// pisimplecontroller.hxx - implementation of a simple PI controller // // Written by Torsten Dreyer // Based heavily on work created by Curtis Olson, started January 2004. // // Copyright (C) 2004 Curtis L. Olson - http://www.flightgear.org/~curt // Copyright (C) 2010 Torsten Dreyer - Torsten (at) t3r (dot) de // // This program is free software; you can redistribute it and/or // modify it under the terms of the GNU General Public License as // published by the Free Software Foundation; either version 2 of the // License, or (at your option) any later version. // // This program is distributed in the hope that it will be useful, but // WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // General Public License for more details. // // You should have received a copy of the GNU General Public License // along with this program; if not, write to the Free Software // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. // #ifndef __PISIMPLECONTROLLER_HXX #define __PISIMPLECONTROLLER_HXX 1 #ifdef HAVE_CONFIG_H # include #endif #include "analogcomponent.hxx" #include #include namespace FGXMLAutopilot { /** * A simplistic P [ + I ] PI controller */ class PISimpleController : public AnalogComponent { private: // proportional component data InputValueList _Kp; // integral component data InputValueList _Ki; double _int_sum; protected: virtual bool configure( SGPropertyNode& cfg_node, const std::string& cfg_name, SGPropertyNode& prop_root ); public: PISimpleController(); ~PISimpleController() {} void update( bool firstTime, double dt ); }; } #endif