using std::cout;
using std::endl;
-/*
-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 )
{
- delete property;
- property = NULL;
value = aValue;
- offset = aOffset;
- scale = aScale;
+ property = NULL;
+ offset = NULL;
+ scale = NULL;
+ min = NULL;
+ max = NULL;
if( node == NULL )
return;
SGPropertyNode * n;
- if( (n = node->getChild( "scale" )) != NULL )
- scale = n->getDoubleValue();
+ if( (n = node->getChild("condition")) != NULL ) {
+ _condition = sgReadCondition(node, n);
+ }
+
+ if( (n = node->getChild( "scale" )) != NULL ) {
+ scale = new FGXMLAutoInput( n, aScale );
+ }
+
+ if( (n = node->getChild( "offset" )) != NULL ) {
+ offset = new FGXMLAutoInput( n, aOffset );
+ }
- if( (n = node->getChild( "offset" )) != NULL )
- offset = n->getDoubleValue();
+ if( (n = node->getChild( "max" )) != NULL ) {
+ max = new FGXMLAutoInput( n );
+ }
+
+ if( (n = node->getChild( "min" )) != NULL ) {
+ min = new FGXMLAutoInput( n );
+ }
SGPropertyNode *valueNode = node->getChild( "value" );
if ( valueNode != NULL ) {
if ( valueNode != NULL ) {
// initialize property with given value
// if both <prop> and <value> exist
- if( scale != 0 )
- property->setDoubleValue( (value - offset)/scale );
+ double s = get_scale();
+ if( s != 0 )
+ property->setDoubleValue( (value - get_offset())/s );
else
property->setDoubleValue( 0 ); // if scale is zero, value*scale is zero
}
}
}
+void FGXMLAutoInput::set_value( double aValue )
+{
+ double s = get_scale();
+ if( s != 0 )
+ property->setDoubleValue( (aValue - get_offset())/s );
+ else
+ property->setDoubleValue( 0 ); // if scale is zero, value*scale is zero
+}
+
+double FGXMLAutoInput::get_value()
+{
+ if( property != NULL )
+ value = property->getDoubleValue();
+
+ if( scale )
+ value *= scale->get_value();
+
+ if( offset )
+ value += offset->get_value();
+
+ if( min ) {
+ double m = min->get_value();
+ if( value < m )
+ value = m;
+ }
+
+ if( max ) {
+ double m = max->get_value();
+ if( value > m )
+ value = m;
+ }
+
+ return value;
+}
+
FGXMLAutoComponent::FGXMLAutoComponent( SGPropertyNode * node ) :
debug(false),
name(""),
enable_value( NULL ),
honor_passive( false ),
enabled( false ),
- clamp( false ),
- _condition( NULL )
+ _condition( NULL ),
+ feedback_if_disabled( false )
{
int i;
SGPropertyNode *prop;
if ( cname == "name" ) {
name = cval;
+ } else if ( cname == "feedback-if-disabled" ) {
+ feedback_if_disabled = child->getBoolValue();
+
} else if ( cname == "debug" ) {
debug = child->getBoolValue();
} else if ( cname == "input" ) {
- valueInput.parse( child );
+ valueInput.push_back( new FGXMLAutoInput( child ) );
} else if ( cname == "reference" ) {
- referenceInput.parse( child );
+ referenceInput.push_back( new FGXMLAutoInput( child ) );
} else if ( cname == "output" ) {
// grab all <prop> and <property> childs
output_list.push_back( fgGetNode(child->getStringValue(), true ) );
} else if ( cname == "config" ) {
+ if( (prop = child->getChild("min")) != NULL ) {
+ uminInput.push_back( new FGXMLAutoInput( prop ) );
+ }
if( (prop = child->getChild("u_min")) != NULL ) {
- uminInput.parse( prop );
- clamp = true;
+ uminInput.push_back( new FGXMLAutoInput( prop ) );
+ }
+ if( (prop = child->getChild("max")) != NULL ) {
+ umaxInput.push_back( new FGXMLAutoInput( prop ) );
}
if( (prop = child->getChild("u_max")) != NULL ) {
- umaxInput.parse( prop );
- clamp = true;
+ umaxInput.push_back( new FGXMLAutoInput( prop ) );
}
+ } else if ( cname == "min" ) {
+ uminInput.push_back( new FGXMLAutoInput( child ) );
} else if ( cname == "u_min" ) {
- uminInput.parse( child );
- clamp = true;
+ uminInput.push_back( new FGXMLAutoInput( child ) );
+ } else if ( cname == "max" ) {
+ umaxInput.push_back( new FGXMLAutoInput( child ) );
} else if ( cname == "u_max" ) {
- umaxInput.parse( child );
- clamp = true;
+ umaxInput.push_back( new FGXMLAutoInput( child ) );
}
}
}
return true;
}
+void FGXMLAutoComponent::do_feedback_if_disabled()
+{
+ if( output_list.size() > 0 ) {
+ FGXMLAutoInput * input = valueInput.get_active();
+ if( input != NULL )
+ input->set_value( output_list[0]->getDoubleValue() );
+ }
+}
+
+double FGXMLAutoComponent::clamp( double value )
+{
+ // clamp, if either min or max is defined
+ if( uminInput.size() + umaxInput.size() > 0 ) {
+ double d = umaxInput.get_value( 0.0 );
+ if( value > d ) value = d;
+ d = uminInput.get_value( 0.0 );
+ if( value < d ) value = d;
+ }
+ return value;
+}
+
FGPIDController::FGPIDController( SGPropertyNode *node ):
FGXMLAutoComponent( node ),
alpha( 0.1 ),
desiredTs = config->getDoubleValue();
}
- Kp.parse( child->getChild( "Kp" ) );
- Ti.parse( child->getChild( "Ti" ) );
- Td.parse( child->getChild( "Td" ) );
+ Kp.push_back( new FGXMLAutoInput( child->getChild( "Kp" ) ) );
+ Ti.push_back( new FGXMLAutoInput( child->getChild( "Ti" ) ) );
+ Td.push_back( new FGXMLAutoInput( child->getChild( "Td" ) ) );
config = child->getChild( "beta" );
if ( config != NULL ) {
double u_n = 0.0; // absolute output
double Ts; // sampling interval (sec)
- double u_min = uminInput.getValue();
- double u_max = umaxInput.getValue();
+ double u_min = uminInput.get_value();
+ double u_max = umaxInput.get_value();
elapsedTime += dt;
if ( elapsedTime <= desiredTs ) {
if ( !enabled ) {
// first time being enabled, seed u_n with current
// property tree value
- u_n = getOutputValue();
+ u_n = get_output_value();
u_n_1 = u_n;
}
enabled = true;
} else {
enabled = false;
+ do_feedback();
}
if ( enabled && Ts > 0.0) {
if ( debug ) cout << "Updating " << get_name()
<< " Ts " << Ts << endl;
- double y_n = valueInput.getValue();
- double r_n = referenceInput.getValue();
+ double y_n = valueInput.get_value();
+ double r_n = referenceInput.get_value();
if ( debug ) cout << " input = " << y_n << " ref = " << r_n << endl;
ed_n = gamma * r_n - y_n;
if ( debug ) cout << " ed_n = " << ed_n;
- double td = Td.getValue();
+ double td = Td.get_value();
if ( td > 0.0 ) {
// Calculates filter time:
Tf = alpha * td;
}
// Calculates the incremental output:
- double ti = Ti.getValue();
+ double ti = Ti.get_value();
if ( ti > 0.0 ) {
- delta_u_n = Kp.getValue() * ( (ep_n - ep_n_1)
+ delta_u_n = Kp.get_value() * ( (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.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))
+ cout << "P:" << Kp.get_value() * (ep_n - ep_n_1)
+ << " I:" << Kp.get_value() * ((Ts/ti) * e_n)
+ << " D:" << Kp.get_value() * ((td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2))
<< endl;
}
edf_n_2 = edf_n_1;
edf_n_1 = edf_n;
- setOutputValue( u_n );
+ set_output_value( u_n );
} else if ( !enabled ) {
ep_n = 0.0;
edf_n = 0.0;
string cname = child->getName();
string cval = child->getStringValue();
if ( cname == "config" ) {
- Kp.parse( child->getChild( "Kp" ) );
- Ki.parse( child->getChild( "Ki" ) );
+ Kp.push_back( new FGXMLAutoInput( child->getChild( "Kp" ) ) );
+ Ki.push_back( new FGXMLAutoInput( child->getChild( "Ki" ) ) );
} else {
SG_LOG( SG_AUTOPILOT, SG_WARN, "Error in autopilot config logic" );
if ( get_name().length() ) {
enabled = true;
} else {
enabled = false;
+ do_feedback();
}
if ( enabled ) {
if ( debug ) cout << "Updating " << get_name() << endl;
- double y_n = valueInput.getValue();
- double r_n = referenceInput.getValue();
+ double y_n = valueInput.get_value();
+ double r_n = referenceInput.get_value();
double error = r_n - y_n;
if ( debug ) cout << "input = " << y_n
<< " error = " << error
<< endl;
- double prop_comp = error * Kp.getValue();
- int_sum += error * Ki.getValue() * dt;
+ double prop_comp = error * Kp.get_value();
+ int_sum += error * Ki.get_value() * dt;
if ( debug ) cout << "prop_comp = " << prop_comp
<< " int_sum = " << int_sum << endl;
double output = prop_comp + int_sum;
- output = Clamp( output );
- setOutputValue( output );
+ output = clamp( output );
+ set_output_value( output );
if ( debug ) cout << "output = " << output << endl;
}
}
FGPredictor::FGPredictor ( SGPropertyNode *node ):
- FGXMLAutoComponent( node ),
- average ( 0.0 ),
- seconds( 0.0 ),
- filter_gain( 0.0 ),
- ivalue( 0.0 )
+ 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 == "seconds" ) {
- seconds = child->getDoubleValue();
+ seconds.push_back( new FGXMLAutoInput( child, 0 ) );
} else if ( cname == "filter-gain" ) {
- filter_gain = child->getDoubleValue();
+ filter_gain.push_back( new FGXMLAutoInput( child, 0 ) );
}
}
}
*/
- ivalue = valueInput.getValue();
+ double ivalue = valueInput.get_value();
if ( isPropertyEnabled() ) {
if ( !enabled ) {
enabled = true;
} else {
enabled = false;
+ do_feedback();
}
if ( enabled ) {
if ( dt > 0.0 ) {
double current = (ivalue - last_value)/dt; // calculate current error change (per second)
- if ( dt < 1.0 ) {
- average = (1.0 - dt) * average + current * dt;
- } else {
- average = current;
- }
+ double average = dt < 1.0 ? ((1.0 - dt) * average + current * dt) : current;
// calculate output with filter gain adjustment
- double output = ivalue + (1.0 - filter_gain) * (average * seconds) + filter_gain * (current * seconds);
- output = Clamp( output );
- setOutputValue( output );
+ double output = ivalue +
+ (1.0 - filter_gain.get_value()) * (average * seconds.get_value()) +
+ filter_gain.get_value() * (current * seconds.get_value());
+ output = clamp( output );
+ set_output_value( output );
}
last_value = ivalue;
}
FGDigitalFilter::FGDigitalFilter(SGPropertyNode *node):
- FGXMLAutoComponent( node )
+ FGXMLAutoComponent( node ),
+ filterType(none)
{
int i;
for ( i = 0; i < node->nChildren(); ++i ) {
filterType = reciprocal;
}
} else if ( cname == "filter-time" ) {
- TfInput.parse( child, 1.0 );
+ TfInput.push_back( new FGXMLAutoInput( child, 1.0 ) );
+ if( filterType == none ) filterType = exponential;
} else if ( cname == "samples" ) {
- samplesInput.parse( child, 1 );
+ samplesInput.push_back( new FGXMLAutoInput( child, 1 ) );
+ if( filterType == none ) filterType = movingAverage;
} else if ( cname == "max-rate-of-change" ) {
- rateOfChangeInput.parse( child, 1.0 );
+ rateOfChangeInput.push_back( new FGXMLAutoInput( child, 1 ) );
+ if( filterType == none ) filterType = noiseSpike;
} else if ( cname == "gain" ) {
- gainInput.parse( child );
+ gainInput.push_back( new FGXMLAutoInput( child, 1 ) );
+ if( filterType == none ) filterType = gain;
}
}
output.resize(2, 0.0);
- input.resize(samplesInput.getValue() + 1, 0.0);
+ input.resize(samplesInput.get_value() + 1, 0.0);
}
void FGDigitalFilter::update(double dt)
{
if ( isPropertyEnabled() ) {
- input.push_front(valueInput.getValue());
- input.resize(samplesInput.getValue() + 1, 0.0);
+ input.push_front(valueInput.get_value());
+ input.resize(samplesInput.get_value() + 1, 0.0);
if ( !enabled ) {
// first time being enabled, initialize output to the
// value of the output property to avoid bumping.
- output.push_front(getOutputValue());
+ output.push_front(get_output_value());
}
enabled = true;
} else {
enabled = false;
+ do_feedback();
}
if ( enabled && dt > 0.0 ) {
if (filterType == exponential)
{
- double alpha = 1 / ((TfInput.getValue()/dt) + 1);
+ double alpha = 1 / ((TfInput.get_value()/dt) + 1);
output.push_front(alpha * input[0] +
(1 - alpha) * output[0]);
}
else if (filterType == doubleExponential)
{
- double alpha = 1 / ((TfInput.getValue()/dt) + 1);
+ double alpha = 1 / ((TfInput.get_value()/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()) / samplesInput.getValue());
+ (input[0] - input.back()) / samplesInput.get_value());
}
else if (filterType == noiseSpike)
{
- double maxChange = rateOfChangeInput.getValue() * dt;
+ double maxChange = rateOfChangeInput.get_value() * dt;
if ((output[0] - input[0]) > maxChange)
{
}
else if (filterType == gain)
{
- output[0] = gainInput.getValue() * input[0];
+ output[0] = gainInput.get_value() * input[0];
}
else if (filterType == reciprocal)
{
if (input[0] != 0.0) {
- output[0] = gainInput.getValue() / input[0];
+ output[0] = gainInput.get_value() / input[0];
}
}
- output[0] = Clamp(output[0]) ;
- setOutputValue( output[0] );
+ output[0] = clamp(output[0]) ;
+ set_output_value( output[0] );
output.resize(2);
#include <Main/fg_props.hxx>
-class FGXMLAutoInput {
+class FGXMLAutoInput : public SGReferenced {
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
+ SGPropertyNode_ptr property; // The name of the property containing the value
+ SGSharedPtr<FGXMLAutoInput> offset; // A fixed offset, defaults to zero
+ SGSharedPtr<FGXMLAutoInput> scale; // A constant scaling factor defaults to one
+ SGSharedPtr<FGXMLAutoInput> min; // A minimum clip defaults to no clipping
+ SGSharedPtr<FGXMLAutoInput> max; // A maximum clip defaults to no clipping
+ SGSharedPtr<const SGCondition> _condition;
public:
- FGXMLAutoInput() :
+ FGXMLAutoInput( SGPropertyNode_ptr node = NULL, double value = 0.0, double offset = 0.0, double scale = 1.0 ) :
property(NULL),
value(0.0),
- offset(0.0),
- scale(1.0) {}
+ offset(NULL),
+ scale(NULL),
+ min(NULL),
+ max(NULL),
+ _condition(NULL) {
+ parse( node, value, offset, scale );
+ }
+
+ void parse( SGPropertyNode_ptr, double value = 0.0, double offset = 0.0, double scale = 1.0 );
+
+ /* get the value of this input, apply scale and offset and clipping */
+ double get_value();
+
+ /* set the input value after applying offset and scale */
+ void set_value( double value );
+
+ inline double get_scale() {
+ return scale == NULL ? 1.0 : scale->get_value();
+ }
+
+ inline double get_offset() {
+ return offset == NULL ? 0.0 : offset->get_value();
+ }
+
+ inline bool is_enabled() {
+ return _condition == NULL ? true : _condition->test();
+ }
+
+};
- 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;
+class FGXMLAutoInputList : public vector<SGSharedPtr<FGXMLAutoInput> > {
+ public:
+ FGXMLAutoInput * get_active() {
+ for (iterator it = begin(); it != end(); ++it) {
+ if( (*it)->is_enabled() )
+ return *it;
+ }
+ return NULL;
}
+
+ double get_value( double def = 0.0 ) {
+ FGXMLAutoInput * input = get_active();
+ return input == NULL ? def : input->get_value();
+ }
+
};
/**
class FGXMLAutoComponent : public SGReferenced {
private:
- bool clamp;
vector <SGPropertyNode_ptr> output_list;
SGSharedPtr<const SGCondition> _condition;
bool honor_passive;
string name;
+
+ /* Feed back output property to input property if
+ this filter is disabled. This is for multi-stage
+ filter where one filter sits behind a pid-controller
+ to provide changes of the overall output to the pid-
+ controller.
+ feedback is disabled by default.
+ */
+ bool feedback_if_disabled;
+ void do_feedback_if_disabled();
+
protected:
- FGXMLAutoInput valueInput;
- FGXMLAutoInput referenceInput;
- FGXMLAutoInput uminInput;
- FGXMLAutoInput umaxInput;
+ FGXMLAutoInputList valueInput;
+ FGXMLAutoInputList referenceInput;
+ FGXMLAutoInputList uminInput;
+ FGXMLAutoInputList umaxInput;
// debug flag
bool debug;
bool enabled;
+
+ inline void do_feedback() {
+ if( feedback_if_disabled ) do_feedback_if_disabled();
+ }
+
public:
FGXMLAutoComponent( SGPropertyNode *node);
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;
- }
+ double clamp( double value );
- inline void setOutputValue( double value ) {
+ inline void set_output_value( 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) );
- }
+ for( vector <SGPropertyNode_ptr>::iterator it = output_list.begin(); it != output_list.end(); ++it)
+ (*it)->setDoubleValue( clamp( value ) );
}
- inline double getOutputValue() {
- return output_list.size() == 0 ? 0.0 : Clamp(output_list[0]->getDoubleValue());
+ inline double get_output_value() {
+ return output_list.size() == 0 ? 0.0 : clamp(output_list[0]->getDoubleValue());
}
/*
// Configuration values
- FGXMLAutoInput Kp; // proportional gain
- FGXMLAutoInput Ti; // Integrator time (sec)
- FGXMLAutoInput Td; // Derivator time (sec)
+ FGXMLAutoInputList Kp; // proportional gain
+ FGXMLAutoInputList Ti; // Integrator time (sec)
+ FGXMLAutoInputList Td; // Derivator time (sec)
double alpha; // low pass filter weighing factor (usually 0.1)
double beta; // process value weighing factor for
FGPIDController( SGPropertyNode *node, bool old );
~FGPIDController() {}
- void update_old( double dt );
void update( double dt );
};
private:
// proportional component data
- FGXMLAutoInput Kp;
+ FGXMLAutoInputList Kp;
// integral component data
- FGXMLAutoInput Ki;
+ FGXMLAutoInputList Ki;
double int_sum;
class FGPredictor : public FGXMLAutoComponent {
private:
-
- // proportional component data
double last_value;
- double average;
- double seconds;
- double filter_gain;
+ FGXMLAutoInputList seconds;
+ FGXMLAutoInputList filter_gain;
- // Input values
- double ivalue; // input value
-
public:
-
FGPredictor( SGPropertyNode *node );
~FGPredictor() {}
class FGDigitalFilter : public FGXMLAutoComponent
{
private:
- 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]
+ FGXMLAutoInputList samplesInput; // Number of input samples to average
+ FGXMLAutoInputList rateOfChangeInput; // The maximum allowable rate of change [1/s]
+ FGXMLAutoInputList gainInput; //
+ FGXMLAutoInputList TfInput; // Filter time [s]
deque <double> output;
deque <double> input;
enum filterTypes { exponential, doubleExponential, movingAverage,
- noiseSpike, gain, reciprocal };
+ noiseSpike, gain, reciprocal, none };
filterTypes filterType;
public:
projects / flightgear.git / commitdiff