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),
55 Type = AC_cfg->GetValue("TYPE");
56 Name = AC_cfg->GetValue("NAME");
57 AC_cfg->GetNextConfigLine();
58 dt = fcs->GetState()->Getdt();
60 C1 = C2 = C3 = C4 = C5 = C6 = 0.0;
62 if (Type == "LAG_FILTER") FilterType = eLag ;
63 else if (Type == "LEAD_LAG_FILTER") FilterType = eLeadLag ;
64 else if (Type == "SECOND_ORDER_FILTER") FilterType = eOrder2 ;
65 else if (Type == "WASHOUT_FILTER") FilterType = eWashout ;
66 else if (Type == "INTEGRATOR") FilterType = eIntegrator ;
67 else FilterType = eUnknown ;
69 while ((token = AC_cfg->GetValue()) != string("/COMPONENT")) {
71 if (token == "ID") *AC_cfg >> ID;
72 else if (token == "C1") *AC_cfg >> C1;
73 else if (token == "C2") *AC_cfg >> C2;
74 else if (token == "C3") *AC_cfg >> C3;
75 else if (token == "C4") *AC_cfg >> C4;
76 else if (token == "C5") *AC_cfg >> C5;
77 else if (token == "C6") *AC_cfg >> C6;
78 else if (token == "INPUT")
80 token = AC_cfg->GetValue("INPUT");
81 if (token.find("FG_") != token.npos) {
83 InputIdx = fcs->GetState()->GetParameterIndex(token);
84 InputType = itPilotAC;
90 else if (token == "OUTPUT")
93 *AC_cfg >> sOutputIdx;
94 OutputIdx = fcs->GetState()->GetParameterIndex(sOutputIdx);
96 else cerr << "Unknown filter type: " << token << endl;
101 switch (FilterType) {
103 denom = 2.00 + dt*C1;
105 cb = (2.00 - dt*C1) / denom;
108 denom = 2.00*C3 + dt*C4;
109 ca = (2.00*C1 + dt*C2) / denom;
110 cb = (dt*C2 - 2.00*C1) / denom;
111 cc = (2.00*C3 - dt*C2) / denom;
114 denom = 4.0*C3 + 2.0*C5*dt + C6*dt*dt;
115 ca = 4.0*C1 + 2.0*C2*dt + C3*dt*dt / denom;
116 cb = 2.0*C3*dt*dt - 8.0*C1 / denom;
117 cc = 4.0*C1 - 2.0*C2*dt + C3*dt*dt / denom;
118 cd = 2.0*C6*dt*dt - 8.0*C4 / denom;
119 ce = 4.0*C3 - 2.0*C5*dt + C6*dt*dt / denom;
122 denom = 2.00 + dt*C1;
124 cb = (2.00 - dt*C1) / denom;
130 cerr << "Unknown filter type" << endl;
137 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
139 FGFilter::~FGFilter()
144 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
146 bool FGFilter::Run(void)
148 FGFCSComponent::Run(); // call the base class for initialization of Input
152 PreviousOutput1 = PreviousInput1 = Output = Input;
157 switch (FilterType) {
159 Output = Input * ca + PreviousInput1 * ca + PreviousOutput1 * cb;
162 Output = Input * ca + PreviousInput1 * cb + PreviousOutput1 * cc;
165 Output = Input * ca + PreviousInput1 * cb + PreviousInput2 * cc
166 - PreviousOutput1 * cd - PreviousOutput2 * ce;
169 Output = Input * ca - PreviousInput1 * ca + PreviousOutput1 * cb;
172 Output = Input * ca + PreviousInput1 * ca + PreviousOutput1;
180 PreviousOutput2 = PreviousOutput1;
181 PreviousOutput1 = Output;
182 PreviousInput2 = PreviousInput1;
183 PreviousInput1 = Input;
185 if (IsOutput) SetOutput();
190 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
191 // The bitmasked value choices are as follows:
192 // unset: In this case (the default) JSBSim would only print
193 // out the normally expected messages, essentially echoing
194 // the config files as they are read. If the environment
195 // variable is not set, debug_lvl is set to 1 internally
196 // 0: This requests JSBSim not to output any messages
198 // 1: This value explicity requests the normal JSBSim
200 // 2: This value asks for a message to be printed out when
201 // a class is instantiated
202 // 4: When this value is set, a message is displayed when a
203 // FGModel object executes its Run() method
204 // 8: When this value is set, various runtime state variables
205 // are printed out periodically
206 // 16: When set various parameters are sanity checked and
207 // a message is printed out when they go out of bounds
209 void FGFilter::Debug(int from)
211 if (debug_lvl <= 0) return;
213 if (debug_lvl & 1) { // Standard console startup message output
214 if (from == 0) { // Constructor
215 cout << " ID: " << ID << endl;
216 cout << " INPUT: " << InputIdx << endl;
217 cout << " C1: " << C1 << endl;
218 cout << " C2: " << C2 << endl;
219 cout << " C3: " << C3 << endl;
220 cout << " C4: " << C4 << endl;
221 cout << " C5: " << C5 << endl;
222 cout << " C6: " << C6 << endl;
223 if (IsOutput) cout << " OUTPUT: " << sOutputIdx << endl;
226 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
227 if (from == 0) cout << "Instantiated: FGFilter" << endl;
228 if (from == 1) cout << "Destroyed: FGFilter" << endl;
230 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
232 if (debug_lvl & 8 ) { // Runtime state variables
234 if (debug_lvl & 16) { // Sanity checking
236 if (debug_lvl & 64) {
237 if (from == 0) { // Constructor
238 cout << IdSrc << endl;
239 cout << IdHdr << endl;