Adaptions on movement and energy model

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

@@ -76,7 +76,7 @@ public class StatelessMotorComponent implements EnergyComponent {
 	 * @return
 	 */
 	public double getMaxThrust() {
-		return characteristics.getLast().getThrust();
+		return characteristics.getLast().getThrust() * numberOfActuators;
 	}
 	
 	/**
@@ -115,10 +115,10 @@ public class StatelessMotorComponent implements EnergyComponent {
 	 */
 	public double requestThrust(double targetThrust) {
 		
-		if(targetThrust == 0 || targetThrust <= characteristics.getFirst().getThrust()) {
+		if(targetThrust == 0 || targetThrust <= numberOfActuators * characteristics.getFirst().getThrust()) {
 			setLoad(characteristics.getFirst());
 		}
-		else if(targetThrust >= characteristics.getLast().getThrust()) {
+		else if(targetThrust >= numberOfActuators * characteristics.getLast().getThrust()) {
 			setLoad(characteristics.getLast());
 		}
 		else {
@@ -134,11 +134,11 @@ public class StatelessMotorComponent implements EnergyComponent {
 	 * @return The power consumption for the target thrust in uW (micro watt)
 	 */
 	public double estimatePowerConsumptionWatt(double targetThrust) {
-		if(targetThrust == 0 || targetThrust <= characteristics.getFirst().getThrust()) {
+		if(targetThrust == 0 || targetThrust <= numberOfActuators * characteristics.getFirst().getThrust()) {
 			// not allowed
 			return Double.NaN;
 		}
-		else if(targetThrust > characteristics.getLast().getThrust()) {
+		else if(targetThrust > numberOfActuators * characteristics.getLast().getThrust()) {
 			// not allowed
 			return Double.NaN;
 		}
@@ -165,16 +165,16 @@ public class StatelessMotorComponent implements EnergyComponent {
 		// find the lower and upper bounding characteristics
 		for (MotorCharacteristic ch : characteristics) {
 			//
-			if(ch.getThrust() == targetThrust) {
+			if(ch.getThrust() * numberOfActuators == targetThrust) {
 				return ch.getCurrent();
 			}
 			else {
 				// list is sorted, lower bound is the biggest that is lower
-				if(ch.getThrust() < targetThrust) {
+				if(ch.getThrust() * numberOfActuators < targetThrust) {
 					lower = ch;
 				}
 				// the first that is greater is used as upper bound
-				else if(ch.getThrust() > targetThrust) {
+				else if(ch.getThrust() * numberOfActuators > targetThrust) {
 					upper = ch;
 					break;
 				}
@@ -185,7 +185,7 @@ public class StatelessMotorComponent implements EnergyComponent {
 			throw new UnsupportedOperationException("Lower or upper bounds cannot be null");
 		}
 		
-		if(upper.getThrust() < targetThrust || lower.getThrust() > targetThrust) {
+		if(upper.getThrust() * numberOfActuators < targetThrust || lower.getThrust() * numberOfActuators > targetThrust) {
 			throw new UnsupportedOperationException("Lower or upper bound do not match");
 		}
 		
@@ -193,7 +193,7 @@ public class StatelessMotorComponent implements EnergyComponent {
 		 * Calculate the approximated current with the upper and lower bounds:
 		 * Amp_approx = Amp_lower + (T_target - T_lower)/(T_upper - T_lower) * (Amp_upper - Amp_lower)
 		 */		
-		double delta = (targetThrust - lower.getThrust())/(upper.getThrust() - lower.getThrust());		
+		double delta = (targetThrust - (lower.getThrust() * numberOfActuators))/(numberOfActuators * (upper.getThrust() - lower.getThrust()));		
 		return lower.getCurrent() + delta * (upper.getCurrent() - lower.getCurrent());
 	}
 	

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

@@ -25,6 +25,8 @@ import java.util.LinkedHashMap;
 import java.util.LinkedList;
 import java.util.Map;
 import org.apache.commons.math3.geometry.euclidean.twod.Vector2D;
+
+import de.tud.kom.p2psim.api.energy.Battery;
 import de.tud.kom.p2psim.api.topology.movement.UAVMovementModel;
 import de.tud.kom.p2psim.impl.energy.components.StatelessMotorComponent;
 import de.tud.kom.p2psim.impl.topology.component.UAVTopologyComponent;
@@ -54,12 +56,12 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 	private StatelessMotorComponent motor;
 	
 	private double mass = 1.465; // kg
-	private final double airdensity = 1.2255; // kg/m^3
+	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 = 0.04; // m^2
-	private double dragCoefficient = 0.5;
-	private double maxPitchAngle = Math.toRadians(45); // 45° max angle
+	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
 	
@@ -70,10 +72,30 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 		
 	}
 	
+	boolean first = true;
 	
 	@Override
 	public void move(long timeBetweenMovementOperations) {
+		
+		if(first) {
+			
+			System.out.println(hoverThrustRequired());
+			System.out.println(motor.getMaxThrust());
+			System.out.println(horizontalMaxVelocity());
 			
+			for(int i = 0; i <= horizontalMaxVelocity(); i++) {
+				
+				double J = motor.estimatePowerConsumptionWatt(estimateRequiredThrust(i));
+				
+				System.out.println("v = " + i + "  ==> " + J + " J => "
+						+ ((topologyComponent.getMaximumBatteryCapacity() / Battery.uJconverison) / J / 60) + " minutes" );
+				
+			}
+			
+			first =false;
+		}
+		
+		
 		if(motor.isOn() && !route.isEmpty()) {
 			PositionVector position = new PositionVector(topologyComponent.getRealPosition());			
 						
@@ -228,7 +250,7 @@ public class SimpleMulticopterMovement implements UAVMovementModel  {
 		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 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);
 		
 		return areaExposedFront + areaExposedTop;