Syd Adams: Enable bank limit controls with the autopilot.

diff --git a/src/Autopilot/xmlauto.cxx b/src/Autopilot/xmlauto.cxx
index 03344d33e5876624d8fa3cdb29a291e8d479da1a..7cc108ce2c899cb5a5598144c2473ba6af7cdeec 100644 (file)
--- a/src/Autopilot/xmlauto.cxx
+++ b/src/Autopilot/xmlauto.cxx
@@ -173,22 +173,102 @@ FGPIDController::FGPIDController( SGPropertyNode *node ):
 
             config = child->getChild( "Ti" );
             if ( config != NULL ) {
+                SGPropertyNode *val = config->getChild( "value" );
+                if ( val != NULL ) {
+                    Ti = val->getDoubleValue();
+                }
+
+                SGPropertyNode *prop = config->getChild( "prop" );
+                if ( prop != NULL ) {
+                    Ti_prop = fgGetNode( prop->getStringValue(), true );
+                    if ( val != NULL ) {
+                        Ti_prop->setDoubleValue(Kp);
+                    }
+                }
+
+                // output deprecated usage warning
+                if (val == NULL && prop == NULL) {
                 Ti = config->getDoubleValue();
+                    SG_LOG( SG_AUTOPILOT, SG_WARN, "Deprecated Ti config. Please use <prop> and/or <value> tags." );
+                    if ( name.length() ) {
+                        SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << name );
+                    }
+                }
             }
 
             config = child->getChild( "Td" );
             if ( config != NULL ) {
+                SGPropertyNode *val = config->getChild( "value" );
+                if ( val != NULL ) {
+                    Td = val->getDoubleValue();
+                }
+
+                SGPropertyNode *prop = config->getChild( "prop" );
+                if ( prop != NULL ) {
+                    Td_prop = fgGetNode( prop->getStringValue(), true );
+                    if ( val != NULL ) {
+                        Td_prop->setDoubleValue(Kp);
+                    }
+                }
+
+                // output deprecated usage warning
+                if (val == NULL && prop == NULL) {
                 Td = config->getDoubleValue();
+                    SG_LOG( SG_AUTOPILOT, SG_WARN, "Deprecated Td config. Please use <prop> and/or <value> tags." );
+                    if ( name.length() ) {
+                        SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << name );
+                    }
+                }
             }
 
             config = child->getChild( "u_min" );
             if ( config != NULL ) {
+                SGPropertyNode *val = config->getChild( "value" );
+                if ( val != NULL ) {
+                    u_min = val->getDoubleValue();
+                }
+
+                SGPropertyNode *prop = config->getChild( "prop" );
+                if ( prop != NULL ) {
+                    umin_prop = fgGetNode( prop->getStringValue(), true );
+                    if ( val != NULL ) {
+                        umin_prop->setDoubleValue(u_min);
+                    }
+                }
+
+                // output deprecated usage warning
+                if (val == NULL && prop == NULL) {
                 u_min = config->getDoubleValue();
+                    SG_LOG( SG_AUTOPILOT, SG_WARN, "Deprecated u_min config. Please use <prop> and/or <value> tags." );
+                    if ( name.length() ) {
+                        SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << name );
+                    }
+                }
             }
 
             config = child->getChild( "u_max" );
             if ( config != NULL ) {
+                SGPropertyNode *val = config->getChild( "value" );
+                if ( val != NULL ) {
+                    u_max = val->getDoubleValue();
+                }
+
+                SGPropertyNode *prop = config->getChild( "prop" );
+                if ( prop != NULL ) {
+                    umax_prop = fgGetNode( prop->getStringValue(), true );
+                    if ( val != NULL ) {
+                        umax_prop->setDoubleValue(u_max);
+                    }
+                }
+
+                // output deprecated usage warning
+                if (val == NULL && prop == NULL) {
                 u_max = config->getDoubleValue();
+                    SG_LOG( SG_AUTOPILOT, SG_WARN, "Deprecated u_max config. Please use <prop> and/or <value> tags." );
+                    if ( name.length() ) {
+                        SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << name );
+                    }
+                }
             }
         } else {
             SG_LOG( SG_AUTOPILOT, SG_WARN, "Error in autopilot config logic" );
@@ -260,6 +340,10 @@ void FGPIDController::update( double dt ) {
     double delta_u_n = 0.0; // incremental output
     double u_n = 0.0;       // absolute output
     double Ts;              // sampling interval (sec)
+    if (umin_prop != NULL)u_min = umin_prop->getDoubleValue();
+    if (umax_prop != NULL)u_max = umax_prop->getDoubleValue();
+    if (Ti_prop != NULL)Ti = Ti_prop->getDoubleValue();
+    if (Td_prop != NULL)Td = Td_prop->getDoubleValue();
     
     elapsedTime += dt;
     if ( elapsedTime <= desiredTs ) {
@@ -466,7 +550,24 @@ FGPISimpleController::FGPISimpleController( SGPropertyNode *node ):
 
             prop = child->getChild( "Kp" );
             if ( prop != NULL ) {
+                SGPropertyNode *val = prop->getChild( "value" );
+                if ( val != NULL ) {
+                    Kp = val->getDoubleValue();
+                }
+
+                SGPropertyNode *prop1 = prop->getChild( "prop" );
+                if ( prop1 != NULL ) {
+                    Kp_prop = fgGetNode( prop1->getStringValue(), true );
+                    if ( val != NULL ) {
+                        Kp_prop->setDoubleValue(Kp);
+                    }
+                }
+
+                // output deprecated usage warning
+                if (val == NULL && prop1 == NULL) {
                 Kp = prop->getDoubleValue();
+                    SG_LOG( SG_AUTOPILOT, SG_WARN, "Deprecated Kp config. Please use <prop> and/or <value> tags." );
+                }
                 proportional = true;
             }
 
@@ -478,13 +579,47 @@ FGPISimpleController::FGPISimpleController( SGPropertyNode *node ):
 
             prop = child->getChild( "u_min" );
             if ( prop != NULL ) {
+                SGPropertyNode *val = prop->getChild( "value" );
+                if ( val != NULL ) {
+                    u_min = val->getDoubleValue();
+                }
+
+                SGPropertyNode *prop1 = prop->getChild( "prop" );
+                if ( prop1 != NULL ) {
+                    umin_prop = fgGetNode( prop1->getStringValue(), true );
+                    if ( val != NULL ) {
+                        umin_prop->setDoubleValue(u_min);
+                    }
+                }
+
+                // output deprecated usage warning
+                if (val == NULL && prop1 == NULL) {
                 u_min = prop->getDoubleValue();
+                    SG_LOG( SG_AUTOPILOT, SG_WARN, "Deprecated u_min config. Please use <prop> and/or <value> tags." );
+                }
                 clamp = true;
             }
 
             prop = child->getChild( "u_max" );
             if ( prop != NULL ) {
+                SGPropertyNode *val = prop->getChild( "value" );
+                if ( val != NULL ) {
+                    u_max = val->getDoubleValue();
+                }
+
+                SGPropertyNode *prop1 = prop->getChild( "prop" );
+                if ( prop1 != NULL ) {
+                    umax_prop = fgGetNode( prop1->getStringValue(), true );
+                    if ( val != NULL ) {
+                        umax_prop->setDoubleValue(u_max);
+                    }
+                }
+
+                // output deprecated usage warning
+                if (val == NULL && prop1 == NULL) {
                 u_max = prop->getDoubleValue();
+                    SG_LOG( SG_AUTOPILOT, SG_WARN, "Deprecated u_max config. Please use <prop> and/or <value> tags." );
+                }
                 clamp = true;
             }
         } else {
@@ -498,6 +633,10 @@ FGPISimpleController::FGPISimpleController( SGPropertyNode *node ):
 
 
 void FGPISimpleController::update( double dt ) {
+    if (umin_prop != NULL)u_min = umin_prop->getDoubleValue();
+    if (umax_prop != NULL)u_max = umax_prop->getDoubleValue();
+    if (Kp_prop != NULL)Kp = Kp_prop->getDoubleValue();
+
     if (enable_prop != NULL && enable_prop->getStringValue() == enable_value) {
         if ( !enabled ) {
             // we have just been enabled, zero out int_sum

diff --git a/src/Autopilot/xmlauto.hxx b/src/Autopilot/xmlauto.hxx
index 5a71dad8eca8fab28c5d8dad19db7a9022abd64f..b325302790dcb0d381f089d6cde10a0bc952286d 100644 (file)
--- a/src/Autopilot/xmlauto.hxx
+++ b/src/Autopilot/xmlauto.hxx
@@ -122,10 +122,13 @@ private:
                                 // (usually 0.0)
 
     double Ti;                  // Integrator time (sec)
+    SGPropertyNode_ptr Ti_prop;
     double Td;                  // Derivator time (sec)
-
+    SGPropertyNode_ptr Td_prop;
     double u_min;               // Minimum output clamp
+    SGPropertyNode_ptr umin_prop;
     double u_max;               // Maximum output clamp
+    SGPropertyNode_ptr umax_prop;
 
     // Previous state tracking values
     double ep_n_1;              // ep[n-1]  (prop error)
@@ -159,6 +162,7 @@ private:
     // proportional component data
     bool proportional;
     double Kp;
+    SGPropertyNode_ptr Kp_prop;
     SGPropertyNode_ptr offset_prop;
     double offset_value;
 
@@ -180,7 +184,9 @@ private:
     double r_scale;             // scale reference input from property system
 
     double u_min;               // Minimum output clamp
+    SGPropertyNode_ptr umin_prop;
     double u_max;               // Maximum output clamp
+    SGPropertyNode_ptr umax_prop;
 
     
 public: