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feat: New predicting algorithm

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Pax1601
2025-03-16 22:33:28 +01:00
parent e2ac37ef18
commit 3aafa26c70
4 changed files with 47 additions and 4 deletions
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24
backend/core/src/groundunit.cpp
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@@ -242,7 +242,12 @@ void GroundUnit::AIloop()
if (!getHasTask()) {
std::ostringstream taskSS;
taskSS.precision(10);
taskSS << "{id = 'FireAtPoint', lat = " << targetPosition.lat << ", lng = " << targetPosition.lng << ", radius = 100}";
if (targetPosition.alt == NULL) {
taskSS << "{id = 'FireAtPoint', lat = " << targetPosition.lat << ", lng = " << targetPosition.lng << ", radius = 100}";
}
else {
taskSS << "{id = 'FireAtPoint', lat = " << targetPosition.lat << ", lng = " << targetPosition.lng << ", alt = " << targetPosition.alt << ", radius = 100}";
}
Command* command = dynamic_cast<Command*>(new SetTask(groupName, taskSS.str(), [this]() { this->setHasTaskAssigned(true); }));
scheduler->appendCommand(command);
setHasTask(true);
@@ -429,9 +434,22 @@ void GroundUnit::AIloop()
taskString += "Missing on purpose. Valid target at range: " + to_string((int) round(distance)) + "m";
double correctedAimTime = aimTime;
double dstep = 0;
double vstep = muzzleVelocity;
double dt = 0.1;
double k = 0.0086;
double gdelta = 9.81;
/* Approximate the flight time */
if (muzzleVelocity != 0)
correctedAimTime += distance / muzzleVelocity;
unsigned int stepCount = 0;
if (muzzleVelocity != 0) {
while (dstep < distance && stepCount < 1000) {
dstep += vstep * dt;
vstep -= (k * vstep + gdelta) * dt;
stepCount++;
}
correctedAimTime += stepCount * dt;
}
/* If the target is in targeting range and we are in highest precision mode, target it */
if (distance < targetingRange && shotsScatter == ShotsScatter::LOW) {