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1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2
3  Header:       FGPID.h
4  Author:       Jon Berndt
5  Date started: 6/17/2006
6
7  ------------- Copyright (C) 2006 by Jon S. Berndt, jsb@hal-pc.org -------------
8
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
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 Lesser General Public License for more
17  details.
18
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.
22
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.
25
26 HISTORY
27 --------------------------------------------------------------------------------
28 Initial Code 6/17/2006 JSB
29
30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
31 SENTRY
32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
33
34 #ifndef FGPID_H
35 #define FGPID_H
36
37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
38 INCLUDES
39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
40
41 #ifdef FGFS
42 #  include <simgear/compiler.h>
43 #  include STL_STRING
44    SG_USING_STD(string);
45 #else
46 #  include <string>
47 #endif
48
49 #include "FGFCSComponent.h"
50 #include <input_output/FGXMLElement.h>
51
52 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
53 DEFINITIONS
54 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
55
56 #define ID_PID "$Id$"
57
58 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
59 FORWARD DECLARATIONS
60 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
61
62 namespace JSBSim {
63
64 class FGFCS;
65
66 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
67 CLASS DOCUMENTATION
68 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
69
70 /** Encapsulates a PID control component for the flight control system.
71
72     @author Jon S. Berndt
73     @version $Revision$
74 */
75
76 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
77 CLASS DECLARATION
78 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
79
80 class FGPID  : public FGFCSComponent
81 {
82 public:
83   FGPID(FGFCS* fcs, Element* element);
84   ~FGPID();
85
86   bool Run (void);
87
88 private:
89   double dt;
90   FGPropertyManager *Trigger;
91   double Kp, Ki, Kd;
92   double P_out, D_out, I_out;
93   double Input_prev, Input_prev2;
94
95   void Debug(int from);
96 };
97 }
98 #endif