feat(hyd): hydraulic actuator locking function

[crocket63]

Fixes #[issue_no]

Summary of Changes

This PR adds a mechanism to be able to limit actuator speed in extension or retraction (up to a zero speed). It can be used to limit the movement of any actuator such as in a failure case.

This will also implement the downlocking function of spoiler actuators, preventing them to go up when no pressure is available.

Screenshots (if necessary)

References

Additional context

Discord username (if different from GitHub):

Testing instructions

Check that any unpressurised spoiler panel can go down but never up.

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[crocket63]

Nice work!

I think there's something you could consider changing here. What I don't really like is that the soft_lock_velocity property is often meaningless when the actuator is not soft-locked. To fix this, we could introduce an enum:

enum SoftLockMode {
    None,
    Locked(AngularVelocity, AngularVelocity), // Min and max angular velocity when the body is soft-locked
}

Then, CoreHydraulicForce would only have a single property soft_lock_mode: SoftLockMode.

To implement the HydraulicLocking trait, you could use the following:

impl HydraulicLocking for CoreHydraulicForce {
    fn should_soft_lock(&self) -> bool {
        self.soft_lock_mode === SoftLockMode::Locked
    }

    fn soft_lock_velocity(&self) -> (AngularVelocity, AngularVelocity) {
        match self.soft_lock_mode {
            SoftLockMode::None => (AngularVelocity::default(), AngularVelocity::default()),
            SoftLockMode::Locked(min, max) => (min, max),
        }
    }
}

This is only a suggestion, let me know if you think this is not appropriate to use in this case. 😄

Idea looks good, now need to try :) What the hell is === ?? :D

[BlueberryKing]

What the hell is === ?? :D

Oh no, JavaScript has cursed me 😄 .

[crocket63]

What the hell is === ?? :D

Oh no, JavaScript has cursed me 😄 .

Problem then is when you want to set it to soft locked.... You need to know the velocities and can't just turn it true: if self.locks_position_in_closed_mode { self.soft_lock = SoftLockMode::Locked((), ()); }

[BlueberryKing]

What the hell is === ?? :D

Oh no, JavaScript has cursed me 😄 .

Problem then is when you want to set it to soft locked.... You need to know the velocities and can't just turn it true: if self.locks_position_in_closed_mode { self.soft_lock = SoftLockMode::Locked((), ()); }

Ah, yeah, that's an issue, forget what I said!

[2hwk]

This may have conflicts with https://github.com/flybywiresim/a32nx/pull/6913

[crocket63]

This may have conflicts with #6913

There's no functional conflict, will just have to merge carefully. If we can test this one on master context, then I'll do the merge on #6913

[mico975]

Quality Assurance Tester Report

Discord : mico#3145 Object of testing: #7314 Tier of Testing : 1 Date : 23/08/2022

Testing Process: Check that any unpressurised spoiler panel can go down but never up. - OK

Negatives:
N/A

Testing Results: Passed

Conclusions: LGTM

[dragold]

Category: QA Tester Name: Mr.Blank#6197 Date of testing MM/DD/YYYY:08/26/2022

PR Tested: 7314 Tier of testing:1

Testing technique: Brute force tryouts Test Instructions: Check that any unpressurized spoiler panel can go down but never up.

Methodology: All as per Testing instructions Off Normal input test
Negatives: NIL Testing Results: PASS Conclusions: results were of normal outputs