7d5c5e4aaf
Lee has added two new filter types, "gain" and "reciprocal". These filters can read their gain factor from a property. In the process we also added minimum and maximum output clamps that are applicable to all filters. I added the ability to configure adaptive controllers i.e. the controller gain can be tied to a property, so that it can be changed at runtime. This requires a change in the xml structure of the autopilot configuration file: <Kp> <prop>/autopilot/KAP140/settings/ROL/Kp</prop> <value>0.10</value> </Kp> <!-- proportional gain --> The old method <Kp>0.10</Kp> still works so as to not break all existing autopilots, but it will output a warning to use the new method.
1066 lines
34 KiB
C++
1066 lines
34 KiB
C++
// xmlauto.cxx - a more flexible, generic way to build autopilots
|
|
//
|
|
// Written by Curtis Olson, started January 2004.
|
|
//
|
|
// Copyright (C) 2004 Curtis L. Olson - http://www.flightgear.org/~curt
|
|
//
|
|
// 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.
|
|
//
|
|
// $Id$
|
|
|
|
#ifdef HAVE_CONFIG_H
|
|
# include <config.h>
|
|
#endif
|
|
|
|
#include <simgear/structure/exception.hxx>
|
|
#include <simgear/misc/sg_path.hxx>
|
|
#include <simgear/sg_inlines.h>
|
|
|
|
#include <Main/fg_props.hxx>
|
|
#include <Main/globals.hxx>
|
|
#include <Main/util.hxx>
|
|
|
|
#include "xmlauto.hxx"
|
|
|
|
|
|
FGPIDController::FGPIDController( SGPropertyNode *node ):
|
|
debug( false ),
|
|
y_n( 0.0 ),
|
|
r_n( 0.0 ),
|
|
y_scale( 1.0 ),
|
|
r_scale( 1.0 ),
|
|
y_offset( 0.0 ),
|
|
r_offset( 0.0 ),
|
|
Kp( 0.0 ),
|
|
alpha( 0.1 ),
|
|
beta( 1.0 ),
|
|
gamma( 0.0 ),
|
|
Ti( 0.0 ),
|
|
Td( 0.0 ),
|
|
u_min( 0.0 ),
|
|
u_max( 0.0 ),
|
|
ep_n_1( 0.0 ),
|
|
edf_n_1( 0.0 ),
|
|
edf_n_2( 0.0 ),
|
|
u_n_1( 0.0 ),
|
|
desiredTs( 0.0 ),
|
|
elapsedTime( 0.0 )
|
|
{
|
|
int i;
|
|
for ( i = 0; i < node->nChildren(); ++i ) {
|
|
SGPropertyNode *child = node->getChild(i);
|
|
string cname = child->getName();
|
|
string cval = child->getStringValue();
|
|
if ( cname == "name" ) {
|
|
name = cval;
|
|
} else if ( cname == "debug" ) {
|
|
debug = child->getBoolValue();
|
|
} else if ( cname == "enable" ) {
|
|
// cout << "parsing enable" << endl;
|
|
SGPropertyNode *prop = child->getChild( "prop" );
|
|
if ( prop != NULL ) {
|
|
// cout << "prop = " << prop->getStringValue() << endl;
|
|
enable_prop = fgGetNode( prop->getStringValue(), true );
|
|
} else {
|
|
// cout << "no prop child" << endl;
|
|
}
|
|
SGPropertyNode *val = child->getChild( "value" );
|
|
if ( val != NULL ) {
|
|
enable_value = val->getStringValue();
|
|
}
|
|
SGPropertyNode *pass = child->getChild( "honor-passive" );
|
|
if ( pass != NULL ) {
|
|
honor_passive = pass->getBoolValue();
|
|
}
|
|
} else if ( cname == "input" ) {
|
|
SGPropertyNode *prop = child->getChild( "prop" );
|
|
if ( prop != NULL ) {
|
|
input_prop = fgGetNode( prop->getStringValue(), true );
|
|
}
|
|
prop = child->getChild( "scale" );
|
|
if ( prop != NULL ) {
|
|
y_scale = prop->getDoubleValue();
|
|
}
|
|
prop = child->getChild( "offset" );
|
|
if ( prop != NULL ) {
|
|
y_offset = prop->getDoubleValue();
|
|
}
|
|
} else if ( cname == "reference" ) {
|
|
SGPropertyNode *prop = child->getChild( "prop" );
|
|
if ( prop != NULL ) {
|
|
r_n_prop = fgGetNode( prop->getStringValue(), true );
|
|
} else {
|
|
prop = child->getChild( "value" );
|
|
if ( prop != NULL ) {
|
|
r_n_value = prop->getDoubleValue();
|
|
}
|
|
}
|
|
prop = child->getChild( "scale" );
|
|
if ( prop != NULL ) {
|
|
r_scale = prop->getDoubleValue();
|
|
}
|
|
prop = child->getChild( "offset" );
|
|
if ( prop != NULL ) {
|
|
r_offset = prop->getDoubleValue();
|
|
}
|
|
} else if ( cname == "output" ) {
|
|
int i = 0;
|
|
SGPropertyNode *prop;
|
|
while ( (prop = child->getChild("prop", i)) != NULL ) {
|
|
SGPropertyNode *tmp = fgGetNode( prop->getStringValue(), true );
|
|
output_list.push_back( tmp );
|
|
i++;
|
|
}
|
|
} else if ( cname == "config" ) {
|
|
SGPropertyNode *config;
|
|
|
|
config = child->getChild( "Ts" );
|
|
if ( config != NULL ) {
|
|
desiredTs = config->getDoubleValue();
|
|
}
|
|
|
|
config = child->getChild( "Kp" );
|
|
if ( config != NULL ) {
|
|
SGPropertyNode *val = config->getChild( "value" );
|
|
if ( val != NULL ) {
|
|
Kp = val->getDoubleValue();
|
|
}
|
|
|
|
SGPropertyNode *prop = config->getChild( "prop" );
|
|
if ( prop != NULL ) {
|
|
Kp_prop = fgGetNode( prop->getStringValue(), true );
|
|
if ( val != NULL ) {
|
|
Kp_prop->setDoubleValue(Kp);
|
|
}
|
|
}
|
|
|
|
// output deprecated usage warning
|
|
if (val == NULL && prop == NULL) {
|
|
Kp = config->getDoubleValue();
|
|
SG_LOG( SG_AUTOPILOT, SG_WARN, "Deprecated Kp config. Please use <prop> and/or <value> tags." );
|
|
if ( name.length() ) {
|
|
SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << name );
|
|
}
|
|
}
|
|
}
|
|
|
|
config = child->getChild( "beta" );
|
|
if ( config != NULL ) {
|
|
beta = config->getDoubleValue();
|
|
}
|
|
|
|
config = child->getChild( "alpha" );
|
|
if ( config != NULL ) {
|
|
alpha = config->getDoubleValue();
|
|
}
|
|
|
|
config = child->getChild( "gamma" );
|
|
if ( config != NULL ) {
|
|
gamma = config->getDoubleValue();
|
|
}
|
|
|
|
config = child->getChild( "Ti" );
|
|
if ( config != NULL ) {
|
|
Ti = config->getDoubleValue();
|
|
}
|
|
|
|
config = child->getChild( "Td" );
|
|
if ( config != NULL ) {
|
|
Td = config->getDoubleValue();
|
|
}
|
|
|
|
config = child->getChild( "u_min" );
|
|
if ( config != NULL ) {
|
|
u_min = config->getDoubleValue();
|
|
}
|
|
|
|
config = child->getChild( "u_max" );
|
|
if ( config != NULL ) {
|
|
u_max = config->getDoubleValue();
|
|
}
|
|
} else {
|
|
SG_LOG( SG_AUTOPILOT, SG_WARN, "Error in autopilot config logic" );
|
|
if ( name.length() ) {
|
|
SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << name );
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
/*
|
|
* Roy Vegard Ovesen:
|
|
*
|
|
* Ok! Here is the PID controller algorithm that I would like to see
|
|
* implemented:
|
|
*
|
|
* delta_u_n = Kp * [ (ep_n - ep_n-1) + ((Ts/Ti)*e_n)
|
|
* + (Td/Ts)*(edf_n - 2*edf_n-1 + edf_n-2) ]
|
|
*
|
|
* u_n = u_n-1 + delta_u_n
|
|
*
|
|
* where:
|
|
*
|
|
* delta_u : The incremental output
|
|
* Kp : Proportional gain
|
|
* ep : Proportional error with reference weighing
|
|
* ep = beta * r - y
|
|
* where:
|
|
* beta : Weighing factor
|
|
* r : Reference (setpoint)
|
|
* y : Process value, measured
|
|
* e : Error
|
|
* e = r - y
|
|
* Ts : Sampling interval
|
|
* Ti : Integrator time
|
|
* Td : Derivator time
|
|
* edf : Derivate error with reference weighing and filtering
|
|
* edf_n = edf_n-1 / ((Ts/Tf) + 1) + ed_n * (Ts/Tf) / ((Ts/Tf) + 1)
|
|
* where:
|
|
* Tf : Filter time
|
|
* Tf = alpha * Td , where alpha usually is set to 0.1
|
|
* ed : Unfiltered derivate error with reference weighing
|
|
* ed = gamma * r - y
|
|
* where:
|
|
* gamma : Weighing factor
|
|
*
|
|
* u : absolute output
|
|
*
|
|
* Index n means the n'th value.
|
|
*
|
|
*
|
|
* Inputs:
|
|
* enabled ,
|
|
* y_n , r_n , beta=1 , gamma=0 , alpha=0.1 ,
|
|
* Kp , Ti , Td , Ts (is the sampling time available?)
|
|
* u_min , u_max
|
|
*
|
|
* Output:
|
|
* u_n
|
|
*/
|
|
|
|
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 delta_u_n = 0.0; // incremental output
|
|
double u_n = 0.0; // absolute output
|
|
double Ts; // sampling interval (sec)
|
|
|
|
elapsedTime += dt;
|
|
if ( elapsedTime <= desiredTs ) {
|
|
// do nothing if time step is not positive (i.e. no time has
|
|
// elapsed)
|
|
return;
|
|
}
|
|
Ts = elapsedTime;
|
|
elapsedTime = 0.0;
|
|
|
|
if (enable_prop != NULL && enable_prop->getStringValue() == enable_value) {
|
|
if ( !enabled ) {
|
|
// first time being enabled, seed u_n with current
|
|
// property tree value
|
|
u_n = output_list[0]->getDoubleValue();
|
|
// and clip
|
|
if ( u_n < u_min ) { u_n = u_min; }
|
|
if ( u_n > u_max ) { u_n = u_max; }
|
|
u_n_1 = u_n;
|
|
}
|
|
enabled = true;
|
|
} else {
|
|
enabled = false;
|
|
}
|
|
|
|
if ( enabled && Ts > 0.0) {
|
|
if ( debug ) cout << "Updating " << name
|
|
<< " Ts " << Ts << endl;
|
|
|
|
double y_n = 0.0;
|
|
if ( input_prop != NULL ) {
|
|
y_n = input_prop->getDoubleValue() * y_scale + y_offset;
|
|
}
|
|
|
|
double r_n = 0.0;
|
|
if ( r_n_prop != NULL ) {
|
|
r_n = r_n_prop->getDoubleValue() * r_scale + r_offset;
|
|
} else {
|
|
r_n = r_n_value;
|
|
}
|
|
|
|
if ( debug ) cout << " input = " << y_n << " ref = " << r_n << endl;
|
|
|
|
// Calculates proportional error:
|
|
ep_n = beta * r_n - y_n;
|
|
if ( debug ) cout << " ep_n = " << ep_n;
|
|
if ( debug ) cout << " ep_n_1 = " << ep_n_1;
|
|
|
|
// Calculates error:
|
|
e_n = r_n - y_n;
|
|
if ( debug ) cout << " e_n = " << e_n;
|
|
|
|
// Calculates derivate error:
|
|
ed_n = gamma * r_n - y_n;
|
|
if ( debug ) cout << " ed_n = " << ed_n;
|
|
|
|
if ( Td > 0.0 ) {
|
|
// Calculates filter time:
|
|
Tf = alpha * Td;
|
|
if ( debug ) cout << " Tf = " << Tf;
|
|
|
|
// Filters the derivate error:
|
|
edf_n = edf_n_1 / (Ts/Tf + 1)
|
|
+ ed_n * (Ts/Tf) / (Ts/Tf + 1);
|
|
if ( debug ) cout << " edf_n = " << edf_n;
|
|
} else {
|
|
edf_n = ed_n;
|
|
}
|
|
|
|
// Calculates the incremental output:
|
|
if ( Ti > 0.0 ) {
|
|
if (Kp_prop != NULL) {
|
|
Kp = Kp_prop->getDoubleValue();
|
|
}
|
|
delta_u_n = Kp * ( (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;
|
|
cout << "P:" << Kp * (ep_n - ep_n_1)
|
|
<< " I:" << Kp * ((Ts/Ti) * e_n)
|
|
<< " D:" << Kp * ((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) ) {
|
|
delta_u_n = u_max - u_n_1;
|
|
if ( debug ) cout << " max saturation " << endl;
|
|
} else if ( delta_u_n < (u_min - u_n_1) ) {
|
|
delta_u_n = u_min - u_n_1;
|
|
if ( debug ) cout << " min saturation " << endl;
|
|
}
|
|
|
|
// Calculates absolute output:
|
|
u_n = u_n_1 + delta_u_n;
|
|
if ( debug ) cout << " output = " << u_n << endl;
|
|
|
|
// Updates indexed values;
|
|
u_n_1 = u_n;
|
|
ep_n_1 = ep_n;
|
|
edf_n_2 = edf_n_1;
|
|
edf_n_1 = edf_n;
|
|
|
|
// passive_ignore == true means that we go through all the
|
|
// motions, but drive the outputs. This is analogous to
|
|
// running the autopilot with the "servos" off. This is
|
|
// helpful for things like flight directors which position
|
|
// their vbars from the autopilot computations.
|
|
if ( passive_mode->getBoolValue() && honor_passive ) {
|
|
// skip output step
|
|
} else {
|
|
unsigned int i;
|
|
for ( i = 0; i < output_list.size(); ++i ) {
|
|
output_list[i]->setDoubleValue( 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;
|
|
}
|
|
}
|
|
|
|
|
|
FGPISimpleController::FGPISimpleController( SGPropertyNode *node ):
|
|
proportional( false ),
|
|
Kp( 0.0 ),
|
|
offset_prop( NULL ),
|
|
offset_value( 0.0 ),
|
|
integral( false ),
|
|
Ki( 0.0 ),
|
|
int_sum( 0.0 ),
|
|
clamp( false ),
|
|
debug( false ),
|
|
y_n( 0.0 ),
|
|
r_n( 0.0 ),
|
|
y_scale( 1.0 ),
|
|
r_scale ( 1.0 ),
|
|
u_min( 0.0 ),
|
|
u_max( 0.0 )
|
|
{
|
|
int i;
|
|
for ( i = 0; i < node->nChildren(); ++i ) {
|
|
SGPropertyNode *child = node->getChild(i);
|
|
string cname = child->getName();
|
|
string cval = child->getStringValue();
|
|
if ( cname == "name" ) {
|
|
name = cval;
|
|
} else if ( cname == "debug" ) {
|
|
debug = child->getBoolValue();
|
|
} else if ( cname == "enable" ) {
|
|
// cout << "parsing enable" << endl;
|
|
SGPropertyNode *prop = child->getChild( "prop" );
|
|
if ( prop != NULL ) {
|
|
// cout << "prop = " << prop->getStringValue() << endl;
|
|
enable_prop = fgGetNode( prop->getStringValue(), true );
|
|
} else {
|
|
// cout << "no prop child" << endl;
|
|
}
|
|
SGPropertyNode *val = child->getChild( "value" );
|
|
if ( val != NULL ) {
|
|
enable_value = val->getStringValue();
|
|
}
|
|
} else if ( cname == "input" ) {
|
|
SGPropertyNode *prop = child->getChild( "prop" );
|
|
if ( prop != NULL ) {
|
|
input_prop = fgGetNode( prop->getStringValue(), true );
|
|
}
|
|
prop = child->getChild( "scale" );
|
|
if ( prop != NULL ) {
|
|
y_scale = prop->getDoubleValue();
|
|
}
|
|
} else if ( cname == "reference" ) {
|
|
SGPropertyNode *prop = child->getChild( "prop" );
|
|
if ( prop != NULL ) {
|
|
r_n_prop = fgGetNode( prop->getStringValue(), true );
|
|
} else {
|
|
prop = child->getChild( "value" );
|
|
if ( prop != NULL ) {
|
|
r_n_value = prop->getDoubleValue();
|
|
}
|
|
}
|
|
prop = child->getChild( "scale" );
|
|
if ( prop != NULL ) {
|
|
r_scale = prop->getDoubleValue();
|
|
}
|
|
} else if ( cname == "output" ) {
|
|
int i = 0;
|
|
SGPropertyNode *prop;
|
|
while ( (prop = child->getChild("prop", i)) != NULL ) {
|
|
SGPropertyNode *tmp = fgGetNode( prop->getStringValue(), true );
|
|
output_list.push_back( tmp );
|
|
i++;
|
|
}
|
|
} else if ( cname == "config" ) {
|
|
SGPropertyNode *prop;
|
|
|
|
prop = child->getChild( "Kp" );
|
|
if ( prop != NULL ) {
|
|
Kp = prop->getDoubleValue();
|
|
proportional = true;
|
|
}
|
|
|
|
prop = child->getChild( "Ki" );
|
|
if ( prop != NULL ) {
|
|
Ki = prop->getDoubleValue();
|
|
integral = true;
|
|
}
|
|
|
|
prop = child->getChild( "u_min" );
|
|
if ( prop != NULL ) {
|
|
u_min = prop->getDoubleValue();
|
|
clamp = true;
|
|
}
|
|
|
|
prop = child->getChild( "u_max" );
|
|
if ( prop != NULL ) {
|
|
u_max = prop->getDoubleValue();
|
|
clamp = true;
|
|
}
|
|
} else {
|
|
SG_LOG( SG_AUTOPILOT, SG_WARN, "Error in autopilot config logic" );
|
|
if ( name.length() ) {
|
|
SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << name );
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void FGPISimpleController::update( double dt ) {
|
|
if (enable_prop != NULL && enable_prop->getStringValue() == enable_value) {
|
|
if ( !enabled ) {
|
|
// we have just been enabled, zero out int_sum
|
|
int_sum = 0.0;
|
|
}
|
|
enabled = true;
|
|
} else {
|
|
enabled = false;
|
|
}
|
|
|
|
if ( enabled ) {
|
|
if ( debug ) cout << "Updating " << name << endl;
|
|
double input = 0.0;
|
|
if ( input_prop != NULL ) {
|
|
input = input_prop->getDoubleValue() * y_scale;
|
|
}
|
|
|
|
double r_n = 0.0;
|
|
if ( r_n_prop != NULL ) {
|
|
r_n = r_n_prop->getDoubleValue() * r_scale;
|
|
} else {
|
|
r_n = r_n_value;
|
|
}
|
|
|
|
double error = r_n - input;
|
|
if ( debug ) cout << "input = " << input
|
|
<< " reference = " << r_n
|
|
<< " error = " << error
|
|
<< endl;
|
|
|
|
double prop_comp = 0.0;
|
|
double offset = 0.0;
|
|
if ( offset_prop != NULL ) {
|
|
offset = offset_prop->getDoubleValue();
|
|
if ( debug ) cout << "offset = " << offset << endl;
|
|
} else {
|
|
offset = offset_value;
|
|
}
|
|
|
|
if ( proportional ) {
|
|
prop_comp = error * Kp + offset;
|
|
}
|
|
|
|
if ( integral ) {
|
|
int_sum += error * Ki * dt;
|
|
} else {
|
|
int_sum = 0.0;
|
|
}
|
|
|
|
if ( debug ) cout << "prop_comp = " << prop_comp
|
|
<< " int_sum = " << int_sum << endl;
|
|
|
|
double output = prop_comp + int_sum;
|
|
|
|
if ( clamp ) {
|
|
if ( output < u_min ) {
|
|
output = u_min;
|
|
}
|
|
if ( output > u_max ) {
|
|
output = u_max;
|
|
}
|
|
}
|
|
if ( debug ) cout << "output = " << output << endl;
|
|
|
|
unsigned int i;
|
|
for ( i = 0; i < output_list.size(); ++i ) {
|
|
output_list[i]->setDoubleValue( output );
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
FGPredictor::FGPredictor ( SGPropertyNode *node ):
|
|
last_value ( 999999999.9 ),
|
|
average ( 0.0 ),
|
|
seconds( 0.0 ),
|
|
filter_gain( 0.0 ),
|
|
debug( false ),
|
|
ivalue( 0.0 )
|
|
{
|
|
int i;
|
|
for ( i = 0; i < node->nChildren(); ++i ) {
|
|
SGPropertyNode *child = node->getChild(i);
|
|
string cname = child->getName();
|
|
string cval = child->getStringValue();
|
|
if ( cname == "name" ) {
|
|
name = cval;
|
|
} else if ( cname == "debug" ) {
|
|
debug = child->getBoolValue();
|
|
} else if ( cname == "input" ) {
|
|
input_prop = fgGetNode( child->getStringValue(), true );
|
|
} else if ( cname == "seconds" ) {
|
|
seconds = child->getDoubleValue();
|
|
} else if ( cname == "filter-gain" ) {
|
|
filter_gain = child->getDoubleValue();
|
|
} else if ( cname == "output" ) {
|
|
SGPropertyNode *tmp = fgGetNode( child->getStringValue(), true );
|
|
output_list.push_back( tmp );
|
|
}
|
|
}
|
|
}
|
|
|
|
void FGPredictor::update( double dt ) {
|
|
/*
|
|
Simple moving average filter converts input value to predicted value "seconds".
|
|
|
|
Smoothing as described by Curt Olson:
|
|
gain would be valid in the range of 0 - 1.0
|
|
1.0 would mean no filtering.
|
|
0.0 would mean no input.
|
|
0.5 would mean (1 part past value + 1 part current value) / 2
|
|
0.1 would mean (9 parts past value + 1 part current value) / 10
|
|
0.25 would mean (3 parts past value + 1 part current value) / 4
|
|
|
|
*/
|
|
|
|
if ( input_prop != NULL ) {
|
|
ivalue = input_prop->getDoubleValue();
|
|
// no sense if there isn't an input :-)
|
|
enabled = true;
|
|
} else {
|
|
enabled = false;
|
|
}
|
|
|
|
if ( enabled ) {
|
|
|
|
// first time initialize average
|
|
if (last_value >= 999999999.0) {
|
|
last_value = ivalue;
|
|
}
|
|
|
|
if ( dt > 0.0 ) {
|
|
double current = (ivalue - last_value)/dt; // calculate current error change (per second)
|
|
if ( dt < 1.0 ) {
|
|
average = (1.0 - dt) * average + current * dt;
|
|
} else {
|
|
average = current;
|
|
}
|
|
|
|
// calculate output with filter gain adjustment
|
|
double output = ivalue + (1.0 - filter_gain) * (average * seconds) + filter_gain * (current * seconds);
|
|
|
|
unsigned int i;
|
|
for ( i = 0; i < output_list.size(); ++i ) {
|
|
output_list[i]->setDoubleValue( output );
|
|
}
|
|
}
|
|
last_value = ivalue;
|
|
}
|
|
}
|
|
|
|
|
|
FGDigitalFilter::FGDigitalFilter(SGPropertyNode *node):
|
|
Tf( 1.0 ),
|
|
samples( 1 ),
|
|
rateOfChange( 1.0 ),
|
|
gainFactor( 1.0 ),
|
|
gain_prop( NULL ),
|
|
output_min_clamp( -std::numeric_limits<double>::max() ),
|
|
output_max_clamp( std::numeric_limits<double>::max() )
|
|
{
|
|
int i;
|
|
for ( i = 0; i < node->nChildren(); ++i ) {
|
|
SGPropertyNode *child = node->getChild(i);
|
|
string cname = child->getName();
|
|
string cval = child->getStringValue();
|
|
if ( cname == "name" ) {
|
|
name = cval;
|
|
} else if ( cname == "debug" ) {
|
|
debug = child->getBoolValue();
|
|
} else if ( cname == "enable" ) {
|
|
SGPropertyNode *prop = child->getChild( "prop" );
|
|
if ( prop != NULL ) {
|
|
enable_prop = fgGetNode( prop->getStringValue(), true );
|
|
}
|
|
SGPropertyNode *val = child->getChild( "value" );
|
|
if ( val != NULL ) {
|
|
enable_value = val->getStringValue();
|
|
}
|
|
SGPropertyNode *pass = child->getChild( "honor-passive" );
|
|
if ( pass != NULL ) {
|
|
honor_passive = pass->getBoolValue();
|
|
}
|
|
} else if ( cname == "type" ) {
|
|
if ( cval == "exponential" ) {
|
|
filterType = exponential;
|
|
} else if (cval == "double-exponential") {
|
|
filterType = doubleExponential;
|
|
} else if (cval == "moving-average") {
|
|
filterType = movingAverage;
|
|
} else if (cval == "noise-spike") {
|
|
filterType = noiseSpike;
|
|
} else if (cval == "gain") {
|
|
filterType = gain;
|
|
} else if (cval == "reciprocal") {
|
|
filterType = reciprocal;
|
|
}
|
|
} else if ( cname == "input" ) {
|
|
input_prop = fgGetNode( child->getStringValue(), true );
|
|
} else if ( cname == "filter-time" ) {
|
|
Tf = child->getDoubleValue();
|
|
} else if ( cname == "samples" ) {
|
|
samples = child->getIntValue();
|
|
} else if ( cname == "max-rate-of-change" ) {
|
|
rateOfChange = child->getDoubleValue();
|
|
} else if ( cname == "gain" ) {
|
|
SGPropertyNode *val = child->getChild( "value" );
|
|
if ( val != NULL ) {
|
|
gainFactor = val->getDoubleValue();
|
|
}
|
|
SGPropertyNode *prop = child->getChild( "prop" );
|
|
if ( prop != NULL ) {
|
|
gain_prop = fgGetNode( prop->getStringValue(), true );
|
|
gain_prop->setDoubleValue(gainFactor);
|
|
}
|
|
} else if ( cname == "u_min" ) {
|
|
output_min_clamp = child->getDoubleValue();
|
|
} else if ( cname == "u_max" ) {
|
|
output_max_clamp = child->getDoubleValue();
|
|
} else if ( cname == "output" ) {
|
|
SGPropertyNode *tmp = fgGetNode( child->getStringValue(), true );
|
|
output_list.push_back( tmp );
|
|
}
|
|
}
|
|
|
|
output.resize(2, 0.0);
|
|
input.resize(samples + 1, 0.0);
|
|
}
|
|
|
|
void FGDigitalFilter::update(double dt)
|
|
{
|
|
if ( (input_prop != NULL &&
|
|
enable_prop != NULL &&
|
|
enable_prop->getStringValue() == enable_value) ||
|
|
(enable_prop == NULL &&
|
|
input_prop != NULL) ) {
|
|
|
|
input.push_front(input_prop->getDoubleValue());
|
|
input.resize(samples + 1, 0.0);
|
|
|
|
if ( !enabled ) {
|
|
// first time being enabled, initialize output to the
|
|
// value of the output property to avoid bumping.
|
|
output.push_front(output_list[0]->getDoubleValue());
|
|
output.resize(1);
|
|
}
|
|
|
|
enabled = true;
|
|
} else {
|
|
enabled = false;
|
|
}
|
|
|
|
if ( enabled && dt > 0.0 ) {
|
|
/*
|
|
* Exponential filter
|
|
*
|
|
* Output[n] = alpha*Input[n] + (1-alpha)*Output[n-1]
|
|
*
|
|
*/
|
|
|
|
if (filterType == exponential)
|
|
{
|
|
double alpha = 1 / ((Tf/dt) + 1);
|
|
output.push_front(alpha * input[0] +
|
|
(1 - alpha) * output[0]);
|
|
}
|
|
else if (filterType == doubleExponential)
|
|
{
|
|
double alpha = 1 / ((Tf/dt) + 1);
|
|
output.push_front(alpha * alpha * input[0] +
|
|
2 * (1 - alpha) * output[0] -
|
|
(1 - alpha) * (1 - alpha) * output[1]);
|
|
}
|
|
else if (filterType == movingAverage)
|
|
{
|
|
output.push_front(output[0] +
|
|
(input[0] - input.back()) / samples);
|
|
}
|
|
else if (filterType == noiseSpike)
|
|
{
|
|
double maxChange = rateOfChange * dt;
|
|
|
|
if ((output[0] - input[0]) > maxChange)
|
|
{
|
|
output.push_front(output[0] - maxChange);
|
|
}
|
|
else if ((output[0] - input[0]) < -maxChange)
|
|
{
|
|
output.push_front(output[0] + maxChange);
|
|
}
|
|
else if (fabs(input[0] - output[0]) <= maxChange)
|
|
{
|
|
output.push_front(input[0]);
|
|
}
|
|
}
|
|
else if (filterType == gain)
|
|
{
|
|
if (gain_prop != NULL) {
|
|
gainFactor = gain_prop->getDoubleValue();
|
|
}
|
|
output[0] = gainFactor * input[0];
|
|
}
|
|
else if (filterType == reciprocal)
|
|
{
|
|
if (gain_prop != NULL) {
|
|
gainFactor = gain_prop->getDoubleValue();
|
|
}
|
|
if (input[0] != 0.0) {
|
|
output[0] = gainFactor / input[0];
|
|
}
|
|
}
|
|
|
|
if (output[0] < output_min_clamp) {
|
|
output[0] = output_min_clamp;
|
|
}
|
|
else if (output[0] > output_max_clamp) {
|
|
output[0] = output_max_clamp;
|
|
}
|
|
|
|
unsigned int i;
|
|
for ( i = 0; i < output_list.size(); ++i ) {
|
|
output_list[i]->setDoubleValue( output[0] );
|
|
}
|
|
output.resize(1);
|
|
|
|
if (debug)
|
|
{
|
|
cout << "input:" << input[0]
|
|
<< "\toutput:" << output[0] << endl;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
FGXMLAutopilot::FGXMLAutopilot() {
|
|
}
|
|
|
|
|
|
FGXMLAutopilot::~FGXMLAutopilot() {
|
|
}
|
|
|
|
|
|
void FGXMLAutopilot::init() {
|
|
config_props = fgGetNode( "/autopilot/new-config", true );
|
|
|
|
SGPropertyNode *path_n = fgGetNode("/sim/systems/autopilot/path");
|
|
|
|
if ( path_n ) {
|
|
SGPath config( globals->get_fg_root() );
|
|
config.append( path_n->getStringValue() );
|
|
|
|
SG_LOG( SG_ALL, SG_INFO, "Reading autopilot configuration from "
|
|
<< config.str() );
|
|
try {
|
|
readProperties( config.str(), config_props );
|
|
|
|
if ( ! build() ) {
|
|
SG_LOG( SG_ALL, SG_ALERT,
|
|
"Detected an internal inconsistency in the autopilot");
|
|
SG_LOG( SG_ALL, SG_ALERT,
|
|
" configuration. See earlier errors for" );
|
|
SG_LOG( SG_ALL, SG_ALERT,
|
|
" details.");
|
|
exit(-1);
|
|
}
|
|
} catch (const sg_exception& exc) {
|
|
SG_LOG( SG_ALL, SG_ALERT, "Failed to load autopilot configuration: "
|
|
<< config.str() );
|
|
}
|
|
|
|
} else {
|
|
SG_LOG( SG_ALL, SG_WARN,
|
|
"No autopilot configuration specified for this model!");
|
|
}
|
|
}
|
|
|
|
|
|
void FGXMLAutopilot::reinit() {
|
|
components.clear();
|
|
init();
|
|
}
|
|
|
|
|
|
void FGXMLAutopilot::bind() {
|
|
}
|
|
|
|
void FGXMLAutopilot::unbind() {
|
|
}
|
|
|
|
bool FGXMLAutopilot::build() {
|
|
SGPropertyNode *node;
|
|
int i;
|
|
|
|
int count = config_props->nChildren();
|
|
for ( i = 0; i < count; ++i ) {
|
|
node = config_props->getChild(i);
|
|
string name = node->getName();
|
|
// cout << name << endl;
|
|
if ( name == "pid-controller" ) {
|
|
components.push_back( new FGPIDController( node ) );
|
|
} else if ( name == "pi-simple-controller" ) {
|
|
components.push_back( new FGPISimpleController( node ) );
|
|
} else if ( name == "predict-simple" ) {
|
|
components.push_back( new FGPredictor( node ) );
|
|
} else if ( name == "filter" ) {
|
|
components.push_back( new FGDigitalFilter( node ) );
|
|
} else {
|
|
SG_LOG( SG_ALL, SG_ALERT, "Unknown top level section: "
|
|
<< name );
|
|
return false;
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
/*
|
|
* Update helper values
|
|
*/
|
|
static void update_helper( double dt ) {
|
|
// Estimate speed in 5,10 seconds
|
|
static SGPropertyNode *vel = fgGetNode( "/velocities/airspeed-kt", true );
|
|
static SGPropertyNode *lookahead5
|
|
= fgGetNode( "/autopilot/internal/lookahead-5-sec-airspeed-kt", true );
|
|
static SGPropertyNode *lookahead10
|
|
= fgGetNode( "/autopilot/internal/lookahead-10-sec-airspeed-kt", true );
|
|
|
|
static double average = 0.0; // average/filtered prediction
|
|
static double v_last = 0.0; // last velocity
|
|
|
|
double v = vel->getDoubleValue();
|
|
double a = 0.0;
|
|
if ( dt > 0.0 ) {
|
|
a = (v - v_last) / dt;
|
|
|
|
if ( dt < 1.0 ) {
|
|
average = (1.0 - dt) * average + dt * a;
|
|
} else {
|
|
average = a;
|
|
}
|
|
|
|
lookahead5->setDoubleValue( v + average * 5.0 );
|
|
lookahead10->setDoubleValue( v + average * 10.0 );
|
|
v_last = v;
|
|
}
|
|
|
|
// Calculate heading bug error normalized to +/- 180.0 (based on
|
|
// DG indicated heading)
|
|
static SGPropertyNode *bug
|
|
= fgGetNode( "/autopilot/settings/heading-bug-deg", true );
|
|
static SGPropertyNode *ind_hdg
|
|
= fgGetNode( "/instrumentation/heading-indicator/indicated-heading-deg",
|
|
true );
|
|
static SGPropertyNode *ind_bug_error
|
|
= fgGetNode( "/autopilot/internal/heading-bug-error-deg", true );
|
|
|
|
double diff = bug->getDoubleValue() - ind_hdg->getDoubleValue();
|
|
if ( diff < -180.0 ) { diff += 360.0; }
|
|
if ( diff > 180.0 ) { diff -= 360.0; }
|
|
ind_bug_error->setDoubleValue( diff );
|
|
|
|
// Calculate heading bug error normalized to +/- 180.0 (based on
|
|
// actual/nodrift magnetic-heading, i.e. a DG slaved to magnetic
|
|
// compass.)
|
|
static SGPropertyNode *mag_hdg
|
|
= fgGetNode( "/orientation/heading-magnetic-deg", true );
|
|
static SGPropertyNode *fdm_bug_error
|
|
= fgGetNode( "/autopilot/internal/fdm-heading-bug-error-deg", true );
|
|
|
|
diff = bug->getDoubleValue() - mag_hdg->getDoubleValue();
|
|
if ( diff < -180.0 ) { diff += 360.0; }
|
|
if ( diff > 180.0 ) { diff -= 360.0; }
|
|
fdm_bug_error->setDoubleValue( diff );
|
|
|
|
// Calculate true heading error normalized to +/- 180.0
|
|
static SGPropertyNode *target_true
|
|
= fgGetNode( "/autopilot/settings/true-heading-deg", true );
|
|
static SGPropertyNode *true_hdg
|
|
= fgGetNode( "/orientation/heading-deg", true );
|
|
static SGPropertyNode *true_track
|
|
= fgGetNode( "/instrumentation/gps/indicated-track-true-deg", true );
|
|
static SGPropertyNode *true_error
|
|
= fgGetNode( "/autopilot/internal/true-heading-error-deg", true );
|
|
|
|
diff = target_true->getDoubleValue() - true_hdg->getDoubleValue();
|
|
if ( diff < -180.0 ) { diff += 360.0; }
|
|
if ( diff > 180.0 ) { diff -= 360.0; }
|
|
true_error->setDoubleValue( diff );
|
|
|
|
// Calculate nav1 target heading error normalized to +/- 180.0
|
|
static SGPropertyNode *target_nav1
|
|
= fgGetNode( "/instrumentation/nav[0]/radials/target-auto-hdg-deg", true );
|
|
static SGPropertyNode *true_nav1
|
|
= fgGetNode( "/autopilot/internal/nav1-heading-error-deg", true );
|
|
static SGPropertyNode *true_track_nav1
|
|
= fgGetNode( "/autopilot/internal/nav1-track-error-deg", true );
|
|
|
|
diff = target_nav1->getDoubleValue() - true_hdg->getDoubleValue();
|
|
if ( diff < -180.0 ) { diff += 360.0; }
|
|
if ( diff > 180.0 ) { diff -= 360.0; }
|
|
true_nav1->setDoubleValue( diff );
|
|
|
|
diff = target_nav1->getDoubleValue() - true_track->getDoubleValue();
|
|
if ( diff < -180.0 ) { diff += 360.0; }
|
|
if ( diff > 180.0 ) { diff -= 360.0; }
|
|
true_track_nav1->setDoubleValue( diff );
|
|
|
|
// Calculate nav1 selected course error normalized to +/- 180.0
|
|
// (based on DG indicated heading)
|
|
static SGPropertyNode *nav1_course_error
|
|
= fgGetNode( "/autopilot/internal/nav1-course-error", true );
|
|
static SGPropertyNode *nav1_selected_course
|
|
= fgGetNode( "/instrumentation/nav[0]/radials/selected-deg", true );
|
|
|
|
diff = nav1_selected_course->getDoubleValue() - ind_hdg->getDoubleValue();
|
|
// if ( diff < -180.0 ) { diff += 360.0; }
|
|
// if ( diff > 180.0 ) { diff -= 360.0; }
|
|
SG_NORMALIZE_RANGE( diff, -180.0, 180.0 );
|
|
nav1_course_error->setDoubleValue( diff );
|
|
|
|
// Calculate vertical speed in fpm
|
|
static SGPropertyNode *vs_fps
|
|
= fgGetNode( "/velocities/vertical-speed-fps", true );
|
|
static SGPropertyNode *vs_fpm
|
|
= fgGetNode( "/autopilot/internal/vert-speed-fpm", true );
|
|
|
|
vs_fpm->setDoubleValue( vs_fps->getDoubleValue() * 60.0 );
|
|
|
|
|
|
// Calculate static port pressure rate in [inhg/s].
|
|
// Used to determine vertical speed.
|
|
static SGPropertyNode *static_pressure
|
|
= fgGetNode( "/systems/static[0]/pressure-inhg", true );
|
|
static SGPropertyNode *pressure_rate
|
|
= fgGetNode( "/autopilot/internal/pressure-rate", true );
|
|
|
|
static double last_static_pressure = 0.0;
|
|
|
|
if ( dt > 0.0 ) {
|
|
double current_static_pressure = static_pressure->getDoubleValue();
|
|
|
|
double current_pressure_rate =
|
|
( current_static_pressure - last_static_pressure ) / dt;
|
|
|
|
pressure_rate->setDoubleValue(current_pressure_rate);
|
|
|
|
last_static_pressure = current_static_pressure;
|
|
}
|
|
|
|
}
|
|
|
|
|
|
/*
|
|
* Update the list of autopilot components
|
|
*/
|
|
|
|
void FGXMLAutopilot::update( double dt ) {
|
|
update_helper( dt );
|
|
|
|
unsigned int i;
|
|
for ( i = 0; i < components.size(); ++i ) {
|
|
components[i]->update( dt );
|
|
}
|
|
}
|
|
|