1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
4 Author: Tony Peden, for flight control system authored by Jon S. Berndt
7 ------------- Copyright (C) 2000 Anthony K. Peden -------------
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 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
40 #include "FGKinemat.h"
42 static const char *IdSrc = "$Id$";
43 static const char *IdHdr = ID_FLAPS;
45 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
47 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
49 FGKinemat::FGKinemat(FGFCS* fcs, FGConfigFile* AC_cfg) : FGFCSComponent(fcs),
52 string token,sOutputIdx;
57 TransitionTimes.clear();
62 Type = AC_cfg->GetValue("TYPE");
63 Name = AC_cfg->GetValue("NAME");
64 AC_cfg->GetNextConfigLine();
66 while ((token = AC_cfg->GetValue()) != string("/COMPONENT")) {
70 } else if (token == "INPUT") {
71 token = AC_cfg->GetValue("INPUT");
72 if (token.find("FG_") != token.npos) {
74 InputNode = PropertyManager->GetNode(
75 fcs->GetState()->GetPropertyName(token) );
76 InputType = itPilotAC;
81 } else if ( token == "DETENTS" ) {
82 *AC_cfg >> NumDetents;
83 for (int i=0;i<NumDetents;i++) {
86 Detents.push_back(tmpDetent);
87 TransitionTimes.push_back(tmpTime);
89 } else if (token == "OUTPUT") {
92 *AC_cfg >> sOutputIdx;
93 OutputNode = PropertyManager->GetNode(
94 fcs->GetState()->GetPropertyName(sOutputIdx) );
101 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
103 FGKinemat::~FGKinemat()
108 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
110 bool FGKinemat::Run(void ) {
111 double dt=fcs->GetState()->Getdt();
112 double output_transit_rate=0;
114 FGFCSComponent::Run(); // call the base class for initialization of Input
115 InputCmd = Input*Detents[NumDetents-1];
116 OutputPos = OutputNode->getDoubleValue();
118 if (InputCmd < Detents[0]) {
121 lastInputCmd=InputCmd;
122 OutputPos=Detents[0];
124 } else if (InputCmd > Detents[NumDetents-1]) {
126 InputCmd=Detents[fi];
127 lastInputCmd=InputCmd;
128 OutputPos=Detents[fi];
131 //cout << "FGKinemat::Run Handle: " << InputCmd << " Position: " << OutputPos << endl;
135 if (InputCmd != lastInputCmd) {
138 //cout << "FGKinemat::Run, InTransit: " << InTransit << endl;
140 //fprintf(stderr,"InputCmd: %g, OutputPos: %g\n",InputCmd,OutputPos);
142 while (Detents[fi] < InputCmd) {
145 if (OutputPos < InputCmd) {
146 if (TransitionTimes[fi] > 0)
147 output_transit_rate=(Detents[fi] - Detents[fi-1])/TransitionTimes[fi];
149 output_transit_rate=(Detents[fi] - Detents[fi-1])/5;
150 //cout << "FGKinemat::Run, output_transit_rate: " << output_transit_rate << endl;
152 if (TransitionTimes[fi+1] > 0)
153 output_transit_rate=(Detents[fi] - Detents[fi+1])/TransitionTimes[fi+1];
155 output_transit_rate=(Detents[fi] - Detents[fi+1])/5;
157 if (fabs(OutputPos - InputCmd) > fabs(dt*output_transit_rate) ) {
158 OutputPos+=output_transit_rate*dt;
159 //cout << "FGKinemat::Run, OutputPos: " << OutputPos
160 // << " dt: " << dt << endl;
167 lastInputCmd = InputCmd;
171 if ( Detents[NumDetents-1] > 0 ) {
172 OutputPct = Output / Detents[NumDetents-1];
175 if (IsOutput) SetOutput();
180 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
181 // The bitmasked value choices are as follows:
182 // unset: In this case (the default) JSBSim would only print
183 // out the normally expected messages, essentially echoing
184 // the config files as they are read. If the environment
185 // variable is not set, debug_lvl is set to 1 internally
186 // 0: This requests JSBSim not to output any messages
188 // 1: This value explicity requests the normal JSBSim
190 // 2: This value asks for a message to be printed out when
191 // a class is instantiated
192 // 4: When this value is set, a message is displayed when a
193 // FGModel object executes its Run() method
194 // 8: When this value is set, various runtime state variables
195 // are printed out periodically
196 // 16: When set various parameters are sanity checked and
197 // a message is printed out when they go out of bounds
199 void FGKinemat::Debug(int from)
201 if (debug_lvl <= 0) return;
203 if (debug_lvl & 1) { // Standard console startup message output
204 if (from == 0) { // Constructor
205 cout << " ID: " << ID << endl;
206 cout << " INPUT: " << InputNode->getName() << endl;
207 cout << " DETENTS: " << NumDetents << endl;
208 for (int i=0;i<NumDetents;i++) {
209 cout << " " << Detents[i] << " " << TransitionTimes[i] << endl;
211 if (IsOutput) cout << " OUTPUT: " << OutputNode->getName() << endl;
214 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
215 if (from == 0) cout << "Instantiated: FGKinemat" << endl;
216 if (from == 1) cout << "Destroyed: FGKinemat" << endl;
218 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
220 if (debug_lvl & 8 ) { // Runtime state variables
222 if (debug_lvl & 16) { // Sanity checking
224 if (debug_lvl & 64) {
225 if (from == 0) { // Constructor
226 cout << IdSrc << endl;
227 cout << IdHdr << endl;