e600cd3d00
- Support interface properties as with JSBSim for easy reuse and parametrization of autopilot components. - Add property-root property to allow changing property root for all relative paths. This allows easy use of multiple instances of the same autopilot component at the same time by specifiying different property root nodes.
66 lines
1.8 KiB
C++
66 lines
1.8 KiB
C++
// pisimplecontroller.hxx - implementation of a simple PI controller
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//
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// Written by Torsten Dreyer
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// Based heavily on work created by Curtis Olson, started January 2004.
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//
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// Copyright (C) 2004 Curtis L. Olson - http://www.flightgear.org/~curt
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// Copyright (C) 2010 Torsten Dreyer - Torsten (at) t3r (dot) de
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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//
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#ifndef __PISIMPLECONTROLLER_HXX
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#define __PISIMPLECONTROLLER_HXX 1
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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include "analogcomponent.hxx"
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#include <simgear/props/props.hxx>
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#include <simgear/structure/subsystem_mgr.hxx>
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namespace FGXMLAutopilot {
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/**
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* A simplistic P [ + I ] PI controller
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*/
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class PISimpleController : public AnalogComponent {
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private:
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// proportional component data
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InputValueList _Kp;
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// integral component data
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InputValueList _Ki;
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double _int_sum;
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protected:
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virtual bool configure( SGPropertyNode& cfg_node,
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const std::string& cfg_name,
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SGPropertyNode& prop_root );
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public:
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PISimpleController();
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~PISimpleController() {}
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void update( bool firstTime, double dt );
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};
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}
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#endif
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