Merge branch 'next' of gitorious.org:fg/flightgear into next

[flightgear.git] / src / FDM / JSBSim / models / flight_control / FGActuator.h

diff --git a/src/FDM/JSBSim/models/flight_control/FGActuator.h b/src/FDM/JSBSim/models/flight_control/FGActuator.h
old mode 100755 (executable)
new mode 100644 (file)
index a420cbe..522fab8
--- a/src/FDM/JSBSim/models/flight_control/FGActuator.h
+++ b/src/FDM/JSBSim/models/flight_control/FGActuator.h
@@ -4,7 +4,7 @@
  Author:       Jon Berndt
  Date started: 21 February 2007
 
- ------------- Copyright (C) 2006 Jon S. Berndt (jsb@hal-pc.org) -------------
+ ------------- Copyright (C) 2006 Jon S. Berndt (jon@jsbsim.org) -------------
 
  This program is free software; you can redistribute it and/or modify it under
  the terms of the GNU Lesser General Public License as published by the Free Software
@@ -38,13 +38,13 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGFCSComponent.h"
-#include <input_output/FGXMLElement.h>
+#include "input_output/FGXMLElement.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_ACTUATOR "$Id$"
+#define ID_ACTUATOR "$Id: FGActuator.h,v 1.13 2012/04/08 15:04:41 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -65,12 +65,12 @@ CLASS DOCUMENTATION
     applied to the actuator. In order of application to the input signal,
     these are:
     
-    -System lag (input lag, really)
-    -Rate limiting
-    -Deadband
-    -Hysteresis (mechanical hysteresis)
-    -Bias (mechanical bias)
-    -Position limiting ("hard stops")
+    - System lag (input lag, really)
+    - Rate limiting
+    - Deadband
+    - Hysteresis (mechanical hysteresis)
+    - Bias (mechanical bias)
+    - Position limiting ("hard stops")
     
     There are also several malfunctions that can be applied to the actuator
     by setting a property to true or false (or 1 or 0).
@@ -78,10 +78,10 @@ CLASS DOCUMENTATION
 Syntax:
 
 @code
-<actuator name=\94name\94>
+<actuator name="name">
   <input> {[-]property} </input>
   <lag> number </lag>
-  <rate_limit> number <rate_limit>
+  <rate_limit> number </rate_limit>
   <bias> number </bias>
   <deadband_width> number </deadband_width>
   <hysteresis_width> number </hysteresis_width>
@@ -96,14 +96,14 @@ Syntax:
 Example:
 
 @code
-<actuator name=\94fcs/gimbal_pitch_position\94>
+<actuator name="fcs/gimbal_pitch_position_radians">
   <input> fcs/gimbal_pitch_command </input>
   <lag> 60 </lag>
-  <rate_limit> 0.085 <rate_limit> <!-- 5 degrees/sec -->
+  <rate_limit> 0.085 </rate_limit> <!-- 0.085 radians/sec -->
   <bias> 0.002 </bias>
   <deadband_width> 0.002 </deadband_width>
   <hysteresis_width> 0.05 </hysteresis_width>
-  <clipto> <!-- +/- 10 degrees -->
+  <clipto> <!-- +/- 0.17 radians -->
     <min> -0.17 </min>
     <max>  0.17 </max>
    </clipto>
@@ -111,7 +111,7 @@ Example:
 @endcode
 
 @author Jon S. Berndt
-@version $Revision$
+@version $Revision: 1.13 $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -135,16 +135,16 @@ public:
   /** This function fails the actuator to zero. The motion to zero
       will flow through the lag, hysteresis, and rate limiting
       functions if those are activated. */
-  inline void SetFailZero(bool set) {fail_zero = set;}
-  inline void SetFailHardover(bool set) {fail_hardover = set;}
-  inline void SetFailStuck(bool set) {fail_stuck = set;}
-
-  inline bool GetFailZero(void) const {return fail_zero;}
-  inline bool GetFailHardover(void) const {return fail_hardover;}
-  inline bool GetFailStuck(void) const {return fail_stuck;}
+  void SetFailZero(bool set) {fail_zero = set;}
+  void SetFailHardover(bool set) {fail_hardover = set;}
+  void SetFailStuck(bool set) {fail_stuck = set;}
+
+  bool GetFailZero(void) const {return fail_zero;}
+  bool GetFailHardover(void) const {return fail_hardover;}
+  bool GetFailStuck(void) const {return fail_stuck;}
+  bool IsSaturated(void) const {return saturated;}
   
 private:
-  double dt;
   double span;
   double bias;
   double rate_limit;
@@ -161,6 +161,8 @@ private:
   bool fail_zero;
   bool fail_hardover;
   bool fail_stuck;
+  bool initialized;
+  bool saturated;
 
   void Hysteresis(void);
   void Lag(void);