namespace JSBSim {
-static const char *IdSrc = "$Id: FGActuator.cpp,v 1.21 2011/06/30 03:16:10 jentron Exp $";
+static const char *IdSrc = "$Id: FGActuator.cpp,v 1.23 2012/04/08 15:04:41 jberndt Exp $";
static const char *IdHdr = ID_ACTUATOR;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
rate_limit = 0.0; // no limit
fail_zero = fail_hardover = fail_stuck = false;
ca = cb = 0.0;
+ initialized = 0;
+ saturated = false;
if ( element->FindElement("deadband_width") ) {
deadband_width = element->FindElementValueAsNumber("deadband_width");
{
Input = InputNodes[0]->getDoubleValue() * InputSigns[0];
+ if( fcs->GetTrimStatus() ) initialized = 0;
+
if (fail_zero) Input = 0;
if (fail_hardover) Input = clipmax*sign(Input);
}
PreviousOutput = Output; // previous value needed for "stuck" malfunction
+
+ initialized = 1;
Clip();
+
+ if (clip) {
+ saturated = false;
+ if (Output >= clipmax) saturated = true;
+ else if (Output <= clipmin) saturated = true;
+ }
+
if (IsOutput) SetOutput();
return true;
// for this Lag filter
double input = Output;
- if (!fcs->GetTrimStatus())
+ if ( initialized )
Output = ca * (input + PreviousLagInput) + PreviousLagOutput * cb;
PreviousLagInput = input;
// method.
double input = Output;
- if (!fcs->GetTrimStatus()) {
+ if ( initialized ) {
if (input > PreviousHystOutput)
Output = max(PreviousHystOutput, input-0.5*hysteresis_width);
else if (input < PreviousHystOutput)
// is - for the purposes of this RateLimit method - really the input to the
// method.
double input = Output;
- if (!fcs->GetTrimStatus()) {
+ if ( initialized ) {
double delta = input - PreviousRateLimOutput;
if (fabs(delta) > dt * rate_limit) {
double signed_rate_limit = delta > 0.0 ? rate_limit : -rate_limit;
const string tmp_zero = tmp + "/malfunction/fail_zero";
const string tmp_hardover = tmp + "/malfunction/fail_hardover";
const string tmp_stuck = tmp + "/malfunction/fail_stuck";
+ const string tmp_sat = tmp + "/saturated";
PropertyManager->Tie( tmp_zero, this, &FGActuator::GetFailZero, &FGActuator::SetFailZero);
PropertyManager->Tie( tmp_hardover, this, &FGActuator::GetFailHardover, &FGActuator::SetFailHardover);
PropertyManager->Tie( tmp_stuck, this, &FGActuator::GetFailStuck, &FGActuator::SetFailStuck);
+ PropertyManager->Tie( tmp_sat, this, &FGActuator::IsSaturated);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%