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Initial commit of degas-pilotmodel files
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@cserres
cserres committed Dec 11, 2020
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*.asv
*.slxc
slprj/
206 changes: 206 additions & 0 deletions HeuristicOperatorModelR6.m
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classdef HeuristicOperatorModelR6 < Block
% Copyright 2015 - 2020, MIT Lincoln Laboratory
% SPDX-License-Identifier: X11
%
%HeuristicOperatorModelR6
%Class wrapper for UAS Pilot Model for Traffic Avoidance Release 6.0.
%Assumes maneuver guidance from DAIDALUS.

properties

dt_s = 1

operatorEnabled = true
deterministicMode = false
noBufferMode = false;

% alert parameters
triggerLevel = 2
alertHoldTime = 4

% timing parameters
initialDelayMu = 5
initialDelayMin = 0
coordDelayK = 5.5
coordDelayTheta = 2.0
coordDelayMin = 0
executionDelayMu = 3.0
executionDelayMin = 0

% alert level: none, prox, prev, corr, warn, recov/WCV
minUpdateTimes = [ 12, 12, 9, 6, 6, 0]
meanUpdateTimes = [ 12, 12, 6, 3, 3, 3]

seedUpdate
seedCoordDelay
seedInitialDelay
seedExecutionDelay

% maneuver direction parameters
probFollowMinDev = 0.8
probLeftTurn = 0.6
probDescend = 0.5
maxRelativeHdg = 40
probTurn = [0.5, 1.0, 1.0; ... % vert rate <= 0
0.0, 0.5, 0.65; ... % vert rate <= 1000 fpm
0.0, 0.5, 0.4 ]; % vert rate > 1000 fpm
seedTurn
seedVertical
seedChoose

% horizontal maneuver magnitude parameters for minimum suggestion compliant maneuvers
turnK = 6.21
turnTheta = 9.67
turnOffset = -30

% alternate horizontal maneuver magnitude parameters
turnK_alt = 5.47
turnTheta_alt = 8.25
turnOffset_alt = -30

% vertical maneuve magnitude parameters
altitudeK = 9.73
altitudeTheta = 207.98
altitudeOffset = -1500

% maneuver dynamics parameters
desiredTurnRate_dps = 3
desiredVertRate_ftpm = 500
reducedTurnAngle_deg = 8
reducedClimbAlt_ft = 50

% mental filter
mentalFilter_numSamp = 1
mentalFilter_climbThresh_fps = 0.5
mentalFilter_turnThresh_rad = 1.2*pi/180;

end

methods % constructor
function obj = HeuristicOperatorModelR6(tunableParameterPrefix,varargin)
if( nargin < 1 )
tunableParameterPrefix = '';
end

p = inputParser;
% Required parameters
addRequired(p,'tunableParameterPrefix',@ischar);

addOptional(p, 'dt_s', obj.dt_s, @isnumeric);
addOptional(p, 'operatorEnabled', obj.operatorEnabled, @islogical);
addOptional(p, 'deterministicMode', obj.deterministicMode, @islogical);
addOptional(p, 'triggerLevel', obj.triggerLevel, @isnumeric);
addOptional(p, 'alertHoldTime', obj.alertHoldTime, @isnumeric);
addOptional(p, 'initialDelayMu', obj.initialDelayMu, @isnumeric);
addOptional(p, 'initialDelayMin', obj.initialDelayMin, @isnumeric);
addOptional(p, 'coordDelayK', obj.coordDelayK, @isnumeric);
addOptional(p, 'coordDelayTheta', obj.coordDelayTheta, @isnumeric);
addOptional(p, 'coordDelayMin', obj.coordDelayMin, @isnumeric);
addOptional(p, 'executionDelayMu', obj.executionDelayMu, @isnumeric);
addOptional(p, 'executionDelayMin', obj.executionDelayMin, @isnumeric);
addOptional(p, 'minUpdateTimes', obj.minUpdateTimes, @isnumeric);
addOptional(p, 'meanUpdateTimes', obj.meanUpdateTimes, @isnumeric);
addOptional(p, 'probFollowMinDev', obj.probFollowMinDev, @isnumeric);
addOptional(p, 'probLeftTurn', obj.probLeftTurn, @isnumeric);
addOptional(p, 'probDescend', obj.probDescend, @isnumeric);
addOptional(p, 'maxRelativeHdg', obj.maxRelativeHdg, @isnumeric);
addOptional(p, 'probTurn', obj.probTurn, @isnumeric);
addOptional(p, 'turnK', obj.turnK, @isnumeric);
addOptional(p, 'turnTheta', obj.turnTheta, @isnumeric);
addOptional(p, 'turnOffset', obj.turnOffset, @isnumeric);
addOptional(p, 'altitudeK', obj.altitudeK, @isnumeric);
addOptional(p, 'altitudeTheta', obj.altitudeTheta, @isnumeric);
addOptional(p, 'altitudeOffset', obj.altitudeOffset, @isnumeric);
addOptional(p, 'turnK_alt', obj.turnK, @isnumeric);
addOptional(p, 'turnTheta_alt', obj.turnTheta_alt, @isnumeric);
addOptional(p, 'turnOffset_alt', obj.turnOffset_alt, @isnumeric);
addOptional(p, 'desiredTurnRate_dps', obj.desiredTurnRate_dps, @isnumeric);
addOptional(p, 'desiredVertRate_ftpm', obj.desiredVertRate_ftpm, @isnumeric);
addOptional(p, 'reducedTurnAngle_deg', obj.reducedTurnAngle_deg, @isnumeric);
addOptional(p, 'reducedClimbAlt_ft', obj.reducedClimbAlt_ft, @isnumeric);
addOptional(p, 'mentalFilter_numSamp', obj.mentalFilter_numSamp, @isnumeric);
addOptional(p, 'mentalFilter_turnThresh_rad', obj.mentalFilter_turnThresh_rad, @isnumeric);
addOptional(p, 'mentalFilter_climbThresh_fps', obj.mentalFilter_climbThresh_fps, @isnumeric);

parse(p,tunableParameterPrefix,varargin{:});

fieldsSet = intersect( fieldnames(p.Results), fieldnames(obj) );
for i = 1:1:numel(fieldsSet)
obj.(fieldsSet{i}) = p.Results.(fieldsSet{i});
end

end
end % constructor method

methods(Access = 'public')
function prepareProperties(obj)

% draw seeds for random error processes

seeds = randi(4294967295,128); % 4294967295 = 2^32 - 1
obj.seedCoordDelay = seeds(1);
obj.seedInitialDelay = seeds(2);
obj.seedExecutionDelay = seeds(3);
obj.seedUpdate = seeds(4);
obj.seedTurn = seeds(5);
obj.seedVertical = seeds(6);
obj.seedChoose = seeds(7);

% override probabilistic parameters for deterministic mode
if obj.deterministicMode

obj.initialDelayMu = 0;
obj.initialDelayMin = 5;
obj.coordDelayK = 0;
obj.coordDelayTheta = 0;
obj.coordDelayMin = 11;
obj.executionDelayMu = 0;
obj.executionDelayMin = 3;

% alert level: none, prox, prev, corr, warn, recov/WCV
obj.minUpdateTimes = [ 12, 12, 9, 6, 6, 3];
obj.meanUpdateTimes = [ 12, 12, 6, 3, 3, 0];

obj.probFollowMinDev = 1;
obj.probLeftTurn = 1;
obj.probDescend = 0;
obj.probTurn = ones(3,3);

obj.turnK = 0;
obj.turnTheta = 0;
obj.turnOffset = 30;

obj.turnK_alt = 0;
obj.turnTheta_alt = 0;
obj.turnOffset_alt = 15;

obj.altitudeK = 0;
obj.altitudeTheta = 0;
obj.altitudeOffset = 500;

if obj.noBufferMode
obj.turnOffset = 0;
obj.turnOffset_alt = 0;
obj.altitudeOffset = 0;
end

end

end
end

methods (Access='protected')

function [ incPaths, srcFiles, libFiles ] = getSourceAndLibs( ~ )

% paths should be relative to CASSATT_HOME

incPaths = {};
srcFiles = {};
libFiles = {};

end
end


end % classdef
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