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fix(auto brake): reach deceleration rate target indicator unreliable,… #127

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merged 1 commit into from
Oct 27, 2023
Merged

fix(auto brake): reach deceleration rate target indicator unreliable,… #127

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10 changes: 5 additions & 5 deletions Packages/com.yuxiaviation.vau320neo/Runtime/Avionics/Systems/AutoBrake/AutoBrake.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -153,7 +153,7 @@ private void UpdateAutoBrake(float decelerationRate) {
else {
var targetDecelerationRate = GetTargetDecelerationRate();

var error = targetDecelerationRate - decelerationRate;
var error = decelerationRate - targetDecelerationRate;
_integral += error * Time.deltaTime;
var derivative = (error - _previousError) / Time.deltaTime;
brakeInput = Kp * error + Ki * _integral + Kd * derivative;
Expand Down Expand Up @@ -243,7 +243,7 @@ private float GetDecelerationRate() {
var velocity = _saccAirVehicle.CurrentVel;

var acceleration = (velocity - _lastVelocity) / Time.fixedDeltaTime;
var temp = Vector3.Project(acceleration, Vector3.forward);
var temp = _saccAirVehicle.transform.rotation * acceleration;

_lastVelocity = velocity;

Expand All @@ -264,10 +264,10 @@ private float GetTargetDecelerationRate() {
}

private bool IsReachDecelerationRateTarget(float decelerationRate) {
var targetDecelerationRate = GetTargetDecelerationRate() * 0.8f;

if (currentAutoBrakeMode == AutoBrakeMode.Max) return true;
return decelerationRate > targetDecelerationRate;

var targetDecelerationRate = GetTargetDecelerationRate() * 0.8f;
return decelerationRate < targetDecelerationRate;
}

public void Reset() {
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