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Merge branch 'torsten/auto' into next

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This commit is contained in:
Tim Moore 2010-03-09 10:38:43 +01:00
commit cfd243bd95
1 changed files with 21 additions and 28 deletions
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31
src/Autopilot/xmlauto.cxx
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@ -459,11 +459,8 @@ bool FGPIDController::parseConfigHook(const string& aName, SGPropertyNode* aNode
*/
void FGPIDController::update( double dt ) {
double ep_n; // proportional error with reference weighing
double e_n; // error
double ed_n; // derivative error
double edf_n; // derivative error filter
double Tf; // filter time
double edf_n;
double delta_u_n = 0.0; // incremental output
double u_n = 0.0; // absolute output
double Ts; // sampling interval (sec)
@ -503,7 +500,7 @@ void FGPIDController::update( double dt ) {
if ( debug ) cout << " input = " << y_n << " ref = " << r_n << endl;
// Calculates proportional error:
ep_n = beta * r_n - y_n;
double ep_n = beta * r_n - y_n;
if ( debug ) cout << " ep_n = " << ep_n;
if ( debug ) cout << " ep_n_1 = " << ep_n_1;
@ -511,14 +508,15 @@ void FGPIDController::update( double dt ) {
e_n = r_n - y_n;
if ( debug ) cout << " e_n = " << e_n;
double td = Td.get_value();
if ( td > 0.0 ) { // do we need to calcluate derivative error?
// Calculates derivate error:
ed_n = gamma * r_n - y_n;
double ed_n = gamma * r_n - y_n;
if ( debug ) cout << " ed_n = " << ed_n;
double td = Td.get_value();
if ( td > 0.0 ) {
// Calculates filter time:
Tf = alpha * td;
double Tf = alpha * td;
if ( debug ) cout << " Tf = " << Tf;
// Filters the derivate error:
@ -526,7 +524,7 @@ void FGPIDController::update( double dt ) {
+ ed_n * (Ts/Tf) / (Ts/Tf + 1);
if ( debug ) cout << " edf_n = " << edf_n;
} else {
edf_n = ed_n;
edf_n_2 = edf_n_1 = edf_n = 0.0;
}
// Calculates the incremental output:
@ -535,7 +533,6 @@ void FGPIDController::update( double dt ) {
delta_u_n = Kp.get_value() * ( (ep_n - ep_n_1)
+ ((Ts/ti) * e_n)
+ ((td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2)) );
}
if ( debug ) {
cout << " delta_u_n = " << delta_u_n << endl;
@ -544,6 +541,7 @@ void FGPIDController::update( double dt ) {
<< " D:" << Kp.get_value() * ((td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2))
<< endl;
}
}
// Integrator anti-windup logic:
if ( delta_u_n > (u_max - u_n_1) ) {
@ -566,13 +564,8 @@ void FGPIDController::update( double dt ) {
set_output_value( u_n );
} else if ( !enabled ) {
ep_n = 0.0;
edf_n = 0.0;
// Updates indexed values;
u_n_1 = u_n;
ep_n_1 = ep_n;
edf_n_2 = edf_n_1;
edf_n_1 = edf_n;
ep_n_1 = 0.0;
edf_n_2 = edf_n_1 = edf_n = 0.0;
}
}
@ -757,7 +750,7 @@ void FGDigitalFilter::update(double dt)
{
if ( isPropertyEnabled() ) {
input.push_front(valueInput.get_value());
input.push_front(valueInput.get_value()-referenceInput.get_value());
input.resize(samplesInput.get_value() + 1, 0.0);
if ( !enabled ) {