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
  27  HISTORY
  28 --------------------------------------------------------------------------------
  29 7/3/00  TP   Created
  30
  31
  32
  33 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  34 SENTRY
  35 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  36
  37 #ifndef FGTRIMAXIS_H
  38 #define FGTRIMAXIS_H
  39
  40 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  41 INCLUDES
  42 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  43
  44 #include <string>
  45
  46 #include "FGFDMExec.h"
  47 #include "FGRotation.h"
  48 #include "FGAtmosphere.h"
  49 #include "FGState.h"
  50 #include "FGFCS.h"
  51 #include "FGAircraft.h"
  52 #include "FGTranslation.h"
  53 #include "FGPosition.h"
  54 #include "FGAuxiliary.h"
  55 #include "FGOutput.h"
  56
  57 #define ID_TRIMAXIS "$Header"
  58
  59 const string AccelNames[6]=   { "udot","vdot","wdot","qdot","pdot","rdot" };
  60 const string ControlNames[13]= { "Throttle","Sideslip","Angle of Attack",
  61                                  "Elevator","Ailerons","Rudder",
  62                                  "Altitude AGL", "Pitch Angle",
  63                                  "Roll Angle", "Flight Path Angle",
  64                                  "Pitch Trim", "Roll Trim", "Yaw Trim"
  65                                };
  66 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  67 CLASS DECLARATION
  68 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  69
  70 enum Accel { tUdot,tVdot,tWdot,tQdot,tPdot,tRdot };
  71 enum Control { tThrottle, tBeta, tAlpha, tElevator, tAileron, tRudder, tAltAGL,
  72                tTheta, tPhi, tGamma, tPitchTrim, tRollTrim, tYawTrim };
  73
  74 class FGTrimAxis {
  75 public:
  76   FGTrimAxis(FGFDMExec* fdmex, FGInitialCondition *ic, Accel acc,
  77              Control ctrl, float tolerance);
  78   ~FGTrimAxis();
  79
  80   void Run(void);
  81
  82   float GetAccel(void) { getAccel(); return accel_value; }
  83   //Accels are not settable
  84   inline void SetControl(float value ) { control_value=value; }
  85   inline float GetControl(void) { return control_value; }
  86
  87   inline Accel GetAccelType(void) { return accel; }
  88   inline Control GetControlType(void) { return control; }
  89
  90   inline string GetAccelName(void) { return AccelNames[accel]; }
  91   inline string GetControlName(void) { return ControlNames[control]; }
  92
  93   inline float GetControlMin(void) { return control_min; }
  94   inline float GetControlMax(void) { return control_max; }
  95
  96   inline void SetControlToMin(void) { control_value=control_min; }
  97   inline void SetControlToMax(void) { control_value=control_max; }
  98
  99   inline void SetControlLimits(float min, float max) {
 100       control_min=min;
 101       control_max=max;
 102   }
 103
 104   inline void  SetTolerance(float ff) { tolerance=ff;}
 105   inline float GetTolerance(void) { return tolerance; }
 106
 107   inline float GetSolverEps(void) { return solver_eps; }
 108   inline void SetSolverEps(float ff) { solver_eps=ff; }
 109
 110   inline int  GetIterationLimit(void) { return max_iterations; }
 111   inline void SetIterationLimit(int ii) { max_iterations=ii; }
 112
 113   inline int GetStability(void) { return its_to_stable_value; }
 114   inline int GetRunCount(void) { return total_stability_iterations; }
 115   float GetAvgStability( void );
 116
 117   void SetThetaOnGround(float ff);
 118   void SetPhiOnGround(float ff);
 119
 120   bool initTheta(void);
 121
 122   void AxisReport(void);
 123
 124   bool InTolerance(void) { getAccel(); return (fabs(accel_value) <= tolerance); }
 125
 126 private:
 127   FGFDMExec *fdmex;
 128   FGInitialCondition *fgic;
 129
 130
 131   Accel   accel;
 132   Control control;
 133
 134   float accel_value;
 135   float control_value;
 136
 137   float control_min;
 138   float control_max;
 139
 140   float tolerance;
 141
 142   float solver_eps;
 143
 144   float accel_convert;
 145   float control_convert;
 146
 147   int max_iterations;
 148
 149   int its_to_stable_value;
 150   int total_stability_iterations;
 151   int total_iterations;
 152
 153
 154   void setThrottlesPct(void);
 155
 156   void getAccel(void);
 157   void getControl(void);
 158   void setControl(void);
 159
 160
 161
 162 };
 163
 164 #endif