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 "FGRotation.h"
  45 #include "FGAtmosphere.h"
  46 #include "FGState.h"
  47 #include "FGFCS.h"
  48 #include "FGAircraft.h"
  49 #include "FGTranslation.h"
  50 #include "FGPosition.h"
  51 #include "FGAuxiliary.h"
  52 #include "FGOutput.h"
  53
  54 #define ID_TRIMAXIS "$Id$"
  55
  56 #define DEFAULT_TOLERANCE 0.001
  57
  58 const string StateNames[7]=   { "udot","vdot","wdot","qdot","pdot","rdot","hmgt" };
  59 const string ControlNames[14]= { "Throttle","Sideslip","Angle of Attack",
  60                                  "Elevator","Ailerons","Rudder",
  61                                  "Altitude AGL", "Pitch Angle",
  62                                  "Roll Angle", "Flight Path Angle",
  63                                  "Pitch Trim", "Roll Trim", "Yaw Trim",
  64                                  "Heading"
  65                                };
  66
  67 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  68 CLASS DECLARATION
  69 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  70
  71 enum State { tUdot,tVdot,tWdot,tQdot,tPdot,tRdot,tHmgt };
  72 enum Control { tThrottle, tBeta, tAlpha, tElevator, tAileron, tRudder, tAltAGL,
  73                tTheta, tPhi, tGamma, tPitchTrim, tRollTrim, tYawTrim, tHeading };
  74
  75 class FGTrimAxis {
  76 public:
  77   FGTrimAxis(FGFDMExec* fdmex, FGInitialCondition *ic, State st,
  78              Control ctrl );
  79   ~FGTrimAxis();
  80
  81   void Run(void);
  82
  83   float GetState(void) { getState(); return state_value; }
  84   //Accels are not settable
  85   inline void SetControl(float value ) { control_value=value; }
  86   inline float GetControl(void) { return control_value; }
  87
  88   inline State GetStateType(void) { return state; }
  89   inline Control GetControlType(void) { return control; }
  90
  91   inline string GetStateName(void) { return StateNames[state]; }
  92   inline string GetControlName(void) { return ControlNames[control]; }
  93
  94   inline float GetControlMin(void) { return control_min; }
  95   inline float GetControlMax(void) { return control_max; }
  96
  97   inline void SetControlToMin(void) { control_value=control_min; }
  98   inline void SetControlToMax(void) { control_value=control_max; }
  99
 100   inline void SetControlLimits(float min, float max) {
 101       control_min=min;
 102       control_max=max;
 103   }
 104
 105   inline void  SetTolerance(float ff) { tolerance=ff;}
 106   inline float GetTolerance(void) { return tolerance; }
 107
 108   inline float GetSolverEps(void) { return solver_eps; }
 109   inline void SetSolverEps(float ff) { solver_eps=ff; }
 110
 111   inline int  GetIterationLimit(void) { return max_iterations; }
 112   inline void SetIterationLimit(int ii) { max_iterations=ii; }
 113
 114   inline int GetStability(void) { return its_to_stable_value; }
 115   inline int GetRunCount(void) { return total_stability_iterations; }
 116   float GetAvgStability( void );
 117
 118   void SetThetaOnGround(float ff);
 119   void SetPhiOnGround(float ff);
 120
 121   bool initTheta(void);
 122
 123   void AxisReport(void);
 124
 125   bool InTolerance(void) { getState(); return (fabs(state_value) <= tolerance); }
 126
 127 private:
 128   FGFDMExec *fdmex;
 129   FGInitialCondition *fgic;
 130
 131   State   state;
 132   Control control;
 133
 134   float state_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 state_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   void setThrottlesPct(void);
 154
 155   void getState(void);
 156   void getControl(void);
 157   void setControl(void);
 158
 159   float computeHmgt(void);
 160
 161   void Debug(void);
 162 };
 163
 164 #endif