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VALLONGOL 2025-10-27 10:14:40 +01:00
parent 7c9135a652
commit ed17b6b9b9
4 changed files with 163 additions and 5 deletions
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127
scenarios.json
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@ -1 +1,126 @@
{}
{
"scenario1": {
"name": "scenario1",
"targets": [
{
"target_id": 0,
"active": true,
"traceable": true,
"trajectory": [
{
"maneuver_type": "Fly to Point",
"duration_s": 10.0,
"target_altitude_ft": 10000.0,
"target_range_nm": 20.0,
"target_azimuth_deg": 0.0
},
{
"maneuver_type": "Fly for Duration",
"target_velocity_fps": 1670.9318999999994,
"target_heading_deg": 10.0,
"duration_s": 300.0,
"target_altitude_ft": 10000.0
},
{
"maneuver_type": "Fly to Point",
"duration_s": 400.0,
"target_altitude_ft": 10000.0,
"target_range_nm": 25.0,
"target_azimuth_deg": -20.0
}
]
}
]
},
"scenario2": {
"name": "scenario2",
"targets": [
{
"target_id": 0,
"active": true,
"traceable": true,
"trajectory": [
{
"maneuver_type": "Fly to Point",
"duration_s": 10.0,
"target_altitude_ft": 10000.0,
"target_range_nm": 10.0,
"target_azimuth_deg": 1.0
},
{
"maneuver_type": "Fly to Point",
"duration_s": 200.0,
"target_altitude_ft": 10000.0,
"target_range_nm": 20.0,
"target_azimuth_deg": 10.0
},
{
"maneuver_type": "Fly to Point",
"duration_s": 200.0,
"target_altitude_ft": 10000.0,
"target_range_nm": 30.0,
"target_azimuth_deg": -10.0
},
{
"maneuver_type": "Fly to Point",
"duration_s": 200.0,
"target_altitude_ft": 10000.0,
"target_range_nm": 35.0,
"target_azimuth_deg": 10.0
},
{
"maneuver_type": "Fly to Point",
"duration_s": 200.0,
"target_altitude_ft": 10000.0,
"target_range_nm": 35.0,
"target_azimuth_deg": 30.0
},
{
"maneuver_type": "Fly to Point",
"duration_s": 200.0,
"target_altitude_ft": 10000.0,
"target_range_nm": 20.0,
"target_azimuth_deg": 45.0
}
],
"use_spline": true
},
{
"target_id": 1,
"active": true,
"traceable": true,
"trajectory": [
{
"maneuver_type": "Fly to Point",
"duration_s": 10.0,
"target_altitude_ft": 10000.0,
"target_range_nm": 10.0,
"target_azimuth_deg": 10.0
},
{
"maneuver_type": "Fly to Point",
"duration_s": 10.0,
"target_altitude_ft": 10000.0,
"target_range_nm": 20.0,
"target_azimuth_deg": 20.0
},
{
"maneuver_type": "Fly to Point",
"duration_s": 30.0,
"target_altitude_ft": 10000.0,
"target_range_nm": 30.0,
"target_azimuth_deg": 30.0
},
{
"maneuver_type": "Fly to Point",
"duration_s": 30.0,
"target_altitude_ft": 10000.0,
"target_range_nm": 35.0,
"target_azimuth_deg": -10.0
}
],
"use_spline": false
}
]
}
}

2
settings.json
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@ -3,7 +3,7 @@
"scan_limit": 60,
"max_range": 100,
"geometry": "1599x1024+481+287",
"last_selected_scenario": null,
"last_selected_scenario": "scenario2",
"connection": {
"target": {
"type": "sfp",

13
target_simulator/gui/ppi_display.py
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@ -250,7 +250,10 @@ class PPIDisplay(ttk.Frame):
for point in path:
x_ft, y_ft = point[1], point[2]
r_ft = math.sqrt(x_ft**2 + y_ft**2)
az_rad_plot = -math.atan2(x_ft, y_ft)
# Use the same plotting convention used elsewhere: theta_plot = atan2(x, y)
# (update_targets computes theta via -current_azimuth_deg where
# current_azimuth_deg = -degrees(atan2(x,y)), which yields atan2(x,y)).
az_rad_plot = math.atan2(x_ft, y_ft)
path_rs.append(r_ft / NM_TO_FT)
path_thetas.append(az_rad_plot)
self._path_plot.set_data(path_thetas, path_rs)
@ -258,13 +261,17 @@ class PPIDisplay(ttk.Frame):
for wp in waypoints:
if wp.maneuver_type == ManeuverType.FLY_TO_POINT:
r_nm = wp.target_range_nm or 0.0
az_rad_plot = np.deg2rad(-(wp.target_azimuth_deg or 0.0))
# The path uses theta_plot = atan2(x, y). Waypoint azimuths
# provided in the waypoint are geometric azimuth degrees
# (0 = North, positive CCW). Convert directly to radians so
# plotted waypoint markers align with the generated path.
az_rad_plot = np.deg2rad(wp.target_azimuth_deg or 0.0)
wp_rs.append(r_nm)
wp_thetas.append(az_rad_plot)
self._waypoints_plot.set_data(wp_thetas, wp_rs)
start_wp = waypoints[0]
start_r = start_wp.target_range_nm or 0.0
start_theta = np.deg2rad(-(start_wp.target_azimuth_deg or 0.0))
start_theta = np.deg2rad(start_wp.target_azimuth_deg or 0.0)
self._start_plot.set_data([start_theta], [start_r])
if self.canvas:
self.canvas.draw()

26
tools/trajectory_test.py Normal file
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@ -0,0 +1,26 @@
import math
from target_simulator.core.models import Waypoint, Target, ManeuverType
from itertools import islice
w1 = Waypoint(maneuver_type=ManeuverType.FLY_TO_POINT, target_range_nm=10, target_azimuth_deg=10, target_altitude_ft=1000)
w2 = Waypoint(maneuver_type=ManeuverType.FLY_TO_POINT, target_range_nm=20, target_azimuth_deg=45, target_altitude_ft=1000)
path, _ = Target.generate_path_from_waypoints([w1, w2], use_spline=False)
print('path_len', len(path))
for p in list(islice(path, 5)):
t, x, y, z = p
tp_xy = math.atan2(x, y)
tp_old = -math.atan2(x, y)
az_cur = -math.degrees(math.atan2(x, y))
tp_from_az = math.radians(-az_cur)
r_nm = math.hypot(x, y) / 6076.12
print("time=%.2f x=%.2f y=%.2f r_nm=%.3f tp_xy=%.6f tp_old=%.6f az_cur=%.6f tp_from_az=%.6f" % (t, x, y, r_nm, tp_xy, tp_old, az_cur, tp_from_az))
# Check waypoint azimuths -> plotted theta
for wp in [w1, w2]:
wp_az_rad = math.radians(wp.target_azimuth_deg or 0.0)
print("wp az deg=%.1f az_rad=%.6f" % (wp.target_azimuth_deg, wp_az_rad))
start_wp = w1
start_theta = math.radians(start_wp.target_azimuth_deg or 0.0)
print("start_theta_from_wp=%.6f" % start_theta)