https://github.com/ethanjameslew/f16-flight-dynamics
F-16 Aircraft Dynamics Model from Stevens and Lewis "Aircraft Control and Simulation".
https://github.com/ethanjameslew/f16-flight-dynamics
aircraft-control aircraft-model autonomy collision-avoidance controlsystem f16 flight-dynamics flight-simulator
Last synced: 4 months ago
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F-16 Aircraft Dynamics Model from Stevens and Lewis "Aircraft Control and Simulation".
- Host: GitHub
- URL: https://github.com/ethanjameslew/f16-flight-dynamics
- Owner: EthanJamesLew
- License: gpl-3.0
- Created: 2022-04-24T06:24:57.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2022-07-30T05:34:32.000Z (about 3 years ago)
- Last Synced: 2023-03-04T05:23:30.115Z (over 2 years ago)
- Topics: aircraft-control, aircraft-model, autonomy, collision-avoidance, controlsystem, f16, flight-dynamics, flight-simulator
- Language: C++
- Homepage:
- Size: 4.51 MB
- Stars: 11
- Watchers: 3
- Forks: 4
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# f16-flight-dynamics
*F16 Simulation Rendered in FlightGear*
|  |  |
|--------------------------------------------------|---------------------------------------------------------------------------|
|  |  |
*Example Air Collision Avoidance Scenarios Simulated Using F16 Dynamics Model*
## Overview
This repo contains an efficient implementation of the aircraft model described in Stevens and Lewis
"Aircraft Control and Simulation",3rd Ed., written in C++. The project produces a shared library `f16_flight_dynamics`
as well as the python module `f16dynamics` that accesses it via python bindings. The python module provides drop-in
replacement objects / functions for the same models implemented in [AeroBenchVVPython](https://github.com/stanleybak/AeroBenchVVPython)
and [F16 CSAF](https://pypi.org/project/csaf-controls/).
### Citation
This implementation is based on and tested against the model available in [AeroBenchVVPython](https://github.com/stanleybak/AeroBenchVVPython).
The model was designed to test autopilot and analysis methods. No claim is made about its accuracy; the F-16 model is
based on a common aircraft model with additional controllers placed on top of it.
> Heidlauf, P., Collins, A., Bolender, M., & Bak, S. (2018, September). *Verification Challenges in F-16 Ground Collision
> Avoidance and Other Automated Maneuvers.* In ARCH@ ADHS (pp. 208-217).
>Stevens, B. L., Lewis, F. L., & Johnson, E. N. (2015). *Aircraft control and simulation: dynamics, controls design, and
> autonomous systems.* John Wiley & Sons.
## Benchmarks
Benchmarks were run on the following scenarios
* *GCAS Scenario* - A GCAS autopilot was installed on a single f16 and placed at low altitude. The simulation is run
for 2 minutes.
* *ACAS Scenario* - An ACAS autopilot, being a NN compressed early prototype of ACAS Xu, was installed on a single f16
and placed near an intruder f16 heading towards it (2 f16 plants in total). The simulation is run for 2 minutes.
See [this notebook](./notebooks/CSAF_Integration.ipynb) for more.
| | GCAS Scenario | ACAS Scenario |
|--------------------------|---------------|------------------|
| **F16Dynamics (ours)** | **0.618 s** | **1.431 s** |
| CSAF F16 - numba enabled | 3.990 s | 4.68 s |
| CSAF F16 | 4.933 s | 10.548 s |
## Installation
### Docker (easiest)
Build the docker at the repo root via
```shell
docker build . -t f16dynamics
```
Note that this build may take a few minutes to get the build dependencies together.
Running without any arguments will put you in a python REPL with `csaf` and the `f16dynamics` library
```shell
docker run -it f16dynamics
```
Run a script with
```shell
docker run -v $PWD:/mydir f16dynamics /mydir/myscript.py
```
### `f16dynamics` Python Module
#### pip
The C++ library uses Boost and will not build unless it's installed. A simple way to install boost, using common
python tools, is via `conda`
```shell
conda install -c conda-forge boost==1.76
```
Now clone the repository and install the python module
```shell
git clone https://github.com/EthanJamesLew/f16-flight-dynamics.git
cd f16-flight-dynamics
pip install .
```
Check that you can import it
```shell
python -c "import f16dynamics"
```
### C++ Libraries
Install `Boost` and `Boost NumPy`. Use CMake to build
```shell
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make
sudo make install
```
## Tests
Proper testing is TBD, with the coverage
* `f16_flight_dynamics` C++ unit tests
* `f16dynamics` python unit tests
* Testing the C++ dynamics against the VVaerobench implementation and CSAF
* Integration testing with VVaerobench and CSAF
## Jupyter Notebooks
Navigate to `notebooks` and launch jupyter via
```shell
jupyter notebook
```