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Syd Adams: Enable bank limit controls with the autopilot.

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This commit is contained in:
durk 2008-04-06 06:49:36 +00:00
parent 8b4f1f2d5e
commit 3bc15df56b
2 changed files with 146 additions and 1 deletions
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139
src/Autopilot/xmlauto.cxx
View file

@ -173,22 +173,102 @@ FGPIDController::FGPIDController( SGPropertyNode *node ):
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(Kp);
}
}
// 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(Kp);
}
}
// 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" );
@ -260,6 +340,10 @@ void FGPIDController::update( double dt ) {
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();
elapsedTime += dt;
if ( elapsedTime <= desiredTs ) {
@ -466,7 +550,24 @@ FGPISimpleController::FGPISimpleController( SGPropertyNode *node ):
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;
}
@ -478,13 +579,47 @@ FGPISimpleController::FGPISimpleController( SGPropertyNode *node ):
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;
}
} else {
@ -498,6 +633,10 @@ FGPISimpleController::FGPISimpleController( SGPropertyNode *node ):
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 (enable_prop != NULL && enable_prop->getStringValue() == enable_value) {
if ( !enabled ) {
// we have just been enabled, zero out int_sum

8
src/Autopilot/xmlauto.hxx
View file

@ -122,10 +122,13 @@ private:
// (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)
@ -159,6 +162,7 @@ private:
// proportional component data
bool proportional;
double Kp;
SGPropertyNode_ptr Kp_prop;
SGPropertyNode_ptr offset_prop;
double offset_value;
@ -180,7 +184,9 @@ private:
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: