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Merge branch 'next' of git://gitorious.org/fg/flightgear into next

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This commit is contained in:
Frederic Bouvier 2011-06-18 21:24:31 +02:00
commit a302cdc1cb
1 changed files with 14 additions and 19 deletions
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33
src/FDM/JSBSim/models/flight_control/FGActuator.cpp
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@ -43,7 +43,7 @@ using namespace std;
namespace JSBSim { namespace JSBSim {
static const char *IdSrc = "$Id: FGActuator.cpp,v 1.18 2011/05/13 17:14:47 bcoconni Exp $"; static const char *IdSrc = "$Id: FGActuator.cpp,v 1.19 2011/06/18 13:30:27 bcoconni Exp $";
static const char *IdHdr = ID_ACTUATOR; static const char *IdHdr = ID_ACTUATOR;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -114,24 +114,15 @@ bool FGActuator::Run(void )
// the Input will be further processed and the eventual Output // the Input will be further processed and the eventual Output
// will be overwritten from this perfect value. // will be overwritten from this perfect value.
if (!fcs->GetTrimStatus()) { if (lag != 0.0) Lag(); // models actuator lag
if (lag != 0.0) Lag(); // models actuator lag if (rate_limit != 0) RateLimit(); // limit the actuator rate
if (rate_limit != 0) RateLimit(); // limit the actuator rate
}
if (deadband_width != 0.0) Deadband(); if (deadband_width != 0.0) Deadband();
if (!fcs->GetTrimStatus() && hysteresis_width != 0.0) Hysteresis(); if (hysteresis_width != 0.0) Hysteresis();
if (bias != 0.0) Bias(); // models a finite bias if (bias != 0.0) Bias(); // models a finite bias
if (fail_stuck) Output = PreviousOutput; if (fail_stuck) Output = PreviousOutput;
PreviousOutput = Output; // previous value needed for "stuck" malfunction PreviousOutput = Output; // previous value needed for "stuck" malfunction
if (fcs->GetTrimStatus()) {
PreviousHystOutput = Output;
PreviousRateLimOutput = Output;
PreviousLagInput = Output;
PreviousLagOutput = Output;
}
Clip(); Clip();
if (IsOutput) SetOutput(); if (IsOutput) SetOutput();
@ -152,7 +143,10 @@ void FGActuator::Lag(void)
// "Output" on the right side of the "=" is the current frame input // "Output" on the right side of the "=" is the current frame input
// for this Lag filter // for this Lag filter
double input = Output; double input = Output;
Output = ca * (input + PreviousLagInput) + PreviousLagOutput * cb;
if (!fcs->GetTrimStatus())
Output = ca * (input + PreviousLagInput) + PreviousLagOutput * cb;
PreviousLagInput = input; PreviousLagInput = input;
PreviousLagOutput = Output; PreviousLagOutput = Output;
} }
@ -166,10 +160,11 @@ void FGActuator::Hysteresis(void)
// method. // method.
double input = Output; double input = Output;
if (input > PreviousHystOutput) { if (!fcs->GetTrimStatus()) {
Output = max(PreviousHystOutput, input-0.5*hysteresis_width); if (input > PreviousHystOutput)
} else if (input < PreviousHystOutput) { Output = max(PreviousHystOutput, input-0.5*hysteresis_width);
Output = min(PreviousHystOutput, input+0.5*hysteresis_width); else if (input < PreviousHystOutput)
Output = min(PreviousHystOutput, input+0.5*hysteresis_width);
} }
PreviousHystOutput = Output; PreviousHystOutput = Output;
@ -183,7 +178,7 @@ void FGActuator::RateLimit(void)
// is - for the purposes of this RateLimit method - really the input to the // is - for the purposes of this RateLimit method - really the input to the
// method. // method.
double input = Output; double input = Output;
if (dt > 0.0) { if (!fcs->GetTrimStatus()) {
double rate = (input - PreviousRateLimOutput)/dt; double rate = (input - PreviousRateLimOutput)/dt;
if (fabs(rate) > rate_limit) { if (fabs(rate) > rate_limit) {
Output = PreviousRateLimOutput + (rate_limit*fabs(rate)/rate)*dt; Output = PreviousRateLimOutput + (rate_limit*fabs(rate)/rate)*dt;