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();
59 Type = AC_cfg->GetValue("TYPE");
60 Name = AC_cfg->GetValue("NAME");
61 AC_cfg->GetNextConfigLine();
63 while ((token = AC_cfg->GetValue()) != string("/COMPONENT")) {
67 } else if (token == "INPUT") {
68 token = AC_cfg->GetValue("INPUT");
69 if (token.find("FG_") != token.npos) {
71 InputIdx = fcs->GetState()->GetParameterIndex(token);
72 InputType = itPilotAC;
74 } else if ( token == "DETENTS" ) {
75 *AC_cfg >> NumDetents;
76 for(int i=0;i<NumDetents;i++) {
79 Detents.push_back(tmpDetent);
80 TransitionTimes.push_back(tmpTime);
82 } else if (token == "OUTPUT") {
85 *AC_cfg >> sOutputIdx;
86 OutputIdx = fcs->GetState()->GetParameterIndex(sOutputIdx);
93 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
95 FGKinemat::~FGKinemat()
100 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
102 bool FGKinemat::Run(void ) {
103 double dt=fcs->GetState()->Getdt();
104 double output_transit_rate=0;
106 FGFCSComponent::Run(); // call the base class for initialization of Input
107 InputCmd = Input*Detents[NumDetents-1];
108 OutputPos = fcs->GetState()->GetParameter(OutputIdx);
110 if(InputCmd < Detents[0]) {
113 lastInputCmd=InputCmd;
114 OutputPos=Detents[0];
116 } else if(InputCmd > Detents[NumDetents-1]) {
118 InputCmd=Detents[fi];
119 lastInputCmd=InputCmd;
120 OutputPos=Detents[fi];
123 //cout << "FGKinemat::Run Handle: " << InputCmd << " Position: " << OutputPos << endl;
127 if(InputCmd != lastInputCmd) {
133 //fprintf(stderr,"InputCmd: %g, OutputPos: %g\n",InputCmd,OutputPos);
135 while(Detents[fi] < InputCmd) {
138 if(OutputPos < InputCmd) {
139 if(TransitionTimes[fi] > 0)
140 output_transit_rate=(Detents[fi] - Detents[fi-1])/TransitionTimes[fi];
142 output_transit_rate=(Detents[fi] - Detents[fi-1])/5;
144 if(TransitionTimes[fi+1] > 0)
145 output_transit_rate=(Detents[fi] - Detents[fi+1])/TransitionTimes[fi+1];
147 output_transit_rate=(Detents[fi] - Detents[fi+1])/5;
149 if(fabs(OutputPos - InputCmd) > dt*output_transit_rate)
150 OutputPos+=output_transit_rate*dt;
157 lastInputCmd = InputCmd;
161 if (IsOutput) SetOutput();
166 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
167 // The bitmasked value choices are as follows:
168 // unset: In this case (the default) JSBSim would only print
169 // out the normally expected messages, essentially echoing
170 // the config files as they are read. If the environment
171 // variable is not set, debug_lvl is set to 1 internally
172 // 0: This requests JSBSim not to output any messages
174 // 1: This value explicity requests the normal JSBSim
176 // 2: This value asks for a message to be printed out when
177 // a class is instantiated
178 // 4: When this value is set, a message is displayed when a
179 // FGModel object executes its Run() method
180 // 8: When this value is set, various runtime state variables
181 // are printed out periodically
182 // 16: When set various parameters are sanity checked and
183 // a message is printed out when they go out of bounds
185 void FGKinemat::Debug(int from)
187 if (debug_lvl <= 0) return;
189 if (debug_lvl & 1) { // Standard console startup message output
190 if (from == 0) { // Constructor
191 cout << " ID: " << ID << endl;
192 cout << " INPUT: " << InputIdx << endl;
193 cout << " DETENTS: " << NumDetents << endl;
194 for(int i=0;i<NumDetents;i++) {
195 cout << " " << Detents[i] << " " << TransitionTimes[i] << endl;
197 if (IsOutput) cout << " OUTPUT: " <<sOutputIdx << endl;
200 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
201 if (from == 0) cout << "Instantiated: FGKinemat" << endl;
202 if (from == 1) cout << "Destroyed: FGKinemat" << endl;
204 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
206 if (debug_lvl & 8 ) { // Runtime state variables
208 if (debug_lvl & 16) { // Sanity checking
210 if (debug_lvl & 64) {
211 if (from == 0) { // Constructor
212 cout << IdSrc << endl;
213 cout << IdHdr << endl;