FGTrimAxis.h

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 Header:       FGTrimAxis.h
 Author:       Tony Peden
 Date started: 7/3/00
 
 ------------- Copyright (C) 1999  Anthony K. Peden (apeden@earthlink.net) -------------
 
 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
--------------------------------------------------------------------------------
7/3/00  TP   Created
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
#ifndef FGTRIMAXIS_H
#define FGTRIMAXIS_H
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
#include <string>
 
#include "FGJSBBase.h"
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
#define DEFAULT_TOLERANCE 0.001
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
namespace JSBSim {
 
const std::string StateNames[] =   { "all","udot","vdot","wdot","qdot","pdot",
                                     "rdot","hmgt","nlf" 
                                   };
const std::string ControlNames[] =  { "Throttle","Sideslip","Angle of Attack",
                                      "Elevator","Ailerons","Rudder",
                                      "Altitude AGL", "Pitch Angle",
                                      "Roll Angle", "Flight Path Angle", 
                                      "Pitch Trim", "Roll Trim", "Yaw Trim",
                                      "Heading"
                                    };
 
class FGInitialCondition;
class FGFDMExec;
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
enum State { tAll,tUdot,tVdot,tWdot,tQdot,tPdot,tRdot,tHmgt,tNlf };
enum Control { tThrottle, tBeta, tAlpha, tElevator, tAileron, tRudder, tAltAGL,
               tTheta, tPhi, tGamma, tPitchTrim, tRollTrim, tYawTrim, tHeading };
 
class FGTrimAxis : public FGJSBBase
{
public:
  FGTrimAxis(FGFDMExec* fdmex, 
             FGInitialCondition *IC, 
             State state,
             Control control );
  ~FGTrimAxis();
 
  void Run(void);
 
  double GetState(void) { getState(); return state_value; }
  //Accels are not settable
  inline void SetControl(double value ) { control_value=value; }
  inline double GetControl(void) { return control_value; }
 
  inline State GetStateType(void) { return state; }
  inline Control GetControlType(void) { return control; }
 
  inline std::string GetStateName(void) { return StateNames[state]; }
  inline std::string GetControlName(void) { return ControlNames[control]; }
 
  inline double GetControlMin(void) { return control_min; }
  inline double GetControlMax(void) { return control_max; }
 
  inline void SetControlToMin(void) { control_value=control_min; }
  inline void SetControlToMax(void) { control_value=control_max; }
  
  inline void SetControlLimits(double min, double max) { 
      control_min=min;
      control_max=max;
  }    
 
  inline void  SetTolerance(double ff) { tolerance=ff;}
  inline double GetTolerance(void) { return tolerance; }
 
  inline double GetSolverEps(void) { return solver_eps; }
  inline void SetSolverEps(double ff) { solver_eps=ff; }
 
  inline int  GetIterationLimit(void) { return max_iterations; }
  inline void SetIterationLimit(int ii) { max_iterations=ii; }
 
  inline int GetStability(void) { return its_to_stable_value; }
  inline int GetRunCount(void) { return total_stability_iterations; }
  double GetAvgStability( void );
  
  inline void SetStateTarget(double target) { state_target=target; }
  inline double GetStateTarget(void) { return state_target; }
  
  void AxisReport(void);
  
  bool InTolerance(void) { getState(); return (fabs(state_value) <= tolerance); }
 
private:
  FGFDMExec *fdmex;
  FGInitialCondition *fgic;
 
  State   state;
  Control control;
  
  double state_target;
  
  double state_value;
  double control_value;
 
  double control_min;
  double control_max;
 
  double tolerance;
 
  double solver_eps;
 
  double state_convert;
  double control_convert;
 
  int max_iterations;
 
  int its_to_stable_value;
  int total_stability_iterations;
  int total_iterations;
 
  void setThrottlesPct(void);
 
  void getState(void);
  void getControl(void);
  void setControl(void);
  
  double computeHmgt(void);
  
  void Debug(int from);
};
}
#endif