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 "FGRotation.h"
  46 #include "FGAtmosphere.h"
  47 #include "FGState.h"
  48 #include "FGFCS.h"
  49 #include "FGAircraft.h"
  50 #include "FGTranslation.h"
  51 #include "FGPosition.h"
  52 #include "FGAuxiliary.h"
  53 #include "FGOutput.h"
  54
  55 #define ID_TRIMAXIS "$Id$"
  56
  57 #define DEFAULT_TOLERANCE 0.001
  58
  59 const string StateNames[10]=   { "all","udot","vdot","wdot","qdot","pdot","rdot",
  60                                 "hmgt","nlf"
  61                               };
  62 const string ControlNames[14]= { "Throttle","Sideslip","Angle of Attack",
  63                                  "Elevator","Ailerons","Rudder",
  64                                  "Altitude AGL", "Pitch Angle",
  65                                  "Roll Angle", "Flight Path Angle",
  66                                  "Pitch Trim", "Roll Trim", "Yaw Trim",
  67                                  "Heading"
  68                                };
  69
  70 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  71 CLASS DECLARATION
  72 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  73
  74 enum State { tAll,tUdot,tVdot,tWdot,tQdot,tPdot,tRdot,tHmgt,tNlf };
  75 enum Control { tThrottle, tBeta, tAlpha, tElevator, tAileron, tRudder, tAltAGL,
  76                tTheta, tPhi, tGamma, tPitchTrim, tRollTrim, tYawTrim, tHeading };
  77
  78 class FGTrimAxis : public FGJSBBase
  79 {
  80 public:
  81   FGTrimAxis(FGFDMExec* fdmex, FGInitialCondition *ic, State st,
  82              Control ctrl );
  83   ~FGTrimAxis();
  84
  85   void Run(void);
  86
  87   double GetState(void) { getState(); return state_value; }
  88   //Accels are not settable
  89   inline void SetControl(double value ) { control_value=value; }
  90   inline double GetControl(void) { return control_value; }
  91
  92   inline State GetStateType(void) { return state; }
  93   inline Control GetControlType(void) { return control; }
  94
  95   inline string GetStateName(void) { return StateNames[state]; }
  96   inline string GetControlName(void) { return ControlNames[control]; }
  97
  98   inline double GetControlMin(void) { return control_min; }
  99   inline double GetControlMax(void) { return control_max; }
 100
 101   inline void SetControlToMin(void) { control_value=control_min; }
 102   inline void SetControlToMax(void) { control_value=control_max; }
 103
 104   inline void SetControlLimits(double min, double max) {
 105       control_min=min;
 106       control_max=max;
 107   }
 108
 109   inline void  SetTolerance(double ff) { tolerance=ff;}
 110   inline double GetTolerance(void) { return tolerance; }
 111
 112   inline double GetSolverEps(void) { return solver_eps; }
 113   inline void SetSolverEps(double ff) { solver_eps=ff; }
 114
 115   inline int  GetIterationLimit(void) { return max_iterations; }
 116   inline void SetIterationLimit(int ii) { max_iterations=ii; }
 117
 118   inline int GetStability(void) { return its_to_stable_value; }
 119   inline int GetRunCount(void) { return total_stability_iterations; }
 120   double GetAvgStability( void );
 121
 122   void SetThetaOnGround(double ff);
 123   void SetPhiOnGround(double ff);
 124
 125   inline void SetStateTarget(float target) { state_target=target; }
 126   inline float GetStateTarget(void) { return state_target; }
 127
 128   bool initTheta(void);
 129
 130   void AxisReport(void);
 131
 132   bool InTolerance(void) { getState(); return (fabs(state_value) <= tolerance); }
 133
 134 private:
 135   FGFDMExec *fdmex;
 136   FGInitialCondition *fgic;
 137
 138   State   state;
 139   Control control;
 140
 141   float state_target;
 142
 143   float state_value;
 144   float control_value;
 145
 146   double control_min;
 147   double control_max;
 148
 149   double tolerance;
 150
 151   double solver_eps;
 152
 153   double state_convert;
 154   double control_convert;
 155
 156   int max_iterations;
 157
 158   int its_to_stable_value;
 159   int total_stability_iterations;
 160   int total_iterations;
 161
 162   void setThrottlesPct(void);
 163
 164   void getState(void);
 165   void getControl(void);
 166   void setControl(void);
 167
 168   double computeHmgt(void);
 169
 170   void Debug(int from);
 171 };
 172
 173 #endif