84 lines
2.5 KiB
C++
84 lines
2.5 KiB
C++
// predictor.cxx - predict future values
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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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#include "predictor.hxx"
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using namespace FGXMLAutopilot;
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using std::endl;
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using std::cout;
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Predictor::Predictor () :
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AnalogComponent(),
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_average(0.0)
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{
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}
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bool Predictor::configure(const string& nodeName, SGPropertyNode_ptr configNode)
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{
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SG_LOG( SG_AUTOPILOT, SG_BULK, "Predictor::configure(" << nodeName << ")" << endl );
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if( AnalogComponent::configure( nodeName, configNode ) )
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return true;
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if( nodeName == "config" ) {
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Component::configure( configNode );
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return true;
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}
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if (nodeName == "seconds") {
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_seconds.push_back( new InputValue( configNode, 0 ) );
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return true;
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}
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if (nodeName == "filter-gain") {
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_filter_gain.push_back( new InputValue( configNode, 0 ) );
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return true;
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}
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SG_LOG( SG_AUTOPILOT, SG_BULK, "Predictor::configure(" << nodeName << ") [unhandled]" << endl );
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return false;
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}
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void Predictor::update( bool firstTime, double dt )
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{
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double ivalue = _valueInput.get_value();
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if ( firstTime ) {
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_last_value = ivalue;
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}
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double current = (ivalue - _last_value)/dt; // calculate current error change (per second)
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_average = dt < 1.0 ? ((1.0 - dt) * _average + current * dt) : current;
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// calculate output with filter gain adjustment
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double output = ivalue +
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(1.0 - _filter_gain.get_value()) * (_average * _seconds.get_value()) +
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_filter_gain.get_value() * (current * _seconds.get_value());
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output = clamp( output );
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set_output_value( output );
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_last_value = ivalue;
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}
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