//
// Written by Curtis Olson, started January 2004.
//
-// Copyright (C) 2004 Curtis L. Olson - curt@flightgear.org
+// Copyright (C) 2004 Curtis L. Olson - http://www.flightgear.org/~curt
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
#include <simgear/structure/exception.hxx>
#include <simgear/misc/sg_path.hxx>
+#include <simgear/sg_inlines.h>
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
+#include <Main/util.hxx>
#include "xmlauto.hxx"
debug( false ),
y_n( 0.0 ),
r_n( 0.0 ),
+ y_scale( 1.0 ),
+ r_scale( 1.0 ),
Kp( 0.0 ),
alpha( 0.1 ),
beta( 1.0 ),
ep_n_1( 0.0 ),
edf_n_1( 0.0 ),
edf_n_2( 0.0 ),
- u_n_1( 0.0 ),
- r_scale( 1.0 ),
- y_scale( 1.0 )
+ u_n_1( 0.0 )
{
int i;
for ( i = 0; i < node->nChildren(); ++i ) {
debug( false ),
y_n( 0.0 ),
r_n( 0.0 ),
- u_min( 0.0 ),
- u_max( 0.0 ),
y_scale( 1.0 ),
- r_scale ( 1.0 )
+ r_scale ( 1.0 ),
+ u_min( 0.0 ),
+ u_max( 0.0 )
{
int i;
for ( i = 0; i < node->nChildren(); ++i ) {
FGPredictor::FGPredictor ( SGPropertyNode *node ):
- debug( false ),
- ivalue( 0.0 ),
last_value ( 999999999.9 ),
average ( 0.0 ),
seconds( 0.0 ),
- filter_gain( 0.0 )
+ filter_gain( 0.0 ),
+ debug( false ),
+ ivalue( 0.0 )
{
int i;
for ( i = 0; i < node->nChildren(); ++i ) {
}
+FGDigitalFilter::FGDigitalFilter(SGPropertyNode *node)
+{
+ samples = 1;
+
+ int i;
+ for ( i = 0; i < node->nChildren(); ++i ) {
+ SGPropertyNode *child = node->getChild(i);
+ string cname = child->getName();
+ string cval = child->getStringValue();
+ if ( cname == "name" ) {
+ name = cval;
+ } else if ( cname == "debug" ) {
+ debug = child->getBoolValue();
+ } else if ( cname == "type" ) {
+ filterType = cval;
+ } else if ( cname == "input" ) {
+ input_prop = fgGetNode( child->getStringValue(), true );
+ } else if ( cname == "filter-time" ) {
+ Tf = child->getDoubleValue();
+ } else if ( cname == "samples" ) {
+ samples = child->getIntValue();
+ } else if ( cname == "max-rate-of-change" ) {
+ rateOfChange = child->getDoubleValue();
+ } else if ( cname == "output" ) {
+ SGPropertyNode *tmp = fgGetNode( child->getStringValue(), true );
+ output_list.push_back( tmp );
+ }
+ }
+
+ output.resize(2, 0.0);
+ input.resize(samples, 0.0);
+}
+
+void FGDigitalFilter::update(double dt)
+{
+ if ( input_prop != NULL ) {
+ input.push_front(input_prop->getDoubleValue());
+ input.resize(samples, 0.0);
+ // no sense if there isn't an input :-)
+ enabled = true;
+ } else {
+ enabled = false;
+ }
+
+ if ( enabled && dt > 0.0 ) {
+ /*
+ * Exponential filter
+ *
+ * Output[n] = alpha*Input[n] + (1-alpha)*Output[n-1]
+ *
+ */
+
+ if (filterType == "exponential")
+ {
+ double alpha = 1 / ((Tf/dt) + 1);
+ output.push_front(alpha * input[0] +
+ (1 - alpha) * output[0]);
+ unsigned int i;
+ for ( i = 0; i < output_list.size(); ++i ) {
+ output_list[i]->setDoubleValue( output[0] );
+ }
+ output.resize(1);
+ }
+ else if (filterType == "double-exponential")
+ {
+ double alpha = 1 / ((Tf/dt) + 1);
+ output.push_front(alpha * alpha * input[0] +
+ 2 * (1 - alpha) * output[0] -
+ (1 - alpha) * (1 - alpha) * output[1]);
+ unsigned int i;
+ for ( i = 0; i < output_list.size(); ++i ) {
+ output_list[i]->setDoubleValue( output[0] );
+ }
+ output.resize(2);
+ }
+ else if (filterType == "moving-average")
+ {
+ output.push_front(output[0] +
+ (input[0] - input.back()) / samples);
+ unsigned int i;
+ for ( i = 0; i < output_list.size(); ++i ) {
+ output_list[i]->setDoubleValue( output[0] );
+ }
+ output.resize(1);
+ }
+ else if (filterType == "noise-spike")
+ {
+ double maxChange = rateOfChange * dt;
+
+ if ((output[0] - input[0]) > maxChange)
+ {
+ output.push_front(output[0] - maxChange);
+ }
+ else if ((output[0] - input[0]) < -maxChange)
+ {
+ output.push_front(output[0] + maxChange);
+ }
+ else if (fabs(input[0] - output[0]) <= maxChange)
+ {
+ output.push_front(input[0]);
+ }
+
+ unsigned int i;
+ for ( i = 0; i < output_list.size(); ++i ) {
+ output_list[i]->setDoubleValue( output[0] );
+ }
+ output.resize(1);
+ }
+ if (debug)
+ {
+ cout << "input:" << input[0]
+ << "\toutput:" << output[0] << endl;
+ }
+ }
+}
+
+
FGXMLAutopilot::FGXMLAutopilot() {
}
} else if ( name == "predict-simple" ) {
FGXMLAutoComponent *c = new FGPredictor( node );
components.push_back( c );
+ } else if ( name == "filter" ) {
+ FGXMLAutoComponent *c = new FGDigitalFilter( node );
+ components.push_back( c );
} else {
SG_LOG( SG_ALL, SG_ALERT, "Unknown top level section: "
<< name );
if ( diff > 180.0 ) { diff -= 360.0; }
true_track_nav1->setDoubleValue( diff );
+ // Calculate nav1 selected course error normalized to +/- 180.0
+ // (based on DG indicated heading)
+ static SGPropertyNode *nav1_course_error
+ = fgGetNode( "/autopilot/internal/nav1-course-error", true );
+ static SGPropertyNode *nav1_selected_course
+ = fgGetNode( "/radios/nav[0]/radials/selected-deg", true );
+
+ diff = nav1_selected_course->getDoubleValue() - ind_hdg->getDoubleValue();
+// if ( diff < -180.0 ) { diff += 360.0; }
+// if ( diff > 180.0 ) { diff -= 360.0; }
+ SG_NORMALIZE_RANGE( diff, -180.0, 180.0 );
+ nav1_course_error->setDoubleValue( diff );
+
// Calculate vertical speed in fpm
static SGPropertyNode *vs_fps
= fgGetNode( "/velocities/vertical-speed-fps", true );
static SGPropertyNode *vs_fpm
= fgGetNode( "/autopilot/internal/vert-speed-fpm", true );
- vs_fpm->setDoubleValue( vs_fps->getDoubleValue() * 60.0 );
+ vs_fpm->setDoubleValue( vs_fps->getDoubleValue() * 60.0 );
+
+
+ // Calculate static port pressure rate in [inhg/s].
+ // Used to determine vertical speed.
+ static SGPropertyNode *static_pressure
+ = fgGetNode( "/systems/static[0]/pressure-inhg", true );
+ static SGPropertyNode *pressure_rate
+ = fgGetNode( "/autopilot/internal/pressure-rate", true );
+
+ static double last_static_pressure = 0.0;
+
+ if ( dt > 0.0 ) {
+ double current_static_pressure = static_pressure->getDoubleValue();
+
+ double current_pressure_rate =
+ ( current_static_pressure - last_static_pressure ) / dt;
+
+ pressure_rate->setDoubleValue(current_pressure_rate);
+
+ last_static_pressure = current_static_pressure;
+ }
+
}