[Jsbsim-cvslogs] CVS: JSBSim/src/models/flight_control FGKinemat.h, 1.11, 1.12 FGKinemat.cpp, 1.15, 1.16

[Bertrand <bco...@us...>]

Update of /cvsroot/jsbsim/JSBSim/src/models/flight_control
In directory sfp-cvs-1.v30.ch3.sourceforge.com:/tmp/cvs-serv15283/src/models/flight_control

Modified Files:
	FGKinemat.h FGKinemat.cpp 
Log Message:
Avoid the lag while trimming and code cleanup.

Index: FGKinemat.h
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/src/models/flight_control/FGKinemat.h,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -r1.11 -r1.12
*** FGKinemat.h	28 Mar 2015 14:49:02 -0000	1.11
--- FGKinemat.h	12 Jun 2016 14:47:46 -0000	1.12
***************
*** 122,126 ****
    /** Kinematic component output value.
        @return the current output of the kinematic object on the range of [0,1]. */
!   double GetOutputPct() const { return OutputPct; }
  
    /** Run method, overrides FGModel::Run().
--- 122,127 ----
    /** Kinematic component output value.
        @return the current output of the kinematic object on the range of [0,1]. */
!   double GetOutputPct() const
!   { return (Output-Detents[0])/(Detents.back()-Detents[0]); }
  
    /** Run method, overrides FGModel::Run().
***************
*** 132,137 ****
    std::vector<double> Detents;
    std::vector<double> TransitionTimes;
-   size_t NumDetents;
-   double OutputPct;
    bool  DoScale;
  
--- 133,136 ----

Index: FGKinemat.cpp
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/src/models/flight_control/FGKinemat.cpp,v
retrieving revision 1.15
retrieving revision 1.16
diff -C2 -r1.15 -r1.16
*** FGKinemat.cpp	2 Apr 2015 17:39:28 -0000	1.15
--- FGKinemat.cpp	12 Jun 2016 14:47:46 -0000	1.16
***************
*** 40,43 ****
--- 40,44 ----
  #include "FGKinemat.h"
  #include "input_output/FGXMLElement.h"
+ #include "models/FGFCS.h"
  #include <iostream>
  #include <cstdlib>
***************
*** 63,67 ****
    TransitionTimes.clear();
  
!   Output = OutputPct = 0;
    DoScale = true;
  
--- 64,68 ----
    TransitionTimes.clear();
  
!   Output = 0;
    DoScale = true;
  
***************
*** 77,83 ****
      setting_element = traverse_element->FindNextElement("setting");
    }
-   NumDetents = Detents.size();
  
!   if (NumDetents <= 1) {
      cerr << "Kinematic component " << Name
           << " must have more than 1 setting element" << endl;
--- 78,83 ----
      setting_element = traverse_element->FindNextElement("setting");
    }
  
!   if (Detents.size() <= 1) {
      cerr << "Kinematic component " << Name
           << " must have more than 1 setting element" << endl;
***************
*** 86,90 ****
  
    FGFCSComponent::bind();
- //  treenode->Tie("output-norm", this, &FGKinemat::GetOutputPct );
  
    Debug(0);
--- 86,89 ----
***************
*** 106,161 ****
    Input = InputNodes[0]->getDoubleValue() * InputSigns[0];
  
!   if (DoScale) Input *= Detents[NumDetents-1];
  
    if (IsOutput) Output = OutputNodes[0]->getDoubleValue();
  
!   if (Input < Detents[0])
!     Input = Detents[0];
!   else if (Detents[NumDetents-1] < Input)
!     Input = Detents[NumDetents-1];
! 
!   // Process all detent intervals the movement traverses until either the
!   // final value is reached or the time interval has finished.
!   while ( dt0 > 0.0 && !EqualToRoundoff(Input, Output) ) {
! 
!     // Find the area where Output is in
!     unsigned int ind;
!     for (ind = 1; (Input < Output) ? Detents[ind] < Output : Detents[ind] <= Output ; ++ind)
!       if (NumDetents <= ind)
!         break;
  
!     // A transition time of 0.0 means an infinite rate.
!     // The output is reached in one step
!     if (TransitionTimes[ind] <= 0.0) {
!       Output = Input;
!       break;
!     } else {
!       // Compute the rate in this area
!       double Rate = (Detents[ind] - Detents[ind-1])/TransitionTimes[ind];
!       // Compute the maximum input value inside this area
!       double ThisInput = Input;
!       if (ThisInput < Detents[ind-1])   ThisInput = Detents[ind-1];
!       if (Detents[ind] < ThisInput)     ThisInput = Detents[ind];
!       // Compute the time to reach the value in ThisInput
!       double ThisDt = fabs((ThisInput-Output)/Rate);
! 
!       // and clip to the timestep size
!       if (dt0 < ThisDt) {
!         ThisDt = dt0;
!         if (Output < Input)
!           Output += ThisDt*Rate;
!         else
!           Output -= ThisDt*Rate;
!       } else
!         // Handle this case separate to make shure the termination condition
!         // is met even in inexact arithmetics ...
!         Output = ThisInput;
  
!       dt0 -= ThisDt;
      }
    }
  
-   OutputPct = (Output-Detents[0])/(Detents[NumDetents-1]-Detents[0]);
- 
    Clip();
    if (IsOutput) SetOutput();
--- 105,158 ----
    Input = InputNodes[0]->getDoubleValue() * InputSigns[0];
  
!   if (DoScale) Input *= Detents.back();
  
    if (IsOutput) Output = OutputNodes[0]->getDoubleValue();
  
!   Input = Constrain(Detents.front(), Input, Detents.back());
  
!   if (fcs->GetTrimStatus())
!     // When trimming the output must be reached in one step
!     Output = Input;
!   else {
!     // Process all detent intervals the movement traverses until either the
!     // final value is reached or the time interval has finished.
!     while ( dt0 > 0.0 && !EqualToRoundoff(Input, Output) ) {
! 
!       // Find the area where Output is in
!       unsigned int ind;
!       for (ind = 1; (Input < Output) ? Detents[ind] < Output : Detents[ind] <= Output ; ++ind)
!         if (ind >= Detents.size())
!           break;
! 
!       // A transition time of 0.0 means an infinite rate.
!       // The output is reached in one step
!       if (TransitionTimes[ind] <= 0.0) {
!         Output = Input;
!         break;
!       } else {
!         // Compute the rate in this area
!         double Rate = (Detents[ind] - Detents[ind-1])/TransitionTimes[ind];
!         // Compute the maximum input value inside this area
!         double ThisInput = Constrain(Detents[ind-1], Input, Detents[ind]);
!         // Compute the time to reach the value in ThisInput
!         double ThisDt = fabs((ThisInput-Output)/Rate);
! 
!         // and clip to the timestep size
!         if (dt0 < ThisDt) {
!           ThisDt = dt0;
!           if (Output < Input)
!             Output += ThisDt*Rate;
!           else
!             Output -= ThisDt*Rate;
!         } else
!           // Handle this case separate to make shure the termination condition
!           // is met even in inexact arithmetics ...
!           Output = ThisInput;
  
!         dt0 -= ThisDt;
!       }
      }
    }
  
    Clip();
    if (IsOutput) SetOutput();
***************
*** 190,195 ****
      if (from == 0) { // Constructor
        cout << "      INPUT: " << InputNodes[0]->GetName() << endl;
!       cout << "      DETENTS: " << NumDetents << endl;
!       for (unsigned int i=0;i<NumDetents;i++) {
          cout << "        " << Detents[i] << " " << TransitionTimes[i] << endl;
        }
--- 187,192 ----
      if (from == 0) { // Constructor
        cout << "      INPUT: " << InputNodes[0]->GetName() << endl;
!       cout << "      DETENTS: " << Detents.size() << endl;
!       for (unsigned int i=0;i<Detents.size();i++) {
          cout << "        " << Detents[i] << " " << TransitionTimes[i] << endl;
        }