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1 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2 : :
3 : : Header: FGFilter.h
4 : : Author: Jon S. Berndt
5 : : Date started: 4/2000
6 : :
7 : : ------------- Copyright (C) 2000 Jon S. Berndt jon@jsbsim.org -------------
8 : :
9 : : This program is free software; you can redistribute it and/or modify it under
10 : : the terms of the GNU Lesser General Public License as published by the Free Software
11 : : Foundation; either version 2 of the License, or (at your option) any later
12 : : version.
13 : :
14 : : This program is distributed in the hope that it will be useful, but WITHOUT
15 : : ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 : : FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
17 : : details.
18 : :
19 : : You should have received a copy of the GNU Lesser General Public License along with
20 : : this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 : : Place - Suite 330, Boston, MA 02111-1307, USA.
22 : :
23 : : Further information about the GNU Lesser General Public License can also be found on
24 : : the world wide web at http://www.gnu.org.
25 : :
26 : : HISTORY
27 : : --------------------------------------------------------------------------------
28 : :
29 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
30 : : SENTRY
31 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
32 : :
33 : : #ifndef FGFILTER_H
34 : : #define FGFILTER_H
35 : :
36 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
37 : : INCLUDES
38 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
39 : :
40 : : #include "FGFCSComponent.h"
41 : :
42 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
43 : : DEFINITIONS
44 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
45 : :
46 : : #define ID_FILTER "$Id: FGFilter.h,v 1.12 2009/10/24 22:59:30 jberndt Exp $"
47 : :
48 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
49 : : FORWARD DECLARATIONS
50 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
51 : :
52 : : namespace JSBSim {
53 : :
54 : : class Element;
55 : : class FGPropertyManager;
56 : : class FGFCS;
57 : :
58 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
59 : : CLASS DOCUMENTATION
60 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
61 : :
62 : : /** Encapsulates a filter for the flight control system.
63 : : The filter component can simulate any first or second order filter. The
64 : : Tustin substitution is used to take filter definitions from LaPlace space to the
65 : : time domain. The general format for a filter specification is:
66 : :
67 : : @code
68 : : <typename name="name">
69 : : <input> property </input>
70 : : <c1> value|property </c1>
71 : : [<c2> value|property </c2>]
72 : : [<c3> value|property </c3>]
73 : : [<c4> value|property </c4>]
74 : : [<c5> value|property </c5>]
75 : : [<c6> value|property </c6>]
76 : : [<clipto>
77 : : <min> {[-]property name | value} </min>
78 : : <max> {[-]property name | value} </max>
79 : : </clipto>]
80 : : [<output> property </output>]
81 : : </typename>
82 : : @endcode
83 : :
84 : : For a lag filter of the form,
85 : :
86 : : @code
87 : : C1
88 : : ------
89 : : s + C1
90 : : @endcode
91 : :
92 : : the corresponding filter definition is:
93 : :
94 : : @code
95 : : <lag_filter name="name">
96 : : <input> property </input>
97 : : <c1> value|property </c1>
98 : : [<clipto>
99 : : <min> {[-]property name | value} </min>
100 : : <max> {[-]property name | value} </max>
101 : : </clipto>]
102 : : [<output> property <output>]
103 : : </lag_filter>
104 : : @endcode
105 : :
106 : : As an example, for the specific filter:
107 : :
108 : : @code
109 : : 600
110 : : ------
111 : : s + 600
112 : : @endcode
113 : :
114 : : the corresponding filter definition could be:
115 : :
116 : : @code
117 : : <lag_filter name="Heading Roll Error Lag">
118 : : <input> fcs/heading-command </input>
119 : : <c1> 600 </c1>
120 : : </lag_filter>
121 : : @endcode
122 : :
123 : : For a lead-lag filter of the form:
124 : :
125 : : @code
126 : : C1*s + C2
127 : : ---------
128 : : C3*s + C4
129 : : @endcode
130 : :
131 : : The corresponding filter definition is:
132 : :
133 : : @code
134 : : <lead_lag_filter name="name">
135 : : <input> property </input>
136 : : <c1> value|property <c/1>
137 : : <c2> value|property <c/2>
138 : : <c3> value|property <c/3>
139 : : <c4> value|property <c/4>
140 : : [<clipto>
141 : : <min> {[-]property name | value} </min>
142 : : <max> {[-]property name | value} </max>
143 : : </clipto>]
144 : : [<output> property </output>]
145 : : </lead_lag_filter>
146 : : @endcode
147 : :
148 : : For a washout filter of the form:
149 : :
150 : : @code
151 : : s
152 : : ------
153 : : s + C1
154 : : @endcode
155 : :
156 : : The corresponding filter definition is:
157 : :
158 : : @code
159 : : <washout_filter name="name">
160 : : <input> property </input>
161 : : <c1> value </c1>
162 : : [<clipto>
163 : : <min> {[-]property name | value} </min>
164 : : <max> {[-]property name | value} </max>
165 : : </clipto>]
166 : : [<output> property </output>]
167 : : </washout_filter>
168 : : @endcode
169 : :
170 : : For a second order filter of the form:
171 : :
172 : : @code
173 : : C1*s^2 + C2*s + C3
174 : : ------------------
175 : : C4*s^2 + C5*s + C6
176 : : @endcode
177 : :
178 : : The corresponding filter definition is:
179 : :
180 : : @code
181 : : <second_order_filter name="name">
182 : : <input> property </input>
183 : : <c1> value|property </c1>
184 : : <c2> value|property </c2>
185 : : <c3> value|property </c3>
186 : : <c4> value|property </c4>
187 : : <c5> value|property </c5>
188 : : <c6> value|property </c6>
189 : : [<clipto>
190 : : <min> {[-]property name | value} </min>
191 : : <max> {[-]property name | value} </max>
192 : : </clipto>]
193 : : [<output> property </output>]
194 : : </second_order_filter>
195 : : @endcode
196 : :
197 : : For an integrator of the form:
198 : :
199 : : @code
200 : : C1
201 : : ---
202 : : s
203 : : @endcode
204 : :
205 : : The corresponding filter definition is:
206 : :
207 : : @code
208 : : <integrator name="name">
209 : : <input> property </input>
210 : : <c1> value|property </c1>
211 : : [<trigger> property </trigger>]
212 : : [<clipto>
213 : : <min> {[-]property name | value} </min>
214 : : <max> {[-]property name | value} </max>
215 : : </clipto>]
216 : : [<output> property </output>]
217 : : </integrator>
218 : : @endcode
219 : :
220 : : For the integrator, the trigger features the following behavior. If the trigger
221 : : property value is:
222 : : - 0: no action is taken - the output is calculated normally
223 : : - not 0: (or simply greater than zero), all current and previous inputs will
224 : : be set to 0.0
225 : :
226 : : In all the filter specifications above, an \<output> element is also seen. This
227 : : is so that the last component in a "string" can copy its value to the appropriate
228 : : output, such as the elevator, or speedbrake, etc.
229 : :
230 : : @author Jon S. Berndt
231 : : @version $Revision: 1.12 $
232 : :
233 : : */
234 : :
235 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
236 : : CLASS DECLARATION
237 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
238 : :
239 : : class FGFilter : public FGFCSComponent
240 : : {
241 : : public:
242 : : FGFilter(FGFCS* fcs, Element* element);
243 : : ~FGFilter();
244 : :
245 : : bool Run (void);
246 : :
247 : : /** When true, causes previous values to be set to current values. This
248 : : is particularly useful for first pass. */
249 : : bool Initialize;
250 : 0 : void ResetPastStates(void) {Input = 0.0; Initialize = true;}
251 : :
252 : : enum {eLag, eLeadLag, eOrder2, eWashout, eIntegrator, eUnknown} FilterType;
253 : :
254 : : private:
255 : : double ca;
256 : : double cb;
257 : : double cc;
258 : : double cd;
259 : : double ce;
260 : : double C[7]; // There are 6 coefficients, indexing is "1" based.
261 : : double PropertySign[7];
262 : : double PreviousInput1;
263 : : double PreviousInput2;
264 : : double PreviousOutput1;
265 : : double PreviousOutput2;
266 : : FGPropertyManager* Trigger;
267 : : FGPropertyManager* PropertyNode[7];
268 : : void CalculateDynamicFilters(void);
269 : : void ReadFilterCoefficients(Element* el, int index);
270 : : bool DynamicFilter;
271 : : void Debug(int from);
272 : : };
273 : : }
274 : : #endif
275 : :
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