More renaming to make energy and movement moidels for UAVs more lenient.

src/de/tud/kom/p2psim/api/energy/Battery.java

@@ -38,7 +38,7 @@ public interface Battery extends Cloneable {
 	 * 
 	 * @return the maximum capacity of the battery in uJ
 	 */
-	public double getMaximumEnergyLevel();
+	public double getMaximumEnergy();
 	
 	/**
 	 * Returns the current status of the Battery as a Percentage-Value
@@ -52,7 +52,7 @@ public interface Battery extends Cloneable {
 	 * 
 	 * @return the current capacity of the battery in uJ
 	 */
-	public double getCurrentEnergyLevel();
+	public double getCurrentEnergy();
 
 	/**
 	 * Returns the consumed energy in uJoule

src/de/tud/kom/p2psim/api/energy/EnergyComponent.java

@@ -28,8 +28,8 @@ import de.tudarmstadt.maki.simonstrator.api.Time;
  * State-switching is event-based in this new version of the Model to allow more
  * fine-grained analyzing.
  * 
- * @author Bjoern Richerzhagen
- * @version 1.0, 21.02.2012
+ * @author Bjoern Richerzhagen, Julian Zobel
+ * @version 1.1, 20.01.2020
  */
 public interface EnergyComponent extends EventHandler {
 

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

@@ -87,5 +87,7 @@ public interface ControllableLocationActuator extends Actuator {
 	
 	public double getMovementSpeed();
 	
-	public double estimatePowerConsumption(double velocity);
+	public double estimatePowerConsumptionWatt(double velocity);
+	
+	public double estimateFlightDistance(double velocity, double batterylevel, double batterythreshold);
 }

src/de/tud/kom/p2psim/api/topology/movement/UAVMovementModel.java

@@ -21,24 +21,42 @@
 package de.tud.kom.p2psim.api.topology.movement;
 
 import java.util.LinkedList;
-
 import de.tud.kom.p2psim.impl.energy.components.ActuatorComponent;
-import de.tud.kom.p2psim.impl.energy.components.StatelessActuatorComponent;
 import de.tud.kom.p2psim.impl.topology.util.PositionVector;
 import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.ReachedLocationCallback;
 
+/**
+ * UAV Movement Models provide basic functionality for the simulation of flying UAVs. 
+ * 
+ * @author Julian Zobel
+ * @version 1.0, 20.01.2020
+ */
 public interface UAVMovementModel {
 	
+	// NO - NO CHANGY
+	public final double AIRDENSITY = 1.2045; // kg/m^3
+	public final double GRAVITY = 9.807; // m/s^2
+	
 	public void setMotorControl(ActuatorComponent motor);
 	
-	public void setPreferredSpeed(double v_pref);
+	/**
+	 * Set the preferred/target speed of this UAV.
+	 * 
+	 * @param targetVelocity
+	 */
+	public void setTargetVelocity(double targetVelocity);
 	
-	public double verticalAscentMaxVelocity();
-	public double horizontalMaxVelocity();
-	public double getCurrentSpeed();
-	public double horizontalMinVelocity();
+	public double getVerticalAscentMaxVelocity();
+	public double getHorizontalMaxVelocity();
+	public double getCurrentVelocity();
+	public double getHorizontalMinVelocity();
 	
-	public double estimatePowerConsumption(double velocity);
+	/**
+	 * Estimate the power consumption for a given velocity
+	 * @param velocity 
+	 * @return The power consumption in W for the given velocity.
+	 */
+	public double estimatePowerConsumptionWatt(double velocity);
 	
 	public void move(long timeBetweenMovementOperations);
 	

src/de/tud/kom/p2psim/impl/energy/EnergyModelFactory.java

@@ -94,12 +94,12 @@ public class EnergyModelFactory implements HostComponentFactory {
 			double percentageOfFullBattery = (1 - random.nextDouble());
 			if(percentageOfFullBattery < minimumStartEnergyLevel)
 				percentageOfFullBattery = minimumStartEnergyLevel;
-			double initialEnergy = batteryModel.getMaximumEnergyLevel() * percentageOfFullBattery;
+			double initialEnergy = batteryModel.getMaximumEnergy() * percentageOfFullBattery;
 			
 			bat = batteryModel.copy(initialEnergy);
 		}
 		else {			
-			bat = batteryModel.copy(batteryModel.getMaximumEnergyLevel());			
+			bat = batteryModel.copy(batteryModel.getMaximumEnergy());			
 		}
 
 		EnergyModel em = new ComponentBasedEnergyModel(host, bat);

src/de/tud/kom/p2psim/impl/energy/RechargeableBattery.java

@@ -63,6 +63,6 @@ public class RechargeableBattery extends SimpleBattery {
 
 	@Override
 	public String toString() {
-		return "Rechargeable Battery ["+getCurrentPercentage()+"%] ["+getCurrentEnergyLevel()+"/"+getMaximumEnergyLevel()+"]";
+		return "Rechargeable Battery ["+getCurrentPercentage()+"%] ["+getCurrentEnergy()+"/"+getMaximumEnergy()+"]";
 	}
 }

src/de/tud/kom/p2psim/impl/energy/SimpleBattery.java

@@ -64,7 +64,7 @@ public class SimpleBattery implements Battery {
 	}
 
 	@Override
-	public double getCurrentEnergyLevel() {
+	public double getCurrentEnergy() {
 		if (isEmpty()) {
 			return 0.0;
 		}
@@ -104,7 +104,7 @@ public class SimpleBattery implements Battery {
 	}
 
 	@Override
-	public double getMaximumEnergyLevel() {
+	public double getMaximumEnergy() {
 		return initialEnergy;
 	}
 

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

@@ -24,5 +24,6 @@ import de.tud.kom.p2psim.api.energy.EnergyComponent;
 
 // Interface Tag
 public interface ActuatorComponent extends EnergyComponent {
-
+	
+	
 }

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

@@ -21,6 +21,7 @@
 package de.tud.kom.p2psim.impl.energy.components;
 
 
+import de.tud.kom.p2psim.api.energy.Battery;
 import de.tud.kom.p2psim.api.energy.ComponentType;
 import de.tud.kom.p2psim.api.energy.EnergyEventListener;
 import de.tud.kom.p2psim.api.energy.EnergyState;
@@ -54,8 +55,8 @@ public class StatefulActuatorComponent implements ActuatorComponent {
 		
 	public StatefulActuatorComponent(int numberOfActuators, double volt, double hoverAmp, double maxAmp) {
 		OFF = new DefaultEnergyState("OFF", 0);		
-		FLY = new DefaultEnergyState("FLY", numberOfActuators * (hoverAmp * volt) * 1000000);		
-		MAX = new DefaultEnergyState("MAX", numberOfActuators * (maxAmp * volt) * 1000000);
+		FLY = new DefaultEnergyState("FLY", numberOfActuators * (hoverAmp * volt) * Battery.uJconverison);		
+		MAX = new DefaultEnergyState("MAX", numberOfActuators * (maxAmp * volt) * Battery.uJconverison);
 		
 		this.currentState = OFF;
 		this.lastEnergyConsumationEvent = Time.getCurrentTime();
@@ -92,11 +93,20 @@ public class StatefulActuatorComponent implements ActuatorComponent {
 		}
 	}
 	
-	public double estimatePowerConsumption(double load) {
+	/**
+	 * Estimates the energy consumption based on a given load.
+	 * @param load: Actuator load between 0.0 and 1.0
+	 * @return Energy consumption in J/s
+	 */
+	public double estimateEnergyConsumptionWatt(double load) {
 		double consumationDelta = MAX.getEnergyConsumption() - FLY.getEnergyConsumption();			
 		double estimation = FLY.getEnergyConsumption() + consumationDelta * load;
 		
-		return estimation;
+		System.out.println("MAX " + ((MAX.getEnergyConsumption() / 14.8) /  Battery.uJconverison));
+		System.out.println("MIN" + ((FLY.getEnergyConsumption() / 14.8) /  Battery.uJconverison));
+		System.out.println(load);
+		// this estimation is in uJ, but has to return J, thus, do conversion
+		return estimation / Battery.uJconverison;
 	}
 	
 	@Override

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

@@ -129,7 +129,7 @@ public class StatelessActuatorComponent implements ActuatorComponent {
 	/**
 	 * 
 	 * @param targetThrust
-	 * @return The power consumption for the target thrust in uW (micro watt)
+	 * @return The power consumption for the target thrust in Watt
 	 */
 	public double estimatePowerConsumptionWatt(double targetThrust) {
 		if(targetThrust == 0 || targetThrust <= numberOfActuators * characteristics.getFirst().getThrust()) {
@@ -143,6 +143,8 @@ public class StatelessActuatorComponent implements ActuatorComponent {
 		else {			
 			double amps = approximateAmpereDraw(targetThrust);
 			
+			System.out.println(amps);
+			
 			return numberOfActuators * amps * volts;
 		}
 	}

src/de/tud/kom/p2psim/impl/energy/models/AbstractEnergyModel.java

@@ -173,7 +173,7 @@ public abstract class AbstractEnergyModel implements EnergyModel, BatterySensor,
 
 	@Override
 	public double getCurrentEnergyLevel() {
-		return bat.getCurrentEnergyLevel();
+		return bat.getCurrentEnergy();
 	}
 
 	@Override

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

@@ -23,6 +23,7 @@ package de.tud.kom.p2psim.impl.topology.component;
 import java.util.LinkedList;
 import java.util.Set;
 import de.tud.kom.p2psim.api.common.SimHost;
+import de.tud.kom.p2psim.api.energy.Battery;
 import de.tud.kom.p2psim.api.energy.ComponentType;
 import de.tud.kom.p2psim.api.energy.EnergyModel;
 import de.tud.kom.p2psim.api.network.SimNetInterface;
@@ -38,6 +39,7 @@ import de.tud.kom.p2psim.impl.energy.models.AbstractEnergyModel;
 import de.tud.kom.p2psim.impl.topology.placement.UAVBasePlacement;
 import de.tud.kom.p2psim.impl.topology.util.PositionVector;
 import de.tudarmstadt.maki.simonstrator.api.Monitor;
+import de.tudarmstadt.maki.simonstrator.api.Time;
 import de.tudarmstadt.maki.simonstrator.api.component.ComponentNotAvailableException;
 import de.tudarmstadt.maki.simonstrator.api.component.overlay.OverlayComponent;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.AttractionPoint;
@@ -137,12 +139,12 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 
 	@Override
 	public double getMovementSpeed() {
-		return movement.getCurrentSpeed();
+		return movement.getCurrentVelocity();
 	}
 
 	@Override
 	public void setMovementSpeed(double speed) {
-		movement.setPreferredSpeed(speed);
+		movement.setTargetVelocity(speed);
 	}
 
 	@Override
@@ -197,13 +199,18 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 	
 	@Override
 	public double getCurrentBatteryEnergy() {
-		return battery.getCurrentEnergyLevel();
+		return battery.getCurrentEnergy();
 	}
 
 	public RechargeableBattery getBattery() {
 		return battery;
 	}
 	
+	@Override
+	public double getMaximumBatteryCapacity() {
+		return battery.getMaximumEnergy();
+	}
+	
 	@Override
 	public UAVMovementModel getUAVMovement() {
 		return movement;
@@ -278,7 +285,7 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 			}
 		};
 		
-		movement.setPreferredSpeed(movement.horizontalMaxVelocity());
+		movement.setTargetVelocity(movement.horizontalMaxVelocity());
 		movement.setTargetLocation(baseLocation, returnCallback);	
 	}
 		
@@ -339,17 +346,26 @@ public class UAVTopologyComponent extends AbstractTopologyComponent implements S
 	public void updateCurrentDirection(PositionVector direction) {
 		this.direction.set(direction);
 	}
-
+	
 	@Override
-	public double getMaximumBatteryCapacity() {
-		return battery.getMaximumEnergyLevel();
+	public double estimatePowerConsumptionWatt(double velocity) {
+		return movement.estimatePowerConsumptionWatt(velocity);
 	}
 
 	@Override
-	public double estimatePowerConsumption(double velocity) {
-		return movement.estimatePowerConsumption(velocity);
+	public double estimateFlightDistance(double velocity, double batterylevel, double batterythreshold) {
+				
+		assert batterylevel > batterythreshold;
+		assert batterylevel <= 1.0 && batterylevel >= 0.0;
+		assert batterythreshold <= 1.0 && batterythreshold >= 0.0;
+		
+		double availableEnergy = (battery.getMaximumEnergy() * (batterylevel - batterythreshold)) / Battery.uJconverison; // since battery energy is in uJ, conversion in J is required		
+		double powerconsumption = estimatePowerConsumptionWatt(velocity); // J/s (or Watt)				
+		double distance = (availableEnergy / powerconsumption) * velocity; // d = (E/P)* v [m]
+	
+		return distance;
 	}
-
+	
 	@Override
 	public PositionVector getBaseLocation() {
 		return baseLocation.clone();

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

@@ -45,32 +45,41 @@ import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.ReachedLocation
  * @version 1.0, 11.09.2018
  */
 public class MulticopterMovement implements UAVMovementModel  {
-
+	
 	private UAVTopologyComponent topologyComponent;
 	
 	private double currentAngleOfAttack;
-	private double currentSpeed;
+	private double velocity;
 	
-	private double targetSpeed;	
+	private double targetVelocity;	
 	
 	private LinkedList<PositionVector> route = new LinkedList<>();
 	private Map<PositionVector, ReachedLocationCallback> locationCallbacks = new LinkedHashMap<>();  // TODO callback interface
 		
 	private StatelessActuatorComponent motor;
 	
-	private double mass = 1.465; // kg
-	private final double airdensity = 1.2045; // kg/m^3
-	private final double gravity = 9.807; // m/s^2
-	private double A_top = 0.245; // m^2
-	private double A_front = 0.1; // m^2
-	private double dragCoefficient = 0.7;
-	private double maxPitchAngle = Math.toRadians(60); // 45° max angle
-	private double descentVelocityMax = 5; // m/s
-	private double maxTurnAngle = Math.toRadians(90); // 90° per second turn angle
-	
-	
-	public MulticopterMovement(UAVTopologyComponent topologyComponent) {
-		this.topologyComponent = topologyComponent;			
+	private double mass; // kg
+	private double areaTop; // m^2
+	private double areaFront; // m^2
+	private double dragCoefficient;
+	private double maximumPitchAngleAllowed; // ° max angle
+	private double maximumDecentVelocityAllowed; // m/s
+	
+	// FIXME currently not used
+	private double maximumTurnAngle; // 90° per second turn angle
+	
+	
+	public MulticopterMovement(UAVTopologyComponent topologyComponent, double massTotal, 
+			double areaTop, double areaFront, double UAVDragCoefficient, double maximumPitchAngleAllowed, 
+			double maximumDecentVelocityAllowed, double maximumTurnAngle) {
+		this.topologyComponent = topologyComponent;	
+		this.mass = massTotal;
+		this.areaTop = areaTop;
+		this.areaFront = areaFront;
+		this.dragCoefficient = UAVDragCoefficient;
+		this.maximumPitchAngleAllowed = maximumPitchAngleAllowed;
+		this.maximumDecentVelocityAllowed = maximumDecentVelocityAllowed;
+		this.maximumTurnAngle = maximumTurnAngle;
 	}
 	
 	boolean first = true;
@@ -87,7 +96,7 @@ public class MulticopterMovement implements UAVMovementModel  {
 			
 			
 			// If target point is reached within a 1 meter margin, we remove that point from the list 
-			if(distanceToTargetPosition < 0.1 || distanceToTargetPosition < currentSpeed)
+			if(distanceToTargetPosition < 0.1 || distanceToTargetPosition < velocity)
 			{						
 				target = route.removeFirst();
 								
@@ -96,7 +105,7 @@ public class MulticopterMovement implements UAVMovementModel  {
 					// go to hover mode					
 					topologyComponent.updateCurrentLocation(target.clone()); 
 					
-					currentSpeed = 0;					
+					velocity = 0;					
 					motor.requestThrust(hoverThrustRequired());
 					
 					PositionVector direction = topologyComponent.getCurrentDirection().clone();
@@ -109,16 +118,16 @@ public class MulticopterMovement implements UAVMovementModel  {
 				else {
 					
 					// get to speed	
-					if(targetSpeed > 0 && targetSpeed < horizontalMaxVelocity()) {
-						motor.requestThrust(estimateRequiredThrust(targetSpeed));
-						currentSpeed = targetSpeed;
+					if(targetVelocity > 0 && targetVelocity < getHorizontalMaxVelocity()) {
+						motor.requestThrust(estimateRequiredThrust(targetVelocity));
+						velocity = targetVelocity;
 					}
 					else {
-						motor.requestThrust(horizontalMaxVelocityRequiredTotalThrust());
-						currentSpeed = horizontalMaxVelocity();
+						motor.requestThrust(getHorizontalMaxVelocityRequiredTotalThrust());
+						velocity = getHorizontalMaxVelocity();
 					}							
 			
-					long timeUntilReachedLocation = (long) (distanceToTargetPosition / currentSpeed) * Time.SECOND;
+					long timeUntilReachedLocation = (long) (distanceToTargetPosition / velocity) * Time.SECOND;
 					
 					target = route.getFirst();					
 					PositionVector directionToTarget = new PositionVector(target);
@@ -128,7 +137,7 @@ public class MulticopterMovement implements UAVMovementModel  {
 					
 					directionToTarget.normalize();
 					topologyComponent.updateCurrentDirection(directionToTarget.clone());
-					directionToTarget.multiplyScalar(currentSpeed * timefactor);
+					directionToTarget.multiplyScalar(velocity * timefactor);
 					
 					PositionVector newPosition = new PositionVector(position);
 					newPosition.add(directionToTarget);		
@@ -146,13 +155,13 @@ public class MulticopterMovement implements UAVMovementModel  {
 				double timefactor = timeBetweenMovementOperations / Time.SECOND;
 				
 				// get to speed	
-				if(targetSpeed > 0 && targetSpeed < horizontalMaxVelocity()) {
-					motor.requestThrust(estimateRequiredThrust(targetSpeed));
-					currentSpeed = targetSpeed;
+				if(targetVelocity > 0 && targetVelocity < getHorizontalMaxVelocity()) {
+					motor.requestThrust(estimateRequiredThrust(targetVelocity));
+					velocity = targetVelocity;
 				}
 				else {
-					motor.requestThrust(horizontalMaxVelocityRequiredTotalThrust());
-					currentSpeed = horizontalMaxVelocity();
+					motor.requestThrust(getHorizontalMaxVelocityRequiredTotalThrust());
+					velocity = getHorizontalMaxVelocity();
 				}				
 				
 				PositionVector directionToTarget = new PositionVector(target);
@@ -164,7 +173,7 @@ public class MulticopterMovement implements UAVMovementModel  {
 					topologyComponent.updateCurrentDirection(directionToTarget.clone());
 				}				
 				
-				directionToTarget.multiplyScalar(currentSpeed * timefactor);
+				directionToTarget.multiplyScalar(velocity * timefactor);
 
 				PositionVector newPosition = new PositionVector(position);
 				newPosition.add(directionToTarget);		
@@ -175,7 +184,7 @@ public class MulticopterMovement implements UAVMovementModel  {
 		}
 		else if(motor.isOn()) {
 			
-			if(currentSpeed != 0) {
+			if(velocity != 0) {
 				throw new UnsupportedOperationException("no route but speed not 0?");
 			}
 			
@@ -194,61 +203,62 @@ public class MulticopterMovement implements UAVMovementModel  {
 	 * 
 	 */
 	
-	public double verticalDescentMaxThrust() {		
+	protected double verticalDescentMaxThrust() {		
 		// m * g - 0.5 * p * C * A * v^2
-		return hoverThrustRequired() - 0.5 * bodyDrag(0, new PositionVector(0,0,1)) * descentVelocityMax * descentVelocityMax;
+		return hoverThrustRequired() - 0.5 * bodyDrag(0, new PositionVector(0,0,1)) * maximumDecentVelocityAllowed * maximumDecentVelocityAllowed;
 	}
 	
-	public double verticalAscentMaxAcceleration() {
+	protected double verticalAscentMaxAcceleration() {
 		return (motor.getMaxThrust() - hoverThrustRequired()) / mass;
 	}
 	
-	public double verticalAscentMaxVelocity() {		
+	@Override
+	public double getVerticalAscentMaxVelocity() {		
 		double maxThrust = motor.getMaxThrust();		
 		return Math.sqrt(2.0 * (maxThrust - hoverThrustRequired()) / bodyDrag(0, new PositionVector(0,0,1)));		
 	}
 	
 	
-	public double hoverThrustRequired()  {		
-		return mass * gravity;		
+	protected double hoverThrustRequired()  {		
+		return mass * GRAVITY;		
 	}
 	
-	
-	public double horizontalMaxVelocity() {
+	@Override
+	public double getHorizontalMaxVelocity() {
 		
-		double horizontalThrust = horizontalComponentMaxThrust();
+		double horizontalThrust = getHorizontalComponentMaxThrust();
 				
-		double maxVelocity = Math.sqrt( (2.0 * horizontalThrust) / bodyDrag(maxPitchAngle, new PositionVector(1,0,0)));
+		double maxVelocity = Math.sqrt( (2.0 * horizontalThrust) / bodyDrag(maximumPitchAngleAllowed, new PositionVector(1,0,0)));
 				
 		return maxVelocity;
 	}
 	
-	public double horizontalComponentMaxThrust() {
+	protected double getHorizontalComponentMaxThrust() {
 		
 		// hoverthrust / cos => amount of thrust in horizonal direction with °angle		
-		double stableAltitudeMaximumTotalThrust = horizontalMaxVelocityRequiredTotalThrust();
+		double stableAltitudeMaximumTotalThrust = getHorizontalMaxVelocityRequiredTotalThrust();
 	
 		// fraction of total thrust in horizonal (forward) direction with °angle
-		double maximumHorizontalThrustStableAltitude = stableAltitudeMaximumTotalThrust * Math.sin(maxPitchAngle);
+		double maximumHorizontalThrustStableAltitude = stableAltitudeMaximumTotalThrust * Math.sin(maximumPitchAngleAllowed);
 		
 		return maximumHorizontalThrustStableAltitude;
 	}
 
-	public double horizontalMaxVelocityRequiredTotalThrust() {
-		return hoverThrustRequired() / Math.cos(maxPitchAngle);
+	protected double getHorizontalMaxVelocityRequiredTotalThrust() {
+		return hoverThrustRequired() / Math.cos(maximumPitchAngleAllowed);
 	}
 	
-	public double bodyDrag(double angleRadians, PositionVector direction) {
-		return airdensity * dragCoefficient * areaExposedToDrag(angleRadians, direction);
+	protected double bodyDrag(double angleRadians, PositionVector direction) {
+		return AIRDENSITY * dragCoefficient * areaExposedToDrag(angleRadians, direction);
 	}
 	
-	public double areaExposedToDrag(double angleRadians, PositionVector direction) {
+	protected double areaExposedToDrag(double angleRadians, PositionVector direction) {
 			
 		Vector2D v = new Vector2D(Math.abs(direction.getX()) + Math.abs(direction.getY()), Math.abs(direction.getZ()));
 		v = v.normalize();
 		
-		double areaExposedFront = v.getX() * (Math.sin(angleRadians) * A_top + Math.cos(angleRadians) * A_front );
-		double areaExposedTop = v.getY() * (Math.cos(angleRadians) * A_top + Math.sin(angleRadians) * A_front);
+		double areaExposedFront = v.getX() * (Math.sin(angleRadians) * areaTop + Math.cos(angleRadians) * areaFront );
+		double areaExposedTop = v.getY() * (Math.cos(angleRadians) * areaTop + Math.sin(angleRadians) * areaFront);
 		
 		return areaExposedFront + areaExposedTop;
 	}
@@ -256,8 +266,8 @@ public class MulticopterMovement implements UAVMovementModel  {
 	/*
 	 * F_drag [N] = 0.5 * p * C_drag * A * v^2
 	 */
-	public double currentDrag() {
-		return 0.5 * bodyDrag(currentAngleOfAttack, topologyComponent.getCurrentDirection()) * currentSpeed * currentSpeed;
+	protected double currentDrag() {
+		return 0.5 * bodyDrag(currentAngleOfAttack, topologyComponent.getCurrentDirection()) * velocity * velocity;
 	}
 	
 	/**
@@ -267,7 +277,7 @@ public class MulticopterMovement implements UAVMovementModel  {
 	 * @param angleInRadians
 	 * @return
 	 */
-	private double forwardDrag(double velocity, double angleInRadians) {
+	protected double forwardDrag(double velocity, double angleInRadians) {
 		return 0.5 * bodyDrag(angleInRadians, new PositionVector(1,0,0)) * velocity * velocity;
 	}
 	
@@ -278,20 +288,17 @@ public class MulticopterMovement implements UAVMovementModel  {
 	
 	@Override
 	public void setMotorControl(ActuatorComponent motor) {
-		this.motor = (StatelessActuatorComponent) motor;
+		this.motor = (StatelessActuatorComponent) motor;	
 	}
-
-	
-
 	
 	@Override
-	public void setPreferredSpeed(double v_pref) {
-		this.targetSpeed = v_pref;		
+	public void setTargetVelocity(double v_pref) {
+		this.targetVelocity = v_pref;		
 	}
 	
 	@Override
-	public double getCurrentSpeed() {
-		return currentSpeed;
+	public double getCurrentVelocity() {
+		return velocity;
 	}
 
 	/**
@@ -350,43 +357,38 @@ public class MulticopterMovement implements UAVMovementModel  {
 	}	
 
 	@Override
-	public double horizontalMinVelocity() {
+	public double getHorizontalMinVelocity() {
 		return Math.sqrt(2 * hoverThrustRequired() * Math.tan(Math.toRadians(0.25)) / bodyDrag(Math.toRadians(0.25), new PositionVector(1,0,0)));
 	}
 
 	@Override
-	public double estimatePowerConsumption(double velocity) {
+	public double estimatePowerConsumptionWatt(double velocity) {
 		
 		if(velocity == 0) {
 			return motor.estimatePowerConsumptionWatt(hoverThrustRequired());
 		}
-		else if(velocity > horizontalMaxVelocity()) {
+		else if(velocity > getHorizontalMaxVelocity()) {
 			return -1;
 		}
-		else if(velocity < horizontalMinVelocity()) {
+		else if(velocity < getHorizontalMinVelocity()) {
 			return -1;
 		}
 		else {			
-			double estimateAngle = estimatePitchAngleForVelocity(velocity);
-			double estimatedDrag = forwardDrag(velocity, estimateAngle);			
 			
-			double requiredThrust = Math.sqrt(hoverThrustRequired() * hoverThrustRequired() + estimatedDrag * estimatedDrag);			
-			double wattage = motor.estimatePowerConsumptionWatt(requiredThrust);
-						
+			double requiredThrust = estimateRequiredThrust(velocity);
+			double wattage = motor.estimatePowerConsumptionWatt(requiredThrust);		
 			return wattage;
-		}
-		
-		
+		}				
 	}
 	
-	public double estimateRequiredThrust(double velocity) {
+	protected double estimateRequiredThrust(double velocity) {
 		if(velocity == 0) {
 			return motor.estimatePowerConsumptionWatt(hoverThrustRequired());
 		}
-		else if(velocity > horizontalMaxVelocity()) {
+		else if(velocity > getHorizontalMaxVelocity()) {
 			return -1;
 		}
-		else if(velocity < horizontalMinVelocity()) {
+		else if(velocity < getHorizontalMinVelocity()) {
 			return -1;
 		}
 		else {
@@ -404,14 +406,14 @@ public class MulticopterMovement implements UAVMovementModel  {
 	 * @param velocity
 	 * @return
 	 */
-	private double estimatePitchAngleForVelocity(double velocity) {
+	protected double estimatePitchAngleForVelocity(double velocity) {
 		
 		int low = 0;
 		int high = Integer.MAX_VALUE;
 		
 		double vsquared = (velocity * velocity);
 		
-		for(int i = 0; i <= ((int) Math.toDegrees(maxPitchAngle)); i++) {
+		for(int i = 0; i <= ((int) Math.toDegrees(maximumPitchAngleAllowed)); i++) {
 			
 			double v2 = 2 * hoverThrustRequired() * Math.tan(Math.toRadians(i)) / bodyDrag(Math.toRadians(i), new PositionVector(1,0,0));
 						
@@ -453,7 +455,7 @@ public class MulticopterMovement implements UAVMovementModel  {
 			return Math.toRadians(nearest);
 		}
 			
-		return maxPitchAngle;	
+		return maximumPitchAngleAllowed;	
 	}	
 	
 	/**
@@ -463,8 +465,47 @@ public class MulticopterMovement implements UAVMovementModel  {
 	 * @version 1.0, 14.01.2020
 	 */
 	public static class Factory implements AerialMovementModelFactory {
+		
+		private double massTotal = 1.465; // kg		
+		private double areaTop = 0.245; // m^2
+		private double areaFront = 0.1; // m^2
+		private double UAVDragCoefficient = 0.7;
+		private double maximumPitchAngleAllowed = Math.toRadians(60); // ° max angle
+		private double maximumDecentVelocityAllowed = 5; // m/s
+		private double maximumTurnAngle = Math.toRadians(90); // 90° per second turn angle
+		
+		public void setMassTotal(double massTotal) {
+			this.massTotal = massTotal;
+		}
+
+		public void setAreaTop(double areaTop) {
+			this.areaTop = areaTop;
+		}
+
+		public void setAreaFront(double areaFront) {
+			this.areaFront = areaFront;
+		}
+
+		public void setUAVDragCoefficient(double uAVDragCoefficient) {
+			UAVDragCoefficient = uAVDragCoefficient;
+		}
+
+		public void setMaximumPitchAngleAllowed(double maximumPitchAngleAllowed) {
+			this.maximumPitchAngleAllowed = Math.toRadians(maximumPitchAngleAllowed);
+		}
+
+		public void setMaximumDecentVelocityAllowed(
+				double maximumDecentVelocityAllowed) {
+			this.maximumDecentVelocityAllowed = maximumDecentVelocityAllowed;
+		}
+
+		public void setMaximumTurnAngle(double maximumTurnAngle) {
+			this.maximumTurnAngle = Math.toRadians(maximumTurnAngle);
+		}
+
 		public UAVMovementModel createComponent(UAVTopologyComponent topologyComponent) {
-			return new MulticopterMovement(topologyComponent);
+			return new MulticopterMovement(topologyComponent, massTotal, areaTop, areaFront, 
+					UAVDragCoefficient, maximumPitchAngleAllowed, maximumDecentVelocityAllowed, maximumTurnAngle);
 		}		
 	}
 }

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

@@ -46,19 +46,22 @@ import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.ReachedLocation
 public class SimpleMulticopterMovement implements UAVMovementModel  {
 
 	private UAVTopologyComponent topologyComponent;	
-	private double speed;	
-	private double targetSpeed;
+	private double velocity;	
+	private double targetVelocity;
 	
-	private double maximumHorizontalSpeed = 15;
-	private double maximumVerticalSpeed = 5;
+	private double maximumHorizontalVelocity;
+	private double maximumVerticalVelocity;
 	
 	private LinkedList<PositionVector> route = new LinkedList<>();
 	private Map<PositionVector, ReachedLocationCallback> locationCallbacks = new LinkedHashMap<>();  
 		
 	private StatefulActuatorComponent motor;
 		
-	public SimpleMulticopterMovement(UAVTopologyComponent topologyComponent) {
-		this.topologyComponent = topologyComponent;			
+	public SimpleMulticopterMovement(UAVTopologyComponent topologyComponent, double maximumHorizontalVelocity, 
+			double maximumVerticalVelocity) {
+		this.topologyComponent = topologyComponent;		
+		this.maximumHorizontalVelocity = maximumHorizontalVelocity;
+		this.maximumVerticalVelocity = maximumVerticalVelocity;
 	}	
 	
 	@Override
@@ -72,12 +75,12 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 			Double distanceToTargetPosition = targetPosition.distanceTo(currentPosition);
 							
 			// If target point is reached within a 1 meter margin, we remove that point from the list 
-			if(distanceToTargetPosition < 0.1 || distanceToTargetPosition < speed)
+			if(distanceToTargetPosition < 0.1 || distanceToTargetPosition < velocity)
 			{						
 				route.removeFirst();
 				
 				topologyComponent.updateCurrentLocation(targetPosition); // triggers energy consumption for last distance
-				speed = 0;
+				velocity = 0;
 				motor.useActuator(0);
 				locationReached(targetPosition);
 				return;
@@ -85,12 +88,12 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 			
 			double timefactor = timeBetweenMovementOperations / Time.SECOND;
 			
-			speed = Math.min(distanceToTargetPosition, targetSpeed);					
+			velocity = Math.min(distanceToTargetPosition, targetVelocity);					
 						
 			PositionVector direction = new PositionVector(targetPosition);
 			direction.subtract(currentPosition);
 			direction.normalize();
-			direction.multiplyScalar(speed * timefactor);
+			direction.multiplyScalar(velocity * timefactor);
 
 			PositionVector newPosition = new PositionVector(currentPosition);
 			newPosition.add(direction);		
@@ -100,7 +103,7 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 		}
 		else if(motor.isOn()) {
 			
-			if(speed != 0) {
+			if(velocity != 0) {
 				throw new UnsupportedOperationException("no route but speed not 0?");
 			}
 			
@@ -116,13 +119,13 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 	}
 		
 	@Override
-	public void setPreferredSpeed(double v_pref) {
-		this.targetSpeed = v_pref;		
+	public void setTargetVelocity(double v_pref) {
+		this.targetVelocity = v_pref;		
 	}
 	
 	@Override
-	public double getCurrentSpeed() {
-		return speed;
+	public double getCurrentVelocity() {
+		return velocity;
 	}
 
 	/**
@@ -181,15 +184,18 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 	}
 
 	@Override
-	public double estimatePowerConsumption(double velocity) {
+	public double estimatePowerConsumptionWatt(double velocity) {
+		
+		double wattage = 0;
 		
 		if(velocity == 0) {
-			return motor.estimatePowerConsumption(0);
+			wattage = motor.estimateEnergyConsumptionWatt(0);
 		}
-		else { 
-			return motor.estimatePowerConsumption(1.0);
+		else { 		
+			wattage = motor.estimateEnergyConsumptionWatt(1.0);
 		}
 		
+		return wattage;
 	}
 
 	@Override
@@ -198,17 +204,17 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 	}
 
 	@Override
-	public double verticalAscentMaxVelocity() {
-		return maximumVerticalSpeed;
+	public double getVerticalAscentMaxVelocity() {
+		return maximumVerticalVelocity;
 	}
 
 	@Override
-	public double horizontalMaxVelocity() {
-		return maximumHorizontalSpeed;
+	public double getHorizontalMaxVelocity() {
+		return maximumHorizontalVelocity;
 	}
 	
 	@Override	
-	public double horizontalMinVelocity() {
+	public double getHorizontalMinVelocity() {
 		return 0;
 	}
 	
@@ -219,8 +225,21 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 	 * @version 1.0, 14.01.2020
 	 */
 	public static class Factory implements AerialMovementModelFactory {
+		
+		private double maximumHorizontalVelocity = 15;
+		
+		public void setMaximumHorizontalVelocity(double maximumHorizontalVelocity) {
+			this.maximumHorizontalVelocity = maximumHorizontalVelocity;
+		}
+
+		private double maximumVerticalVelocity = 5;		
+		
+		public void setMaximumVerticalVelocity(double maximumVerticalVelocity) {
+			this.maximumVerticalVelocity = maximumVerticalVelocity;
+		}
+		
 		public UAVMovementModel createComponent(UAVTopologyComponent topologyComponent) {
-			return new SimpleMulticopterMovement(topologyComponent);
-		}		
+			return new SimpleMulticopterMovement(topologyComponent, maximumHorizontalVelocity, maximumVerticalVelocity);
+		}			
 	}
 }