FGActuator.h

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

 Header:       FGActuator.h
 Author:       Jon Berndt
 Date started: 21 February 2007

 ------------- Copyright (C) 2006 Jon S. Berndt (jon@jsbsim.org) -------------

 This program is free software; you can redistribute it and/or modify it under
 the terms of the GNU Lesser 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 Lesser General Public License for more
 details.

 You should have received a copy of the GNU Lesser General Public License along with
 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
 Place - Suite 330, Boston, MA  02111-1307, USA.

 Further information about the GNU Lesser General Public License can also be found on
 the world wide web at http://www.gnu.org.

HISTORY
--------------------------------------------------------------------------------

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#ifndef FGACTUATOR_H
#define FGACTUATOR_H

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#include "FGFCSComponent.h"
#include "input_output/FGXMLElement.h"

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#define ID_ACTUATOR "$Id: FGActuator.h,v 1.15 2013/01/26 17:06:50 bcoconni Exp $"

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

namespace JSBSim {

class FGFCS;

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

class FGActuator  : public FGFCSComponent
{
public:
  FGActuator(FGFCS* fcs, Element* element);
  ~FGActuator();

  bool Run (void);

  // these may need to have the bool argument replaced with a double
  void SetFailZero(bool set) {fail_zero = set;}
  void SetFailHardover(bool set) {fail_hardover = set;}
  void SetFailStuck(bool set) {fail_stuck = set;}

  bool GetFailZero(void) const {return fail_zero;}
  bool GetFailHardover(void) const {return fail_hardover;}
  bool GetFailStuck(void) const {return fail_stuck;}
  bool IsSaturated(void) const {return saturated;}
  
private:
  double span;
  double bias;
  bool rate_limited;
  double rate_limit;
  double rate_limit_incr;
  double rate_limit_decr;
  FGPropertyNode_ptr rate_limit_incr_prop;
  FGPropertyNode_ptr rate_limit_decr_prop;
  double hysteresis_width;
  double deadband_width;
  double lag;
  double ca; // lag filter coefficient "a"
  double cb; // lag filter coefficient "b"
  double PreviousOutput;
  double PreviousHystOutput;
  double PreviousRateLimOutput;
  double PreviousLagInput;
  double PreviousLagOutput;
  bool fail_zero;
  bool fail_hardover;
  bool fail_stuck;
  bool initialized;
  bool saturated;

  void Hysteresis(void);
  void Lag(void);
  void RateLimit(void);
  void Deadband(void);
  void Bias(void);

  void bind(void);

  void Debug(int from);
};
}
#endif