesh : constant Flight_Domain_Mesh_Type (1 .. 100, 1 .. 100); -- ??? bounds
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function Climb_Gains
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function Climb_Propulsion_Gains
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(S : Flight_Speed_Center;
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A : Flight_Altitude_Center;
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M : Payload_Mass_Center) return Gain_Triple
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@@ -23,7 +23,7 @@ package MMS.F_PT.F_FC.Data with SPARK_Mode is
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and then A in Flight_Domain_Mesh'Range (2)
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and then M in MMS.F_PT.Data.Payload_Mass_Grid'Range;
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function Cruise_Gains
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function Cruise_Propulsion_Gains
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(S : Flight_Speed_Center;
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A : Flight_Altitude_Center;
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M : Payload_Mass_Center) return Gain_Triple
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@@ -32,7 +32,34 @@ package MMS.F_PT.F_FC.Data with SPARK_Mode is
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and then A in Flight_Domain_Mesh'Range (2)
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and then M in MMS.F_PT.Data.Payload_Mass_Grid'Range;
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function Descent_Gains
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function Descent_Propulsion_Gains
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(S : Flight_Speed_Center;
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A : Flight_Altitude_Center;
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M : Payload_Mass_Center) return Gain_Triple
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with
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Pre => S in Flight_Domain_Mesh'Range (1)
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and then A in Flight_Domain_Mesh'Range (2)
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and then M in MMS.F_PT.Data.Payload_Mass_Grid'Range;
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function Climb_Braking_Gains
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(S : Flight_Speed_Center;
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A : Flight_Altitude_Center;
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M : Payload_Mass_Center) return Gain_Triple
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with
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Pre => S in Flight_Domain_Mesh'Range (1)
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and then A in Flight_Domain_Mesh'Range (2)
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and then M in MMS.F_PT.Data.Payload_Mass_Grid'Range;
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function Cruise_Braking_Gains
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(S : Flight_Speed_Center;
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A : Flight_Altitude_Center;
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M : Payload_Mass_Center) return Gain_Triple
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with
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Pre => S in Flight_Domain_Mesh'Range (1)
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and then A in Flight_Domain_Mesh'Range (2)
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and then M in MMS.F_PT.Data.Payload_Mass_Grid'Range;
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function Descent_Braking_Gains
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(S : Flight_Speed_Center;
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A : Flight_Altitude_Center;
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M : Payload_Mass_Center) return Gain_Triple
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Reference in New Issue
Block a user