erp5_officejs_drone_simulator: implement proper parachute landing

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_fixedwingdrone_js.js

@@ -6,6 +6,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
   "use strict";
 
   var DEFAULT_SPEED = 16,
+    PARACHUTE_SPEED = 8,
     EARTH_GRAVITY = 9.81,
     LOITER_LIMIT = 30,
     MAX_ACCELERATION = 6,
@@ -98,8 +99,12 @@ var FixedWingDroneAPI = /** @class */ (function () {
   ** Function called on every drone update, right before onUpdate AI script
   */
   FixedWingDroneAPI.prototype.internal_update = function (context, delta_time) {
-    this._updateSpeed(context, delta_time);
-    this._updatePosition(context, delta_time);
+    if (context.position.z > 0) {
+      this._updateSpeed(context, delta_time);
+      this._updatePosition(context, delta_time);
+    } else {
+      context.setDirection(0, 0, 0);
+    }
 
     context._controlMesh.computeWorldMatrix(true);
     context._mesh.computeWorldMatrix(true);
@@ -486,8 +491,8 @@ var FixedWingDroneAPI = /** @class */ (function () {
     function (altitude_diff, max_climb_rate, speed, max_pitch) {
       var maxVerticalSpeed =
           Math.min(altitude_diff, Math.min(max_climb_rate, speed));
-      return (this._toDeg(Math.asin(maxVerticalSpeed / speed)) > max_pitch) ?
-            speed * Math.sin(this._toRad(max_pitch))
+      return (this._toDeg(Math.asin(maxVerticalSpeed / speed)) > max_pitch)
+        ? speed * Math.sin(this._toRad(max_pitch))
         : maxVerticalSpeed;
     };
   FixedWingDroneAPI.prototype._toRad = function (angle) {
@@ -511,11 +516,16 @@ var FixedWingDroneAPI = /** @class */ (function () {
   };
   FixedWingDroneAPI.prototype.land = function (drone) {
     var drone_pos = drone.getCurrentPosition();
-    drone.setTargetCoordinates(
+    this._flight_parameters.drone.minSpeed = 0;
+    drone._speed = 0;
+    drone._acceleration = EARTH_GRAVITY;
+    this._flight_parameters.drone.maxSinkRate = PARACHUTE_SPEED;
+    this._flight_parameters.drone.minPitchAngle = -90;
+    drone._internal_setTargetCoordinates(
       drone_pos.latitude,
       drone_pos.longitude,
-      0,
-      drone.get3DSpeed()
+      -PARACHUTE_SPEED,
+      PARACHUTE_SPEED
     );
     this._is_ready_to_fly = false;
     this._is_landing = true;

bt5/erp5_officejs_drone_capture_flag/PathTemplateItem/web_page_module/drone_capture_flag_fixedwingdrone_js.xml

@@ -246,7 +246,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1014.60733.7318.44953</string> </value>
+                      <value> <string>1015.19974.55909.31829</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -266,7 +266,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1709564488.61</float>
+                              <float>1710776360.59</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.js

@@ -7,6 +7,7 @@ var FixedWingDroneAPI = /** @class */ (function () {
 
   // var TAKEOFF_RADIUS = 60,
   var DEFAULT_SPEED = 16,
+    PARACHUTE_SPEED = 8,
     EARTH_GRAVITY = 9.81,
     LOITER_LIMIT = 30,
     MAX_ACCELERATION = 6,
@@ -373,8 +374,6 @@ var FixedWingDroneAPI = /** @class */ (function () {
     var processed_coordinates =
       this._mapManager.convertToLocalCoordinates(lat, lon, z);
     processed_coordinates.z -= this._map_dict.start_AMSL;
-    //this._last_altitude_point_reached = -1;
-    //this.takeoff_path = [];
     return processed_coordinates;
   };
   FixedWingDroneAPI.prototype.getCurrentPosition = function (x, y, z) {
@@ -470,11 +469,16 @@ var FixedWingDroneAPI = /** @class */ (function () {
   };
   FixedWingDroneAPI.prototype.land = function (drone) {
     var drone_pos = drone.getCurrentPosition();
-    drone.setTargetCoordinates(
+    this._flight_parameters.drone.minSpeed = 0;
+    drone._speed = 0;
+    drone._acceleration = EARTH_GRAVITY;
+    this._flight_parameters.drone.maxSinkRate = PARACHUTE_SPEED;
+    this._flight_parameters.drone.minPitchAngle = -90;
+    drone._internal_setTargetCoordinates(
       drone_pos.latitude,
       drone_pos.longitude,
       0,
-      drone.get3DSpeed()
+      PARACHUTE_SPEED
     );
     this._is_ready_to_fly = false;
     this._is_landing = true;

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/drone_simulator_fixedwingdrone_js.xml

@@ -240,7 +240,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1014.60733.7318.44953</string> </value>
+                      <value> <string>1015.19909.43325.57463</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -260,7 +260,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1709562449.93</float>
+                              <float>1710776370.92</float>
                               <string>UTC</string>
                             </tuple>
                           </state>

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_script_page_js.js

@@ -122,7 +122,8 @@
       '    }\n' +
       '    return;\n' +
       '  }\n' +
-      '  me.exit(0);\n' +
+      '  if (!me.isLanding()) { me.land() };\n' +
+      '  if (me.getCurrentPosition().altitude <= 0) { me.exit(0) };\n' +
       '};',
     DRAW = true,
     LOG = true,

bt5/erp5_officejs_drone_simulator/PathTemplateItem/web_page_module/ojs_drone_simulator_script_page_js.xml

@@ -246,7 +246,7 @@
                   </item>
                   <item>
                       <key> <string>serial</string> </key>
-                      <value> <string>1014.60725.60577.24917</string> </value>
+                      <value> <string>1015.15836.20157.60791</string> </value>
                   </item>
                   <item>
                       <key> <string>state</string> </key>
@@ -266,7 +266,7 @@
                           </tuple>
                           <state>
                             <tuple>
-                              <float>1709289017.41</float>
+                              <float>1710527785.95</float>
                               <string>UTC</string>
                             </tuple>
                           </state>