src/FDM/JSBSim/FGTrimAxis.h

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGTrimAxis.h
   4  Author:       Tony Peden
   5  Date started: 7/3/00
   6
   7  ------------- Copyright (C) 1999  Anthony K. Peden (apeden@earthlink.net) -------------
   8
   9  This program is free software; you can redistribute it and/or modify it under
  10  the terms of the GNU General Public License as published by the Free Software
  11  Foundation; either version 2 of the License, or (at your option) any later
  12  version.
  13
  14  This program is distributed in the hope that it will be useful, but WITHOUT
  15  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  16  FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
  17  details.
  18
  19  You should have received a copy of the GNU General Public License along with
  20  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  21  Place - Suite 330, Boston, MA  02111-1307, USA.
  22
  23  Further information about the GNU General Public License can also be found on
  24  the world wide web at http://www.gnu.org.
  25
  26  HISTORY
  27 --------------------------------------------------------------------------------
  28 7/3/00  TP   Created
  29
  30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  31 SENTRY
  32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  33
  34 #ifndef FGTRIMAXIS_H
  35 #define FGTRIMAXIS_H
  36
  37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  38 INCLUDES
  39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  40
  41 #include <string>
  42
  43 #include "FGFDMExec.h"
  44 #include "FGJSBBase.h"
  45 #include "FGInitialCondition.h"
  46
  47 #define ID_TRIMAXIS "$Id$"
  48
  49 #define DEFAULT_TOLERANCE 0.001
  50
  51 namespace JSBSim {
  52
  53 const string StateNames[10]=   { "all","udot","vdot","wdot","qdot","pdot","rdot",
  54                                 "hmgt","nlf"
  55                               };
  56 const string ControlNames[14]= { "Throttle","Sideslip","Angle of Attack",
  57                                  "Elevator","Ailerons","Rudder",
  58                                  "Altitude AGL", "Pitch Angle",
  59                                  "Roll Angle", "Flight Path Angle",
  60                                  "Pitch Trim", "Roll Trim", "Yaw Trim",
  61                                  "Heading"
  62                                };
  63
  64 class FGInitialCondition;
  65
  66 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  67 CLASS DECLARATION
  68 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  69
  70 enum State { tAll,tUdot,tVdot,tWdot,tQdot,tPdot,tRdot,tHmgt,tNlf };
  71 enum Control { tThrottle, tBeta, tAlpha, tElevator, tAileron, tRudder, tAltAGL,
  72                tTheta, tPhi, tGamma, tPitchTrim, tRollTrim, tYawTrim, tHeading };
  73
  74 class FGTrimAxis : public FGJSBBase
  75 {
  76 public:
  77   FGTrimAxis(FGFDMExec* fdmex,
  78              FGInitialCondition *ic,
  79              State st,
  80              Control ctrl );
  81   ~FGTrimAxis();
  82
  83   void Run(void);
  84
  85   double GetState(void) { getState(); return state_value; }
  86   //Accels are not settable
  87   inline void SetControl(double value ) { control_value=value; }
  88   inline double GetControl(void) { return control_value; }
  89
  90   inline State GetStateType(void) { return state; }
  91   inline Control GetControlType(void) { return control; }
  92
  93   inline string GetStateName(void) { return StateNames[state]; }
  94   inline string GetControlName(void) { return ControlNames[control]; }
  95
  96   inline double GetControlMin(void) { return control_min; }
  97   inline double GetControlMax(void) { return control_max; }
  98
  99   inline void SetControlToMin(void) { control_value=control_min; }
 100   inline void SetControlToMax(void) { control_value=control_max; }
 101
 102   inline void SetControlLimits(double min, double max) {
 103       control_min=min;
 104       control_max=max;
 105   }
 106
 107   inline void  SetTolerance(double ff) { tolerance=ff;}
 108   inline double GetTolerance(void) { return tolerance; }
 109
 110   inline double GetSolverEps(void) { return solver_eps; }
 111   inline void SetSolverEps(double ff) { solver_eps=ff; }
 112
 113   inline int  GetIterationLimit(void) { return max_iterations; }
 114   inline void SetIterationLimit(int ii) { max_iterations=ii; }
 115
 116   inline int GetStability(void) { return its_to_stable_value; }
 117   inline int GetRunCount(void) { return total_stability_iterations; }
 118   double GetAvgStability( void );
 119
 120   void SetThetaOnGround(double ff);
 121   void SetPhiOnGround(double ff);
 122
 123   inline void SetStateTarget(float target) { state_target=target; }
 124   inline float GetStateTarget(void) { return state_target; }
 125
 126   bool initTheta(void);
 127
 128   void AxisReport(void);
 129
 130   bool InTolerance(void) { getState(); return (fabs(state_value) <= tolerance); }
 131
 132 private:
 133   FGFDMExec *fdmex;
 134   FGInitialCondition *fgic;
 135
 136   State   state;
 137   Control control;
 138
 139   float state_target;
 140
 141   float state_value;
 142   float control_value;
 143
 144   double control_min;
 145   double control_max;
 146
 147   double tolerance;
 148
 149   double solver_eps;
 150
 151   double state_convert;
 152   double control_convert;
 153
 154   int max_iterations;
 155
 156   int its_to_stable_value;
 157   int total_stability_iterations;
 158   int total_iterations;
 159
 160   void setThrottlesPct(void);
 161
 162   void getState(void);
 163   void getControl(void);
 164   void setControl(void);
 165
 166   double computeHmgt(void);
 167
 168   void Debug(int from);
 169 };
 170 }
 171 #endif