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"
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
namespace JSBSim {
 
class FGFCS;
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
class FGActuator  : public FGFCSComponent
{
public:
  FGActuator(FGFCS* fcs, Element* element);
  ~FGActuator();
 
  bool Run (void) override;
  void ResetPastStates(void) override;
 
  // 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;
  FGParameter* rate_limit_incr;
  FGParameter* rate_limit_decr;
  double hysteresis_width;
  double deadband_width;
  FGParameter* lag;
  double lagVal;
  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(Element* el) override;
 
  void InitializeLagCoefficients();
 
  void Debug(int from) override;
};
}
#endif