using namespace FGXMLAutopilot;
+//------------------------------------------------------------------------------
PISimpleController::PISimpleController() :
AnalogComponent(),
_int_sum( 0.0 )
{
}
-bool PISimpleController::configure( const string& nodeName, SGPropertyNode_ptr configNode)
+//------------------------------------------------------------------------------
+bool PISimpleController::configure( SGPropertyNode& cfg_node,
+ const std::string& cfg_name,
+ SGPropertyNode& prop_root )
{
- if( AnalogComponent::configure( nodeName, configNode ) )
- return true;
-
- if( nodeName == "config" ) {
- Component::configure( configNode );
+ if( cfg_name == "config" ) {
+ Component::configure(prop_root, cfg_node);
return true;
}
- if (nodeName == "Kp") {
- _Kp.push_back( new InputValue(configNode) );
+ if (cfg_name == "Kp") {
+ _Kp.push_back( new InputValue(prop_root, cfg_node) );
return true;
}
- if (nodeName == "Ki") {
- _Ki.push_back( new InputValue(configNode) );
+ if (cfg_name == "Ki") {
+ _Ki.push_back( new InputValue(prop_root, cfg_node) );
return true;
}
- return false;
+ return AnalogComponent::configure(cfg_node, cfg_name, prop_root);
}
void PISimpleController::update( bool firstTime, double dt )
_int_sum = 0.0;
}
- if ( _debug ) cout << "Updating " << get_name() << endl;
+ if ( _debug ) std::cout << "Updating " << get_name() << std::endl;
double y_n = _valueInput.get_value();
double r_n = _referenceInput.get_value();
double error = r_n - y_n;
- if ( _debug ) cout << "input = " << y_n
+ if ( _debug ) std::cout << "input = " << y_n
<< " reference = " << r_n
<< " error = " << error
- << endl;
+ << std::endl;
double prop_comp = clamp(error * _Kp.get_value());
_int_sum += error * _Ki.get_value() * dt;
if( output != clamped_output ) // anti-windup
_int_sum = clamped_output - prop_comp;
- if ( _debug ) cout << "prop_comp = " << prop_comp
- << " int_sum = " << _int_sum << endl;
+ if ( _debug ) std::cout << "prop_comp = " << prop_comp
+ << " int_sum = " << _int_sum << std::endl;
set_output_value( clamped_output );
- if ( _debug ) cout << "output = " << clamped_output << endl;
+ if ( _debug ) std::cout << "output = " << clamped_output << std::endl;
}