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latitude.lisp
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(in-package #:xp-nap)
(defrules latitude
((lat latx)
(dir direction)
(thrustfl thrust)
(thrustfr thrust)
(thrustrl thrust)
(thrustrr thrust))
;; ====== Position: Latitude ======
;; Left
(& lat.way-left dir.N)
(thrustfl.more+ thrustrl.more+
thrustfr.less- thrustrr.less-)
(& lat.way-left dir.NE)
(thrustfl.hover thrustrl.more+
thrustfr.less- thrustrr.hover)
(& lat.left dir.E)
(thrustfl.less- thrustrl.more+
thrustfr.less- thrustrr.more+)
(& lat.way-left dir.SE)
(thrustfl.less- thrustrl.hover
thrustfr.hover thrustrr.more+)
(v (& lat.way-left dir.S)
(& lat.way-left dir.SS))
(thrustfl.less- thrustrl.less-
thrustfr.more+ thrustrr.more+)
(& lat.way-left dir.SW)
(thrustfl.hover thrustrl.less-
thrustfr.more+ thrustrr.hover)
(& lat.way-left dir.W)
(thrustfl.more+ thrustrl.less-
thrustfr.more+ thrustrr.less-)
(& lat.way-left dir.NW)
(thrustfl.more+ thrustrl.hover
thrustfr.hover thrustrr.less-)
(& lat.left dir.N)
(thrustfl.bit-more thrustrl.bit-more
thrustfr.bit-less thrustrr.bit-less)
(& lat.left dir.NE)
(thrustfl.hover thrustrl.bit-more
thrustfr.bit-less thrustrr.hover)
(& lat.left dir.E)
(thrustfl.bit-less thrustrl.bit-more
thrustfr.bit-less thrustrr.bit-more)
(& lat.left dir.SE)
(thrustfl.bit-less thrustrl.hover
thrustfr.hover thrustrr.bit-more)
(v (& lat.left dir.S)
(& lat.left dir.SS))
(thrustfl.bit-less thrustrl.bit-less
thrustfr.bit-more thrustrr.bit-more)
(& lat.left dir.SW)
(thrustfl.hover thrustrl.bit-less
thrustfr.bit-more thrustrr.hover)
(& lat.left dir.W)
(thrustfl.bit-more thrustrl.bit-less
thrustfr.bit-more thrustrr.bit-less)
(& lat.left dir.NW)
(thrustfl.bit-more thrustrl.hover
thrustfr.hover thrustrr.bit-less)
(& lat.bit-left dir.N)
(thrustfl.tad-more thrustrl.tad-more
thrustfr.tad-less thrustrr.tad-less)
(& lat.left dir.NE)
(thrustfl.hover thrustrl.tad-more
thrustfr.tad-less thrustrr.hover)
(& lat.bit-left dir.E)
(thrustfl.tad-less thrustrl.tad-more
thrustfr.tad-less thrustrr.tad-more)
(& lat.bit-left dir.SE)
(thrustfl.tad-less thrustrl.hover
thrustfr.hover thrustrr.tad-more)
(v (& lat.bit-left dir.S)
(& lat.bit-left dir.SS))
(thrustfl.tad-less thrustrl.tad-less
thrustfr.tad-more thrustrr.tad-more)
(& lat.bit-left dir.SW)
(thrustfl.hover thrustrl.tad-less
thrustfr.tad-more thrustrr.hover)
(& lat.bit-left dir.W)
(thrustfl.tad-more thrustrl.tad-less
thrustfr.tad-more thrustrr.tad-less)
(& lat.bit-left dir.NW)
(thrustfl.tad-more thrustrl.hover
thrustfr.hover thrustrr.tad-less)
;; --- Zero ---
lat.zero (thrustfl.hover thrustrl.hover
thrustfr.hover thrustrr.hover)
;; Right
(& lat.bit-right dir.N)
(thrustfl.tad-less thrustrl.tad-less
thrustfr.tad-more thrustrr.tad-more)
(& lat.bit-right dir.NE)
(thrustfl.hover thrustrl.tad-less
thrustfr.tad-more thrustrr.hover)
(& lat.bit-right dir.E)
(thrustfl.tad-more thrustrl.tad-less
thrustfr.tad-more thrustrr.tad-less)
(& lat.bit-right dir.SE)
(thrustfl.tad-more thrustrl.hover
thrustfr.hover thrustrr.tad-less)
(v (& lat.bit-right dir.S)
(& lat.bit-right dir.SS))
(thrustfl.tad-more thrustrl.tad-more
thrustfr.tad-less thrustrr.tad-less)
(& lat.bit-right dir.SW)
(thrustfl.hover thrustrl.tad-more
thrustfr.tad-less thrustrr.hover)
(& lat.bit-right dir.W)
(thrustfl.tad-less thrustrl.tad-more
thrustfr.tad-less thrustrr.tad-more)
(& lat.bit-right dir.NW)
(thrustfl.tad-less thrustrl.hover
thrustfr.hover thrustrr.tad-more)
(& lat.right dir.N)
(thrustfl.bit-less thrustrl.bit-less
thrustfr.bit-more thrustrr.bit-more)
(& lat.right dir.NE)
(thrustfl.hover thrustrl.bit-less
thrustfr.bit-more thrustrr.hover)
(& lat.right dir.E)
(thrustfl.bit-more thrustrl.bit-less
thrustfr.bit-more thrustrr.bit-less)
(& lat.right dir.SE)
(thrustfl.bit-more thrustrl.hover
thrustfr.hover thrustrr.bit-less)
(v (& lat.right dir.S)
(& lat.right dir.SS))
(thrustfl.bit-more thrustrl.bit-more
thrustfr.bit-less thrustrr.bit-less)
(& lat.right dir.SW)
(thrustfl.hover thrustrl.bit-more
thrustfr.bit-less thrustrr.hover)
(& lat.right dir.W)
(thrustfl.bit-less thrustrl.bit-more
thrustfr.bit-less thrustrr.bit-more)
(& lat.right dir.NW)
(thrustfl.bit-less thrustrl.hover
thrustfr.hover thrustrr.bit-more)
(& lat.way-right dir.N)
(thrustfl.less- thrustrl.less-
thrustfr.more+ thrustrr.more+)
(& lat.way-right dir.NE)
(thrustfl.hover thrustrl.less-
thrustfr.more+ thrustrr.hover)
(& lat.way-right dir.E)
(thrustfl.more+ thrustrl.less-
thrustfr.more+ thrustrr.less-)
(& lat.way-right dir.SE)
(thrustfl.more+ thrustrl.hover
thrustfr.hover thrustrr.less-)
(v (& lat.way-right dir.S)
(& lat.way-right dir.SS))
(thrustfl.more+ thrustrl.more+
thrustfr.less- thrustrr.less-)
(& lat.way-right dir.SW)
(thrustfl.hover thrustrl.more+
thrustfr.less- thrustrr.hover)
(& lat.way-right dir.W)
(thrustfl.less- thrustrl.more+
thrustfr.less- thrustrr.more+)
(& lat.way-right dir.NW)
(thrustfl.less- thrustrl.hover
thrustfr.hover thrustrr.more+))