Torsten
Thanks for looking at my code.
Yes – there is already an integrator in the PI and PID filters. But the same
can be said for derivative and gain. Min/max clamping via u-max and u-min
appears to be working correctly in my integrator. Having a specific integrator
filter makes the resultant XML file easier to read than hiding it inside a PI
filter. It is also possible to make a washout filter from the existing gain and
exponential filters.
I see nothing wrong with extending the exponential filter, if that improves the
code. High-pass and low pass-are just different flavours of the same thing. I
coded the high-pass filter separately as it seemed the easiest way for me to
implement such a filter.
The aliases reflect the names that are in common usage. Lag and washout are
used colloquially in control engineering, whilst high-pass and low-pass are
rather more formal. The existing exponential filter name is too vague, and
should be deprecated. It is true that a rate-limit can be used as a noise-spike
filter, but there are other ways to remove spikes, so noise-spike should also
be deprecated.
My overall intention is to make available the same building blocks which were
used in analogue and early digital autopilots, and to use the same terminology.
For completeness, there may be a case for adding band-pass and band-stop
filters, but these have very few applications in autopilots.
Alan
From: Torsten Dreyer
Sent: Sunday, July 28, 2013 12:31 PM
To: FlightGear developers discussions
Subject: Re: [Flightgear-devel] Autopilot filters
Hi Alan,
thank you for your patch. I have a few, probably dumb questions:
* Isn't the your new integrator filter the same as a pi-simple-controller with
Kp=1 and no min/max clamping?
* What would you think about extending the exponential filter to make it behave
like a high-pass or low-pass like
typelow-pass/type or typehigh-pass/type. That would not double existing
code.
* What is the purpose for adding alias names for existing filters?
Cheers,
Torsten
Am 27.07.2013 10:27, schrieb Alan Teeder:
From: Torsten Dreyer
Sent: Saturday, July 27, 2013 8:47 AM
To: flightgear-devel@lists.sourceforge.net
Subject: Re: [Flightgear-devel] Autopilot filters
Post a diff or the modified files or a link to a tarball here and I'll have a
look.
Probably a good start for me to get back into the loop after almost two years
of absence...
Torsten
Thanks Torsten.
The files are zipped at
http://v-twin.dynip.sapo.pt/alan/FG/digitalfilter.zip. (10kb)
At some time I will need to add a means of initialising the Integral filter
to a property.
Alan
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