Add a lower-bound type navaid lookup, and the ability to specify navaid type in the...

[flightgear.git] / src / Autopilot / xmlauto.hxx

diff --git a/src/Autopilot/xmlauto.hxx b/src/Autopilot/xmlauto.hxx
index 73cee4906264343f67c4bb9eb0ad39280f5c991d..26a92da828c625bafae261a439a7d8144db51e5a 100644 (file)
--- a/src/Autopilot/xmlauto.hxx
+++ b/src/Autopilot/xmlauto.hxx
@@ -2,7 +2,7 @@
 //
 // 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
@@ -36,9 +36,11 @@
 
 #include STL_STRING
 #include <vector>
+#include <deque>
 
 SG_USING_STD(string);
 SG_USING_STD(vector);
+SG_USING_STD(deque);
 
 #include <simgear/props/props.hxx>
 #include <simgear/structure/subsystem_mgr.hxx>
@@ -76,9 +78,9 @@ public:
 
     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; }
 };
 
 
@@ -98,6 +100,8 @@ private:
     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
@@ -121,6 +125,8 @@ private:
     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)
     
     
     
@@ -208,6 +214,38 @@ public:
 };
 
 
+/**
+ * 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]
+    deque <double> output;
+    deque <double> input;
+    enum filterTypes { exponential, doubleExponential, movingAverage, noiseSpike };
+    filterTypes filterType;
+
+    bool debug;
+
+public:
+    FGDigitalFilter(SGPropertyNode *node);
+    ~FGDigitalFilter() {}
+
+    void update(double dt);
+};
+
 /**
  * Model an autopilot system.
  *