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>
-*/
+FGXMLAutoInput::FGXMLAutoInput( SGPropertyNode_ptr node, double value, double offset, double scale) :
+ value(0.0),
+ abs(false),
+ property(NULL),
+ offset(NULL),
+ scale(NULL),
+ min(NULL),
+ max(NULL),
+ _condition(NULL)
+{
+ parse( node, value, offset, scale );
+}
+
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( "offset" )) != NULL )
- offset = n->getDoubleValue();
+ 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 ) {
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
}
}
}
-FGXMLAutoComponent::FGXMLAutoComponent( SGPropertyNode * node ) :
- debug(false),
- name(""),
- enable_prop( NULL ),
- passive_mode( fgGetNode("/autopilot/locks/passive-mode", true) ),
- enable_value( NULL ),
- honor_passive( false ),
- enabled( false ),
- clamp( false ),
- _condition( NULL )
+void FGXMLAutoInput::set_value( double aValue )
{
- 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 == "debug" ) {
- debug = child->getBoolValue();
-
- } else if ( cname == "enable" ) {
- if( (prop = child->getChild("condition")) != NULL ) {
- _condition = sgReadCondition(child, prop);
- } else {
- 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());
- }
- }
- if ( (prop = child->getChild( "honor-passive" )) != NULL ) {
- honor_passive = prop->getBoolValue();
- }
-
- } else if ( cname == "input" ) {
+ 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
+}
- valueInput.parse( child );
+double FGXMLAutoInput::get_value()
+{
+ if( property != NULL )
+ value = property->getDoubleValue();
- } else if ( cname == "reference" ) {
+ if( scale )
+ value *= scale->get_value();
- referenceInput.parse( child );
+ if( offset )
+ value += offset->get_value();
- } else if ( cname == "output" ) {
- // 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 );
- found++;
- }
- for( int i = 0; (prop = child->getChild("property", i)) != NULL; i++ ) {
- SGPropertyNode *tmp = fgGetNode( prop->getStringValue(), true );
- output_list.push_back( tmp );
- found++;
- }
+ if( min ) {
+ double m = min->get_value();
+ if( value < m )
+ value = m;
+ }
- // no <prop> elements, text node of <output> is property name
- if( found == 0 )
- output_list.push_back( fgGetNode(child->getStringValue(), true ) );
+ if( max ) {
+ double m = max->get_value();
+ if( value > m )
+ value = m;
+ }
+
+ return abs ? fabs(value) : value;
+}
- } else if ( cname == "config" ) {
- if( (prop = child->getChild("u_min")) != NULL ) {
- uminInput.parse( prop );
- clamp = true;
- }
- if( (prop = child->getChild("u_max")) != NULL ) {
- umaxInput.parse( prop );
- clamp = true;
- }
- } else if ( cname == "u_min" ) {
- uminInput.parse( child );
- clamp = true;
- } else if ( cname == "u_max" ) {
- umaxInput.parse( child );
- clamp = true;
- }
- }
+FGXMLAutoComponent::FGXMLAutoComponent() :
+ _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 )
+{
}
FGXMLAutoComponent::~FGXMLAutoComponent()
delete enable_value;
}
+void FGXMLAutoComponent::parseNode(SGPropertyNode* aNode)
+{
+ SGPropertyNode *prop;
+ for (int i = 0; i < aNode->nChildren(); ++i ) {
+ SGPropertyNode *child = aNode->getChild(i);
+ string cname(child->getName());
+
+ if (parseNodeHook(cname, child)) {
+ // derived class handled it, fine
+ } else if ( cname == "name" ) {
+ name = child->getStringValue();
+ } else if ( cname == "feedback-if-disabled" ) {
+ feedback_if_disabled = child->getBoolValue();
+ } else if ( cname == "debug" ) {
+ debug = child->getBoolValue();
+ } else if ( cname == "enable" ) {
+ if( (prop = child->getChild("condition")) != NULL ) {
+ _condition = sgReadCondition(child, prop);
+ } else {
+ 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());
+ }
+ }
+ if ( (prop = child->getChild( "honor-passive" )) != NULL ) {
+ honor_passive = prop->getBoolValue();
+ }
+ } else if ( cname == "input" ) {
+ valueInput.push_back( new FGXMLAutoInput( child ) );
+ } else if ( cname == "reference" ) {
+ referenceInput.push_back( new FGXMLAutoInput( child ) );
+ } else if ( cname == "output" ) {
+ // 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 );
+ found++;
+ }
+ for( int i = 0; (prop = child->getChild("property", i)) != NULL; i++ ) {
+ SGPropertyNode *tmp = fgGetNode( prop->getStringValue(), true );
+ output_list.push_back( tmp );
+ found++;
+ }
+
+ // no <prop> elements, text node of <output> is property name
+ if( found == 0 )
+ output_list.push_back( fgGetNode(child->getStringValue(), true ) );
+ } else if ( cname == "config" ) {
+ parseConfig(child);
+ } 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 ) );
+ } else {
+ SG_LOG(SG_AUTOPILOT, SG_ALERT, "malformed autopilot definition - unrecognized node:"
+ << cname << " in section " << name);
+ throw sg_io_exception("XMLAuto: unrecognized component node:" + cname, "Section=" + name);
+ }
+ } // of top-level iteration
+}
+
+void FGXMLAutoComponent::parseConfig(SGPropertyNode* aConfig)
+{
+ for (int i = 0; i < aConfig->nChildren(); ++i ) {
+ SGPropertyNode *child = aConfig->getChild(i);
+ string cname(child->getName());
+
+ if (parseConfigHook(cname, child)) {
+ // derived class handled it, fine
+ } 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 ) );
+ } else {
+ SG_LOG(SG_AUTOPILOT, SG_ALERT, "malformed autopilot definition - unrecognized config node:"
+ << cname << " in section " << name);
+ throw sg_io_exception("XMLAuto: unrecognized config node:" + cname, "Section=" + name);
+ }
+ } // of config iteration
+}
+
+bool FGXMLAutoComponent::parseNodeHook(const string& aName, SGPropertyNode* aNode)
+{
+ return false;
+}
+
+bool FGXMLAutoComponent::parseConfigHook(const string& aName, SGPropertyNode* aNode)
+{
+ return false;
+}
+
bool FGXMLAutoComponent::isPropertyEnabled()
{
if( _condition )
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 ),
+ FGXMLAutoComponent(),
alpha( 0.1 ),
beta( 1.0 ),
gamma( 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.parse( child->getChild( "Kp" ) );
- Ti.parse( child->getChild( "Ti" ) );
- Td.parse( child->getChild( "Td" ) );
-
- config = child->getChild( "beta" );
- if ( config != NULL ) {
- beta = config->getDoubleValue();
- }
-
- config = child->getChild( "alpha" );
- if ( config != NULL ) {
- alpha = config->getDoubleValue();
- }
-
- config = child->getChild( "gamma" );
- if ( config != NULL ) {
- gamma = config->getDoubleValue();
- }
-
- } else {
- SG_LOG( SG_AUTOPILOT, SG_WARN, "Error in autopilot config logic" );
- if ( get_name().length() ) {
- SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << get_name() );
- }
- }
- }
+ parseNode(node);
}
+bool FGPIDController::parseConfigHook(const string& aName, SGPropertyNode* aNode)
+{
+ if (aName == "Ts") {
+ desiredTs = aNode->getDoubleValue();
+ } else if (aName == "Kp") {
+ Kp.push_back( new FGXMLAutoInput(aNode) );
+ } else if (aName == "Ti") {
+ Ti.push_back( new FGXMLAutoInput(aNode) );
+ } else if (aName == "Td") {
+ Td.push_back( new FGXMLAutoInput(aNode) );
+ } else if (aName == "beta") {
+ beta = aNode->getDoubleValue();
+ } else if (aName == "alpha") {
+ alpha = aNode->getDoubleValue();
+ } else if (aName == "gamma") {
+ gamma = aNode->getDoubleValue();
+ } else {
+ // unhandled by us, let the base class try it
+ return false;
+ }
+
+ return true;
+}
/*
* Roy Vegard Ovesen:
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;
FGPISimpleController::FGPISimpleController( SGPropertyNode *node ):
- FGXMLAutoComponent( node ),
+ FGXMLAutoComponent(),
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 == "config" ) {
- Kp.parse( child->getChild( "Kp" ) );
- Ki.parse( child->getChild( "Ki" ) );
- } else {
- SG_LOG( SG_AUTOPILOT, SG_WARN, "Error in autopilot config logic" );
- if ( get_name().length() ) {
- SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << get_name() );
- }
- }
- }
+ parseNode(node);
}
+bool FGPISimpleController::parseConfigHook(const string& aName, SGPropertyNode* aNode)
+{
+ if (aName == "Kp") {
+ Kp.push_back( new FGXMLAutoInput(aNode) );
+ } else if (aName == "Ki") {
+ Ki.push_back( new FGXMLAutoInput(aNode) );
+ } else {
+ // unhandled by us, let the base class try it
+ return false;
+ }
+
+ return true;
+}
void FGPISimpleController::update( double dt ) {
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 )
+ FGXMLAutoComponent(),
+ 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();
- } else if ( cname == "filter-gain" ) {
- filter_gain = child->getDoubleValue();
- }
- }
+ parseNode(node);
+}
+
+bool FGPredictor::parseNodeHook(const string& aName, SGPropertyNode* aNode)
+{
+ if (aName == "seconds") {
+ seconds.push_back( new FGXMLAutoInput( aNode, 0 ) );
+ } else if (aName == "filter-gain") {
+ filter_gain.push_back( new FGXMLAutoInput( aNode, 0 ) );
+ } else {
+ return false;
+ }
+
+ return true;
}
void FGPredictor::update( double dt ) {
*/
- 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(),
+ 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.parse( child, 1.0 );
- } else if ( cname == "samples" ) {
- samplesInput.parse( child, 1 );
- } else if ( cname == "max-rate-of-change" ) {
- rateOfChangeInput.parse( child, 1.0 );
- } else if ( cname == "gain" ) {
- gainInput.parse( child );
- }
- }
+ parseNode(node);
output.resize(2, 0.0);
- input.resize(samplesInput.getValue() + 1, 0.0);
+ input.resize(samplesInput.get_value() + 1, 0.0);
+}
+
+
+bool FGDigitalFilter::parseNodeHook(const string& aName, SGPropertyNode* aNode)
+{
+ if (aName == "type" ) {
+ string val(aNode->getStringValue());
+ if ( val == "exponential" ) {
+ filterType = exponential;
+ } else if (val == "double-exponential") {
+ filterType = doubleExponential;
+ } else if (val == "moving-average") {
+ filterType = movingAverage;
+ } else if (val == "noise-spike") {
+ filterType = noiseSpike;
+ } else if (val == "gain") {
+ filterType = gain;
+ } else if (val == "reciprocal") {
+ filterType = reciprocal;
+ }
+ } else if (aName == "filter-time" ) {
+ TfInput.push_back( new FGXMLAutoInput( aNode, 1.0 ) );
+ if( filterType == none ) filterType = exponential;
+ } else if (aName == "samples" ) {
+ samplesInput.push_back( new FGXMLAutoInput( aNode, 1 ) );
+ if( filterType == none ) filterType = movingAverage;
+ } else if (aName == "max-rate-of-change" ) {
+ rateOfChangeInput.push_back( new FGXMLAutoInput( aNode, 1 ) );
+ if( filterType == none ) filterType = noiseSpike;
+ } else if (aName == "gain" ) {
+ gainInput.push_back( new FGXMLAutoInput( aNode, 1 ) );
+ if( filterType == none ) filterType = gain;
+ } else {
+ return false; // not handled by us, let the base class try
+ }
+
+ return true;
}
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& e) {
SG_LOG( SG_ALL, SG_ALERT, "Failed to load autopilot configuration: "
- << config.str() );
+ << config.str() << ":" << e.getMessage() );
}
} else {
projects / flightgear.git / blobdiff