FG Autopilot

1. 实现了flightgear的python接口,利用flightgear可进行udp,telnet通信的功能,实现了python对FG的控制以及FG信息的获取。(搭建了FG的python环境(类似OpenAI用到的gym环境),便于同时使用 python 和 FlightGear 进行机器学习)
2. 在1的基础上，实现了PID，并应用强化学习以实现自动驾驶

Environment

• windows 10
• FlightGear 2018.2.2
• python 3.6.7
• conda 4.5.12
• pandas 0.23.4
• numpy 1.14.2
• tensorflow 1.12.0
• geographiclib 1.49

Install

1. Install Anaconda in your compute, you can get it here. you need a python3 version.

2. add path\of\your\Anaconda\ andpath\of\you\Anaconda\Scripts to your system environment

3. run the following command in your Windows PowerShell:

   conda install numpy
   conda install pandas
   conda install tensorflow
   pip install geographiclib

4. Install FlightGear on your computer, you can get it here

5. copy config/fgudp.xmlinto folder FG_ROOT/data/Protocol. FG_ROOT is the folder where you install FG

6. start flight gear and add below command line option into the blank white box in the tail of flightgear setting page. after this , press the fly button to begin your fly.

   --allow-nasal-from-sockets
   --telnet=5555
   --httpd=5500
   --generic=socket,in,10,127.0.0.1,5701,udp,fgudp
   --generic=socket,out,10,127.0.0.1,5700,udp,fgudp
   

7. To begin communicate with flightgear using python. just run the python example.py

8. [tips] next time you only need to start flightgear and do step 7. you don't need to do step 1-6 again

Code & Features

• train.py 主程序
  • 训练模型主程序，已实现pid,dqn,actor-critic, DDPG.
• data_analysis.py 用于分析飞行日志(data/flylog)，数据分析程序
• DRL 强化学习模型
  • DQN
  • ActorCritic
  • DDPG
  • PPO2 等模型待实现
• fgmodule ,FG通信与控制模块
  • fgudp.py flightgear通信主要模块。状态接收和控制帧发送
  • fgcmd.py 实现fg远程命令行控制，复位等功能
  • fgenv.py 将fgudp 和fgcmd进行封装, 详细功能见程序内注释
    • initial()
    • step()
    • reposition()
    • reset()
    • replay() 另一种飞机复位方式
• scaffold 辅助模块
  • pidpilot.py , PID自动驾驶控制算法实现
  • fgdata.py, 数据格式转换
  • utils.py
• Doc 一些帮助文档
• data we will save all the fly log in folder data/flylog. their named by the time when the log created.
• Framework: 结构如下

terms

• takeoff 起飞

  • 起飞前
  • 跑道上 加速与维持方向稳定
  • 离地后 稳定爬升与维持机身姿态

• cruise 巡航

• 水平飞行（horizontal flight）

• 定常飞行（steady flight）

Relative Doc

• F:\FlightGear 2018.2.2\data\Docs\README.IO

• 启动时命令行参数简介

• telnet help this is very important for using telnet, please read carefully

• quick replay Load Flight Recorder Tape (Shift-F1) load a pre-recorded flight to play back. Save Flight Recorder Tape (Shift-F2) saves the current flight to play back later. we can also use (Ctrl-R) to make a quick replay

• some important props

  /sim/model/autostart  #设置飞机autostart的值
  /controls/gear/brake-parking #设置飞机停车刹车
  /sim/crashed #设置飞机是否坠毁