From ae77c7d75a87daa741807c9169b7d59b6c6f0c9e Mon Sep 17 00:00:00 2001 From: ehofman Date: Wed, 8 Feb 2006 09:15:57 +0000 Subject: [PATCH] Sync. w. JSBSim CVS. --- src/FDM/JSBSim/initialization/FGTrim.h | 6 +- src/FDM/JSBSim/math/FGFunction.cpp | 8 +- src/FDM/JSBSim/math/FGTable.cpp | 6 + src/FDM/JSBSim/models/FGFCS.h | 85 +++++-- .../models/flight_control/FGFCSComponent.cpp | 7 +- .../models/flight_control/FGFCSComponent.h | 3 +- .../JSBSim/models/flight_control/FGFilter.h | 203 ++++++++++------ src/FDM/JSBSim/models/flight_control/FGGain.h | 225 +++++++++++------- .../JSBSim/models/flight_control/FGSensor.h | 4 +- .../JSBSim/models/propulsion/FGPropeller.cpp | 2 +- 10 files changed, 358 insertions(+), 191 deletions(-) diff --git a/src/FDM/JSBSim/initialization/FGTrim.h b/src/FDM/JSBSim/initialization/FGTrim.h index 1f6bbce76..d41708d4b 100644 --- a/src/FDM/JSBSim/initialization/FGTrim.h +++ b/src/FDM/JSBSim/initialization/FGTrim.h @@ -108,7 +108,8 @@ CLASS DOCUMENTATION at those conditions? Check the speed, altitude, configuration (flaps, gear, etc.), weight, cg, and anything else that may be relevant. - Example usage:
+    Example usage:
+    @code
     FGFDMExec* FDMExec = new FGFDMExec();
 
     FGInitialCondition* fgic = new FGInitialCondition(FDMExec);
@@ -119,7 +120,8 @@ CLASS DOCUMENTATION
     if( !fgt.DoTrim() ) {
       cout << "Trim Failed" << endl;
     }
-    fgt.Report();
+ fgt.Report(); + @endcode @author Tony Peden @version "$Id$" */ diff --git a/src/FDM/JSBSim/math/FGFunction.cpp b/src/FDM/JSBSim/math/FGFunction.cpp index d00fe2cff..016b6697f 100755 --- a/src/FDM/JSBSim/math/FGFunction.cpp +++ b/src/FDM/JSBSim/math/FGFunction.cpp @@ -77,7 +77,13 @@ FGFunction::FGFunction(FGPropertyManager* propMan, Element* el, string prefix) // data types if (operation == string("property")) { property_name = element->GetDataLine(); - Parameters.push_back(new FGPropertyValue(PropertyManager->GetNode(property_name))); + FGPropertyManager* newNode = PropertyManager->GetNode(property_name); + if (newNode == 0) { + cerr << "The property " << property_name << " is undefined." << endl; + abort(); + } else { + Parameters.push_back(new FGPropertyValue( newNode )); + } } else if (operation == string("value")) { Parameters.push_back(new FGRealValue(element->GetDataAsNumber())); } else if (operation == string("table")) { diff --git a/src/FDM/JSBSim/math/FGTable.cpp b/src/FDM/JSBSim/math/FGTable.cpp index 302dd90db..f285117de 100644 --- a/src/FDM/JSBSim/math/FGTable.cpp +++ b/src/FDM/JSBSim/math/FGTable.cpp @@ -158,6 +158,12 @@ FGTable::FGTable(FGPropertyManager* propMan, Element* el) : PropertyManager(prop property_string = axisElement->GetDataLine(); node = PropertyManager->GetNode(property_string); + if (node == 0) { + cerr << "IndependenVar property, " << property_string + << " in Table definition is not defined." << endl; + abort(); + } + lookup_axis = axisElement->GetAttributeValue("lookup"); if (lookup_axis == string("row")) { lookupProperty[eRow] = node; diff --git a/src/FDM/JSBSim/models/FGFCS.h b/src/FDM/JSBSim/models/FGFCS.h index 9a99aded1..450d2b951 100644 --- a/src/FDM/JSBSim/models/FGFCS.h +++ b/src/FDM/JSBSim/models/FGFCS.h @@ -81,67 +81,110 @@ CLASS DOCUMENTATION which comprise the control laws for an axis are defined sequentially in the configuration file. For instance, for the X-15: - 
-    \
-      \
-        \
+    @code
+    
+      
+        
             fcs/elevator-cmd-norm 
             fcs/pitch-trim-cmd-norm 
            
              -1
              1
            
-        \
+        
 
-        \
+        
            fcs/pitch-trim-sum 
-          
+          
              -50 
               50 
-          
-        \
+          
+        
 
         ... etc.
-
+ @endcode In the above case we can see the first few components of the pitch channel - defined. The input to the first component, as can be seen in the "Pitch trim + defined. The input to the first component (a summer), as can be seen in the "Pitch trim sum" component, is really the sum of two parameters: elevator command (from - the stick - a pilot input), and pitch trim. The type of this component is - "Summer". + the stick - a pilot input), and pitch trim. The next component created is an aerosurface scale component - a type of gain (see the LoadFCS() method for insight on how the various types of components map into the actual component classes). This continues until the final component for an axis when the - \ element specifies where the output is supposed to go. See the + \ element is usually used to specify where the output is supposed to go. See the individual components for more information on how they are mechanized. Another option for the flight controls portion of the config file is that in addition to using the "NAME" attribute in, - 
+    @code
     \
-
+ @endcode one can also supply a filename: - 
+    @code
     \
     \
-
+ @endcode In this case, the FCS would be read in from another file. +

Properties

+ @property fcs/aileron-cmd-norm normalized aileron command + @property fcs/elevator-cmd-norm normalized elevator command + @property fcs/rudder-cmd-norm + @property fcs/steer-cmd-norm + @property fcs/flap-cmd-norm + @property fcs/speedbrake-cmd-norm + @property fcs/spoiler-cmd-norm + @property fcs/pitch-trim-cmd-norm + @property fcs/roll-trim-cmd-norm + @property fcs/yaw-trim-cmd-norm + @property gear/gear-cmd-norm + @property fcs/left-aileron-pos-rad + @property fcs/left-aileron-pos-deg + @property fcs/left-aileron-pos-norm + @property fcs/mag-left-aileron-pos-rad + @property fcs/right-aileron-pos-rad + @property fcs/right-aileron-pos-deg + @property fcs/right-aileron-pos-norm + @property fcs/mag-right-aileron-pos-rad + @property fcs/elevator-pos-rad + @property fcs/elevator-pos-deg + @property fcs/elevator-pos-norm + @property fcs/mag-elevator-pos-rad + @property fcs/rudder-pos-rad + @property fcs/rudder-pos-deg + @property fcs/rudder-pos-norm + @property fcs/mag-rudder-pos-rad + @property fcs/flap-pos-rad + @property fcs/flap-pos-deg + @property fcs/flap-pos-norm + @property fcs/speedbrake-pos-rad + @property fcs/speedbrake-pos-deg + @property fcs/speedbrake-pos-norm + @property fcs/mag-speedbrake-pos-rad + @property fcs/spoiler-pos-rad + @property fcs/spoiler-pos-deg + @property fcs/spoiler-pos-norm + @property fcs/mag-spoiler-pos-rad + @property gear/gear-pos-norm + @author Jon S. Berndt - @version $Id$ + @version $Revision$ @see FGFCSComponent @see FGXMLElement @see FGGain @see FGSummer @see FGSwitch + @see FGFCSFunction + @see FGCondition @see FGGradient @see FGFilter @see FGDeadBand + @see FGKinemat */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -461,9 +504,7 @@ public: //@} /** Loads the Flight Control System. - The FGAircraft instance is actually responsible for reading the config file - and calling the various Load() methods of the other systems, passing in - the XML Element instance pointer. Load() is called from FGAircraft. + Load() is called from FGFDMExec. @param el pointer to the Element instance @return true if succesful */ bool Load(Element* el); diff --git a/src/FDM/JSBSim/models/flight_control/FGFCSComponent.cpp b/src/FDM/JSBSim/models/flight_control/FGFCSComponent.cpp index d103b20c2..b67ffaef8 100644 --- a/src/FDM/JSBSim/models/flight_control/FGFCSComponent.cpp +++ b/src/FDM/JSBSim/models/flight_control/FGFCSComponent.cpp @@ -54,6 +54,7 @@ FGFCSComponent::FGFCSComponent(FGFCS* _fcs, Element* element) : fcs(_fcs) Input = Output = clipmin = clipmax = 0.0; OutputNode = treenode = 0; ClipMinPropertyNode = ClipMaxPropertyNode = 0; + clipMinSign = clipMaxSign = 1.0; IsOutput = clip = false; string input, clip_string; @@ -121,12 +122,14 @@ FGFCSComponent::FGFCSComponent(FGFCS* _fcs, Element* element) : fcs(_fcs) if (clip_el) { clip_string = clip_el->FindElementValue("min"); if (clip_string.find_first_not_of("+-.0123456789") != string::npos) { // it's a property + if (clip_string[0] == '-') clipMinSign = -1.0; ClipMinPropertyNode = PropertyManager->GetNode( clip_string ); } else { clipmin = clip_el->FindElementValueAsNumber("min"); } clip_string = clip_el->FindElementValue("max"); if (clip_string.find_first_not_of("+-.0123456789") != string::npos) { // it's a property + if (clip_string[0] == '-') clipMaxSign = -1.0; ClipMaxPropertyNode = PropertyManager->GetNode( clip_string ); } else { clipmax = clip_el->FindElementValueAsNumber("max"); @@ -166,8 +169,8 @@ bool FGFCSComponent::Run(void) void FGFCSComponent::Clip(void) { if (clip) { - if (ClipMinPropertyNode != 0) clipmin = ClipMinPropertyNode->getDoubleValue(); - if (ClipMaxPropertyNode != 0) clipmax = ClipMaxPropertyNode->getDoubleValue(); + if (ClipMinPropertyNode != 0) clipmin = clipMinSign*ClipMinPropertyNode->getDoubleValue(); + if (ClipMaxPropertyNode != 0) clipmax = clipMaxSign*ClipMaxPropertyNode->getDoubleValue(); if (Output > clipmax) Output = clipmax; else if (Output < clipmin) Output = clipmin; } diff --git a/src/FDM/JSBSim/models/flight_control/FGFCSComponent.h b/src/FDM/JSBSim/models/flight_control/FGFCSComponent.h index eb5bf1b9a..17beb089b 100644 --- a/src/FDM/JSBSim/models/flight_control/FGFCSComponent.h +++ b/src/FDM/JSBSim/models/flight_control/FGFCSComponent.h @@ -69,7 +69,7 @@ CLASS DOCUMENTATION /** Base class for JSBSim Flight Control System Components. The Flight Control System (FCS) for JSBSim consists of the FCS container - class (see \URL[FGFCS]{FGFCS.html}), the FGFCSComponent base class, and the + class (see FGFCS), the FGFCSComponent base class, and the component classes from which can be constructed a string, or channel. See: - FGSwitch @@ -119,6 +119,7 @@ protected: double Input; double Output; double clipmax, clipmin; + float clipMinSign, clipMaxSign; bool IsOutput; bool clip; diff --git a/src/FDM/JSBSim/models/flight_control/FGFilter.h b/src/FDM/JSBSim/models/flight_control/FGFilter.h index 694018e13..5ff57e7cf 100644 --- a/src/FDM/JSBSim/models/flight_control/FGFilter.h +++ b/src/FDM/JSBSim/models/flight_control/FGFilter.h @@ -4,7 +4,7 @@ Author: Jon S. Berndt Date started: 4/2000 - ------------- Copyright (C) ------------- + ------------- Copyright (C) 2000 Jon S. Berndt jsb@hal-pc.org ------------- This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software @@ -57,115 +57,163 @@ CLASS DOCUMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ /** Encapsulates a filter for the flight control system. -The filter component can simulate any filter up to second order. The +The filter component can simulate any first or second order filter. The Tustin substitution is used to take filter definitions from LaPlace space to the time domain. The general format for a filter specification is: -
-\
-  \ property \
-  \ value \
-  [\ value \]
-  [\ value \]
-  [\ value \]
-  [\ value \]
-  [\ value \]
-  [\ property \]
-\
-
+@code + + property + value + [ value ] + [ value ] + [ value ] + [ value ] + [ value ] + [ + {[-]property name | value} + {[-]property name | value} + ] + [ property ] + +@endcode For a lag filter of the form, -
+
+@code
   C1
 ------
 s + C1
-
+@endcode + the corresponding filter definition is: -
-\
-  \ property \
-  \ value \
-  [\ property \]
-\
-
+ +@code + + property + value + [ + {[-]property name | value} + {[-]property name | value} + ] + [ property ] + +@endcode + As an example, for the specific filter: -
+
+@code
   600
 ------
 s + 600
-
+@endcode + the corresponding filter definition could be: -
-\
-  \ fcs/heading-command \
-  \ 600 \
-\
-
+ +@code + + fcs/heading-command + 600 + +@endcode + For a lead-lag filter of the form: -
+
+@code
 C1*s + C2
 ---------
 C3*s + C4
-
+@endcode + The corresponding filter definition is: -
-\
-  \ property \
-  \ value \
-  \ value \
-  \ value \
-  \ value \
-  [\ property \]
-\
-
+ +@code + + property + value + value + value + value + [ + {[-]property name | value} + {[-]property name | value} + ] + [ property ] + +@endcode + For a washout filter of the form: -
+
+@code
   s
 ------
 s + C1
-
+@endcode + The corresponding filter definition is: -
-\
-  \ property \
-  \ value \
-  [\ property \]
-\
-
+ +@code + + property + value + [ + {[-]property name | value} + {[-]property name | value} + ] + [ property ] + +@endcode + For a second order filter of the form: -
+
+@code
 C1*s^2 + C2*s + C3
 ------------------
 C4*s^2 + C5*s + C6
-
+@endcode + The corresponding filter definition is: -
-\
-  \ property \
-  \ value \
-  \ value \
-  \ value \
-  \ value \
-  \ value \
-  \ value \
-  [\ property \]
-\
-
+ +@code + + property + value + value + value + value + value + value + [ + {[-]property name | value} + {[-]property name | value} + ] + [ property ] + +@endcode + For an integrator of the form: -
+
+@code
  C1
  ---
   s
-
+@endcode + The corresponding filter definition is: -
-\
-  \ property \
-  \ value \
-  [\ property \]
-  [\ property \]
-\
-
+ +@code + + property + value + [ property ] + [ + {[-]property name | value} + {[-]property name | value} + ] + [ property ] + +@endcode + For the integrator, the trigger features the following behavior. If the trigger property value is: - 0: no action is taken - the output is calculated normally @@ -177,7 +225,8 @@ is so that the last component in a "string" can copy its value to the appropriat output, such as the elevator, or speedbrake, etc. @author Jon S. Berndt -@version $Id$ +@version $Revision$ + */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/flight_control/FGGain.h b/src/FDM/JSBSim/models/flight_control/FGGain.h index 778ad0376..ab20a31c1 100644 --- a/src/FDM/JSBSim/models/flight_control/FGGain.h +++ b/src/FDM/JSBSim/models/flight_control/FGGain.h @@ -1,10 +1,10 @@ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Header: FGGain.h - Author: - Date started: + Author: Jon Berndt + Date started: 1998 ? - ------------- Copyright (C) ------------- + ------------- Copyright (C) 1998 by Jon S. Berndt, jsb@hal-pc.org ------------- This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software @@ -68,98 +68,155 @@ CLASS DOCUMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ /** Encapsulates a gain component for the flight control system. - The gain component merely multiplies the input by a gain. The form of the - gain component specification is: - 
-    \
-      \ property \
-      \ value \
-      [\ property \]
-    \
-
- Note: as is the case with the Summer component, the input property name may be - immediately preceded by a minus sign to invert that signal. - - The scheduled gain component multiplies the input by a variable gain that is + The gain component merely multiplies the input by a gain. The pure gain form + of the component specification is: + + @code + + {[-]property} + {property name | value} + [ + {property name | value} + {property name | value} + ] + [ {property} ] + + @endcode + + Example: + + @code + + fcs/attitude/sensor/phi-rad + 2.0 + + -0.255 + 0.255 + + + @endcode + + Note: the input property name may be immediately preceded by a minus sign to + invert that signal. + + The scheduled gain component multiplies the input by a variable gain that is dependent on another property (such as qbar, altitude, etc.). The lookup mapping is in the form of a table. This kind of component might be used, for example, in a case where aerosurface deflection must only be commanded to acceptable settings - i.e at higher qbar the commanded elevator setting might be attenuated. The form of the scheduled gain component specification is: - 
-    \
-      INPUT \
-      [GAIN  \]
-      SCHEDULED_BY \
-      ROWS \
-      \
-      ?
-      [CLIPTO \ \ 1]
-      [OUTPUT \]
-    \
-
+ + @code + + {[-]property} + + + ... + +
+ [ + {[-]property name | value} + {[-]property name | value} + ] + [ {property name | value} ] + [ {property} ] + + @endcode + + Example: + + @code + + fcs/steer-cmd-norm + + velocities/vg-fps + + 10.0 80.0 + 50.0 15.0 + 150.0 2.0 + +
+ 0.017 + fcs/steer-pos-rad + + @endcode + An overall GAIN may be supplied that is multiplicative with the scheduled gain. - Note: as is the case with the Summer component, the input property name may - be immediately preceded by a minus sign to invert that signal. - - Here is an example of a scheduled gain component specification: - 
-    \
-      INPUT        fcs/pitch-gain-1
-      GAIN         0.017
-      SCHEDULED_BY fcs/elevator-pos-rad
-      ROWS         22
-      -0.68  -26.548
-      -0.595 -20.513
-      -0.51  -15.328
-      -0.425 -10.993
-      -0.34   -7.508
-      -0.255  -4.873
-      -0.17   -3.088
-      -0.085  -2.153
-       0      -2.068
-       0.085  -2.833
-       0.102  -3.088
-       0.119  -3.377
-       0.136  -3.7
-       0.153  -4.057
-       0.17   -4.448
-       0.187  -4.873
-       0.272  -7.508
-       0.357 -10.993
-       0.442 -15.328
-       0.527 -20.513
-       0.612 -26.548
-       0.697 -33.433
-    \
-
- In the example above, we see the utility of the overall GAIN value in + Note: the input property name may be immediately preceded by a minus sign to + invert that signal. + + In the example above, we see the utility of the overall gain value in effecting a degrees-to-radians conversion. - The aerosurface scale component is a modified version of the simple gain - component. The normal purpose - for this component is to take control inputs that range from -1 to +1 or - from 0 to +1 and scale them to match the expected inputs to a flight control - system. For instance, the normal and expected ability of a pilot to push or - pull on a control stick is about 50 pounds. The input to the pitch channelb - lock diagram of a flight control system is in units of pounds. Yet, the - joystick control input is usually in a range from -1 to +1. The form of the - aerosurface scaling component specification is: -
-    \
-      INPUT \
-      MIN \
-      MAX \
-      [GAIN  \]
-      [OUTPUT \]
-    \
-
- Note: as is the case with the Summer component, the input property name may be - immediately preceded by a minus sign to invert that signal. + The aerosurface scale component is a modified version of the simple gain + component. The purpose for this component is to take control inputs from the + domain minimum and maximum, as specified (or from -1 to +1 by default) and + scale them to map to a specified range. This can be done, for instance, to match + the component outputs to the expected inputs to a flight control system. + + The zero_centered element dictates whether the domain-to-range mapping is linear + or centered about zero. For example, if zero_centered is false, and if the domain + or range is not symmetric about zero, and an input value is zero, the output + will not be zero. Let's say that the domain is min=-2 and max=+4, with a range + of -1 to +1. If the input is 0.0, then the "normalized" input is calculated to + be 33% of the way from the minimum to the maximum. That input would be mapped + to an output of -0.33, which is 33% of the way from the range minimum to maximum. + If zero_centered is set to true (or 1) then an input of 0.0 will be mapped to an + output of 0.0, although if either the domain or range are unsymmetric about + 0.0, then the scales for the positive and negative portions of the input domain + (above and below 0.0) will be different. The zero_centered element is true by + default. Note that this feature may be important for some control surface mappings, + where the maximum upper and lower deflections may be different, but where a zero + setting is desired to be the "undeflected" value, and where full travel of the + stick is desired to cause a full deflection of the control surface. + + The form of the aerosurface scaling component specification is: + + @code + + {[-]property name} + + {value}