948 lines
30 KiB
C++
948 lines
30 KiB
C++
// xmlauto.cxx - a more flexible, generic way to build autopilots
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//
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// Written 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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//
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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., 675 Mass Ave, Cambridge, MA 02139, USA.
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//
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// $Id$
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#include <simgear/structure/exception.hxx>
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#include <simgear/misc/sg_path.hxx>
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#include <simgear/sg_inlines.h>
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#include <Main/fg_props.hxx>
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#include <Main/globals.hxx>
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#include <Main/util.hxx>
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#include "xmlauto.hxx"
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FGPIDController::FGPIDController( SGPropertyNode *node ):
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debug( false ),
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y_n( 0.0 ),
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r_n( 0.0 ),
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y_scale( 1.0 ),
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r_scale( 1.0 ),
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Kp( 0.0 ),
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alpha( 0.1 ),
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beta( 1.0 ),
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gamma( 0.0 ),
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Ti( 0.0 ),
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Td( 0.0 ),
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u_min( 0.0 ),
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u_max( 0.0 ),
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ep_n_1( 0.0 ),
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edf_n_1( 0.0 ),
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edf_n_2( 0.0 ),
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u_n_1( 0.0 )
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{
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int i;
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for ( i = 0; i < node->nChildren(); ++i ) {
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SGPropertyNode *child = node->getChild(i);
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string cname = child->getName();
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string cval = child->getStringValue();
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if ( cname == "name" ) {
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name = cval;
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} else if ( cname == "debug" ) {
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debug = child->getBoolValue();
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} else if ( cname == "enable" ) {
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// cout << "parsing enable" << endl;
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SGPropertyNode *prop = child->getChild( "prop" );
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if ( prop != NULL ) {
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// cout << "prop = " << prop->getStringValue() << endl;
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enable_prop = fgGetNode( prop->getStringValue(), true );
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} else {
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// cout << "no prop child" << endl;
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}
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SGPropertyNode *val = child->getChild( "value" );
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if ( val != NULL ) {
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enable_value = val->getStringValue();
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}
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} else if ( cname == "input" ) {
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SGPropertyNode *prop = child->getChild( "prop" );
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if ( prop != NULL ) {
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input_prop = fgGetNode( prop->getStringValue(), true );
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}
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prop = child->getChild( "scale" );
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if ( prop != NULL ) {
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y_scale = prop->getDoubleValue();
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}
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} else if ( cname == "reference" ) {
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SGPropertyNode *prop = child->getChild( "prop" );
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if ( prop != NULL ) {
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r_n_prop = fgGetNode( prop->getStringValue(), true );
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} else {
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prop = child->getChild( "value" );
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if ( prop != NULL ) {
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r_n = prop->getDoubleValue();
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}
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}
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prop = child->getChild( "scale" );
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if ( prop != NULL ) {
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r_scale = prop->getDoubleValue();
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}
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} else if ( cname == "output" ) {
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int i = 0;
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SGPropertyNode *prop;
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while ( (prop = child->getChild("prop", i)) != NULL ) {
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SGPropertyNode *tmp = fgGetNode( prop->getStringValue(), true );
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output_list.push_back( tmp );
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i++;
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}
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} else if ( cname == "config" ) {
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SGPropertyNode *prop;
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prop = child->getChild( "Kp" );
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if ( prop != NULL ) {
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Kp = prop->getDoubleValue();
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}
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prop = child->getChild( "beta" );
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if ( prop != NULL ) {
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beta = prop->getDoubleValue();
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}
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prop = child->getChild( "alpha" );
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if ( prop != NULL ) {
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alpha = prop->getDoubleValue();
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}
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prop = child->getChild( "gamma" );
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if ( prop != NULL ) {
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gamma = prop->getDoubleValue();
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}
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prop = child->getChild( "Ti" );
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if ( prop != NULL ) {
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Ti = prop->getDoubleValue();
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}
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prop = child->getChild( "Td" );
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if ( prop != NULL ) {
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Td = prop->getDoubleValue();
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}
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prop = child->getChild( "u_min" );
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if ( prop != NULL ) {
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u_min = prop->getDoubleValue();
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}
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prop = child->getChild( "u_max" );
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if ( prop != NULL ) {
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u_max = prop->getDoubleValue();
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}
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} else {
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SG_LOG( SG_AUTOPILOT, SG_WARN, "Error in autopilot config logic" );
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if ( name.length() ) {
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SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << name );
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}
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}
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}
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}
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/*
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* Roy Vegard Ovesen:
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*
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* Ok! Here is the PID controller algorithm that I would like to see
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* implemented:
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*
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* delta_u_n = Kp * [ (ep_n - ep_n-1) + ((Ts/Ti)*e_n)
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* + (Td/Ts)*(edf_n - 2*edf_n-1 + edf_n-2) ]
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*
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* u_n = u_n-1 + delta_u_n
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*
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* where:
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*
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* delta_u : The incremental output
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* Kp : Proportional gain
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* ep : Proportional error with reference weighing
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* ep = beta * r - y
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* where:
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* beta : Weighing factor
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* r : Reference (setpoint)
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* y : Process value, measured
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* e : Error
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* e = r - y
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* Ts : Sampling interval
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* Ti : Integrator time
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* Td : Derivator time
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* edf : Derivate error with reference weighing and filtering
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* edf_n = edf_n-1 / ((Ts/Tf) + 1) + ed_n * (Ts/Tf) / ((Ts/Tf) + 1)
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* where:
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* Tf : Filter time
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* Tf = alpha * Td , where alpha usually is set to 0.1
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* ed : Unfiltered derivate error with reference weighing
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* ed = gamma * r - y
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* where:
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* gamma : Weighing factor
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*
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* u : absolute output
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*
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* Index n means the n'th value.
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*
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*
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* Inputs:
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* enabled ,
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* y_n , r_n , beta=1 , gamma=0 , alpha=0.1 ,
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* Kp , Ti , Td , Ts (is the sampling time available?)
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* u_min , u_max
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*
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* Output:
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* u_n
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*/
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void FGPIDController::update( double dt ) {
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double ep_n; // proportional error with reference weighing
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double e_n; // error
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double ed_n; // derivative error
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double edf_n; // derivative error filter
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double Tf; // filter time
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double delta_u_n = 0.0; // incremental output
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double u_n = 0.0; // absolute output
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double Ts = dt; // Sampling interval (sec)
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if ( Ts <= 0.0 ) {
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// do nothing if time step is not positive (i.e. no time has
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// elapsed)
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return;
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}
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if (enable_prop != NULL && enable_prop->getStringValue() == enable_value) {
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if ( !enabled ) {
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// first time being enabled, seed u_n with current
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// property tree value
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u_n = output_list[0]->getDoubleValue();
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// and clip
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if ( u_n < u_min ) { u_n = u_min; }
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if ( u_n > u_max ) { u_n = u_max; }
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u_n_1 = u_n;
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}
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enabled = true;
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} else {
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enabled = false;
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}
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if ( enabled && Ts > 0.0) {
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if ( debug ) cout << "Updating " << name << endl;
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double y_n = 0.0;
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if ( input_prop != NULL ) {
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y_n = input_prop->getDoubleValue() * y_scale;
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}
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double r_n = 0.0;
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if ( r_n_prop != NULL ) {
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r_n = r_n_prop->getDoubleValue() * r_scale;
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} else {
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r_n = r_n_value;
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}
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if ( debug ) cout << " input = " << y_n << " ref = " << r_n << endl;
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// Calculates proportional error:
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ep_n = beta * r_n - y_n;
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if ( debug ) cout << " ep_n = " << ep_n;
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if ( debug ) cout << " ep_n_1 = " << ep_n_1;
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// Calculates error:
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e_n = r_n - y_n;
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if ( debug ) cout << " e_n = " << e_n;
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// Calculates derivate error:
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ed_n = gamma * r_n - y_n;
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if ( debug ) cout << " ed_n = " << ed_n;
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if ( Td > 0.0 ) {
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// Calculates filter time:
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Tf = alpha * Td;
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if ( debug ) cout << " Tf = " << Tf;
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// Filters the derivate error:
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edf_n = edf_n_1 / (Ts/Tf + 1)
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+ ed_n * (Ts/Tf) / (Ts/Tf + 1);
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if ( debug ) cout << " edf_n = " << edf_n;
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} else {
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edf_n = ed_n;
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}
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// Calculates the incremental output:
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if ( Ti > 0.0 ) {
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delta_u_n = Kp * ( (ep_n - ep_n_1)
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+ ((Ts/Ti) * e_n)
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+ ((Td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2)) );
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} else if ( Ti <= 0.0 ) {
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delta_u_n = Kp * ( (ep_n - ep_n_1)
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+ ((Td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2)) );
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}
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if ( debug ) {
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cout << " delta_u_n = " << delta_u_n << endl;
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cout << "P:" << Kp * (ep_n - ep_n_1)
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<< " I:" << Kp * ((Ts/Ti) * e_n)
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<< " D:" << Kp * ((Td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2))
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<< endl;
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}
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// Integrator anti-windup logic:
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if ( delta_u_n > (u_max - u_n_1) ) {
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delta_u_n = 0;
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if ( debug ) cout << " max saturation " << endl;
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} else if ( delta_u_n < (u_min - u_n_1) ) {
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delta_u_n = 0;
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if ( debug ) cout << " min saturation " << endl;
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}
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// Calculates absolute output:
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u_n = u_n_1 + delta_u_n;
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if ( debug ) cout << " output = " << u_n << endl;
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// Updates indexed values;
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u_n_1 = u_n;
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ep_n_1 = ep_n;
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edf_n_2 = edf_n_1;
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edf_n_1 = edf_n;
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unsigned int i;
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for ( i = 0; i < output_list.size(); ++i ) {
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output_list[i]->setDoubleValue( u_n );
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}
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} else if ( !enabled ) {
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ep_n = 0.0;
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edf_n = 0.0;
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// Updates indexed values;
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u_n_1 = u_n;
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ep_n_1 = ep_n;
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edf_n_2 = edf_n_1;
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edf_n_1 = edf_n;
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}
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}
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FGPISimpleController::FGPISimpleController( SGPropertyNode *node ):
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proportional( false ),
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Kp( 0.0 ),
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offset_prop( NULL ),
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offset_value( 0.0 ),
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integral( false ),
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Ki( 0.0 ),
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int_sum( 0.0 ),
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clamp( false ),
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debug( false ),
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y_n( 0.0 ),
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r_n( 0.0 ),
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y_scale( 1.0 ),
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r_scale ( 1.0 ),
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u_min( 0.0 ),
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u_max( 0.0 )
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{
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int i;
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for ( i = 0; i < node->nChildren(); ++i ) {
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SGPropertyNode *child = node->getChild(i);
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string cname = child->getName();
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string cval = child->getStringValue();
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if ( cname == "name" ) {
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name = cval;
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} else if ( cname == "debug" ) {
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debug = child->getBoolValue();
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} else if ( cname == "enable" ) {
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// cout << "parsing enable" << endl;
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SGPropertyNode *prop = child->getChild( "prop" );
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if ( prop != NULL ) {
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// cout << "prop = " << prop->getStringValue() << endl;
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enable_prop = fgGetNode( prop->getStringValue(), true );
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} else {
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// cout << "no prop child" << endl;
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}
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SGPropertyNode *val = child->getChild( "value" );
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if ( val != NULL ) {
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enable_value = val->getStringValue();
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}
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} else if ( cname == "input" ) {
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SGPropertyNode *prop = child->getChild( "prop" );
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if ( prop != NULL ) {
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input_prop = fgGetNode( prop->getStringValue(), true );
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}
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prop = child->getChild( "scale" );
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if ( prop != NULL ) {
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y_scale = prop->getDoubleValue();
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}
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} else if ( cname == "reference" ) {
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SGPropertyNode *prop = child->getChild( "prop" );
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if ( prop != NULL ) {
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r_n_prop = fgGetNode( prop->getStringValue(), true );
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} else {
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prop = child->getChild( "value" );
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if ( prop != NULL ) {
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r_n = prop->getDoubleValue();
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}
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}
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prop = child->getChild( "scale" );
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if ( prop != NULL ) {
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r_scale = prop->getDoubleValue();
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}
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} else if ( cname == "output" ) {
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int i = 0;
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SGPropertyNode *prop;
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while ( (prop = child->getChild("prop", i)) != NULL ) {
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SGPropertyNode *tmp = fgGetNode( prop->getStringValue(), true );
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output_list.push_back( tmp );
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i++;
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}
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} else if ( cname == "config" ) {
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SGPropertyNode *prop;
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prop = child->getChild( "Kp" );
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if ( prop != NULL ) {
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Kp = prop->getDoubleValue();
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proportional = true;
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}
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prop = child->getChild( "Ki" );
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if ( prop != NULL ) {
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Ki = prop->getDoubleValue();
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integral = true;
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}
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prop = child->getChild( "u_min" );
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if ( prop != NULL ) {
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u_min = prop->getDoubleValue();
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clamp = true;
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}
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prop = child->getChild( "u_max" );
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if ( prop != NULL ) {
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u_max = prop->getDoubleValue();
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clamp = true;
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}
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} else {
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SG_LOG( SG_AUTOPILOT, SG_WARN, "Error in autopilot config logic" );
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if ( name.length() ) {
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SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << name );
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}
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}
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}
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}
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void FGPISimpleController::update( double dt ) {
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if (enable_prop != NULL && enable_prop->getStringValue() == enable_value) {
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if ( !enabled ) {
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// we have just been enabled, zero out int_sum
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int_sum = 0.0;
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}
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enabled = true;
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} else {
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enabled = false;
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}
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if ( enabled ) {
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if ( debug ) cout << "Updating " << name << endl;
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double input = 0.0;
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if ( input_prop != NULL ) {
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input = input_prop->getDoubleValue() * y_scale;
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}
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double r_n = 0.0;
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if ( r_n_prop != NULL ) {
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r_n = r_n_prop->getDoubleValue() * r_scale;
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} else {
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r_n = r_n_value;
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}
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double error = r_n - input;
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if ( debug ) cout << "input = " << input
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<< " reference = " << r_n
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<< " error = " << error
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<< endl;
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double prop_comp = 0.0;
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double offset = 0.0;
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if ( offset_prop != NULL ) {
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offset = offset_prop->getDoubleValue();
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if ( debug ) cout << "offset = " << offset << endl;
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} else {
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offset = offset_value;
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}
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if ( proportional ) {
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prop_comp = error * Kp + offset;
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}
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if ( integral ) {
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int_sum += error * Ki * dt;
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} else {
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int_sum = 0.0;
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}
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if ( debug ) cout << "prop_comp = " << prop_comp
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<< " int_sum = " << int_sum << endl;
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double output = prop_comp + int_sum;
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if ( clamp ) {
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if ( output < u_min ) {
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output = u_min;
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}
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if ( output > u_max ) {
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output = u_max;
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}
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}
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if ( debug ) cout << "output = " << output << endl;
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unsigned int i;
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for ( i = 0; i < output_list.size(); ++i ) {
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output_list[i]->setDoubleValue( output );
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}
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}
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}
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FGPredictor::FGPredictor ( SGPropertyNode *node ):
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last_value ( 999999999.9 ),
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average ( 0.0 ),
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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)
|
|
{
|
|
samples = 1;
|
|
|
|
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 == "type" ) {
|
|
filterType = cval;
|
|
} 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 == "output" ) {
|
|
SGPropertyNode *tmp = fgGetNode( child->getStringValue(), true );
|
|
output_list.push_back( tmp );
|
|
}
|
|
}
|
|
|
|
output.resize(2, 0.0);
|
|
input.resize(samples, 0.0);
|
|
}
|
|
|
|
void FGDigitalFilter::update(double dt)
|
|
{
|
|
if ( input_prop != NULL ) {
|
|
input.push_front(input_prop->getDoubleValue());
|
|
input.resize(samples, 0.0);
|
|
// no sense if there isn't an input :-)
|
|
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]);
|
|
unsigned int i;
|
|
for ( i = 0; i < output_list.size(); ++i ) {
|
|
output_list[i]->setDoubleValue( output[0] );
|
|
}
|
|
output.resize(1);
|
|
}
|
|
else if (filterType == "double-exponential")
|
|
{
|
|
double alpha = 1 / ((Tf/dt) + 1);
|
|
output.push_front(alpha * alpha * input[0] +
|
|
2 * (1 - alpha) * output[0] -
|
|
(1 - alpha) * (1 - alpha) * output[1]);
|
|
unsigned int i;
|
|
for ( i = 0; i < output_list.size(); ++i ) {
|
|
output_list[i]->setDoubleValue( output[0] );
|
|
}
|
|
output.resize(2);
|
|
}
|
|
else if (filterType == "moving-average")
|
|
{
|
|
output.push_front(output[0] +
|
|
(input[0] - input.back()) / samples);
|
|
unsigned int i;
|
|
for ( i = 0; i < output_list.size(); ++i ) {
|
|
output_list[i]->setDoubleValue( output[0] );
|
|
}
|
|
output.resize(1);
|
|
}
|
|
else if (filterType == "noise-spike")
|
|
{
|
|
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]);
|
|
}
|
|
|
|
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 inconsistancy 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();
|
|
build();
|
|
}
|
|
|
|
|
|
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" ) {
|
|
FGXMLAutoComponent *c = new FGPIDController( node );
|
|
components.push_back( c );
|
|
} else if ( name == "pi-simple-controller" ) {
|
|
FGXMLAutoComponent *c = new FGPISimpleController( node );
|
|
components.push_back( c );
|
|
} else if ( name == "predict-simple" ) {
|
|
FGXMLAutoComponent *c = new FGPredictor( node );
|
|
components.push_back( c );
|
|
} else if ( name == "filter" ) {
|
|
FGXMLAutoComponent *c = new FGDigitalFilter( node );
|
|
components.push_back( c );
|
|
} 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( "/radios/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( "/radios/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 );
|
|
}
|
|
}
|