//
// 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.
//
// $Id$
#include <simgear/compiler.h>
-#include STL_STRING
+#include <string>
#include <vector>
+#include <deque>
-SG_USING_STD(string);
-SG_USING_STD(vector);
+using std::string;
+using std::vector;
+using std::deque;
#include <simgear/props/props.hxx>
#include <simgear/structure/subsystem_mgr.hxx>
+#include <Main/fg_props.hxx>
+
/**
* Base class for other autopilot components
*/
-class FGXMLAutoComponent {
+class FGXMLAutoComponent : public SGReferenced {
protected:
string name;
- SGPropertyNode *enable_prop;
+ SGPropertyNode_ptr enable_prop;
+ SGPropertyNode_ptr passive_mode;
string enable_value;
+ bool honor_passive;
bool enabled;
- SGPropertyNode *input_prop;
- SGPropertyNode *r_n_prop;
+ SGPropertyNode_ptr input_prop;
+ SGPropertyNode_ptr r_n_prop;
double r_n_value;
- vector <SGPropertyNode *> output_list;
+ vector <SGPropertyNode_ptr> output_list;
public:
FGXMLAutoComponent() :
enable_prop( NULL ),
+ passive_mode( fgGetNode("/autopilot/locks/passive-mode", true) ),
enable_value( "" ),
+ honor_passive( false ),
enabled( false ),
input_prop( NULL ),
r_n_prop( NULL ),
virtual ~FGXMLAutoComponent() {}
- virtual void update (double dt) {}
+ virtual void update (double dt)=0;
- inline string get_name() { return name; }
+ inline const string& get_name() { return name; }
};
// Input values
double y_n; // measured process value
double r_n; // reference (set point) value
+ double y_scale; // scale process input from property system
+ double r_scale; // scale reference input from property system
+ double y_offset;
+ double r_offset;
// Configuration values
double Kp; // proportional gain
+ SGPropertyNode_ptr Kp_prop;
double alpha; // low pass filter weighing factor (usually 0.1)
double beta; // process value weighing factor for
// (usually 0.0)
double Ti; // Integrator time (sec)
+ SGPropertyNode_ptr Ti_prop;
double Td; // Derivator time (sec)
-
+ SGPropertyNode_ptr Td_prop;
double u_min; // Minimum output clamp
+ SGPropertyNode_ptr umin_prop;
double u_max; // Maximum output clamp
+ SGPropertyNode_ptr umax_prop;
// Previous state tracking values
double ep_n_1; // ep[n-1] (prop error)
double edf_n_1; // edf[n-1] (derivative error)
double edf_n_2; // edf[n-2] (derivative error)
double u_n_1; // u[n-1] (output)
+ double desiredTs; // desired sampling interval (sec)
+ double elapsedTime; // elapsed time (sec)
// proportional component data
bool proportional;
double Kp;
- SGPropertyNode *offset_prop;
+ SGPropertyNode_ptr Kp_prop;
+ SGPropertyNode_ptr offset_prop;
double offset_value;
// integral component data
// Input values
double y_n; // measured process value
double r_n; // reference (set point) value
+ double y_scale; // scale process input from property system
+ double r_scale; // scale reference input from property system
double u_min; // Minimum output clamp
+ SGPropertyNode_ptr umin_prop;
double u_max; // Maximum output clamp
+ SGPropertyNode_ptr umax_prop;
public:
};
+/**
+ * Predictor - calculates value in x seconds future.
+ */
+
+class FGPredictor : public FGXMLAutoComponent {
+
+private:
+
+ // proportional component data
+ double last_value;
+ double average;
+ double seconds;
+ double filter_gain;
+
+ // debug flag
+ bool debug;
+
+ // Input values
+ double ivalue; // input value
+
+public:
+
+ FGPredictor( SGPropertyNode *node );
+ ~FGPredictor() {}
+
+ void update( double dt );
+};
+
+
+/**
+ * FGDigitalFilter - a selection of digital filters
+ *
+ * Exponential filter
+ * Double exponential filter
+ * Moving average filter
+ * Noise spike filter
+ *
+ * All these filters are low-pass filters.
+ *
+ */
+
+class FGDigitalFilter : public FGXMLAutoComponent
+{
+private:
+ double Tf; // Filter time [s]
+ unsigned int samples; // Number of input samples to average
+ double rateOfChange; // The maximum allowable rate of change [1/s]
+ double gainFactor;
+ double output_min_clamp;
+ double output_max_clamp;
+ SGPropertyNode_ptr gain_prop;
+
+ deque <double> output;
+ deque <double> input;
+ enum filterTypes { exponential, doubleExponential, movingAverage,
+ noiseSpike, gain, reciprocal };
+ filterTypes filterType;
+
+ bool debug;
+
+public:
+ FGDigitalFilter(SGPropertyNode *node);
+ ~FGDigitalFilter() {}
+
+ void update(double dt);
+};
+
/**
* Model an autopilot system.
*
protected:
- typedef vector<FGXMLAutoComponent *> comp_list;
+ typedef vector<SGSharedPtr<FGXMLAutoComponent> > comp_list;
private:
bool serviceable;
- SGPropertyNode *config_props;
+ SGPropertyNode_ptr config_props;
comp_list components;
};
projects / flightgear.git / blobdiff