//
// 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
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
+#include <iostream>
#include <simgear/structure/exception.hxx>
#include <simgear/misc/sg_path.hxx>
+#include <simgear/sg_inlines.h>
+#include <simgear/props/props_io.hxx>
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
+#include <Main/util.hxx>
#include "xmlauto.hxx"
+using std::cout;
+using std::endl;
-FGPIDController::FGPIDController( SGPropertyNode *node ):
- debug( false ),
- y_n( 0.0 ),
- r_n( 0.0 ),
- Kp( 0.0 ),
- alpha( 0.1 ),
- beta( 1.0 ),
- gamma( 0.0 ),
- Ti( 0.0 ),
- Td( 0.0 ),
- u_min( 0.0 ),
- u_max( 0.0 ),
- ep_n_1( 0.0 ),
- edf_n_1( 0.0 ),
- edf_n_2( 0.0 ),
- u_n_1( 0.0 )
+void FGXMLAutoInput::parse( SGPropertyNode_ptr node, double aValue, double aOffset, double aScale )
+{
+ value = aValue;
+ property = NULL;
+ offset = NULL;
+ scale = NULL;
+ min = NULL;
+ max = NULL;
+
+ if( node == NULL )
+ return;
+
+ SGPropertyNode * n;
+
+ if( (n = node->getChild("condition")) != NULL ) {
+ _condition = sgReadCondition(node, n);
+ }
+
+ if( (n = node->getChild( "scale" )) != NULL ) {
+ scale = new FGXMLAutoInput( n, aScale );
+ }
+
+ if( (n = node->getChild( "offset" )) != NULL ) {
+ offset = new FGXMLAutoInput( n, aOffset );
+ }
+
+ if( (n = node->getChild( "max" )) != NULL ) {
+ max = new FGXMLAutoInput( n );
+ }
+
+ if( (n = node->getChild( "min" )) != NULL ) {
+ min = new FGXMLAutoInput( n );
+ }
+
+ if( (n = node->getChild( "abs" )) != NULL ) {
+ abs = n->getBoolValue();
+ }
+
+ SGPropertyNode *valueNode = node->getChild( "value" );
+ if ( valueNode != NULL ) {
+ value = valueNode->getDoubleValue();
+ }
+
+ n = node->getChild( "property" );
+ // if no <property> element, check for <prop> element for backwards
+ // compatibility
+ if( n == NULL )
+ n = node->getChild( "prop" );
+
+ if ( n != NULL ) {
+ property = fgGetNode( n->getStringValue(), true );
+ if ( valueNode != NULL ) {
+ // initialize property with given value
+ // if both <prop> and <value> exist
+ double s = get_scale();
+ if( s != 0 )
+ property->setDoubleValue( (value - get_offset())/s );
+ else
+ property->setDoubleValue( 0 ); // if scale is zero, value*scale is zero
+ }
+ }
+
+ if ( n == NULL && valueNode == NULL ) {
+ // no <value> element and no <prop> element, use text node
+ const char * textnode = node->getStringValue();
+ char * endp = NULL;
+ // try to convert to a double value. If the textnode does not start with a number
+ // endp will point to the beginning of the string. We assume this should be
+ // a property name
+ value = strtod( textnode, &endp );
+ if( endp == textnode ) {
+ property = fgGetNode( textnode, true );
+ }
+ }
+}
+
+void FGXMLAutoInput::set_value( double aValue )
+{
+ double s = get_scale();
+ if( s != 0 )
+ property->setDoubleValue( (aValue - get_offset())/s );
+ else
+ property->setDoubleValue( 0 ); // if scale is zero, value*scale is zero
+}
+
+double FGXMLAutoInput::get_value()
+{
+ if( property != NULL )
+ value = property->getDoubleValue();
+
+ if( scale )
+ value *= scale->get_value();
+
+ if( offset )
+ value += offset->get_value();
+
+ if( min ) {
+ double m = min->get_value();
+ if( value < m )
+ value = m;
+ }
+
+ if( max ) {
+ double m = max->get_value();
+ if( value > m )
+ value = m;
+ }
+
+ return abs ? fabs(value) : value;
+}
+
+FGXMLAutoComponent::FGXMLAutoComponent( SGPropertyNode * node ) :
+ _condition( NULL ),
+ enable_prop( NULL ),
+ enable_value( NULL ),
+ passive_mode( fgGetNode("/autopilot/locks/passive-mode", true) ),
+ honor_passive( false ),
+ name(""),
+ feedback_if_disabled( false ),
+ debug(false),
+ enabled( false )
{
int i;
+ SGPropertyNode *prop;
+
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 == "feedback-if-disabled" ) {
+ feedback_if_disabled = child->getBoolValue();
+
} else if ( cname == "debug" ) {
debug = child->getBoolValue();
+
} else if ( cname == "enable" ) {
- // cout << "parsing enable" << endl;
- SGPropertyNode *prop = child->getChild( "prop" );
- if ( prop != NULL ) {
- // cout << "prop = " << prop->getStringValue() << endl;
- enable_prop = fgGetNode( prop->getStringValue(), true );
+ if( (prop = child->getChild("condition")) != NULL ) {
+ _condition = sgReadCondition(child, prop);
} else {
- // cout << "no prop child" << endl;
+ if ( (prop = child->getChild( "prop" )) != NULL ) {
+ enable_prop = fgGetNode( prop->getStringValue(), true );
+ }
+
+ if ( (prop = child->getChild( "value" )) != NULL ) {
+ delete enable_value;
+ enable_value = new string(prop->getStringValue());
+ }
}
- SGPropertyNode *val = child->getChild( "value" );
- if ( val != NULL ) {
- enable_value = val->getStringValue();
+ if ( (prop = child->getChild( "honor-passive" )) != NULL ) {
+ honor_passive = prop->getBoolValue();
}
+
} else if ( cname == "input" ) {
- SGPropertyNode *prop = child->getChild( "prop" );
- if ( prop != NULL ) {
- input_prop = fgGetNode( prop->getStringValue(), true );
- }
+
+ valueInput.push_back( new FGXMLAutoInput( child ) );
+
} else if ( cname == "reference" ) {
- SGPropertyNode *prop = child->getChild( "prop" );
- if ( prop != NULL ) {
- r_n_prop = fgGetNode( prop->getStringValue(), true );
- } else {
- prop = child->getChild( "value" );
- if ( prop != NULL ) {
- r_n = prop->getDoubleValue();
- }
- }
+
+ referenceInput.push_back( new FGXMLAutoInput( child ) );
+
} else if ( cname == "output" ) {
- int i = 0;
- SGPropertyNode *prop;
- while ( (prop = child->getChild("prop", i)) != NULL ) {
+ // grab all <prop> and <property> childs
+ int found = 0;
+ // backwards compatibility: allow <prop> elements
+ for( int i = 0; (prop = child->getChild("prop", i)) != NULL; i++ ) {
SGPropertyNode *tmp = fgGetNode( prop->getStringValue(), true );
output_list.push_back( tmp );
- i++;
+ found++;
}
- } else if ( cname == "config" ) {
- SGPropertyNode *prop;
-
- prop = child->getChild( "Kp" );
- if ( prop != NULL ) {
- Kp = prop->getDoubleValue();
+ for( int i = 0; (prop = child->getChild("property", i)) != NULL; i++ ) {
+ SGPropertyNode *tmp = fgGetNode( prop->getStringValue(), true );
+ output_list.push_back( tmp );
+ found++;
}
- prop = child->getChild( "beta" );
- if ( prop != NULL ) {
- beta = prop->getDoubleValue();
- }
+ // no <prop> elements, text node of <output> is property name
+ if( found == 0 )
+ output_list.push_back( fgGetNode(child->getStringValue(), true ) );
- prop = child->getChild( "alpha" );
- if ( prop != NULL ) {
- alpha = prop->getDoubleValue();
+ } else if ( cname == "config" ) {
+ if( (prop = child->getChild("min")) != NULL ) {
+ uminInput.push_back( new FGXMLAutoInput( prop ) );
}
-
- prop = child->getChild( "gamma" );
- if ( prop != NULL ) {
- gamma = prop->getDoubleValue();
+ if( (prop = child->getChild("u_min")) != NULL ) {
+ uminInput.push_back( new FGXMLAutoInput( prop ) );
}
-
- prop = child->getChild( "Ti" );
- if ( prop != NULL ) {
- Ti = prop->getDoubleValue();
+ if( (prop = child->getChild("max")) != NULL ) {
+ umaxInput.push_back( new FGXMLAutoInput( prop ) );
}
+ if( (prop = child->getChild("u_max")) != NULL ) {
+ umaxInput.push_back( new FGXMLAutoInput( prop ) );
+ }
+ } else if ( cname == "min" ) {
+ uminInput.push_back( new FGXMLAutoInput( child ) );
+ } else if ( cname == "u_min" ) {
+ uminInput.push_back( new FGXMLAutoInput( child ) );
+ } else if ( cname == "max" ) {
+ umaxInput.push_back( new FGXMLAutoInput( child ) );
+ } else if ( cname == "u_max" ) {
+ umaxInput.push_back( new FGXMLAutoInput( child ) );
+ }
+ }
+}
+
+FGXMLAutoComponent::~FGXMLAutoComponent()
+{
+ delete enable_value;
+}
+
+bool FGXMLAutoComponent::isPropertyEnabled()
+{
+ if( _condition )
+ return _condition->test();
+
+ if( enable_prop ) {
+ if( enable_value ) {
+ return *enable_value == enable_prop->getStringValue();
+ } else {
+ return enable_prop->getBoolValue();
+ }
+ }
+ return true;
+}
- prop = child->getChild( "Td" );
- if ( prop != NULL ) {
- Td = prop->getDoubleValue();
+void FGXMLAutoComponent::do_feedback_if_disabled()
+{
+ if( output_list.size() > 0 ) {
+ FGXMLAutoInput * input = valueInput.get_active();
+ if( input != NULL )
+ input->set_value( output_list[0]->getDoubleValue() );
+ }
+}
+
+double FGXMLAutoComponent::clamp( double value )
+{
+ // clamp, if either min or max is defined
+ if( uminInput.size() + umaxInput.size() > 0 ) {
+ double d = umaxInput.get_value( 0.0 );
+ if( value > d ) value = d;
+ d = uminInput.get_value( 0.0 );
+ if( value < d ) value = d;
+ }
+ return value;
+}
+
+FGPIDController::FGPIDController( SGPropertyNode *node ):
+ FGXMLAutoComponent( node ),
+ alpha( 0.1 ),
+ beta( 1.0 ),
+ gamma( 0.0 ),
+ ep_n_1( 0.0 ),
+ edf_n_1( 0.0 ),
+ edf_n_2( 0.0 ),
+ u_n_1( 0.0 ),
+ desiredTs( 0.0 ),
+ elapsedTime( 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 == "config" ) {
+ SGPropertyNode *config;
+
+ if ( (config = child->getChild( "Ts" )) != NULL ) {
+ desiredTs = config->getDoubleValue();
+ }
+
+ Kp.push_back( new FGXMLAutoInput( child->getChild( "Kp" ) ) );
+ Ti.push_back( new FGXMLAutoInput( child->getChild( "Ti" ) ) );
+ Td.push_back( new FGXMLAutoInput( child->getChild( "Td" ) ) );
+
+ config = child->getChild( "beta" );
+ if ( config != NULL ) {
+ beta = config->getDoubleValue();
}
- prop = child->getChild( "u_min" );
- if ( prop != NULL ) {
- u_min = prop->getDoubleValue();
+ config = child->getChild( "alpha" );
+ if ( config != NULL ) {
+ alpha = config->getDoubleValue();
}
- prop = child->getChild( "u_max" );
- if ( prop != NULL ) {
- u_max = prop->getDoubleValue();
+ config = child->getChild( "gamma" );
+ if ( config != NULL ) {
+ gamma = config->getDoubleValue();
}
+
} else {
SG_LOG( SG_AUTOPILOT, SG_WARN, "Error in autopilot config logic" );
- if ( name.length() ) {
- SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << name );
+ if ( get_name().length() ) {
+ SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << get_name() );
}
}
}
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)
+ double Ts; // sampling interval (sec)
+
+ double u_min = uminInput.get_value();
+ double u_max = umaxInput.get_value();
- if ( Ts <= 0.0 ) {
+ elapsedTime += dt;
+ if ( elapsedTime <= desiredTs ) {
// do nothing if time step is not positive (i.e. no time has
// elapsed)
return;
}
+ Ts = elapsedTime;
+ elapsedTime = 0.0;
- if (enable_prop != NULL && enable_prop->getStringValue() == enable_value) {
+ if ( isPropertyEnabled() ) {
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 = get_output_value();
u_n_1 = u_n;
}
enabled = true;
} else {
enabled = false;
+ do_feedback();
}
if ( enabled && Ts > 0.0) {
- if ( debug ) cout << "Updating " << name << endl;
+ if ( debug ) cout << "Updating " << get_name()
+ << " Ts " << Ts << endl;
- double y_n = 0.0;
- if ( input_prop != NULL ) {
- y_n = input_prop->getDoubleValue();
- }
-
- double r_n = 0.0;
- if ( r_n_prop != NULL ) {
- r_n = r_n_prop->getDoubleValue();
- } else {
- r_n = r_n_value;
- }
+ double y_n = valueInput.get_value();
+ double r_n = referenceInput.get_value();
if ( debug ) cout << " input = " << y_n << " ref = " << r_n << endl;
ed_n = gamma * r_n - y_n;
if ( debug ) cout << " ed_n = " << ed_n;
- if ( Td > 0.0 ) {
+ double td = Td.get_value();
+ if ( td > 0.0 ) {
// Calculates filter time:
- Tf = alpha * Td;
+ Tf = alpha * td;
if ( debug ) cout << " Tf = " << Tf;
// Filters the derivate error:
}
// Calculates the incremental output:
- 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)) );
+ double ti = Ti.get_value();
+ if ( ti > 0.0 ) {
+ delta_u_n = Kp.get_value() * ( (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;
- 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))
+ cout << "P:" << Kp.get_value() * (ep_n - ep_n_1)
+ << " I:" << Kp.get_value() * ((Ts/ti) * e_n)
+ << " D:" << Kp.get_value() * ((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;
+ delta_u_n = u_max - u_n_1;
if ( debug ) cout << " max saturation " << endl;
} else if ( delta_u_n < (u_min - u_n_1) ) {
- delta_u_n = 0;
+ delta_u_n = u_min - u_n_1;
if ( debug ) cout << " min saturation " << endl;
}
edf_n_2 = edf_n_1;
edf_n_1 = edf_n;
- unsigned int i;
- for ( i = 0; i < output_list.size(); ++i ) {
- output_list[i]->setDoubleValue( u_n );
- }
+ set_output_value( u_n );
} else if ( !enabled ) {
ep_n = 0.0;
edf_n = 0.0;
FGPISimpleController::FGPISimpleController( SGPropertyNode *node ):
- proportional( false ),
- Kp( 0.0 ),
- offset_prop( NULL ),
- offset_value( 0.0 ),
- integral( false ),
- Ki( 0.0 ),
- int_sum( 0.0 ),
- clamp( false ),
- debug( false ),
- y_n( 0.0 ),
- r_n( 0.0 ),
- u_min( 0.0 ),
- u_max( 0.0 )
+ FGXMLAutoComponent( node ),
+ int_sum( 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 == "enable" ) {
- // cout << "parsing enable" << endl;
- SGPropertyNode *prop = child->getChild( "prop" );
- if ( prop != NULL ) {
- // cout << "prop = " << prop->getStringValue() << endl;
- enable_prop = fgGetNode( prop->getStringValue(), true );
- } else {
- // cout << "no prop child" << endl;
- }
- SGPropertyNode *val = child->getChild( "value" );
- if ( val != NULL ) {
- enable_value = val->getStringValue();
- }
- } else if ( cname == "input" ) {
- SGPropertyNode *prop = child->getChild( "prop" );
- if ( prop != NULL ) {
- input_prop = fgGetNode( prop->getStringValue(), true );
- }
- } else if ( cname == "reference" ) {
- SGPropertyNode *prop = child->getChild( "prop" );
- if ( prop != NULL ) {
- r_n_prop = fgGetNode( prop->getStringValue(), true );
- } else {
- prop = child->getChild( "value" );
- if ( prop != NULL ) {
- r_n = prop->getDoubleValue();
- }
- }
- } else if ( cname == "output" ) {
- int i = 0;
- SGPropertyNode *prop;
- while ( (prop = child->getChild("prop", i)) != NULL ) {
- SGPropertyNode *tmp = fgGetNode( prop->getStringValue(), true );
- output_list.push_back( tmp );
- i++;
- }
- } else if ( cname == "config" ) {
- SGPropertyNode *prop;
-
- prop = child->getChild( "Kp" );
- if ( prop != NULL ) {
- Kp = prop->getDoubleValue();
- proportional = true;
- }
-
- prop = child->getChild( "Ki" );
- if ( prop != NULL ) {
- Ki = prop->getDoubleValue();
- integral = true;
- }
-
- prop = child->getChild( "u_min" );
- if ( prop != NULL ) {
- u_min = prop->getDoubleValue();
- clamp = true;
- }
-
- prop = child->getChild( "u_max" );
- if ( prop != NULL ) {
- u_max = prop->getDoubleValue();
- clamp = true;
- }
+ if ( cname == "config" ) {
+ Kp.push_back( new FGXMLAutoInput( child->getChild( "Kp" ) ) );
+ Ki.push_back( new FGXMLAutoInput( child->getChild( "Ki" ) ) );
} else {
SG_LOG( SG_AUTOPILOT, SG_WARN, "Error in autopilot config logic" );
- if ( name.length() ) {
- SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << name );
+ if ( get_name().length() ) {
+ SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << get_name() );
}
}
}
void FGPISimpleController::update( double dt ) {
- if (enable_prop != NULL && enable_prop->getStringValue() == enable_value) {
+
+ if ( isPropertyEnabled() ) {
if ( !enabled ) {
// we have just been enabled, zero out int_sum
int_sum = 0.0;
enabled = true;
} else {
enabled = false;
+ do_feedback();
}
if ( enabled ) {
- if ( debug ) cout << "Updating " << name << endl;
- double input = 0.0;
- if ( input_prop != NULL ) {
- input = input_prop->getDoubleValue();
- }
-
- double r_n = 0.0;
- if ( r_n_prop != NULL ) {
- r_n = r_n_prop->getDoubleValue();
- } else {
- r_n = r_n_value;
- }
+ if ( debug ) cout << "Updating " << get_name() << endl;
+ double y_n = valueInput.get_value();
+ double r_n = referenceInput.get_value();
- double error = r_n - input;
- if ( debug ) cout << "input = " << input
+ double error = r_n - y_n;
+ if ( debug ) cout << "input = " << y_n
<< " reference = " << r_n
<< " error = " << error
<< endl;
- double prop_comp = 0.0;
- double offset = 0.0;
- if ( offset_prop != NULL ) {
- offset = offset_prop->getDoubleValue();
- if ( debug ) cout << "offset = " << offset << endl;
- } else {
- offset = offset_value;
- }
+ double prop_comp = error * Kp.get_value();
+ int_sum += error * Ki.get_value() * dt;
- if ( proportional ) {
- prop_comp = error * Kp + offset;
- }
-
- if ( integral ) {
- int_sum += error * Ki * dt;
- } else {
- int_sum = 0.0;
- }
if ( debug ) cout << "prop_comp = " << prop_comp
<< " int_sum = " << int_sum << endl;
double output = prop_comp + int_sum;
-
- if ( clamp ) {
- if ( output < u_min ) {
- output = u_min;
- }
- if ( output > u_max ) {
- output = u_max;
- }
- }
+ output = clamp( output );
+ set_output_value( output );
if ( debug ) cout << "output = " << output << endl;
-
- unsigned int i;
- for ( i = 0; i < output_list.size(); ++i ) {
- output_list[i]->setDoubleValue( output );
- }
}
}
FGPredictor::FGPredictor ( SGPropertyNode *node ):
- debug( false ),
- ivalue( 0.0 ),
- last_value ( 999999999.9 ),
- average ( 0.0 ),
- seconds( 0.0 ),
- filter_gain( 0.0 )
+ FGXMLAutoComponent( node ),
+ average(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();
+ if ( cname == "seconds" ) {
+ seconds.push_back( new FGXMLAutoInput( child, 0 ) );
} else if ( cname == "filter-gain" ) {
- filter_gain = child->getDoubleValue();
- } else if ( cname == "output" ) {
- SGPropertyNode *tmp = fgGetNode( child->getStringValue(), true );
- output_list.push_back( tmp );
+ filter_gain.push_back( new FGXMLAutoInput( child, 0 ) );
}
}
}
*/
- if ( input_prop != NULL ) {
- ivalue = input_prop->getDoubleValue();
- // no sense if there isn't an input :-)
+ double ivalue = valueInput.get_value();
+
+ if ( isPropertyEnabled() ) {
+ if ( !enabled ) {
+ // first time being enabled
+ last_value = ivalue;
+ }
enabled = true;
} else {
enabled = false;
+ do_feedback();
}
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;
- }
+ average = dt < 1.0 ? ((1.0 - dt) * average + current * dt) : current;
// calculate output with filter gain adjustment
- double output = ivalue + (1.0 - filter_gain) * (average * seconds) + filter_gain * (current * seconds);
+ double output = ivalue +
+ (1.0 - filter_gain.get_value()) * (average * seconds.get_value()) +
+ filter_gain.get_value() * (current * seconds.get_value());
+ output = clamp( output );
+ set_output_value( output );
+ }
+ last_value = ivalue;
+ }
+}
+
- unsigned int i;
- for ( i = 0; i < output_list.size(); ++i ) {
- output_list[i]->setDoubleValue( output );
+FGDigitalFilter::FGDigitalFilter(SGPropertyNode *node):
+ FGXMLAutoComponent( node ),
+ filterType(none)
+{
+ int i;
+ for ( i = 0; i < node->nChildren(); ++i ) {
+ SGPropertyNode *child = node->getChild(i);
+ string cname = child->getName();
+ string cval = child->getStringValue();
+ if ( cname == "type" ) {
+ if ( cval == "exponential" ) {
+ filterType = exponential;
+ } else if (cval == "double-exponential") {
+ filterType = doubleExponential;
+ } else if (cval == "moving-average") {
+ filterType = movingAverage;
+ } else if (cval == "noise-spike") {
+ filterType = noiseSpike;
+ } else if (cval == "gain") {
+ filterType = gain;
+ } else if (cval == "reciprocal") {
+ filterType = reciprocal;
}
+ } else if ( cname == "filter-time" ) {
+ TfInput.push_back( new FGXMLAutoInput( child, 1.0 ) );
+ if( filterType == none ) filterType = exponential;
+ } else if ( cname == "samples" ) {
+ samplesInput.push_back( new FGXMLAutoInput( child, 1 ) );
+ if( filterType == none ) filterType = movingAverage;
+ } else if ( cname == "max-rate-of-change" ) {
+ rateOfChangeInput.push_back( new FGXMLAutoInput( child, 1 ) );
+ if( filterType == none ) filterType = noiseSpike;
+ } else if ( cname == "gain" ) {
+ gainInput.push_back( new FGXMLAutoInput( child, 1 ) );
+ if( filterType == none ) filterType = gain;
+ }
+ }
+
+ output.resize(2, 0.0);
+ input.resize(samplesInput.get_value() + 1, 0.0);
+}
+
+void FGDigitalFilter::update(double dt)
+{
+ if ( isPropertyEnabled() ) {
+
+ input.push_front(valueInput.get_value());
+ input.resize(samplesInput.get_value() + 1, 0.0);
+
+ if ( !enabled ) {
+ // first time being enabled, initialize output to the
+ // value of the output property to avoid bumping.
+ output.push_front(get_output_value());
+ }
+
+ enabled = true;
+ } else {
+ enabled = false;
+ do_feedback();
+ }
+
+ if ( enabled && dt > 0.0 ) {
+ /*
+ * Exponential filter
+ *
+ * Output[n] = alpha*Input[n] + (1-alpha)*Output[n-1]
+ *
+ */
+ if( debug ) cout << "Updating " << get_name()
+ << " dt " << dt << endl;
+
+ if (filterType == exponential)
+ {
+ double alpha = 1 / ((TfInput.get_value()/dt) + 1);
+ output.push_front(alpha * input[0] +
+ (1 - alpha) * output[0]);
+ }
+ else if (filterType == doubleExponential)
+ {
+ double alpha = 1 / ((TfInput.get_value()/dt) + 1);
+ output.push_front(alpha * alpha * input[0] +
+ 2 * (1 - alpha) * output[0] -
+ (1 - alpha) * (1 - alpha) * output[1]);
+ }
+ else if (filterType == movingAverage)
+ {
+ output.push_front(output[0] +
+ (input[0] - input.back()) / samplesInput.get_value());
+ }
+ else if (filterType == noiseSpike)
+ {
+ double maxChange = rateOfChangeInput.get_value() * 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]);
+ }
+ }
+ else if (filterType == gain)
+ {
+ output[0] = gainInput.get_value() * input[0];
+ }
+ else if (filterType == reciprocal)
+ {
+ if (input[0] != 0.0) {
+ output[0] = gainInput.get_value() / input[0];
+ }
+ }
+
+ output[0] = clamp(output[0]) ;
+ set_output_value( output[0] );
+
+ output.resize(2);
+
+ if (debug)
+ {
+ cout << "input:" << input[0]
+ << "\toutput:" << output[0] << endl;
}
- last_value = ivalue;
}
}
if ( ! build() ) {
SG_LOG( SG_ALL, SG_ALERT,
- "Detected an internal inconsistancy in the autopilot");
+ "Detected an internal inconsistency in the autopilot");
SG_LOG( SG_ALL, SG_ALERT,
" configuration. See earlier errors for" );
SG_LOG( SG_ALL, SG_ALERT,
" details.");
exit(-1);
}
- } catch (const sg_exception& exc) {
+ } catch (const sg_exception&) {
SG_LOG( SG_ALL, SG_ALERT, "Failed to load autopilot configuration: "
<< config.str() );
}
void FGXMLAutopilot::reinit() {
components.clear();
init();
- build();
}
string name = node->getName();
// cout << name << endl;
if ( name == "pid-controller" ) {
- FGXMLAutoComponent *c = new FGPIDController( node );
- components.push_back( c );
+ components.push_back( new FGPIDController( node ) );
} else if ( name == "pi-simple-controller" ) {
- FGXMLAutoComponent *c = new FGPISimpleController( node );
- components.push_back( c );
+ components.push_back( new FGPISimpleController( node ) );
} else if ( name == "predict-simple" ) {
- FGXMLAutoComponent *c = new FGPredictor( node );
- components.push_back( c );
+ components.push_back( new FGPredictor( node ) );
+ } else if ( name == "filter" ) {
+ components.push_back( new FGDigitalFilter( node ) );
} else {
SG_LOG( SG_ALL, SG_ALERT, "Unknown top level section: "
<< name );
*/
static void update_helper( double dt ) {
// Estimate speed in 5,10 seconds
- static SGPropertyNode *vel = fgGetNode( "/velocities/airspeed-kt", true );
- static SGPropertyNode *lookahead5
+ static SGPropertyNode_ptr vel = fgGetNode( "/velocities/airspeed-kt", true );
+ static SGPropertyNode_ptr lookahead5
= fgGetNode( "/autopilot/internal/lookahead-5-sec-airspeed-kt", true );
- static SGPropertyNode *lookahead10
+ static SGPropertyNode_ptr lookahead10
= fgGetNode( "/autopilot/internal/lookahead-10-sec-airspeed-kt", true );
static double average = 0.0; // average/filtered prediction
// Calculate heading bug error normalized to +/- 180.0 (based on
// DG indicated heading)
- static SGPropertyNode *bug
+ static SGPropertyNode_ptr bug
= fgGetNode( "/autopilot/settings/heading-bug-deg", true );
- static SGPropertyNode *ind_hdg
+ static SGPropertyNode_ptr ind_hdg
= fgGetNode( "/instrumentation/heading-indicator/indicated-heading-deg",
true );
- static SGPropertyNode *ind_bug_error
+ static SGPropertyNode_ptr ind_bug_error
= fgGetNode( "/autopilot/internal/heading-bug-error-deg", true );
double diff = bug->getDoubleValue() - ind_hdg->getDoubleValue();
// Calculate heading bug error normalized to +/- 180.0 (based on
// actual/nodrift magnetic-heading, i.e. a DG slaved to magnetic
// compass.)
- static SGPropertyNode *mag_hdg
+ static SGPropertyNode_ptr mag_hdg
= fgGetNode( "/orientation/heading-magnetic-deg", true );
- static SGPropertyNode *fdm_bug_error
+ static SGPropertyNode_ptr fdm_bug_error
= fgGetNode( "/autopilot/internal/fdm-heading-bug-error-deg", true );
diff = bug->getDoubleValue() - mag_hdg->getDoubleValue();
fdm_bug_error->setDoubleValue( diff );
// Calculate true heading error normalized to +/- 180.0
- static SGPropertyNode *target_true
+ static SGPropertyNode_ptr target_true
= fgGetNode( "/autopilot/settings/true-heading-deg", true );
- static SGPropertyNode *true_hdg
+ static SGPropertyNode_ptr true_hdg
= fgGetNode( "/orientation/heading-deg", true );
- static SGPropertyNode *true_track
+ static SGPropertyNode_ptr true_track
= fgGetNode( "/instrumentation/gps/indicated-track-true-deg", true );
- static SGPropertyNode *true_error
+ static SGPropertyNode_ptr true_error
= fgGetNode( "/autopilot/internal/true-heading-error-deg", true );
diff = target_true->getDoubleValue() - true_hdg->getDoubleValue();
true_error->setDoubleValue( diff );
// Calculate nav1 target heading error normalized to +/- 180.0
- static SGPropertyNode *target_nav1
- = fgGetNode( "/radios/nav[0]/radials/target-auto-hdg-deg", true );
- static SGPropertyNode *true_nav1
+ static SGPropertyNode_ptr target_nav1
+ = fgGetNode( "/instrumentation/nav[0]/radials/target-auto-hdg-deg", true );
+ static SGPropertyNode_ptr true_nav1
= fgGetNode( "/autopilot/internal/nav1-heading-error-deg", true );
- static SGPropertyNode *true_track_nav1
+ static SGPropertyNode_ptr 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; }
true_track_nav1->setDoubleValue( diff );
+ // Calculate nav1 selected course error normalized to +/- 180.0
+ // (based on DG indicated heading)
+ static SGPropertyNode_ptr nav1_course_error
+ = fgGetNode( "/autopilot/internal/nav1-course-error", true );
+ static SGPropertyNode_ptr nav1_selected_course
+ = fgGetNode( "/instrumentation/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
+ static SGPropertyNode_ptr vs_fps
= fgGetNode( "/velocities/vertical-speed-fps", true );
- static SGPropertyNode *vs_fpm
+ static SGPropertyNode_ptr 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_ptr static_pressure
+ = fgGetNode( "/systems/static[0]/pressure-inhg", true );
+ static SGPropertyNode_ptr 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;
+ }
+
}
components[i]->update( dt );
}
}
+
projects / flightgear.git / blobdiff