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- set filter dt only once

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- make throttle more responsive (again)
This commit is contained in:
mfranz 2007-07-28 08:08:22 +00:00
parent 26af6a3207
commit 22de2508aa
2 changed files with 18 additions and 10 deletions
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19
src/FDM/UFO.cxx
View file

@ -35,9 +35,11 @@
#include "UFO.hxx" #include "UFO.hxx"
double FGUFO::lowpass::_dt;
FGUFO::FGUFO( double dt ) : FGUFO::FGUFO( double dt ) :
Throttle(new lowpass(fgGetDouble("/controls/damping/throttle", 0.3))), Throttle(new lowpass(fgGetDouble("/controls/damping/throttle", 0.1))),
Aileron(new lowpass(fgGetDouble("/controls/damping/aileron", 0.65))), Aileron(new lowpass(fgGetDouble("/controls/damping/aileron", 0.65))),
Elevator(new lowpass(fgGetDouble("/controls/damping/elevator", 0.65))), Elevator(new lowpass(fgGetDouble("/controls/damping/elevator", 0.65))),
Rudder(new lowpass(fgGetDouble("/controls/damping/rudder", 0.05))), Rudder(new lowpass(fgGetDouble("/controls/damping/rudder", 0.05))),
@ -76,6 +78,7 @@ void FGUFO::update( double dt ) {
if (is_suspended()) if (is_suspended())
return; return;
lowpass::set_delta(dt);
double time_step = dt; double time_step = dt;
// read the throttle // read the throttle
@ -86,16 +89,16 @@ void FGUFO::update( double dt ) {
if (brake_left > 0.5 || brake_right > 0.5) if (brake_left > 0.5 || brake_right > 0.5)
throttle = -throttle; throttle = -throttle;
throttle = Throttle->filter(dt, throttle); throttle = Throttle->filter(throttle);
// read and lowpass-filter the state of the control surfaces // read and lowpass-filter the state of the control surfaces
double aileron = Aileron->filter(dt, globals->get_controls()->get_aileron()); double aileron = Aileron->filter(globals->get_controls()->get_aileron());
double elevator = Elevator->filter(dt, globals->get_controls()->get_elevator()); double elevator = Elevator->filter(globals->get_controls()->get_elevator());
double rudder = Rudder->filter(dt, globals->get_controls()->get_rudder()); double rudder = Rudder->filter(globals->get_controls()->get_rudder());
aileron += Aileron_Trim->filter(dt, globals->get_controls()->get_aileron_trim()); aileron += Aileron_Trim->filter(globals->get_controls()->get_aileron_trim());
elevator += Elevator_Trim->filter(dt, globals->get_controls()->get_elevator_trim()); elevator += Elevator_Trim->filter(globals->get_controls()->get_elevator_trim());
rudder += Rudder_Trim->filter(dt, globals->get_controls()->get_rudder_trim()); rudder += Rudder_Trim->filter(globals->get_controls()->get_rudder_trim());
double velocity = throttle * Speed_Max->getDoubleValue(); // meters/sec double velocity = throttle * Speed_Max->getDoubleValue(); // meters/sec

9
src/FDM/UFO.hxx
View file

@ -28,18 +28,23 @@
class FGUFO: public FGInterface { class FGUFO: public FGInterface {
private:
class lowpass { class lowpass {
private:
static double _dt;
double _coeff; double _coeff;
double _last; double _last;
bool _initialized; bool _initialized;
public: public:
lowpass(double coeff) : _coeff(coeff), _initialized(false) {} lowpass(double coeff) : _coeff(coeff), _initialized(false) {}
double filter(double dt, double value) { static inline void set_delta(double dt) { _dt = dt; }
double filter(double value) {
if (!_initialized) { if (!_initialized) {
_initialized = true; _initialized = true;
return _last = value; return _last = value;
} }
double c = dt / (_coeff + dt); double c = _dt / (_coeff + _dt);
return _last = value * c + _last * (1.0 - c); return _last = value * c + _last * (1.0 - c);
} }
}; };