#include <simgear/compiler.h>
-#include STL_STRING
+#include <string>
#include <vector>
#include <deque>
-SG_USING_STD(string);
-SG_USING_STD(vector);
-SG_USING_STD(deque);
+using std::string;
+using std::vector;
+using std::deque;
#include <simgear/props/props.hxx>
#include <simgear/structure/subsystem_mgr.hxx>
+#include <simgear/props/condition.hxx>
#include <Main/fg_props.hxx>
+class FGXMLAutoInput : public SGReferenced {
+private:
+ double value; // The value as a constant or initializer for the property
+ bool abs; // return absolute value
+ SGPropertyNode_ptr property; // The name of the property containing the value
+ SGSharedPtr<FGXMLAutoInput> offset; // A fixed offset, defaults to zero
+ SGSharedPtr<FGXMLAutoInput> scale; // A constant scaling factor defaults to one
+ SGSharedPtr<FGXMLAutoInput> min; // A minimum clip defaults to no clipping
+ SGSharedPtr<FGXMLAutoInput> max; // A maximum clip defaults to no clipping
+ SGSharedPtr<const SGCondition> _condition;
+
+public:
+ FGXMLAutoInput( SGPropertyNode_ptr node = NULL, double value = 0.0, double offset = 0.0, double scale = 1.0 ) :
+ value(0.0),
+ abs(false),
+ property(NULL),
+ offset(NULL),
+ scale(NULL),
+ min(NULL),
+ max(NULL),
+ _condition(NULL) {
+ parse( node, value, offset, scale );
+ }
+
+ void parse( SGPropertyNode_ptr, double value = 0.0, double offset = 0.0, double scale = 1.0 );
+
+ /* get the value of this input, apply scale and offset and clipping */
+ double get_value();
+
+ /* set the input value after applying offset and scale */
+ void set_value( double value );
+
+ inline double get_scale() {
+ return scale == NULL ? 1.0 : scale->get_value();
+ }
+
+ inline double get_offset() {
+ return offset == NULL ? 0.0 : offset->get_value();
+ }
+
+ inline bool is_enabled() {
+ return _condition == NULL ? true : _condition->test();
+ }
+
+};
+
+class FGXMLAutoInputList : public vector<SGSharedPtr<FGXMLAutoInput> > {
+ public:
+ FGXMLAutoInput * get_active() {
+ for (iterator it = begin(); it != end(); ++it) {
+ if( (*it)->is_enabled() )
+ return *it;
+ }
+ return NULL;
+ }
+
+ double get_value( double def = 0.0 ) {
+ FGXMLAutoInput * input = get_active();
+ return input == NULL ? def : input->get_value();
+ }
+
+};
+
/**
* Base class for other autopilot components
*/
-class FGXMLAutoComponent {
+class FGXMLAutoComponent : public SGReferenced {
-protected:
-
- string name;
+private:
+ vector <SGPropertyNode_ptr> output_list;
+ SGSharedPtr<const SGCondition> _condition;
SGPropertyNode_ptr enable_prop;
+ string * enable_value;
+
SGPropertyNode_ptr passive_mode;
- string enable_value;
bool honor_passive;
+
+ string name;
+
+ /* Feed back output property to input property if
+ this filter is disabled. This is for multi-stage
+ filter where one filter sits behind a pid-controller
+ to provide changes of the overall output to the pid-
+ controller.
+ feedback is disabled by default.
+ */
+ bool feedback_if_disabled;
+ void do_feedback_if_disabled();
+
+protected:
+
+ FGXMLAutoInputList valueInput;
+ FGXMLAutoInputList referenceInput;
+ FGXMLAutoInputList uminInput;
+ FGXMLAutoInputList umaxInput;
+ // debug flag
+ bool debug;
bool enabled;
- SGPropertyNode_ptr input_prop;
- SGPropertyNode_ptr r_n_prop;
- double r_n_value;
- vector <SGPropertyNode_ptr> output_list;
+
+ inline void do_feedback() {
+ if( feedback_if_disabled ) do_feedback_if_disabled();
+ }
public:
- FGXMLAutoComponent() :
- enable_prop( NULL ),
- passive_mode( fgGetNode("/autopilot/settings/passive-mode", true) ),
- enable_value( "" ),
- honor_passive( false ),
- enabled( false ),
- input_prop( NULL ),
- r_n_prop( NULL ),
- r_n_value( 0.0 )
- { }
-
- virtual ~FGXMLAutoComponent() {}
+ FGXMLAutoComponent( SGPropertyNode *node);
+ virtual ~FGXMLAutoComponent();
virtual void update (double dt)=0;
inline const string& get_name() { return name; }
+
+ double clamp( double value );
+
+ inline void set_output_value( double value ) {
+ // passive_ignore == true means that we go through all the
+ // motions, but drive the outputs. This is analogous to
+ // running the autopilot with the "servos" off. This is
+ // helpful for things like flight directors which position
+ // their vbars from the autopilot computations.
+ if ( honor_passive && passive_mode->getBoolValue() ) return;
+ for( vector <SGPropertyNode_ptr>::iterator it = output_list.begin(); it != output_list.end(); ++it)
+ (*it)->setDoubleValue( clamp( value ) );
+ }
+
+ inline double get_output_value() {
+ return output_list.size() == 0 ? 0.0 : clamp(output_list[0]->getDoubleValue());
+ }
+
+ /*
+ Returns true if the enable-condition is true.
+
+ If a <condition> is defined, this condition is evaluated,
+ <prop> and <value> tags are ignored.
+
+ If a <prop> is defined and no <value> is defined, the property
+ named in the <prop></prop> tags is evaluated as boolean.
+
+ If a <prop> is defined a a <value> is defined, the property named
+ in <prop></prop> is compared (as a string) to the value defined in
+ <value></value>
+
+ Returns true, if neither <condition> nor <prop> exists
+
+ Examples:
+ Using a <condition> tag
+ <enable>
+ <condition>
+ <!-- any legal condition goes here and is evaluated -->
+ </condition>
+ <prop>This is ignored</prop>
+ <value>This is also ignored</value>
+ </enable>
+
+ Using a single boolean property
+ <enable>
+ <prop>/some/property/that/is/evaluated/as/boolean</prop>
+ </enable>
+
+ Using <prop> == <value>
+ This is the old style behaviour
+ <enable>
+ <prop>/only/true/if/this/equals/true</prop>
+ <value>true<value>
+ </enable>
+ */
+ bool isPropertyEnabled();
};
private:
- // debug flag
- bool debug;
-
- // 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
+ FGXMLAutoInputList Kp; // proportional gain
+ FGXMLAutoInputList Ti; // Integrator time (sec)
+ FGXMLAutoInputList Td; // Derivator time (sec)
double alpha; // low pass filter weighing factor (usually 0.1)
double beta; // process value weighing factor for
// calculating derivative error
// (usually 0.0)
- double Ti; // Integrator time (sec)
- double Td; // Derivator time (sec)
-
- double u_min; // Minimum output clamp
- double u_max; // Maximum output clamp
-
// Previous state tracking values
double ep_n_1; // ep[n-1] (prop error)
double edf_n_1; // edf[n-1] (derivative error)
FGPIDController( SGPropertyNode *node, bool old );
~FGPIDController() {}
- void update_old( double dt );
void update( double dt );
};
private:
// proportional component data
- bool proportional;
- double Kp;
- SGPropertyNode_ptr offset_prop;
- double offset_value;
+ FGXMLAutoInputList Kp;
// integral component data
- bool integral;
- double Ki;
+ FGXMLAutoInputList Ki;
double int_sum;
- // post functions for output
- bool clamp;
-
- // debug flag
- bool debug;
-
- // 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
- double u_max; // Maximum output clamp
-
-
public:
FGPISimpleController( SGPropertyNode *node );
class FGPredictor : public FGXMLAutoComponent {
private:
-
- // proportional component data
double last_value;
double average;
- double seconds;
- double filter_gain;
-
- // debug flag
- bool debug;
+ FGXMLAutoInputList seconds;
+ FGXMLAutoInputList filter_gain;
- // Input values
- double ivalue; // input value
-
public:
-
FGPredictor( SGPropertyNode *node );
~FGPredictor() {}
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]
+ FGXMLAutoInputList samplesInput; // Number of input samples to average
+ FGXMLAutoInputList rateOfChangeInput; // The maximum allowable rate of change [1/s]
+ FGXMLAutoInputList gainInput; //
+ FGXMLAutoInputList TfInput; // Filter time [s]
+
deque <double> output;
deque <double> input;
- enum filterTypes { exponential, doubleExponential, movingAverage, noiseSpike };
+ enum filterTypes { exponential, doubleExponential, movingAverage,
+ noiseSpike, gain, reciprocal, none };
filterTypes filterType;
- bool debug;
-
public:
FGDigitalFilter(SGPropertyNode *node);
~FGDigitalFilter() {}
protected:
- typedef vector<FGXMLAutoComponent *> comp_list;
+ typedef vector<SGSharedPtr<FGXMLAutoComponent> > comp_list;
private:
projects / flightgear.git / blobdiff