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),
57 TransitionTimes.clear();
61 Type = AC_cfg->GetValue("TYPE");
62 Name = AC_cfg->GetValue("NAME");
63 AC_cfg->GetNextConfigLine();
65 while ((token = AC_cfg->GetValue()) != string("/COMPONENT")) {
69 } else if (token == "INPUT") {
70 token = AC_cfg->GetValue("INPUT");
71 if (token.find("FG_") != token.npos) {
73 InputIdx = fcs->GetState()->GetParameterIndex(token);
74 InputType = itPilotAC;
76 } else if ( token == "DETENTS" ) {
77 *AC_cfg >> NumDetents;
78 for(int i=0;i<NumDetents;i++) {
81 Detents.push_back(tmpDetent);
82 TransitionTimes.push_back(tmpTime);
84 } else if (token == "OUTPUT") {
87 *AC_cfg >> sOutputIdx;
88 OutputIdx = fcs->GetState()->GetParameterIndex(sOutputIdx);
95 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
97 FGKinemat::~FGKinemat()
102 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
104 bool FGKinemat::Run(void ) {
105 double dt=fcs->GetState()->Getdt();
106 double output_transit_rate=0;
108 FGFCSComponent::Run(); // call the base class for initialization of Input
109 InputCmd = Input*Detents[NumDetents-1];
110 OutputPos = fcs->GetState()->GetParameter(OutputIdx);
112 if(InputCmd < Detents[0]) {
115 lastInputCmd=InputCmd;
116 OutputPos=Detents[0];
118 } else if(InputCmd > Detents[NumDetents-1]) {
120 InputCmd=Detents[fi];
121 lastInputCmd=InputCmd;
122 OutputPos=Detents[fi];
125 //cout << "FGKinemat::Run Handle: " << InputCmd << " Position: " << OutputPos << endl;
129 if(InputCmd != lastInputCmd) {
135 //fprintf(stderr,"InputCmd: %g, OutputPos: %g\n",InputCmd,OutputPos);
137 while(Detents[fi] < InputCmd) {
140 if(OutputPos < InputCmd) {
141 if(TransitionTimes[fi] > 0)
142 output_transit_rate=(Detents[fi] - Detents[fi-1])/TransitionTimes[fi];
144 output_transit_rate=(Detents[fi] - Detents[fi-1])/5;
146 if(TransitionTimes[fi+1] > 0)
147 output_transit_rate=(Detents[fi] - Detents[fi+1])/TransitionTimes[fi+1];
149 output_transit_rate=(Detents[fi] - Detents[fi+1])/5;
151 if(fabs(OutputPos - InputCmd) > fabs(dt*output_transit_rate) )
152 OutputPos+=output_transit_rate*dt;
159 lastInputCmd = InputCmd;
163 if( Detents[NumDetents-1] > 0 ) {
164 OutputPct = Output / Detents[NumDetents-1];
167 if (IsOutput) SetOutput();
172 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
173 // The bitmasked value choices are as follows:
174 // unset: In this case (the default) JSBSim would only print
175 // out the normally expected messages, essentially echoing
176 // the config files as they are read. If the environment
177 // variable is not set, debug_lvl is set to 1 internally
178 // 0: This requests JSBSim not to output any messages
180 // 1: This value explicity requests the normal JSBSim
182 // 2: This value asks for a message to be printed out when
183 // a class is instantiated
184 // 4: When this value is set, a message is displayed when a
185 // FGModel object executes its Run() method
186 // 8: When this value is set, various runtime state variables
187 // are printed out periodically
188 // 16: When set various parameters are sanity checked and
189 // a message is printed out when they go out of bounds
191 void FGKinemat::Debug(int from)
193 if (debug_lvl <= 0) return;
195 if (debug_lvl & 1) { // Standard console startup message output
196 if (from == 0) { // Constructor
197 cout << " ID: " << ID << endl;
198 cout << " INPUT: " << InputIdx << endl;
199 cout << " DETENTS: " << NumDetents << endl;
200 for(int i=0;i<NumDetents;i++) {
201 cout << " " << Detents[i] << " " << TransitionTimes[i] << endl;
203 if (IsOutput) cout << " OUTPUT: " <<sOutputIdx << endl;
206 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
207 if (from == 0) cout << "Instantiated: FGKinemat" << endl;
208 if (from == 1) cout << "Destroyed: FGKinemat" << endl;
210 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
212 if (debug_lvl & 8 ) { // Runtime state variables
214 if (debug_lvl & 16) { // Sanity checking
216 if (debug_lvl & 64) {
217 if (from == 0) { // Constructor
218 cout << IdSrc << endl;
219 cout << IdHdr << endl;