@ -412,64 +412,94 @@ package MMS.F_PT.F_FC.Behavior with SPARK_Mode is
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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 ,
Claire Dross
8 years ago