From 1cde8a08020b2f4d05342911110da01652cc6d50 Mon Sep 17 00:00:00 2001
From: KOSASIH <kosasihg88@gmail.com>
Date: Tue, 30 Jul 2024 08:18:18 +0700
Subject: [PATCH] Create navigation_and_control_system.cpp

---
 .../navigation_and_control_system.cpp         | 48 +++++++++++++++++++
 1 file changed, 48 insertions(+)
 create mode 100644 core/aerospace/navigation_and_control_system.cpp

diff --git a/core/aerospace/navigation_and_control_system.cpp b/core/aerospace/navigation_and_control_system.cpp
new file mode 100644
index 0000000..0841aa2
--- /dev/null
+++ b/core/aerospace/navigation_and_control_system.cpp
@@ -0,0 +1,48 @@
+#include <iostream>
+#include <vector>
+#include <cmath>
+
+class NavigationAndControlSystem {
+public:
+    NavigationAndControlSystem(Vehicle* vehicle, const std::vector<Waypoint>& waypoints)
+        : vehicle_(vehicle), waypoints_(waypoints) {}
+
+    void navigate() {
+        // Calculate current position and velocity
+        Vector3 currentPosition = vehicle_->getPosition();
+        Vector3 currentVelocity = vehicle_->getVelocity();
+
+        // Calculate desired position and velocity
+        Vector3 desiredPosition = waypoints_[currentWaypointIndex_].position;
+        Vector3 desiredVelocity = waypoints_[currentWaypointIndex_].velocity;
+
+        // Calculate navigation error
+        Vector3 navigationError = desiredPosition - currentPosition;
+
+        // Calculate control inputs
+        Vector3 controlInputs = calculateControlInputs(navigationError, currentVelocity, desiredVelocity);
+
+        // Apply control inputs
+        vehicle_->applyControlInputs(controlInputs);
+    }
+
+private:
+    Vehicle* vehicle_;
+    std::vector<Waypoint> waypoints_;
+    int currentWaypointIndex_;
+
+    Vector3 calculateControlInputs(const Vector3& navigationError, const Vector3& currentVelocity, const Vector3& desiredVelocity) {
+        // Calculate PID gains
+        double kp = 1.0;
+        double ki = 0.1;
+        double kd = 0.5;
+
+        // Calculate control inputs
+        Vector3 controlInputs;
+        controlInputs.x = kp * navigationError.x + ki * navigationError.x * dt + kd * (desiredVelocity.x - currentVelocity.x);
+        controlInputs.y = kp * navigationError.y + ki * navigationError.y * dt + kd * (desiredVelocity.y - currentVelocity.y);
+        controlInputs.z = kp * navigationError.z + ki * navigationError.z * dt + kd * (desiredVelocity.z - currentVelocity.z);
+
+        return controlInputs;
+    }
+};