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

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

diff --git a/src/FDM/JSBSim/models/flight_control/FGPID.h b/src/FDM/JSBSim/models/flight_control/FGPID.h
old mode 100755 (executable)
new mode 100644 (file)
index 7f69f2e..a573dc3
--- a/src/FDM/JSBSim/models/flight_control/FGPID.h
+++ b/src/FDM/JSBSim/models/flight_control/FGPID.h
@@ -4,7 +4,7 @@
  Author:       Jon Berndt
  Date started: 6/17/2006
 
- ------------- Copyright (C) 2006 by Jon S. Berndt, jsb@hal-pc.org -------------
+ ------------- Copyright (C) 2006 by 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
@@ -38,22 +38,13 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#ifdef FGFS
-#  include <simgear/compiler.h>
-#  include STL_STRING
-   SG_USING_STD(string);
-#else
-#  include <string>
-#endif
-
 #include "FGFCSComponent.h"
-#include <input_output/FGXMLElement.h>
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_PID "$Id$"
+#define ID_PID "$Id: FGPID.h,v 1.12 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -62,6 +53,7 @@ FORWARD DECLARATIONS
 namespace JSBSim {
 
 class FGFCS;
+class Element;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION
@@ -69,8 +61,29 @@ CLASS DOCUMENTATION
 
 /** Encapsulates a PID control component for the flight control system.
 
+<h3>Configuration Format:</h3>
+
+@code
+<pid name="{string}">
+  <kp> {number} </kp>
+  <ki> {number} </ki>
+  <kd> {number} </kd>
+  <trigger> {string} </trigger>
+</pid>
+@endcode
+
+<h3>Configuration Parameters:</h3>
+<pre>
+
+  kp      - Proportional constant, default value 0.
+  ki      - Integrative constant, default value 0.
+  kd      - Derivative constant, default value 0.
+  trigger - Property which is used to sense wind-up, optional.
+
+</pre>
+
     @author Jon S. Berndt
-    @version $Revision$
+    @version $Revision: 1.12 $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -84,13 +97,19 @@ public:
   ~FGPID();
 
   bool Run (void);
+  void ResetPastStates(void) {Input_prev = Input_prev2 = Output = I_out_total = 0.0;}
 
 private:
-  double dt;
   FGPropertyManager *Trigger;
   double Kp, Ki, Kd;
-  double P_out, D_out, I_out;
+  double I_out_total;
   double Input_prev, Input_prev2;
+  double KpPropertySign;
+  double KiPropertySign;
+  double KdPropertySign;
+  FGPropertyManager* KpPropertyNode;
+  FGPropertyManager* KiPropertyNode;
+  FGPropertyManager* KdPropertyNode;
 
   void Debug(int from);
 };