src/FDM/JSBSim/filtersjb/FGFilter.h

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGFilter.h
   4  Author:       Jon S. Berndt
   5  Date started: 4/2000
   6
   7  ------------- Copyright (C)  -------------
   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
  29 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  30 SENTRY
  31 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  32
  33 #ifndef FGFILTER_H
  34 #define FGFILTER_H
  35
  36 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  37 INCLUDES
  38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  39
  40 #include "FGFCSComponent.h"
  41 #include "../FGConfigFile.h"
  42
  43 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  44 DEFINITIONS
  45 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  46
  47 #define ID_FILTER "$Id$"
  48
  49 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  50 FORWARD DECLARATIONS
  51 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  52
  53 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  54 COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
  55 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  56
  57 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  58 CLASS DOCUMENTATION
  59 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  60
  61 /** Encapsulates a filter for the flight control system.
  62     Filters are modeled using the Tustin Substitution method. These types of
  63     filters can currently be modeled:
  64     <ol><li>Lag</li>
  65     <li>Lead-Lag</li>
  66     <li>Washout</li>
  67     <li>Integrator</li></ol>
  68     The filter is specified in the config file like this:
  69     <pre>
  70
  71     &ltCOMPONENT NAME="Elevator Filter" TYPE="LAG_FILTER">
  72       ID           16
  73       INPUT        15
  74       C1           600
  75       OUTPUT       FG_ELEVATOR_POS
  76     &lt/COMPONENT>
  77     </pre>
  78     @author Jon S. Berndt
  79     @version $Id$
  80     @see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/FGFilter.h?rev=HEAD&content-type=text/vnd.viewcvs-markup">
  81          Header File </a>
  82     @see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/FGFilter.cpp?rev=HEAD&content-type=text/vnd.viewcvs-markup">
  83          Source File </a>
  84     */
  85
  86 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  87 CLASS DECLARATION
  88 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  89
  90 class FGFilter  : public FGFCSComponent
  91 {
  92 public:
  93   FGFilter(FGFCS* fcs, FGConfigFile* AC_cfg);
  94   ~FGFilter();
  95
  96   bool Run (void);
  97
  98   /** When true, causes previous values to be set to current values. This
  99       is particularly useful for first pass. */
 100   bool Initialize;
 101
 102   enum {eLag, eLeadLag, eOrder2, eWashout, eIntegrator, eUnknown} FilterType;
 103
 104 private:
 105   double dt;
 106   double ca;
 107   double cb;
 108   double cc;
 109   double cd;
 110   double ce;
 111   double C1;
 112   double C2;
 113   double C3;
 114   double C4;
 115   double C5;
 116   double C6;
 117   double PreviousInput1;
 118   double PreviousInput2;
 119   double PreviousOutput1;
 120   double PreviousOutput2;
 121   FGConfigFile* AC_cfg;
 122   void Debug(int from);
 123 };
 124
 125 #endif
 126