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feat(hyd): faster core hydraulics solver #7635

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merged 15 commits into from
Dec 30, 2022
Merged

feat(hyd): faster core hydraulics solver #7635

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0ece12a
faster core hyds simpler hyd solve loop
crocket63 Nov 29, 2022
b6c26bd
core hyd to 100hz
crocket63 Dec 5, 2022
b220a76
Update mod.rs
crocket63 Dec 5, 2022
dc8d0e3
Update mod.rs
crocket63 Dec 5, 2022
b0c8098
Update CHANGELOG.md
crocket63 Dec 5, 2022
cbc7270
Merge branch 'master' into feat_faster_core_hydraulics
crocket63 Dec 9, 2022
ecf3694
removed a380 ptu test
crocket63 Dec 9, 2022
eb12d18
Merge branch 'master' into feat_faster_core_hydraulics
crocket63 Dec 12, 2022
363c792
Run all hyd tests at 100Hz
crocket63 Dec 14, 2022
6bf244f
Merge branch 'master' into feat_faster_core_hydraulics
crocket63 Dec 21, 2022
605d7c3
fix merge
crocket63 Dec 21, 2022
2bd5b25
Merge branch 'master' of https://github.com/flybywiresim/a32nx into f…
crocket63 Dec 22, 2022
4f71b24
removed variable test timestep
crocket63 Dec 22, 2022
070add0
Merge branch 'master' into feat_faster_core_hydraulics
crocket63 Dec 30, 2022
fe424f1
Update mod.rs
crocket63 Dec 30, 2022
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1 change: 1 addition & 0 deletions .github/CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
1. [ADIRU] Implemented wind speed computation from TAS/GS/HDG - @tracernz (Mike)
1. [FMGC] Show proper transition names and final approach slope from AAU1 - @tracernz (Mike)
1. [FMGC] Don't accept blank input or / for hold distance - @tracernz (Mike)
1. [HYD] Faster core hydraulics solver - @Crocket63 (crocket)
1. [ATSU] Fix LSK6L not returning to ATSU DATALINK page in ATC MENU - @BravoMike99 (Bruno_pt99#5802)
1. [HYD] Trimmable physical assemblies - @Crocket63 (crocket)
1. [HYD] Simulation of the rudder mechanical assembly and yaw dampers - @Crocket63 (crocket)
Expand Down
188 changes: 79 additions & 109 deletions src/systems/a320_systems/src/hydraulic/mod.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -56,15 +56,13 @@ use systems::{
AutoOffFaultPushButton, AutoOnFaultPushButton, MomentaryOnPushButton, MomentaryPushButton,
},
shared::{
interpolation,
low_pass_filter::LowPassFilter,
random_from_normal_distribution, random_from_range,
update_iterator::{FixedStepLoop, MaxStepLoop},
AdirsDiscreteOutputs, DelayedFalseLogicGate, DelayedPulseTrueLogicGate,
DelayedTrueLogicGate, ElectricalBusType, ElectricalBuses, EmergencyElectricalRatPushButton,
EmergencyElectricalState, EmergencyGeneratorPower, EngineFirePushButtons, GearWheel,
HydraulicColor, HydraulicGeneratorControlUnit, LandingGearHandle, LgciuInterface,
LgciuWeightOnWheels, ReservoirAirPressure, SectionPressure, TrimmableHorizontalStabilizer,
interpolation, low_pass_filter::LowPassFilter, random_from_normal_distribution,
random_from_range, update_iterator::MaxStepLoop, AdirsDiscreteOutputs,
DelayedFalseLogicGate, DelayedPulseTrueLogicGate, DelayedTrueLogicGate, ElectricalBusType,
ElectricalBuses, EmergencyElectricalRatPushButton, EmergencyElectricalState,
EmergencyGeneratorPower, EngineFirePushButtons, GearWheel, HydraulicColor,
HydraulicGeneratorControlUnit, LandingGearHandle, LgciuInterface, LgciuWeightOnWheels,
ReservoirAirPressure, SectionPressure, TrimmableHorizontalStabilizer,
},
simulation::{
InitContext, Read, Reader, SimulationElement, SimulationElementVisitor, SimulatorReader,
Expand Down Expand Up @@ -1422,9 +1420,7 @@ pub(super) struct A320Hydraulic {

nose_steering: SteeringActuator,

core_hydraulic_updater: FixedStepLoop,
physics_updater: MaxStepLoop,
ultra_fast_physics_updater: MaxStepLoop,
core_hydraulic_updater: MaxStepLoop,

brake_steer_computer: A320HydraulicBrakeSteerComputerUnit,

Expand Down Expand Up @@ -1541,13 +1537,7 @@ impl A320Hydraulic {
ElectricalBusType::DirectCurrentHot(2);

// Refresh rate of core hydraulic simulation
const HYDRAULIC_SIM_TIME_STEP: Duration = Duration::from_millis(33);
// Refresh rate of max fixed step loop for fast physics
const HYDRAULIC_SIM_MAX_TIME_STEP_MILLISECONDS: Duration = Duration::from_millis(33);
// Refresh rate of max fixed step loop for fastest flight controls physics needing super stability
// and fast reacting time
const HYDRAULIC_SIM_FLIGHT_CONTROLS_MAX_TIME_STEP_MILLISECONDS: Duration =
Duration::from_millis(10);
const HYDRAULIC_SIM_TIME_STEP: Duration = Duration::from_millis(10);

pub(super) fn new(context: &mut InitContext) -> A320Hydraulic {
A320Hydraulic {
Expand All @@ -1563,11 +1553,7 @@ impl A320Hydraulic {
Ratio::new::<ratio>(0.18),
),

core_hydraulic_updater: FixedStepLoop::new(Self::HYDRAULIC_SIM_TIME_STEP),
physics_updater: MaxStepLoop::new(Self::HYDRAULIC_SIM_MAX_TIME_STEP_MILLISECONDS),
ultra_fast_physics_updater: MaxStepLoop::new(
Self::HYDRAULIC_SIM_FLIGHT_CONTROLS_MAX_TIME_STEP_MILLISECONDS,
),
core_hydraulic_updater: MaxStepLoop::new(Self::HYDRAULIC_SIM_TIME_STEP),

brake_steer_computer: A320HydraulicBrakeSteerComputerUnit::new(context),

Expand Down Expand Up @@ -1784,19 +1770,6 @@ impl A320Hydraulic {
adirs: &impl AdirsDiscreteOutputs,
) {
self.core_hydraulic_updater.update(context);
self.physics_updater.update(context);
self.ultra_fast_physics_updater.update(context);

for cur_time_step in self.physics_updater {
self.update_fast_physics(
&context.with_delta(cur_time_step),
rat_and_emer_gen_man_on,
emergency_elec,
lgcius.lgciu1(),
lgcius.lgciu2(),
adirs,
);
}

self.update_with_sim_rate(
context,
Expand All @@ -1810,11 +1783,15 @@ impl A320Hydraulic {
engine2,
);

for cur_time_step in self.ultra_fast_physics_updater {
self.update_ultra_fast_physics(&context.with_delta(cur_time_step), lgcius);
}

for cur_time_step in self.core_hydraulic_updater {
self.update_physics(
&context.with_delta(cur_time_step),
rat_and_emer_gen_man_on,
emergency_elec,
lgcius,
adirs,
);

self.update_core_hydraulics(
&context.with_delta(cur_time_step),
engine1,
Expand Down Expand Up @@ -1910,11 +1887,70 @@ impl A320Hydraulic {
self.yellow_circuit.system_section_pressure_switch() == PressureSwitchState::Pressurised
}

fn update_ultra_fast_physics(
// Updates at the same rate as the sim or at a fixed maximum time step if sim rate is too slow
fn update_physics(
&mut self,
context: &UpdateContext,
rat_and_emer_gen_man_on: &impl EmergencyElectricalRatPushButton,
emergency_elec: &(impl EmergencyElectricalState + EmergencyGeneratorPower),
lgcius: &LandingGearControlInterfaceUnitSet,
adirs: &impl AdirsDiscreteOutputs,
) {
self.forward_cargo_door.update(
context,
&self.forward_cargo_door_controller,
self.yellow_circuit.system_section(),
);

self.aft_cargo_door.update(
context,
&self.aft_cargo_door_controller,
self.yellow_circuit.system_section(),
);

self.ram_air_turbine.update_physics(
&context.delta(),
context.indicated_airspeed(),
self.blue_circuit.system_section(),
);

self.gcu.update(
context,
&self.emergency_gen,
self.blue_circuit.system_section(),
emergency_elec,
rat_and_emer_gen_man_on,
lgcius.lgciu1(),
);

self.emergency_gen.update(
context,
self.blue_circuit.system_section(),
&self.gcu,
emergency_elec,
);

self.gear_system_hydraulic_controller.update(
adirs,
lgcius.lgciu1(),
lgcius.lgciu2(),
&self.gear_system_gravity_extension_controller,
);

self.trim_assembly.update(
context,
&self.trim_controller,
&self.trim_controller,
[
self.green_circuit
.system_section()
.pressure_downstream_leak_valve(),
self.yellow_circuit
.system_section()
.pressure_downstream_leak_valve(),
],
);

self.left_aileron.update(
context,
self.aileron_system_controller.left_controllers(),
Expand Down Expand Up @@ -1975,72 +2011,6 @@ impl A320Hydraulic {
);
}

// Updates at the same rate as the sim or at a fixed maximum time step if sim rate is too slow
fn update_fast_physics(
&mut self,
context: &UpdateContext,
rat_and_emer_gen_man_on: &impl EmergencyElectricalRatPushButton,
emergency_elec: &(impl EmergencyElectricalState + EmergencyGeneratorPower),
lgciu1: &impl LgciuInterface,
lgciu2: &impl LgciuInterface,
adirs: &impl AdirsDiscreteOutputs,
) {
self.forward_cargo_door.update(
context,
&self.forward_cargo_door_controller,
self.yellow_circuit.system_section(),
);

self.aft_cargo_door.update(
context,
&self.aft_cargo_door_controller,
self.yellow_circuit.system_section(),
);

self.ram_air_turbine.update_physics(
&context.delta(),
context.indicated_airspeed(),
self.blue_circuit.system_section(),
);

self.gcu.update(
context,
&self.emergency_gen,
self.blue_circuit.system_section(),
emergency_elec,
rat_and_emer_gen_man_on,
lgciu1,
);

self.emergency_gen.update(
context,
self.blue_circuit.system_section(),
&self.gcu,
emergency_elec,
);

self.gear_system_hydraulic_controller.update(
adirs,
lgciu1,
lgciu2,
&self.gear_system_gravity_extension_controller,
);

self.trim_assembly.update(
context,
&self.trim_controller,
&self.trim_controller,
[
self.green_circuit
.system_section()
.pressure_downstream_leak_valve(),
self.yellow_circuit
.system_section()
.pressure_downstream_leak_valve(),
],
);
}

fn update_with_sim_rate(
&mut self,
context: &UpdateContext,
Expand Down Expand Up @@ -10466,7 +10436,7 @@ mod tests {
.set_cold_dark_inputs()
.start_eng1(Ratio::new::<percent>(80.))
.start_eng2(Ratio::new::<percent>(80.))
.run_waiting_for(Duration::from_millis(500));
.run_waiting_for(Duration::from_millis(1000));

assert!(!test_bed.ptu_has_fault());
assert!(!test_bed.green_edp_has_fault());
Expand Down
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