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5 Date started: 6/17/2006
7 ------------- Copyright (C) 2006 by Jon S. Berndt, jon@jsbsim.org -------------
9 This program is free software; you can redistribute it and/or modify it under
10 the terms of the GNU Lesser 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 Lesser General Public License for more
19 You should have received a copy of the GNU Lesser 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 Lesser General Public License can also be found on
24 the world wide web at http://www.gnu.org.
27 --------------------------------------------------------------------------------
28 Initial Code 6/17/2006 JSB
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41 #include "FGFCSComponent.h"
42 #include <input_output/FGXMLElement.h>
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67 /** Encapsulates a PID control component for the flight control system.
69 <h3>Configuration Format:</h3>
76 <trigger> {string} </trigger>
80 <h3>Configuration Parameters:</h3>
83 kp - Proportional constant, default value 0.
84 ki - Integrative constant, default value 0.
85 kd - Derivative constant, default value 0.
86 trigger - Property which is used to sense wind-up, optional.
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98 class FGPID : public FGFCSComponent
101 FGPID(FGFCS* fcs, Element* element);
105 void ResetPastStates(void) {Input_prev = Input_prev2 = Output = I_out_total = 0.0;}
109 FGPropertyManager *Trigger;
112 double Input_prev, Input_prev2;
113 double KpPropertySign;
114 double KiPropertySign;
115 double KdPropertySign;
116 FGPropertyManager* KpPropertyNode;
117 FGPropertyManager* KiPropertyNode;
118 FGPropertyManager* KdPropertyNode;
120 void Debug(int from);