#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 ),
if ( prop != NULL ) {
input_prop = fgGetNode( prop->getStringValue(), true );
}
+ prop = child->getChild( "scale" );
+ if ( prop != NULL ) {
+ y_scale = prop->getDoubleValue();
+ }
} else if ( cname == "reference" ) {
SGPropertyNode *prop = child->getChild( "prop" );
if ( prop != NULL ) {
r_n = prop->getDoubleValue();
}
}
+ prop = child->getChild( "scale" );
+ if ( prop != NULL ) {
+ r_scale = prop->getDoubleValue();
+ }
} else if ( cname == "output" ) {
int i = 0;
SGPropertyNode *prop;
*/
void FGPIDController::update( double dt ) {
- double ep_n; // proportional error with reference weighing
- double e_n; // error
- double ed_n; // derivative error
- double edf_n; // derivative error filter
- double Tf; // filter time
- double delta_u_n; // incremental output
- double u_n; // absolute output
- double Ts = dt; // Sampling interval (sec)
+ double ep_n; // proportional error with reference weighing
+ double e_n; // error
+ double ed_n; // derivative error
+ double edf_n; // derivative error filter
+ double Tf; // filter time
+ double delta_u_n = 0.0; // incremental output
+ double u_n = 0.0; // absolute output
+ double Ts = dt; // Sampling interval (sec)
if ( Ts <= 0.0 ) {
// do nothing if time step is not positive (i.e. no time has
}
if (enable_prop != NULL && enable_prop->getStringValue() == enable_value) {
+ if ( !enabled ) {
+ // first time being enabled, seed u_n with current
+ // property tree value
+ u_n = output_list[0]->getDoubleValue();
+ // and clip
+ if ( u_n < u_min ) { u_n = u_min; }
+ if ( u_n > u_max ) { u_n = u_max; }
+ u_n_1 = u_n;
+ }
enabled = true;
} else {
enabled = false;
}
- if ( enabled ) {
+ if ( enabled && Ts > 0.0) {
if ( debug ) cout << "Updating " << name << endl;
double y_n = 0.0;
if ( input_prop != NULL ) {
- y_n = input_prop->getDoubleValue();
+ y_n = input_prop->getDoubleValue() * y_scale;
}
double r_n = 0.0;
if ( r_n_prop != NULL ) {
- r_n = r_n_prop->getDoubleValue();
+ r_n = r_n_prop->getDoubleValue() * r_scale;
} else {
r_n = r_n_value;
}
ed_n = gamma * r_n - y_n;
if ( debug ) cout << " ed_n = " << ed_n;
- // Calculates filter time:
- Tf = alpha * Td;
- if ( debug ) cout << " Tf = " << Tf;
+ if ( Td > 0.0 ) {
+ // Calculates filter time:
+ Tf = alpha * Td;
+ if ( debug ) cout << " Tf = " << Tf;
- // Filters the derivate error:
- edf_n = edf_n_1 / (Ts/Tf + 1)
- + ed_n * (Ts/Tf) / (Ts/Tf + 1);
- if ( debug ) cout << " edf_n = " << edf_n;
+ // Filters the derivate error:
+ edf_n = edf_n_1 / (Ts/Tf + 1)
+ + ed_n * (Ts/Tf) / (Ts/Tf + 1);
+ if ( debug ) cout << " edf_n = " << edf_n;
+ } else {
+ edf_n = ed_n;
+ }
// Calculates the incremental output:
- delta_u_n = Kp * ( (ep_n - ep_n_1)
- + ((Ts/Ti) * e_n)
- + ((Td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2)) );
- if ( debug ) cout << " delta_u_n = " << delta_u_n << endl;
+ if ( Ti > 0.0 ) {
+ delta_u_n = Kp * ( (ep_n - ep_n_1)
+ + ((Ts/Ti) * e_n)
+ + ((Td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2)) );
+ } else if ( Ti <= 0.0 ) {
+ delta_u_n = Kp * ( (ep_n - ep_n_1)
+ + ((Td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2)) );
+ }
+
+ if ( debug ) {
+ cout << " delta_u_n = " << delta_u_n << endl;
+ cout << "P:" << Kp * (ep_n - ep_n_1)
+ << " I:" << Kp * ((Ts/Ti) * e_n)
+ << " D:" << Kp * ((Td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2))
+ << endl;
+ }
// Integrator anti-windup logic:
if ( delta_u_n > (u_max - u_n_1) ) {
delta_u_n = 0;
+ if ( debug ) cout << " max saturation " << endl;
} else if ( delta_u_n < (u_min - u_n_1) ) {
delta_u_n = 0;
+ if ( debug ) cout << " min saturation " << endl;
}
// Calculates absolute output:
output_list[i]->setDoubleValue( u_n );
}
} else if ( !enabled ) {
- u_n = 0.0;
ep_n = 0.0;
edf_n = 0.0;
// Updates indexed values;
debug( false ),
y_n( 0.0 ),
r_n( 0.0 ),
+ y_scale( 1.0 ),
+ r_scale ( 1.0 ),
u_min( 0.0 ),
u_max( 0.0 )
{
if ( prop != NULL ) {
input_prop = fgGetNode( prop->getStringValue(), true );
}
+ prop = child->getChild( "scale" );
+ if ( prop != NULL ) {
+ y_scale = prop->getDoubleValue();
+ }
} else if ( cname == "reference" ) {
SGPropertyNode *prop = child->getChild( "prop" );
if ( prop != NULL ) {
r_n = prop->getDoubleValue();
}
}
+ prop = child->getChild( "scale" );
+ if ( prop != NULL ) {
+ r_scale = prop->getDoubleValue();
+ }
} else if ( cname == "output" ) {
int i = 0;
SGPropertyNode *prop;
if ( debug ) cout << "Updating " << name << endl;
double input = 0.0;
if ( input_prop != NULL ) {
- input = input_prop->getDoubleValue();
+ input = input_prop->getDoubleValue() * y_scale;
}
double r_n = 0.0;
if ( r_n_prop != NULL ) {
- r_n = r_n_prop->getDoubleValue();
+ r_n = r_n_prop->getDoubleValue() * r_scale;
} else {
r_n = r_n_value;
}
}
+FGPredictor::FGPredictor ( SGPropertyNode *node ):
+ last_value ( 999999999.9 ),
+ average ( 0.0 ),
+ seconds( 0.0 ),
+ filter_gain( 0.0 ),
+ debug( false ),
+ ivalue( 0.0 )
+{
+ 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 == "input" ) {
+ input_prop = fgGetNode( child->getStringValue(), true );
+ } else if ( cname == "seconds" ) {
+ seconds = child->getDoubleValue();
+ } else if ( cname == "filter-gain" ) {
+ filter_gain = child->getDoubleValue();
+ } else if ( cname == "output" ) {
+ SGPropertyNode *tmp = fgGetNode( child->getStringValue(), true );
+ output_list.push_back( tmp );
+ }
+ }
+}
+
+void FGPredictor::update( double dt ) {
+ /*
+ Simple moving average filter converts input value to predicted value "seconds".
+
+ Smoothing as described by Curt Olson:
+ gain would be valid in the range of 0 - 1.0
+ 1.0 would mean no filtering.
+ 0.0 would mean no input.
+ 0.5 would mean (1 part past value + 1 part current value) / 2
+ 0.1 would mean (9 parts past value + 1 part current value) / 10
+ 0.25 would mean (3 parts past value + 1 part current value) / 4
+
+ */
+
+ if ( input_prop != NULL ) {
+ ivalue = input_prop->getDoubleValue();
+ // no sense if there isn't an input :-)
+ enabled = true;
+ } else {
+ enabled = false;
+ }
+
+ if ( enabled ) {
+
+ // first time initialize average
+ if (last_value >= 999999999.0) {
+ last_value = ivalue;
+ }
+
+ if ( dt > 0.0 ) {
+ double current = (ivalue - last_value)/dt; // calculate current error change (per second)
+ if ( dt < 1.0 ) {
+ average = (1.0 - dt) * average + current * dt;
+ } else {
+ average = current;
+ }
+
+ // calculate output with filter gain adjustment
+ double output = ivalue + (1.0 - filter_gain) * (average * seconds) + filter_gain * (current * seconds);
+
+ unsigned int i;
+ for ( i = 0; i < output_list.size(); ++i ) {
+ output_list[i]->setDoubleValue( output );
+ }
+ }
+ last_value = ivalue;
+ }
+}
+
+
FGXMLAutopilot::FGXMLAutopilot() {
}
} else if ( name == "pi-simple-controller" ) {
FGXMLAutoComponent *c = new FGPISimpleController( node );
components.push_back( c );
+ } else if ( name == "predict-simple" ) {
+ FGXMLAutoComponent *c = new FGPredictor( node );
+ components.push_back( c );
} else {
SG_LOG( SG_ALL, SG_ALERT, "Unknown top level section: "
<< name );
= fgGetNode( "/autopilot/settings/true-heading-deg", true );
static SGPropertyNode *true_hdg
= fgGetNode( "/orientation/heading-deg", true );
+ static SGPropertyNode *true_track
+ = fgGetNode( "/instrumentation/gps/indicated-track-true-deg", true );
static SGPropertyNode *true_error
= fgGetNode( "/autopilot/internal/true-heading-error-deg", true );
= fgGetNode( "/radios/nav[0]/radials/target-auto-hdg-deg", true );
static SGPropertyNode *true_nav1
= fgGetNode( "/autopilot/internal/nav1-heading-error-deg", true );
+ static SGPropertyNode *true_track_nav1
+ = fgGetNode( "/autopilot/internal/nav1-track-error-deg", true );
diff = target_nav1->getDoubleValue() - true_hdg->getDoubleValue();
if ( diff < -180.0 ) { diff += 360.0; }
if ( diff > 180.0 ) { diff -= 360.0; }
true_nav1->setDoubleValue( diff );
+ diff = target_nav1->getDoubleValue() - true_track->getDoubleValue();
+ if ( diff < -180.0 ) { diff += 360.0; }
+ if ( diff > 180.0 ) { diff -= 360.0; }
+ true_track_nav1->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 SGPropertyNode *filter_time
+ = fgGetNode( "/autopilot/internal/ft", true );
+
+ static double last_static_pressure = 0.0;
+ static double last_pressure_rate = 0.0;
+
+ double Tf = filter_time->getDoubleValue();
+
+ if ( dt > 0.0 && Tf > 0.0) {
+ double current_static_pressure = static_pressure->getDoubleValue();
+
+ double current_pressure_rate =
+ ( current_static_pressure - last_static_pressure ) / dt;
+
+ double W = dt/Tf;
+
+ // Low Pass Filter
+ current_pressure_rate =
+ (1.0/(W + 1.0))*last_pressure_rate +
+ ((W)/(W + 1.0))*current_pressure_rate;
+
+ pressure_rate->setDoubleValue(current_pressure_rate);
+
+ last_static_pressure = current_static_pressure;
+ last_pressure_rate = current_pressure_rate;
+ }
+
}
projects / flightgear.git / blobdiff