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Jim Wilson:

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This patch adds the ability to do a simple scaling of input without having to
add hardcoded helpers.  Example:

    <reference>
      <prop>/autopilot/settings/vertical-speed-fpm</prop>
      <scale>0.01667</scale>
    </reference>
This commit is contained in:
curt 2004-03-21 21:05:06 +00:00
parent deccb6c9a7
commit 0857271582
2 changed files with 30 additions and 6 deletions
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32
src/Autopilot/xmlauto.cxx
View file

@ -45,7 +45,9 @@ FGPIDController::FGPIDController( SGPropertyNode *node ):
ep_n_1( 0.0 ),
edf_n_1( 0.0 ),
edf_n_2( 0.0 ),
u_n_1( 0.0 )
u_n_1( 0.0 ),
r_scale( 1.0 ),
y_scale( 1.0 )
{
int i;
for ( i = 0; i < node->nChildren(); ++i ) {
@ -74,6 +76,10 @@ FGPIDController::FGPIDController( SGPropertyNode *node ):
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 ) {
@ -84,6 +90,10 @@ FGPIDController::FGPIDController( SGPropertyNode *node ):
r_n = prop->getDoubleValue();
}
}
prop = child->getChild( "scale" );
if ( prop != NULL ) {
r_scale = prop->getDoubleValue();
}
} else if ( cname == "output" ) {
int i = 0;
SGPropertyNode *prop;
@ -231,12 +241,12 @@ void FGPIDController::update( double dt ) {
double y_n = 0.0;
if ( input_prop != NULL ) {
y_n = input_prop->getDoubleValue();
y_n = input_prop->getDoubleValue() * y_scale;
}
double r_n = 0.0;
if ( r_n_prop != NULL ) {
r_n = r_n_prop->getDoubleValue();
r_n = r_n_prop->getDoubleValue() * r_scale;
} else {
r_n = r_n_value;
}
@ -335,7 +345,9 @@ FGPISimpleController::FGPISimpleController( SGPropertyNode *node ):
y_n( 0.0 ),
r_n( 0.0 ),
u_min( 0.0 ),
u_max( 0.0 )
u_max( 0.0 ),
y_scale( 1.0 ),
r_scale ( 1.0 )
{
int i;
for ( i = 0; i < node->nChildren(); ++i ) {
@ -364,6 +376,10 @@ FGPISimpleController::FGPISimpleController( SGPropertyNode *node ):
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 ) {
@ -374,6 +390,10 @@ FGPISimpleController::FGPISimpleController( SGPropertyNode *node ):
r_n = prop->getDoubleValue();
}
}
prop = child->getChild( "scale" );
if ( prop != NULL ) {
r_scale = prop->getDoubleValue();
}
} else if ( cname == "output" ) {
int i = 0;
SGPropertyNode *prop;
@ -433,12 +453,12 @@ void FGPISimpleController::update( double dt ) {
if ( debug ) cout << "Updating " << name << endl;
double input = 0.0;
if ( input_prop != NULL ) {
input = input_prop->getDoubleValue();
input = input_prop->getDoubleValue() * y_scale;
}
double r_n = 0.0;
if ( r_n_prop != NULL ) {
r_n = r_n_prop->getDoubleValue();
r_n = r_n_prop->getDoubleValue() * r_scale;
} else {
r_n = r_n_value;
}

4
src/Autopilot/xmlauto.hxx
View file

@ -96,6 +96,8 @@ private:
// 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
// Configuration values
double Kp; // proportional gain
@ -161,6 +163,8 @@ private:
// 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
double u_max; // Maximum output clamp