Qualify route gain and observe native gate context through ordinary input

2026-09-19 19:44:22 +02:00
parent ec1071595d
commit 53eaf3894d
72 changed files with 71413 additions and 36 deletions
@@ -2,6 +2,20 @@
 class ERR_AircraftRouteRules
 {
 static bool Length(float distance) { return distance >= 18 && distance <= 20.05; }
+ // Candidate route-only gain. Desired speed and cyclic magnitude remain bounded
+ // exactly as in the short-translation controller; landing keeps its old gain.
+ static vector Demand(vector target, vector position, vector velocity)
+ {
+  vector error = target - position; error[1] = 0;
+  vector desired = error * 0.25;
+  float speed = desired.Length();
+  if (speed > 0.5) desired = desired * (0.5 / speed);
+  velocity[1] = 0;
+  vector demand = (desired - velocity) * 0.10;
+  float magnitude = demand.Length();
+  if (magnitude > 0.03) demand = demand * (0.03 / magnitude);
+  return demand;
+ }
 static vector Nearest(vector start, vector end, vector point)
 {
  vector leg = end - start; leg[1] = 0;