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[7]=   { "udot","vdot","wdot","qdot","pdot","rdot","hmgt" };
  60 const string ControlNames[14]= { "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                                  "Heading"
  66                                };
  67
  68 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  69 CLASS DECLARATION
  70 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  71
  72 enum State { tUdot,tVdot,tWdot,tQdot,tPdot,tRdot,tHmgt };
  73 enum Control { tThrottle, tBeta, tAlpha, tElevator, tAileron, tRudder, tAltAGL,
  74                tTheta, tPhi, tGamma, tPitchTrim, tRollTrim, tYawTrim, tHeading };
  75
  76 class FGTrimAxis : public FGJSBBase
  77 {
  78 public:
  79   FGTrimAxis(FGFDMExec* fdmex, FGInitialCondition *ic, State st,
  80              Control ctrl );
  81   ~FGTrimAxis();
  82
  83   void Run(void);
  84
  85   float GetState(void) { getState(); return state_value; }
  86   //Accels are not settable
  87   inline void SetControl(float value ) { control_value=value; }
  88   inline float 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 float GetControlMin(void) { return control_min; }
  97   inline float 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(float min, float max) {
 103       control_min=min;
 104       control_max=max;
 105   }
 106
 107   inline void  SetTolerance(float ff) { tolerance=ff;}
 108   inline float GetTolerance(void) { return tolerance; }
 109
 110   inline float GetSolverEps(void) { return solver_eps; }
 111   inline void SetSolverEps(float 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   float GetAvgStability( void );
 119
 120   void SetThetaOnGround(float ff);
 121   void SetPhiOnGround(float ff);
 122
 123   bool initTheta(void);
 124
 125   void AxisReport(void);
 126
 127   bool InTolerance(void) { getState(); return (fabs(state_value) <= tolerance); }
 128
 129 private:
 130   FGFDMExec *fdmex;
 131   FGInitialCondition *fgic;
 132
 133   State   state;
 134   Control control;
 135
 136   float state_value;
 137   float control_value;
 138
 139   float control_min;
 140   float control_max;
 141
 142   float tolerance;
 143
 144   float solver_eps;
 145
 146   float state_convert;
 147   float control_convert;
 148
 149   int max_iterations;
 150
 151   int its_to_stable_value;
 152   int total_stability_iterations;
 153   int total_iterations;
 154
 155   void setThrottlesPct(void);
 156
 157   void getState(void);
 158   void getControl(void);
 159   void setControl(void);
 160
 161   float computeHmgt(void);
 162
 163   void Debug(void);
 164 };
 165
 166 #endif