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Removed useless divisions - As a side effect, it removes the risk of divisions by zero

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This commit is contained in:
Erik Hofman 2011-06-19 10:34:21 +02:00
parent 4d148f0b7a
commit fac1525fde
1 changed files with 6 additions and 5 deletions
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11
src/FDM/JSBSim/models/flight_control/FGActuator.cpp
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@ -43,7 +43,7 @@ using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id: FGActuator.cpp,v 1.19 2011/06/18 13:30:27 bcoconni Exp $";
static const char *IdSrc = "$Id: FGActuator.cpp,v 1.20 2011/06/18 17:46:21 bcoconni Exp $";
static const char *IdHdr = ID_ACTUATOR;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -73,7 +73,7 @@ FGActuator::FGActuator(FGFCS* fcs, Element* element) : FGFCSComponent(fcs, eleme
hysteresis_width = element->FindElementValueAsNumber("hysteresis_width");
}
if ( element->FindElement("rate_limit") ) {
rate_limit = element->FindElementValueAsNumber("rate_limit");
rate_limit = fabs(element->FindElementValueAsNumber("rate_limit"));
}
if ( element->FindElement("bias") ) {
bias = element->FindElementValueAsNumber("bias");
@ -179,9 +179,10 @@ void FGActuator::RateLimit(void)
// method.
double input = Output;
if (!fcs->GetTrimStatus()) {
double rate = (input - PreviousRateLimOutput)/dt;
if (fabs(rate) > rate_limit) {
Output = PreviousRateLimOutput + (rate_limit*fabs(rate)/rate)*dt;
double delta = input - PreviousRateLimOutput;
if (fabs(delta) > dt * rate_limit) {
double signed_rate_limit = delta > 0.0 ? rate_limit : -rate_limit;
Output = PreviousRateLimOutput + signed_rate_limit * dt;
}
}
PreviousRateLimOutput = Output;