using std::cout;
using std::endl;
-/*
-parse element with
- <node>
- <value>1</value>
- <prop>/some/property</prop>
- </node>
-or
- <node>123</node>
-or
- <node>/some/property</node>
-*/
-
void FGXMLAutoInput::parse( SGPropertyNode_ptr node, double aValue, double aOffset, double aScale )
{
- delete property;
- property = NULL;
value = aValue;
- offset = aOffset;
- scale = aScale;
+ property = NULL;
+ offset = NULL;
+ scale = NULL;
+ min = NULL;
+ max = NULL;
if( node == NULL )
return;
SGPropertyNode * n;
- if( (n = node->getChild( "scale" )) != NULL )
- scale = n->getDoubleValue();
+ 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( "offset" )) != NULL )
- offset = n->getDoubleValue();
+ 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 ) {
if ( valueNode != NULL ) {
// initialize property with given value
// if both <prop> and <value> exist
- if( scale != 0 )
- property->setDoubleValue( (value - offset)/scale );
+ 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
}
}
}
+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 ) :
- debug(false),
- name(""),
+ _condition( NULL ),
enable_prop( NULL ),
- passive_mode( fgGetNode("/autopilot/locks/passive-mode", true) ),
enable_value( NULL ),
+ passive_mode( fgGetNode("/autopilot/locks/passive-mode", true) ),
honor_passive( false ),
- enabled( false ),
- clamp( false ),
- _condition( NULL )
+ name(""),
+ feedback_if_disabled( false ),
+ debug(false),
+ enabled( false )
{
int i;
SGPropertyNode *prop;
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 == "input" ) {
- valueInput.parse( child );
+ valueInput.push_back( new FGXMLAutoInput( child ) );
} else if ( cname == "reference" ) {
- referenceInput.parse( child );
+ referenceInput.push_back( new FGXMLAutoInput( child ) );
} else if ( cname == "output" ) {
// grab all <prop> and <property> childs
output_list.push_back( fgGetNode(child->getStringValue(), true ) );
} else if ( cname == "config" ) {
+ if( (prop = child->getChild("min")) != NULL ) {
+ uminInput.push_back( new FGXMLAutoInput( prop ) );
+ }
if( (prop = child->getChild("u_min")) != NULL ) {
- uminInput.parse( prop );
- clamp = true;
+ uminInput.push_back( new FGXMLAutoInput( prop ) );
+ }
+ if( (prop = child->getChild("max")) != NULL ) {
+ umaxInput.push_back( new FGXMLAutoInput( prop ) );
}
if( (prop = child->getChild("u_max")) != NULL ) {
- umaxInput.parse( prop );
- clamp = true;
+ umaxInput.push_back( new FGXMLAutoInput( prop ) );
}
+ } else if ( cname == "min" ) {
+ uminInput.push_back( new FGXMLAutoInput( child ) );
} else if ( cname == "u_min" ) {
- uminInput.parse( child );
- clamp = true;
+ uminInput.push_back( new FGXMLAutoInput( child ) );
+ } else if ( cname == "max" ) {
+ umaxInput.push_back( new FGXMLAutoInput( child ) );
} else if ( cname == "u_max" ) {
- umaxInput.parse( child );
- clamp = true;
+ umaxInput.push_back( new FGXMLAutoInput( child ) );
}
}
}
return true;
}
+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 ),
desiredTs = config->getDoubleValue();
}
- Kp.parse( child->getChild( "Kp" ) );
- Ti.parse( child->getChild( "Ti" ) );
- Td.parse( child->getChild( "Td" ) );
+ 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 ) {
double u_n = 0.0; // absolute output
double Ts; // sampling interval (sec)
- double u_min = uminInput.getValue();
- double u_max = umaxInput.getValue();
+ double u_min = uminInput.get_value();
+ double u_max = umaxInput.get_value();
elapsedTime += dt;
if ( elapsedTime <= desiredTs ) {
if ( !enabled ) {
// first time being enabled, seed u_n with current
// property tree value
- u_n = getOutputValue();
+ 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 " << get_name()
<< " Ts " << Ts << endl;
- double y_n = valueInput.getValue();
- double r_n = referenceInput.getValue();
+ 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;
- double td = Td.getValue();
+ double td = Td.get_value();
if ( td > 0.0 ) {
// Calculates filter time:
Tf = alpha * td;
}
// Calculates the incremental output:
- double ti = Ti.getValue();
+ double ti = Ti.get_value();
if ( ti > 0.0 ) {
- delta_u_n = Kp.getValue() * ( (ep_n - ep_n_1)
+ 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.getValue() * (ep_n - ep_n_1)
- << " I:" << Kp.getValue() * ((Ts/ti) * e_n)
- << " D:" << Kp.getValue() * ((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;
}
edf_n_2 = edf_n_1;
edf_n_1 = edf_n;
- setOutputValue( u_n );
+ set_output_value( u_n );
} else if ( !enabled ) {
ep_n = 0.0;
edf_n = 0.0;
string cname = child->getName();
string cval = child->getStringValue();
if ( cname == "config" ) {
- Kp.parse( child->getChild( "Kp" ) );
- Ki.parse( child->getChild( "Ki" ) );
+ 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 ( get_name().length() ) {
enabled = true;
} else {
enabled = false;
+ do_feedback();
}
if ( enabled ) {
if ( debug ) cout << "Updating " << get_name() << endl;
- double y_n = valueInput.getValue();
- double r_n = referenceInput.getValue();
+ double y_n = valueInput.get_value();
+ double r_n = referenceInput.get_value();
double error = r_n - y_n;
if ( debug ) cout << "input = " << y_n
<< " error = " << error
<< endl;
- double prop_comp = error * Kp.getValue();
- int_sum += error * Ki.getValue() * dt;
+ double prop_comp = error * Kp.get_value();
+ int_sum += error * Ki.get_value() * dt;
if ( debug ) cout << "prop_comp = " << prop_comp
<< " int_sum = " << int_sum << endl;
double output = prop_comp + int_sum;
- output = Clamp( output );
- setOutputValue( output );
+ output = clamp( output );
+ set_output_value( output );
if ( debug ) cout << "output = " << output << endl;
}
}
FGPredictor::FGPredictor ( SGPropertyNode *node ):
FGXMLAutoComponent( node ),
- average ( 0.0 ),
- seconds( 0.0 ),
- filter_gain( 0.0 ),
- ivalue( 0.0 )
+ 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 == "seconds" ) {
- seconds = child->getDoubleValue();
+ seconds.push_back( new FGXMLAutoInput( child, 0 ) );
} else if ( cname == "filter-gain" ) {
- filter_gain = child->getDoubleValue();
+ filter_gain.push_back( new FGXMLAutoInput( child, 0 ) );
}
}
}
*/
- ivalue = valueInput.getValue();
+ double ivalue = valueInput.get_value();
if ( isPropertyEnabled() ) {
if ( !enabled ) {
enabled = true;
} else {
enabled = false;
+ do_feedback();
}
if ( enabled ) {
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);
- output = Clamp( output );
- setOutputValue( output );
+ 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;
}
FGDigitalFilter::FGDigitalFilter(SGPropertyNode *node):
- FGXMLAutoComponent( node )
+ FGXMLAutoComponent( node ),
+ filterType(none)
{
int i;
for ( i = 0; i < node->nChildren(); ++i ) {
filterType = reciprocal;
}
} else if ( cname == "filter-time" ) {
- TfInput.parse( child, 1.0 );
+ TfInput.push_back( new FGXMLAutoInput( child, 1.0 ) );
+ if( filterType == none ) filterType = exponential;
} else if ( cname == "samples" ) {
- samplesInput.parse( child, 1 );
+ samplesInput.push_back( new FGXMLAutoInput( child, 1 ) );
+ if( filterType == none ) filterType = movingAverage;
} else if ( cname == "max-rate-of-change" ) {
- rateOfChangeInput.parse( child, 1.0 );
+ rateOfChangeInput.push_back( new FGXMLAutoInput( child, 1 ) );
+ if( filterType == none ) filterType = noiseSpike;
} else if ( cname == "gain" ) {
- gainInput.parse( child );
+ gainInput.push_back( new FGXMLAutoInput( child, 1 ) );
+ if( filterType == none ) filterType = gain;
}
}
output.resize(2, 0.0);
- input.resize(samplesInput.getValue() + 1, 0.0);
+ input.resize(samplesInput.get_value() + 1, 0.0);
}
void FGDigitalFilter::update(double dt)
{
if ( isPropertyEnabled() ) {
- input.push_front(valueInput.getValue());
- input.resize(samplesInput.getValue() + 1, 0.0);
+ 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(getOutputValue());
+ output.push_front(get_output_value());
}
enabled = true;
} else {
enabled = false;
+ do_feedback();
}
if ( enabled && dt > 0.0 ) {
if (filterType == exponential)
{
- double alpha = 1 / ((TfInput.getValue()/dt) + 1);
+ 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.getValue()/dt) + 1);
+ 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.getValue());
+ (input[0] - input.back()) / samplesInput.get_value());
}
else if (filterType == noiseSpike)
{
- double maxChange = rateOfChangeInput.getValue() * dt;
+ double maxChange = rateOfChangeInput.get_value() * dt;
if ((output[0] - input[0]) > maxChange)
{
}
else if (filterType == gain)
{
- output[0] = gainInput.getValue() * input[0];
+ output[0] = gainInput.get_value() * input[0];
}
else if (filterType == reciprocal)
{
if (input[0] != 0.0) {
- output[0] = gainInput.getValue() / input[0];
+ output[0] = gainInput.get_value() / input[0];
}
}
- output[0] = Clamp(output[0]) ;
- setOutputValue( output[0] );
+ output[0] = clamp(output[0]) ;
+ set_output_value( output[0] );
output.resize(2);
" 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() );
}
projects / flightgear.git / blobdiff