using std::cout;
using std::endl;
-static SGCondition * getCondition( SGPropertyNode * node )
+/*
+parse element with
+ <node>
+ <value>1</value>
+ <prop>/some/property</prop>
+ </node>
+or
+ <node>123</node>
+or
+ <node>/some/property</node>
+*/
+
+void FGXMLAutoInput::parse( SGPropertyNode_ptr node, double aValue, double aOffset, double aScale )
{
- const SGPropertyNode* conditionNode = node->getChild("condition");
- return conditionNode ? sgReadCondition(node, conditionNode) : NULL;
+ delete property;
+ property = NULL;
+ value = aValue;
+ offset = aOffset;
+ scale = aScale;
+
+ if( node == NULL )
+ return;
+
+ SGPropertyNode * n;
+
+ if( (n = node->getChild( "scale" )) != NULL )
+ scale = n->getDoubleValue();
+
+ if( (n = node->getChild( "offset" )) != NULL )
+ offset = n->getDoubleValue();
+
+ SGPropertyNode *valueNode = node->getChild( "value" );
+ if ( valueNode != NULL ) {
+ value = valueNode->getDoubleValue();
+ }
+
+ n = node->getChild( "property" );
+ // if no <property> element, check for <prop> element for backwards
+ // compatibility
+ if( n == NULL )
+ n = node->getChild( "prop" );
+
+ if ( n != NULL ) {
+ property = fgGetNode( n->getStringValue(), true );
+ if ( valueNode != NULL ) {
+ // initialize property with given value
+ // if both <prop> and <value> exist
+ if( scale != 0 )
+ property->setDoubleValue( (value - offset)/scale );
+ else
+ property->setDoubleValue( 0 ); // if scale is zero, value*scale is zero
+ }
+ }
+
+ if ( n == NULL && valueNode == NULL ) {
+ // no <value> element and no <prop> element, use text node
+ const char * textnode = node->getStringValue();
+ char * endp = NULL;
+ // try to convert to a double value. If the textnode does not start with a number
+ // endp will point to the beginning of the string. We assume this should be
+ // a property name
+ value = strtod( textnode, &endp );
+ if( endp == textnode ) {
+ property = fgGetNode( textnode, true );
+ }
+ }
}
-FGPIDController::FGPIDController( SGPropertyNode *node ):
- debug( false ),
- y_n( 0.0 ),
- r_n( 0.0 ),
- y_scale( 1.0 ),
- r_scale( 1.0 ),
- y_offset( 0.0 ),
- r_offset( 0.0 ),
- Kp( 0.0 ),
- alpha( 0.1 ),
- beta( 1.0 ),
- gamma( 0.0 ),
- Ti( 0.0 ),
- Td( 0.0 ),
- u_min( 0.0 ),
- u_max( 0.0 ),
- ep_n_1( 0.0 ),
- edf_n_1( 0.0 ),
- edf_n_2( 0.0 ),
- u_n_1( 0.0 ),
- desiredTs( 0.0 ),
- elapsedTime( 0.0 )
+FGXMLAutoComponent::FGXMLAutoComponent( SGPropertyNode * node ) :
+ debug(false),
+ name(""),
+ enable_prop( NULL ),
+ passive_mode( fgGetNode("/autopilot/locks/passive-mode", true) ),
+ enable_value( NULL ),
+ honor_passive( false ),
+ enabled( false ),
+ clamp( false ),
+ _condition( NULL )
{
int i;
+ SGPropertyNode *prop;
+
for ( i = 0; i < node->nChildren(); ++i ) {
SGPropertyNode *child = node->getChild(i);
string cname = child->getName();
string cval = child->getStringValue();
if ( cname == "name" ) {
name = cval;
+
} else if ( cname == "debug" ) {
debug = child->getBoolValue();
+
} else if ( cname == "enable" ) {
- _condition = getCondition( child );
- if( _condition == NULL ) {
- // cout << "parsing enable" << endl;
- SGPropertyNode *prop = child->getChild( "prop" );
- if ( prop != NULL ) {
- // cout << "prop = " << prop->getStringValue() << endl;
+ if( (prop = child->getChild("condition")) != NULL ) {
+ _condition = sgReadCondition(child, prop);
+ } else {
+ if ( (prop = child->getChild( "prop" )) != NULL ) {
enable_prop = fgGetNode( prop->getStringValue(), true );
- } else {
- // cout << "no prop child" << endl;
}
- SGPropertyNode *val = child->getChild( "value" );
- if ( val != NULL ) {
- enable_value = val->getStringValue();
+
+ if ( (prop = child->getChild( "value" )) != NULL ) {
+ delete enable_value;
+ enable_value = new string(prop->getStringValue());
}
}
- SGPropertyNode *pass = child->getChild( "honor-passive" );
- if ( pass != NULL ) {
- honor_passive = pass->getBoolValue();
+ if ( (prop = child->getChild( "honor-passive" )) != NULL ) {
+ honor_passive = prop->getBoolValue();
}
+
} else if ( cname == "input" ) {
- SGPropertyNode *prop = child->getChild( "prop" );
- if ( prop != NULL ) {
- input_prop = fgGetNode( prop->getStringValue(), true );
- }
- prop = child->getChild( "scale" );
- if ( prop != NULL ) {
- y_scale = prop->getDoubleValue();
- }
- prop = child->getChild( "offset" );
- if ( prop != NULL ) {
- y_offset = prop->getDoubleValue();
- }
+
+ valueInput.parse( child );
+
} else if ( cname == "reference" ) {
- SGPropertyNode *prop = child->getChild( "prop" );
- if ( prop != NULL ) {
- r_n_prop = fgGetNode( prop->getStringValue(), true );
- } else {
- prop = child->getChild( "value" );
- if ( prop != NULL ) {
- r_n_value = prop->getDoubleValue();
- }
- }
- prop = child->getChild( "scale" );
- if ( prop != NULL ) {
- r_scale = prop->getDoubleValue();
- }
- prop = child->getChild( "offset" );
- if ( prop != NULL ) {
- r_offset = prop->getDoubleValue();
- }
+
+ referenceInput.parse( child );
+
} else if ( cname == "output" ) {
- int i = 0;
- SGPropertyNode *prop;
- while ( (prop = child->getChild("prop", i)) != NULL ) {
+ // grab all <prop> and <property> childs
+ int found = 0;
+ // backwards compatibility: allow <prop> elements
+ for( int i = 0; (prop = child->getChild("prop", i)) != NULL; i++ ) {
SGPropertyNode *tmp = fgGetNode( prop->getStringValue(), true );
output_list.push_back( tmp );
- i++;
+ found++;
}
+ for( int i = 0; (prop = child->getChild("property", i)) != NULL; i++ ) {
+ SGPropertyNode *tmp = fgGetNode( prop->getStringValue(), true );
+ output_list.push_back( tmp );
+ found++;
+ }
+
+ // no <prop> elements, text node of <output> is property name
+ if( found == 0 )
+ output_list.push_back( fgGetNode(child->getStringValue(), true ) );
+
} else if ( cname == "config" ) {
+ if( (prop = child->getChild("u_min")) != NULL ) {
+ uminInput.parse( prop );
+ clamp = true;
+ }
+ if( (prop = child->getChild("u_max")) != NULL ) {
+ umaxInput.parse( prop );
+ clamp = true;
+ }
+ } else if ( cname == "u_min" ) {
+ uminInput.parse( child );
+ clamp = true;
+ } else if ( cname == "u_max" ) {
+ umaxInput.parse( child );
+ clamp = true;
+ }
+ }
+}
+
+FGXMLAutoComponent::~FGXMLAutoComponent()
+{
+ delete enable_value;
+}
+
+bool FGXMLAutoComponent::isPropertyEnabled()
+{
+ if( _condition )
+ return _condition->test();
+
+ if( enable_prop ) {
+ if( enable_value ) {
+ return *enable_value == enable_prop->getStringValue();
+ } else {
+ return enable_prop->getBoolValue();
+ }
+ }
+ return true;
+}
+
+FGPIDController::FGPIDController( SGPropertyNode *node ):
+ FGXMLAutoComponent( node ),
+ alpha( 0.1 ),
+ beta( 1.0 ),
+ gamma( 0.0 ),
+ ep_n_1( 0.0 ),
+ edf_n_1( 0.0 ),
+ edf_n_2( 0.0 ),
+ u_n_1( 0.0 ),
+ desiredTs( 0.0 ),
+ elapsedTime( 0.0 )
+{
+ int i;
+ for ( i = 0; i < node->nChildren(); ++i ) {
+ SGPropertyNode *child = node->getChild(i);
+ string cname = child->getName();
+ string cval = child->getStringValue();
+ if ( cname == "config" ) {
SGPropertyNode *config;
- config = child->getChild( "Ts" );
- if ( config != NULL ) {
+ if ( (config = child->getChild( "Ts" )) != NULL ) {
desiredTs = config->getDoubleValue();
}
-
- config = child->getChild( "Kp" );
- if ( config != NULL ) {
- SGPropertyNode *val = config->getChild( "value" );
- if ( val != NULL ) {
- Kp = val->getDoubleValue();
- }
-
- SGPropertyNode *prop = config->getChild( "prop" );
- if ( prop != NULL ) {
- Kp_prop = fgGetNode( prop->getStringValue(), true );
- if ( val != NULL ) {
- Kp_prop->setDoubleValue(Kp);
- }
- }
-
- // output deprecated usage warning
- if (val == NULL && prop == NULL) {
- Kp = config->getDoubleValue();
- SG_LOG( SG_AUTOPILOT, SG_WARN, "Deprecated Kp config. Please use <prop> and/or <value> tags." );
- if ( name.length() ) {
- SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << name );
- }
- }
- }
+
+ Kp.parse( child->getChild( "Kp" ) );
+ Ti.parse( child->getChild( "Ti" ) );
+ Td.parse( child->getChild( "Td" ) );
config = child->getChild( "beta" );
if ( config != NULL ) {
gamma = config->getDoubleValue();
}
- 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(Ti);
- }
- }
-
- // 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(Td);
- }
- }
-
- // 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" );
- if ( name.length() ) {
- SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << name );
+ if ( get_name().length() ) {
+ SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << get_name() );
}
}
}
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();
-
+
+ double u_min = uminInput.getValue();
+ double u_max = umaxInput.getValue();
+
elapsedTime += dt;
if ( elapsedTime <= desiredTs ) {
// do nothing if time step is not positive (i.e. no time has
Ts = elapsedTime;
elapsedTime = 0.0;
- if (( _condition && _condition->test() ) ||
- (enable_prop != NULL && enable_prop->getStringValue() == enable_value)) {
+ if ( isPropertyEnabled() ) {
if ( !enabled ) {
// first time being enabled, seed u_n with current
// property tree value
- u_n = output_list[0]->getDoubleValue();
- // and clip
- if ( u_n < u_min ) { u_n = u_min; }
- if ( u_n > u_max ) { u_n = u_max; }
+ u_n = getOutputValue();
u_n_1 = u_n;
}
enabled = true;
}
if ( enabled && Ts > 0.0) {
- if ( debug ) cout << "Updating " << name
+ if ( debug ) cout << "Updating " << get_name()
<< " Ts " << Ts << endl;
- double y_n = 0.0;
- if ( input_prop != NULL ) {
- y_n = input_prop->getDoubleValue() * y_scale + y_offset;
- }
-
- double r_n = 0.0;
- if ( r_n_prop != NULL ) {
- r_n = r_n_prop->getDoubleValue() * r_scale + r_offset;
- } else {
- r_n = r_n_value;
- }
+ double y_n = valueInput.getValue();
+ double r_n = referenceInput.getValue();
if ( debug ) cout << " input = " << y_n << " ref = " << r_n << endl;
ed_n = gamma * r_n - y_n;
if ( debug ) cout << " ed_n = " << ed_n;
- if ( Td > 0.0 ) {
+ double td = Td.getValue();
+ if ( td > 0.0 ) {
// Calculates filter time:
- Tf = alpha * Td;
+ Tf = alpha * td;
if ( debug ) cout << " Tf = " << Tf;
// Filters the derivate error:
}
// Calculates the incremental output:
- if ( Ti > 0.0 ) {
- if (Kp_prop != NULL) {
- Kp = Kp_prop->getDoubleValue();
- }
- delta_u_n = Kp * ( (ep_n - ep_n_1)
- + ((Ts/Ti) * e_n)
- + ((Td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2)) );
+ double ti = Ti.getValue();
+ if ( ti > 0.0 ) {
+ delta_u_n = Kp.getValue() * ( (ep_n - ep_n_1)
+ + ((Ts/ti) * e_n)
+ + ((td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2)) );
}
if ( debug ) {
cout << " delta_u_n = " << delta_u_n << endl;
- cout << "P:" << Kp * (ep_n - ep_n_1)
- << " I:" << Kp * ((Ts/Ti) * e_n)
- << " D:" << Kp * ((Td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2))
+ cout << "P:" << Kp.getValue() * (ep_n - ep_n_1)
+ << " I:" << Kp.getValue() * ((Ts/ti) * e_n)
+ << " D:" << Kp.getValue() * ((td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2))
<< endl;
}
edf_n_2 = edf_n_1;
edf_n_1 = edf_n;
- // 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 ( passive_mode->getBoolValue() && honor_passive ) {
- // skip output step
- } else {
- unsigned int i;
- for ( i = 0; i < output_list.size(); ++i ) {
- output_list[i]->setDoubleValue( u_n );
- }
- }
+ setOutputValue( u_n );
} else if ( !enabled ) {
ep_n = 0.0;
edf_n = 0.0;
FGPISimpleController::FGPISimpleController( SGPropertyNode *node ):
- proportional( false ),
- Kp( 0.0 ),
- offset_prop( NULL ),
- offset_value( 0.0 ),
- integral( false ),
- Ki( 0.0 ),
- int_sum( 0.0 ),
- clamp( false ),
- debug( false ),
- y_n( 0.0 ),
- r_n( 0.0 ),
- y_scale( 1.0 ),
- r_scale ( 1.0 ),
- u_min( 0.0 ),
- u_max( 0.0 )
+ FGXMLAutoComponent( node ),
+ int_sum( 0.0 )
{
int i;
for ( i = 0; i < node->nChildren(); ++i ) {
SGPropertyNode *child = node->getChild(i);
string cname = child->getName();
string cval = child->getStringValue();
- if ( cname == "name" ) {
- name = cval;
- } else if ( cname == "debug" ) {
- debug = child->getBoolValue();
- } else if ( cname == "enable" ) {
- _condition = getCondition( child );
- if( _condition == NULL ) {
- // cout << "parsing enable" << endl;
- SGPropertyNode *prop = child->getChild( "prop" );
- if ( prop != NULL ) {
- // cout << "prop = " << prop->getStringValue() << endl;
- enable_prop = fgGetNode( prop->getStringValue(), true );
- } else {
- // cout << "no prop child" << endl;
- }
- SGPropertyNode *val = child->getChild( "value" );
- if ( val != NULL ) {
- enable_value = val->getStringValue();
- }
- }
- } else if ( cname == "input" ) {
- SGPropertyNode *prop = child->getChild( "prop" );
- if ( prop != NULL ) {
- input_prop = fgGetNode( prop->getStringValue(), true );
- }
- prop = child->getChild( "scale" );
- if ( prop != NULL ) {
- y_scale = prop->getDoubleValue();
- }
- } else if ( cname == "reference" ) {
- SGPropertyNode *prop = child->getChild( "prop" );
- if ( prop != NULL ) {
- r_n_prop = fgGetNode( prop->getStringValue(), true );
- } else {
- prop = child->getChild( "value" );
- if ( prop != NULL ) {
- r_n_value = prop->getDoubleValue();
- }
- }
- prop = child->getChild( "scale" );
- if ( prop != NULL ) {
- r_scale = prop->getDoubleValue();
- }
- } else if ( cname == "output" ) {
- int i = 0;
- SGPropertyNode *prop;
- while ( (prop = child->getChild("prop", i)) != NULL ) {
- SGPropertyNode *tmp = fgGetNode( prop->getStringValue(), true );
- output_list.push_back( tmp );
- i++;
- }
- } else if ( cname == "config" ) {
- SGPropertyNode *prop;
-
- 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;
- }
-
- prop = child->getChild( "Ki" );
- if ( prop != NULL ) {
- Ki = prop->getDoubleValue();
- integral = true;
- }
-
- 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;
- }
+ if ( cname == "config" ) {
+ Kp.parse( child->getChild( "Kp" ) );
+ Ki.parse( child->getChild( "Ki" ) );
} else {
SG_LOG( SG_AUTOPILOT, SG_WARN, "Error in autopilot config logic" );
- if ( name.length() ) {
- SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << name );
+ if ( get_name().length() ) {
+ SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << get_name() );
}
}
}
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 (( _condition && _condition->test() ) ||
- (enable_prop != NULL && enable_prop->getStringValue() == enable_value)) {
+ if ( isPropertyEnabled() ) {
if ( !enabled ) {
// we have just been enabled, zero out int_sum
int_sum = 0.0;
}
if ( enabled ) {
- if ( debug ) cout << "Updating " << name << endl;
- double input = 0.0;
- if ( input_prop != NULL ) {
- input = input_prop->getDoubleValue() * y_scale;
- }
-
- double r_n = 0.0;
- if ( r_n_prop != NULL ) {
- r_n = r_n_prop->getDoubleValue() * r_scale;
- } else {
- r_n = r_n_value;
- }
+ if ( debug ) cout << "Updating " << get_name() << endl;
+ double y_n = valueInput.getValue();
+ double r_n = referenceInput.getValue();
- double error = r_n - input;
- if ( debug ) cout << "input = " << input
+ double error = r_n - y_n;
+ if ( debug ) cout << "input = " << y_n
<< " reference = " << r_n
<< " error = " << error
<< endl;
- double prop_comp = 0.0;
- double offset = 0.0;
- if ( offset_prop != NULL ) {
- offset = offset_prop->getDoubleValue();
- if ( debug ) cout << "offset = " << offset << endl;
- } else {
- offset = offset_value;
- }
+ double prop_comp = error * Kp.getValue();
+ int_sum += error * Ki.getValue() * dt;
- if ( proportional ) {
- prop_comp = error * Kp + offset;
- }
-
- if ( integral ) {
- int_sum += error * Ki * dt;
- } else {
- int_sum = 0.0;
- }
if ( debug ) cout << "prop_comp = " << prop_comp
<< " int_sum = " << int_sum << endl;
double output = prop_comp + int_sum;
-
- if ( clamp ) {
- if ( output < u_min ) {
- output = u_min;
- }
- if ( output > u_max ) {
- output = u_max;
- }
- }
+ output = Clamp( output );
+ setOutputValue( output );
if ( debug ) cout << "output = " << output << endl;
-
- unsigned int i;
- for ( i = 0; i < output_list.size(); ++i ) {
- output_list[i]->setDoubleValue( output );
- }
}
}
FGPredictor::FGPredictor ( SGPropertyNode *node ):
- last_value ( 999999999.9 ),
+ FGXMLAutoComponent( node ),
average ( 0.0 ),
seconds( 0.0 ),
filter_gain( 0.0 ),
- debug( false ),
ivalue( 0.0 )
{
int i;
SGPropertyNode *child = node->getChild(i);
string cname = child->getName();
string cval = child->getStringValue();
- if ( cname == "name" ) {
- name = cval;
- } else if ( cname == "debug" ) {
- debug = child->getBoolValue();
- } else if ( cname == "input" ) {
- input_prop = fgGetNode( child->getStringValue(), true );
- } else if ( cname == "seconds" ) {
+ if ( cname == "seconds" ) {
seconds = child->getDoubleValue();
} else if ( cname == "filter-gain" ) {
filter_gain = child->getDoubleValue();
- } else if ( cname == "output" ) {
- SGPropertyNode *tmp = fgGetNode( child->getStringValue(), true );
- output_list.push_back( tmp );
}
}
}
*/
- if ( input_prop != NULL ) {
- ivalue = input_prop->getDoubleValue();
- // no sense if there isn't an input :-)
+ ivalue = valueInput.getValue();
+
+ if ( isPropertyEnabled() ) {
+ if ( !enabled ) {
+ // first time being enabled
+ last_value = ivalue;
+ }
enabled = true;
} else {
enabled = false;
if ( enabled ) {
- // first time initialize average
- if (last_value >= 999999999.0) {
- last_value = ivalue;
- }
-
if ( dt > 0.0 ) {
double current = (ivalue - last_value)/dt; // calculate current error change (per second)
if ( dt < 1.0 ) {
// calculate output with filter gain adjustment
double output = ivalue + (1.0 - filter_gain) * (average * seconds) + filter_gain * (current * seconds);
-
- unsigned int i;
- for ( i = 0; i < output_list.size(); ++i ) {
- output_list[i]->setDoubleValue( output );
- }
+ output = Clamp( output );
+ setOutputValue( output );
}
last_value = ivalue;
}
FGDigitalFilter::FGDigitalFilter(SGPropertyNode *node):
- Tf( 1.0 ),
- samples( 1 ),
- rateOfChange( 1.0 ),
- gainFactor( 1.0 ),
- gain_prop( NULL ),
- output_min_clamp( -std::numeric_limits<double>::max() ),
- output_max_clamp( std::numeric_limits<double>::max() )
+ FGXMLAutoComponent( node )
{
int i;
for ( i = 0; i < node->nChildren(); ++i ) {
SGPropertyNode *child = node->getChild(i);
string cname = child->getName();
string cval = child->getStringValue();
- if ( cname == "name" ) {
- name = cval;
- } else if ( cname == "debug" ) {
- debug = child->getBoolValue();
- } else if ( cname == "enable" ) {
- _condition = getCondition( child );
- if( _condition == NULL ) {
- SGPropertyNode *prop = child->getChild( "prop" );
- if ( prop != NULL ) {
- enable_prop = fgGetNode( prop->getStringValue(), true );
- }
- SGPropertyNode *val = child->getChild( "value" );
- if ( val != NULL ) {
- enable_value = val->getStringValue();
- }
- }
- SGPropertyNode *pass = child->getChild( "honor-passive" );
- if ( pass != NULL ) {
- honor_passive = pass->getBoolValue();
- }
- } else if ( cname == "type" ) {
+ if ( cname == "type" ) {
if ( cval == "exponential" ) {
filterType = exponential;
} else if (cval == "double-exponential") {
} else if (cval == "reciprocal") {
filterType = reciprocal;
}
- } else if ( cname == "input" ) {
- input_prop = fgGetNode( child->getStringValue(), true );
} else if ( cname == "filter-time" ) {
- Tf = child->getDoubleValue();
+ TfInput.parse( child, 1.0 );
} else if ( cname == "samples" ) {
- samples = child->getIntValue();
+ samplesInput.parse( child, 1 );
} else if ( cname == "max-rate-of-change" ) {
- rateOfChange = child->getDoubleValue();
+ rateOfChangeInput.parse( child, 1.0 );
} else if ( cname == "gain" ) {
- SGPropertyNode *val = child->getChild( "value" );
- if ( val != NULL ) {
- gainFactor = val->getDoubleValue();
- }
- SGPropertyNode *prop = child->getChild( "prop" );
- if ( prop != NULL ) {
- gain_prop = fgGetNode( prop->getStringValue(), true );
- gain_prop->setDoubleValue(gainFactor);
- }
- } else if ( cname == "u_min" ) {
- output_min_clamp = child->getDoubleValue();
- } else if ( cname == "u_max" ) {
- output_max_clamp = child->getDoubleValue();
- } else if ( cname == "output" ) {
- SGPropertyNode *tmp = fgGetNode( child->getStringValue(), true );
- output_list.push_back( tmp );
+ gainInput.parse( child );
}
}
output.resize(2, 0.0);
- input.resize(samples + 1, 0.0);
+ input.resize(samplesInput.getValue() + 1, 0.0);
}
void FGDigitalFilter::update(double dt)
{
- if ( input_prop != NULL && (
- ( _condition != NULL && _condition->test() ) ||
- ( enable_prop != NULL &&
- enable_prop->getStringValue() == enable_value) ||
- (enable_prop == NULL && _condition == NULL ) ) ) {
+ if ( isPropertyEnabled() ) {
- input.push_front(input_prop->getDoubleValue());
- input.resize(samples + 1, 0.0);
+ input.push_front(valueInput.getValue());
+ input.resize(samplesInput.getValue() + 1, 0.0);
if ( !enabled ) {
// first time being enabled, initialize output to the
// value of the output property to avoid bumping.
- output.push_front(output_list[0]->getDoubleValue());
+ output.push_front(getOutputValue());
}
enabled = true;
* Output[n] = alpha*Input[n] + (1-alpha)*Output[n-1]
*
*/
+ if( debug ) cout << "Updating " << get_name()
+ << " dt " << dt << endl;
if (filterType == exponential)
{
- double alpha = 1 / ((Tf/dt) + 1);
+ double alpha = 1 / ((TfInput.getValue()/dt) + 1);
output.push_front(alpha * input[0] +
(1 - alpha) * output[0]);
}
else if (filterType == doubleExponential)
{
- double alpha = 1 / ((Tf/dt) + 1);
+ double alpha = 1 / ((TfInput.getValue()/dt) + 1);
output.push_front(alpha * alpha * input[0] +
2 * (1 - alpha) * output[0] -
(1 - alpha) * (1 - alpha) * output[1]);
else if (filterType == movingAverage)
{
output.push_front(output[0] +
- (input[0] - input.back()) / samples);
+ (input[0] - input.back()) / samplesInput.getValue());
}
else if (filterType == noiseSpike)
{
- double maxChange = rateOfChange * dt;
+ double maxChange = rateOfChangeInput.getValue() * dt;
if ((output[0] - input[0]) > maxChange)
{
}
else if (filterType == gain)
{
- if (gain_prop != NULL) {
- gainFactor = gain_prop->getDoubleValue();
- }
- output[0] = gainFactor * input[0];
+ output[0] = gainInput.getValue() * input[0];
}
else if (filterType == reciprocal)
{
- if (gain_prop != NULL) {
- gainFactor = gain_prop->getDoubleValue();
- }
if (input[0] != 0.0) {
- output[0] = gainFactor / input[0];
+ output[0] = gainInput.getValue() / input[0];
}
}
- if (output[0] < output_min_clamp) {
- output[0] = output_min_clamp;
- }
- else if (output[0] > output_max_clamp) {
- output[0] = output_max_clamp;
- }
+ output[0] = Clamp(output[0]) ;
+ setOutputValue( output[0] );
- unsigned int i;
- for ( i = 0; i < output_list.size(); ++i ) {
- output_list[i]->setDoubleValue( output[0] );
- }
output.resize(2);
if (debug)
#include <Main/fg_props.hxx>
+class FGXMLAutoInput {
+private:
+ SGPropertyNode_ptr property; // The name of the property containing the value
+ double value; // The value as a constant or initializer for the property
+ double offset; // A fixed offset
+ double scale; // A constant scaling factor
+
+public:
+ FGXMLAutoInput() :
+ property(NULL),
+ value(0.0),
+ offset(0.0),
+ scale(1.0) {}
+
+ void parse( SGPropertyNode_ptr, double value = 0.0, double offset = 0.0, double scale = 1.0 );
+ inline double getValue() {
+ if( property != NULL ) value = property->getDoubleValue();
+ return value * scale + offset;
+ }
+};
+
/**
* Base class for other autopilot components
*/
class FGXMLAutoComponent : public SGReferenced {
-protected:
-
- string name;
+private:
+ bool clamp;
+ 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;
- bool enabled;
- SGPropertyNode_ptr input_prop;
- SGPropertyNode_ptr r_n_prop;
- double r_n_value;
- vector <SGPropertyNode_ptr> output_list;
- SGSharedPtr<const SGCondition> _condition;
+ string name;
+protected:
-public:
+ FGXMLAutoInput valueInput;
+ FGXMLAutoInput referenceInput;
+ FGXMLAutoInput uminInput;
+ FGXMLAutoInput umaxInput;
+ // debug flag
+ bool debug;
+ bool enabled;
- FGXMLAutoComponent() :
- enable_prop( NULL ),
- passive_mode( fgGetNode("/autopilot/locks/passive-mode", true) ),
- enable_value( "" ),
- honor_passive( false ),
- enabled( false ),
- input_prop( NULL ),
- r_n_prop( NULL ),
- r_n_value( 0.0 ),
- _condition( NULL )
- { }
+public:
- virtual ~FGXMLAutoComponent() {}
+ FGXMLAutoComponent( SGPropertyNode *node);
+ virtual ~FGXMLAutoComponent();
virtual void update (double dt)=0;
inline const string& get_name() { return name; }
+
+ inline double Clamp( double value ) {
+ if( clamp ) {
+ double d = umaxInput.getValue();
+ if( value > d ) value = d;
+ d = uminInput.getValue();
+ if( value < d ) value = d;
+ }
+ return value;
+ }
+
+ inline void setOutputValue( 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 ( unsigned i = 0; i < output_list.size(); ++i ) {
+ output_list[i]->setDoubleValue( Clamp(value) );
+ }
+ }
+
+ inline double getOutputValue() {
+ 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
- SGPropertyNode_ptr Kp_prop;
+ FGXMLAutoInput Kp; // proportional gain
+ FGXMLAutoInput Ti; // Integrator time (sec)
+ FGXMLAutoInput 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)
- 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)
double edf_n_1; // edf[n-1] (derivative error)
private:
// proportional component data
- bool proportional;
- double Kp;
- SGPropertyNode_ptr Kp_prop;
- SGPropertyNode_ptr offset_prop;
- double offset_value;
+ FGXMLAutoInput Kp;
// integral component data
- bool integral;
- double Ki;
+ FGXMLAutoInput 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
- SGPropertyNode_ptr umin_prop;
- double u_max; // Maximum output clamp
- SGPropertyNode_ptr umax_prop;
-
-
public:
FGPISimpleController( SGPropertyNode *node );
double seconds;
double filter_gain;
- // debug flag
- bool debug;
-
// Input values
double ivalue; // input value
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]
- double gainFactor;
- double output_min_clamp;
- double output_max_clamp;
- SGPropertyNode_ptr gain_prop;
+ FGXMLAutoInput samplesInput; // Number of input samples to average
+ FGXMLAutoInput rateOfChangeInput; // The maximum allowable rate of change [1/s]
+ FGXMLAutoInput gainInput; //
+ FGXMLAutoInput TfInput; // Filter time [s]
deque <double> output;
deque <double> input;
noiseSpike, gain, reciprocal };
filterTypes filterType;
- bool debug;
-
public:
FGDigitalFilter(SGPropertyNode *node);
~FGDigitalFilter() {}
projects / flightgear.git / commitdiff