Get the base location also to application layer

src/de/tud/kom/p2psim/api/topology/component/ControllableLocationActuator.java

@@ -51,6 +51,8 @@ public interface ControllableLocationActuator extends Actuator {
 	
 	public PositionVector getCurrentDirection();
 	
+	public PositionVector getBaseLocation();
+	
 	public void updateCurrentDirection(PositionVector direction);
 
 	public double getCurrentBatteryLevel();

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

@@ -346,6 +346,11 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 		return movement.estimatePowerConsumption(velocity);
 	}
 
+	@Override
+	public PositionVector getBaseLocation() {
+		return baseLocation.clone();
+	}
+
 	
 
 }

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

@@ -353,17 +353,13 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 		else if(velocity < minimumHorizontalVelocity()) {
 			return -1;
 		}
-		else {
-		//	System.out.println("===========================");
+		else {			
 			double estimateAngle = estimatePitchAngleForVelocity(velocity);
 			double estimatedDrag = forwardDrag(velocity, estimateAngle);			
 			
 			double requiredThrust = Math.sqrt(hoverThrustRequired() * hoverThrustRequired() + estimatedDrag * estimatedDrag);			
 			double wattage = motor.estimatePowerConsumptionWatt(requiredThrust);
-			
-		//	System.out.println("Motor requires " + wattage + " J/s at velocity " + velocity + " (Thrust: " + requiredThrust + " N, angle = " + Math.toDegrees(estimateAngle)  + ", drag = "+ estimatedDrag+" N )");
-			
-			
+						
 			return wattage;
 		}
 		
@@ -440,21 +436,10 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 					nearest = d;
 				}			
 			}
-			
-		//	double n = Math.sqrt(2 * hoverThrustRequired() * Math.tan(Math.toRadians(nearest)) / bodyDrag(Math.toRadians(nearest), new PositionVector(1,0,0)));
-			
-			//System.out.println("target velocity = " + velocity + " m/s ==> AoA = " + nearest + "° // v_max = " + n + " m/s");
-					
-			
+				
 			return Math.toRadians(nearest);
 		}
-		
-		
-		return maxPitchAngle;
-	
-	}
-	
-	
-	
-	
+			
+		return maxPitchAngle;	
+	}	
 }