1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
7 ------------- Copyright (C) 2000 -------------
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
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
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.
23 Further information about the GNU General Public License can also be found on
24 the world wide web at http://www.gnu.org.
26 FUNCTIONAL DESCRIPTION
27 --------------------------------------------------------------------------------
30 --------------------------------------------------------------------------------
32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
33 COMMENTS, REFERENCES, and NOTES
34 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
42 static const char *IdSrc = "$Id$";
43 static const char *IdHdr = ID_FILTER;
45 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
47 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
49 FGFilter::FGFilter(FGFCS* fcs, FGConfigFile* AC_cfg) : FGFCSComponent(fcs),
56 Type = AC_cfg->GetValue("TYPE");
57 Name = AC_cfg->GetValue("NAME");
58 AC_cfg->GetNextConfigLine();
59 dt = fcs->GetState()->Getdt();
61 C1 = C2 = C3 = C4 = C5 = C6 = 0.0;
63 if (Type == "LAG_FILTER") FilterType = eLag ;
64 else if (Type == "LEAD_LAG_FILTER") FilterType = eLeadLag ;
65 else if (Type == "SECOND_ORDER_FILTER") FilterType = eOrder2 ;
66 else if (Type == "WASHOUT_FILTER") FilterType = eWashout ;
67 else if (Type == "INTEGRATOR") FilterType = eIntegrator ;
68 else FilterType = eUnknown ;
70 while ((token = AC_cfg->GetValue()) != string("/COMPONENT")) {
72 if (token == "ID") *AC_cfg >> ID;
73 else if (token == "C1") *AC_cfg >> C1;
74 else if (token == "C2") *AC_cfg >> C2;
75 else if (token == "C3") *AC_cfg >> C3;
76 else if (token == "C4") *AC_cfg >> C4;
77 else if (token == "C5") *AC_cfg >> C5;
78 else if (token == "C6") *AC_cfg >> C6;
79 else if (token == "INPUT")
81 token = AC_cfg->GetValue("INPUT");
82 if (token.find("FG_") != token.npos) {
84 InputNode = PropertyManager->GetNode(
85 fcs->GetState()->GetPropertyName(token) );
86 InputType = itPilotAC;
92 else if (token == "OUTPUT")
95 *AC_cfg >> sOutputIdx;
96 OutputNode = PropertyManager->GetNode(
97 fcs->GetState()->GetPropertyName(sOutputIdx) );
99 else cerr << "Unknown filter type: " << token << endl;
104 switch (FilterType) {
106 denom = 2.00 + dt*C1;
108 cb = (2.00 - dt*C1) / denom;
111 denom = 2.00*C3 + dt*C4;
112 ca = (2.00*C1 + dt*C2) / denom;
113 cb = (dt*C2 - 2.00*C1) / denom;
114 cc = (2.00*C3 - dt*C2) / denom;
117 denom = 4.0*C3 + 2.0*C5*dt + C6*dt*dt;
118 ca = 4.0*C1 + 2.0*C2*dt + C3*dt*dt / denom;
119 cb = 2.0*C3*dt*dt - 8.0*C1 / denom;
120 cc = 4.0*C1 - 2.0*C2*dt + C3*dt*dt / denom;
121 cd = 2.0*C6*dt*dt - 8.0*C4 / denom;
122 ce = 4.0*C3 - 2.0*C5*dt + C6*dt*dt / denom;
125 denom = 2.00 + dt*C1;
127 cb = (2.00 - dt*C1) / denom;
133 cerr << "Unknown filter type" << endl;
140 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
142 FGFilter::~FGFilter()
147 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
149 bool FGFilter::Run(void)
151 FGFCSComponent::Run(); // call the base class for initialization of Input
155 PreviousOutput1 = PreviousInput1 = Output = Input;
160 switch (FilterType) {
162 Output = Input * ca + PreviousInput1 * ca + PreviousOutput1 * cb;
165 Output = Input * ca + PreviousInput1 * cb + PreviousOutput1 * cc;
168 Output = Input * ca + PreviousInput1 * cb + PreviousInput2 * cc
169 - PreviousOutput1 * cd - PreviousOutput2 * ce;
172 Output = Input * ca - PreviousInput1 * ca + PreviousOutput1 * cb;
175 Output = Input * ca + PreviousInput1 * ca + PreviousOutput1;
183 PreviousOutput2 = PreviousOutput1;
184 PreviousOutput1 = Output;
185 PreviousInput2 = PreviousInput1;
186 PreviousInput1 = Input;
188 if (IsOutput) SetOutput();
193 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
194 // The bitmasked value choices are as follows:
195 // unset: In this case (the default) JSBSim would only print
196 // out the normally expected messages, essentially echoing
197 // the config files as they are read. If the environment
198 // variable is not set, debug_lvl is set to 1 internally
199 // 0: This requests JSBSim not to output any messages
201 // 1: This value explicity requests the normal JSBSim
203 // 2: This value asks for a message to be printed out when
204 // a class is instantiated
205 // 4: When this value is set, a message is displayed when a
206 // FGModel object executes its Run() method
207 // 8: When this value is set, various runtime state variables
208 // are printed out periodically
209 // 16: When set various parameters are sanity checked and
210 // a message is printed out when they go out of bounds
212 void FGFilter::Debug(int from)
214 if (debug_lvl <= 0) return;
216 if (debug_lvl & 1) { // Standard console startup message output
217 if (from == 0) { // Constructor
218 cout << " ID: " << ID << endl;
221 cout << " INPUT: " << InputNode->getName() << endl;
224 cout << " INPUT: FCS Component " << InputIdx << " (" <<
225 fcs->GetComponentName(InputIdx) << ")" << endl;
231 cout << " C1: " << C1 << endl;
232 cout << " C2: " << C2 << endl;
233 cout << " C3: " << C3 << endl;
234 cout << " C4: " << C4 << endl;
235 cout << " C5: " << C5 << endl;
236 cout << " C6: " << C6 << endl;
237 if (IsOutput) cout << " OUTPUT: " << OutputNode->getName() << endl;
240 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
241 if (from == 0) cout << "Instantiated: FGFilter" << endl;
242 if (from == 1) cout << "Destroyed: FGFilter" << endl;
244 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
246 if (debug_lvl & 8 ) { // Runtime state variables
248 if (debug_lvl & 16) { // Sanity checking
250 if (debug_lvl & 64) {
251 if (from == 0) { // Constructor
252 cout << IdSrc << endl;
253 cout << IdHdr << endl;