//
// 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
r_n( 0.0 ),
y_scale( 1.0 ),
r_scale( 1.0 ),
+ y_offset( 0.0 ),
+ r_offset( 0.0 ),
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 )
+ u_n_1( 0.0 ),
+ desiredTs( 0.0 )
{
int i;
for ( i = 0; i < node->nChildren(); ++i ) {
if ( prop != NULL ) {
y_scale = prop->getDoubleValue();
}
+ prop = child->getChild( "offset" );
+ if ( prop != NULL ) {
+ y_offset = prop->getDoubleValue();
+ }
} else if ( cname == "reference" ) {
SGPropertyNode *prop = child->getChild( "prop" );
if ( prop != NULL ) {
if ( prop != NULL ) {
r_scale = prop->getDoubleValue();
}
+ prop = child->getChild( "offset" );
+ if ( prop != NULL ) {
+ r_offset = prop->getDoubleValue();
+ }
} else if ( cname == "output" ) {
int i = 0;
SGPropertyNode *prop;
} else if ( cname == "config" ) {
SGPropertyNode *prop;
+ prop = child->getChild( "Ts" );
+ if ( prop != NULL ) {
+ desiredTs = prop->getDoubleValue();
+ }
+
prop = child->getChild( "Kp" );
if ( prop != NULL ) {
Kp = prop->getDoubleValue();
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 ) {
+ double Ts; // sampling interval (sec)
+
+ 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 ( !enabled ) {
}
if ( enabled && Ts > 0.0) {
- if ( debug ) cout << "Updating " << name << endl;
+ if ( debug ) cout << "Updating " << name
+ << " Ts " << Ts << endl;
double y_n = 0.0;
if ( input_prop != NULL ) {
- y_n = input_prop->getDoubleValue() * y_scale;
+ y_n = input_prop->getDoubleValue() * y_scale + y_offset;
}
double r_n = 0.0;
if ( r_n_prop != NULL ) {
- r_n = r_n_prop->getDoubleValue() * r_scale;
+ r_n = r_n_prop->getDoubleValue() * r_scale + r_offset;
} else {
r_n = r_n_value;
}
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 ) {
// 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;
}
} else if ( cname == "debug" ) {
debug = child->getBoolValue();
} else if ( cname == "type" ) {
- filterType = cval;
+ 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 ( cname == "input" ) {
input_prop = fgGetNode( child->getStringValue(), true );
} else if ( cname == "filter-time" ) {
}
output.resize(2, 0.0);
- input.resize(samples, 0.0);
+ input.resize(samples + 1, 0.0);
}
void FGDigitalFilter::update(double dt)
{
if ( input_prop != NULL ) {
input.push_front(input_prop->getDoubleValue());
- input.resize(samples, 0.0);
+ input.resize(samples + 1, 0.0);
// no sense if there isn't an input :-)
enabled = true;
} else {
*
*/
- if (filterType == "exponential")
+ if (filterType == exponential)
{
double alpha = 1 / ((Tf/dt) + 1);
output.push_front(alpha * input[0] +
}
output.resize(1);
}
- else if (filterType == "double-exponential")
+ else if (filterType == doubleExponential)
{
double alpha = 1 / ((Tf/dt) + 1);
output.push_front(alpha * alpha * input[0] +
}
output.resize(2);
}
- else if (filterType == "moving-average")
+ else if (filterType == movingAverage)
{
output.push_front(output[0] +
(input[0] - input.back()) / samples);
}
output.resize(1);
}
- else if (filterType == "noise-spike")
+ else if (filterType == noiseSpike)
{
double maxChange = rateOfChange * dt;
// Calculate nav1 target heading error normalized to +/- 180.0
static SGPropertyNode *target_nav1
- = fgGetNode( "/radios/nav[0]/radials/target-auto-hdg-deg", true );
+ = fgGetNode( "/instrumentation/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
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 );
+ = fgGetNode( "/instrumentation/nav[0]/radials/selected-deg", true );
diff = nav1_selected_course->getDoubleValue() - ind_hdg->getDoubleValue();
// if ( diff < -180.0 ) { diff += 360.0; }