Adapted a hover and fly state for fixed wing Uavs

src/de/tud/kom/p2psim/impl/energy/components/StatefulActuatorComponent.java

@@ -43,7 +43,7 @@ public class StatefulActuatorComponent implements ActuatorComponent {
 	 * 
 	 * TODO More states reflecting a more accurate energy consumption?
 	 */
-	public final EnergyState OFF, FLY, MAX;
+	public final EnergyState OFF, HOVER, MIN, MAX;
 	
 	private EnergyState currentState;
 	
@@ -53,9 +53,10 @@ public class StatefulActuatorComponent implements ActuatorComponent {
 	
 	private double actuatorLoad;
 		
-	public StatefulActuatorComponent(int numberOfActuators, double volt, double hoverAmp, double maxAmp) {
+	public StatefulActuatorComponent(int numberOfActuators, double volt, double hoverAmp, double minAmp, double maxAmp) {
 		OFF = new DefaultEnergyState("OFF", 0);		
-		FLY = new DefaultEnergyState("FLY", numberOfActuators * (hoverAmp * volt) * Battery.uJconverison);		
+		HOVER = new DefaultEnergyState("HOVER", numberOfActuators * (hoverAmp * volt) * Battery.uJconverison);	
+		MIN = new DefaultEnergyState("MIN", numberOfActuators * (minAmp * volt) * Battery.uJconverison);		
 		MAX = new DefaultEnergyState("MAX", numberOfActuators * (maxAmp * volt) * Battery.uJconverison);
 		
 		this.currentState = OFF;
@@ -74,9 +75,16 @@ public class StatefulActuatorComponent implements ActuatorComponent {
 	
 	@Override
 	public double calculateEnergyConsumation(EnergyState state, long timeInState) {
-		if(state.equals(FLY)) {
-			double consumationDelta = MAX.getEnergyConsumption() - FLY.getEnergyConsumption();			
-			double consumation = FLY.getEnergyConsumption() + consumationDelta * actuatorLoad;
+		if(state.equals(HOVER)) {			
+			return HOVER.getEnergyConsumption() * ( (double) timeInState / (double) Time.SECOND);
+		}
+		else if(state.equals(MIN)) {		
+			double consumationDelta = MAX.getEnergyConsumption() - MIN.getEnergyConsumption();			
+			double consumation = MIN.getEnergyConsumption() + consumationDelta * actuatorLoad;
+			return consumation * ( (double) timeInState / (double) Time.SECOND);
+		}
+		else if(state.equals(MAX)) {
+			double consumation = 0.5 * MAX.getEnergyConsumption() + MAX.getEnergyConsumption() * actuatorLoad;
 			return consumation * ( (double) timeInState / (double) Time.SECOND);
 		}
 		else
@@ -84,12 +92,20 @@ public class StatefulActuatorComponent implements ActuatorComponent {
 	}
 	
 	public void useActuator(double load) {
-		if(load < 0 || load > 1.0) {
-			throw new AssertionError("Actuator load must be between 0 and 1!");
-		}
-		else {			
+		if(load < 0) {
+			throw new AssertionError("Actuator load cannot be < 0.0!");
+		}		
+		else {
 			this.actuatorLoad = load;
-			doStateChange(FLY);
+			if(load == 0) {			
+				doStateChange(HOVER);
+			}
+			else if(load <= 1.0) {		
+				doStateChange(MIN);
+			}
+			else if(load > 1.0) {
+				doStateChange(MAX);
+			}
 		}
 	}
 	
@@ -99,8 +115,20 @@ public class StatefulActuatorComponent implements ActuatorComponent {
 	 * @return Energy consumption in J/s
 	 */
 	public double estimateEnergyConsumptionWatt(double load) {
-		double consumationDelta = MAX.getEnergyConsumption() - FLY.getEnergyConsumption();			
-		double estimation = FLY.getEnergyConsumption() + consumationDelta * load;
+		
+		double estimation = -1;
+		
+		if(load == 0) {			
+			estimation = HOVER.getEnergyConsumption();
+		}
+		else if(load <= 1.0) {		
+			double consumationDelta = MAX.getEnergyConsumption() - MIN.getEnergyConsumption();			
+			estimation = MIN.getEnergyConsumption() + consumationDelta * load;
+		}
+		else if(load > 1.0) {
+			estimation = 0.5 * MAX.getEnergyConsumption() + MAX.getEnergyConsumption() * load;
+		}
+	
 		
 //		System.out.println("MAX " + ((MAX.getEnergyConsumption() / 14.8) /  Battery.uJconverison));
 //		System.out.println("MIN" + ((FLY.getEnergyConsumption() / 14.8) /  Battery.uJconverison));
@@ -129,7 +157,7 @@ public class StatefulActuatorComponent implements ActuatorComponent {
 	public boolean turnOn() {
 		if (isAvailable()) {
 			if (currentState.equals(OFF)) {
-				doStateChange(FLY);
+				doStateChange(MIN);
 			}			
 			return true;
 		}

src/de/tud/kom/p2psim/impl/energy/configs/StatefulActuatorConfiguration.java

@@ -35,11 +35,12 @@ public class StatefulActuatorConfiguration implements EnergyConfiguration<Statef
 	private int numberOfActuators;
 	private double volt; 	
 	private double hoverAmp; // in ampere
-	private double flyAmp; // in ampere
+	private double minAmp; // in ampere
+	private double maxAmp; // in ampere
 	
 	@Override
 	public StatefulActuatorComponent getConfiguredEnergyComponent(SimHost host) {
-		return new StatefulActuatorComponent(numberOfActuators, volt, hoverAmp, flyAmp);		
+		return new StatefulActuatorComponent(numberOfActuators, volt, hoverAmp, minAmp, maxAmp);		
 	}
 
 	@Override
@@ -50,7 +51,7 @@ public class StatefulActuatorConfiguration implements EnergyConfiguration<Statef
 	@Override
 	public boolean isWellConfigured() {
 		if(numberOfActuators >= 1 && volt > 0
-				&& hoverAmp > 0	&& flyAmp > 0)
+				&& hoverAmp > 0	&& minAmp > 0 && maxAmp > 0)
 			return true;
 					
 		return false;
@@ -64,8 +65,12 @@ public class StatefulActuatorConfiguration implements EnergyConfiguration<Statef
 		this.hoverAmp = ampereHovering;
 	}
 
-	public void setFlyAmp(double ampereFlying) {
-		this.flyAmp = ampereFlying;
+	public void setMinAmp(double minamp) {
+		this.minAmp = minamp;
+	}
+	
+	public void setMaxAmp(double maxamp) {
+		this.maxAmp = maxamp;
 	}
 	
 	public void setVolt(double voltage) {

src/de/tud/kom/p2psim/impl/topology/component/UAVTopologyComponent.java

@@ -108,6 +108,14 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		// retrieve base location
 		baseLocation = UAVBasePlacement.base.position.clone();	
 		
+		System.out.println("optimal velocity: " + getOptimalMovementSpeed());
+		System.out.println("flight distance @opt: " + estimateFlightDistance(getOptimalMovementSpeed(), 1, 0));
+		System.out.println("flight distance @5m/s: " + estimateFlightDistance(5.0, 1, 0));
+		System.out.println("flight distance @"+getMaxMovementSpeed()+"m/s: " + estimateFlightDistance(getMaxMovementSpeed(), 1, 0));		
+					
+		System.out.println("Hover time: " + (((battery.getMaximumEnergy()) / Battery.uJconverison) / estimatePowerConsumptionWatt(0)) / 60); 
+		
+		System.out.println();
 	}
 	
 	private void setState(UAVstate newState) {

src/de/tud/kom/p2psim/impl/topology/movement/aerial/MulticopterMovement.java

@@ -86,7 +86,7 @@ public class MulticopterMovement implements UAVMovementModel  {
 		this.dragCoefficient = UAVDragCoefficient;
 		this.maximumPitchAngleAllowed = maximumPitchAngleAllowed;
 		this.maximumDecentVelocityAllowed = maximumDecentVelocityAllowed;
-		this.maximumTurnAngle = maximumTurnAngle;
+		this.maximumTurnAngle = maximumTurnAngle;	
 	}
 	
 	boolean first = true;

src/de/tud/kom/p2psim/impl/topology/movement/aerial/SimpleMulticopterMovement.java

@@ -53,15 +53,18 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 	private double minimumHorizontalVelocity;
 	private double minimumVerticalVelocity;
 	
+	private double optimalHorizontalVelocity;
+	
 	private LinkedList<PositionVector> route = new LinkedList<>();
 	private Map<PositionVector, ReachedLocationCallback> locationCallbacks = new LinkedHashMap<>();  
 		
 	private StatefulActuatorComponent motor;
 		
-	public SimpleMulticopterMovement(UAVTopologyComponent topologyComponent, double maximumHorizontalVelocity, 
+	public SimpleMulticopterMovement(UAVTopologyComponent topologyComponent, double maximumHorizontalVelocity, double optimalHorizontalVelocity,
 			double maximumVerticalVelocity, double minimumHorizontalVelocity, double minimumVerticalVelocity) {
 		this.topologyComponent = topologyComponent;		
 		this.maximumHorizontalVelocity = maximumHorizontalVelocity;
+		this.optimalHorizontalVelocity = optimalHorizontalVelocity;
 		this.maximumVerticalVelocity = maximumVerticalVelocity;
 		this.minimumHorizontalVelocity = minimumHorizontalVelocity;
 		this.minimumVerticalVelocity = minimumVerticalVelocity;
@@ -101,7 +104,14 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 			PositionVector newPosition = new PositionVector(currentPosition);
 			newPosition.add(direction);		
 			
-			motor.useActuator(1);
+			if(velocity <= optimalHorizontalVelocity) {
+				motor.useActuator(1.0);
+			}
+			else {
+				motor.useActuator(2.0);
+			}
+					
+					
 			topologyComponent.updateCurrentLocation(newPosition);					
 		}
 		else if(motor.isOn()) {
@@ -194,8 +204,11 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 		if(velocity == 0) {
 			wattage = motor.estimateEnergyConsumptionWatt(0);
 		}
-		else { 		
-			wattage = motor.estimateEnergyConsumptionWatt(1.0);
+		else if( velocity <= optimalHorizontalVelocity){
+			wattage = motor.estimateEnergyConsumptionWatt(1);
+		}
+		else {
+			wattage = motor.estimateEnergyConsumptionWatt(2);
 		}
 		
 		return wattage;
@@ -234,6 +247,12 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 		public void setMaximumHorizontalVelocity(double maximumHorizontalVelocity) {
 			this.maximumHorizontalVelocity = maximumHorizontalVelocity;
 		}
+		
+		private double optimalHorizontalVelocity = 10;
+		
+		public void setOptimalHorizontalVelocity(double optimalHorizontalVelocity) {
+			this.optimalHorizontalVelocity = optimalHorizontalVelocity;
+		}		
 
 		private double maximumVerticalVelocity = 5;		
 		
@@ -254,13 +273,13 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 		}
 		
 		public UAVMovementModel createComponent(UAVTopologyComponent topologyComponent) {
-			return new SimpleMulticopterMovement(topologyComponent, maximumHorizontalVelocity, 
+			return new SimpleMulticopterMovement(topologyComponent, maximumHorizontalVelocity, optimalHorizontalVelocity,
 					maximumVerticalVelocity, minimumHorizontalVelocity, minimumVerticalVelocity);
 		}			
 	}
 
 	@Override
 	public double estimateOptimalSpeed() {
-		return maximumHorizontalVelocity;
+		return optimalHorizontalVelocity;
 	}
 }