src/FDM/JSBSim/FGFCS.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGFCS.cpp
   4  Author:       Jon Berndt
   5  Date started: 12/12/98
   6  Purpose:      Model the flight controls
   7  Called by:    FDMExec
   8
   9  ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------
  10
  11  This program is free software; you can redistribute it and/or modify it under
  12  the terms of the GNU General Public License as published by the Free Software
  13  Foundation; either version 2 of the License, or (at your option) any later
  14  version.
  15
  16  This program is distributed in the hope that it will be useful, but WITHOUT
  17  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  18  FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
  19  details.
  20
  21  You should have received a copy of the GNU General Public License along with
  22  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  23  Place - Suite 330, Boston, MA  02111-1307, USA.
  24
  25  Further information about the GNU General Public License can also be found on
  26  the world wide web at http://www.gnu.org.
  27
  28 FUNCTIONAL DESCRIPTION
  29 --------------------------------------------------------------------------------
  30 This class models the flight controls for a specific airplane
  31
  32 HISTORY
  33 --------------------------------------------------------------------------------
  34 12/12/98   JSB   Created
  35
  36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  37 INCLUDES
  38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  39
  40 #include "FGFCS.h"
  41 #include "FGState.h"
  42 #include "FGFDMExec.h"
  43 #include "FGAtmosphere.h"
  44 #include "FGAircraft.h"
  45 #include "FGTranslation.h"
  46 #include "FGRotation.h"
  47 #include "FGPosition.h"
  48 #include "FGAuxiliary.h"
  49 #include "FGOutput.h"
  50
  51 #include "filtersjb/FGFilter.h"
  52 #include "filtersjb/FGDeadBand.h"
  53 #include "filtersjb/FGGain.h"
  54 #include "filtersjb/FGGradient.h"
  55 #include "filtersjb/FGSwitch.h"
  56 #include "filtersjb/FGSummer.h"
  57 #include "filtersjb/FGFlaps.h"
  58
  59 static const char *IdSrc = "$Id$";
  60 static const char *IdHdr = "ID_FCS";
  61
  62 extern short debug_lvl;
  63
  64 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  65 CLASS IMPLEMENTATION
  66 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  67
  68 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex) {
  69   Name = "FGFCS";
  70
  71   DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = PTrimCmd = 0.0;
  72   DaPos = DePos = DrPos = DfPos = DsbPos = DspPos = 0.0;
  73   LeftBrake = RightBrake = CenterBrake = 0.0;
  74
  75   if (debug_lvl & 2) cout << "Instantiated: " << Name << endl;
  76 }
  77
  78 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  79
  80 FGFCS::~FGFCS()
  81 {
  82   ThrottleCmd.clear();
  83   ThrottlePos.clear();
  84
  85   for(unsigned int i=0;i<Components.size();i++) delete Components[i];
  86   if (debug_lvl & 2) cout << "Destroyed:    FGFCS" << endl;
  87 }
  88
  89 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  90
  91 bool FGFCS::Run(void)
  92 {
  93   if (!FGModel::Run()) {
  94     for (unsigned int i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
  95     for (unsigned int i=0; i<Components.size(); i++)  Components[i]->Run();
  96   } else {
  97   }
  98
  99   return false;
 100 }
 101
 102 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 103
 104 void FGFCS::SetThrottleCmd(int engineNum, float setting) {
 105   if (engineNum < 0) {
 106     for (unsigned int ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 107   } else {
 108     ThrottleCmd[engineNum] = setting;
 109   }
 110 }
 111
 112 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 113
 114 void FGFCS::SetThrottlePos(int engineNum, float setting) {
 115   if (engineNum < 0) {
 116     for (unsigned int ctr=0;ctr<=ThrottleCmd.size();ctr++) ThrottlePos[ctr] = ThrottleCmd[ctr];
 117   } else {
 118     ThrottlePos[engineNum] = setting;
 119   }
 120 }
 121
 122 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 123
 124 bool FGFCS::LoadFCS(FGConfigFile* AC_cfg) {
 125   string token;
 126
 127   FCSName = AC_cfg->GetValue("NAME");
 128   cout << "    Control System Name: " << FCSName << endl;
 129   AC_cfg->GetNextConfigLine();
 130   while ((token = AC_cfg->GetValue()) != "/FLIGHT_CONTROL") {
 131     if (token == "COMPONENT") {
 132       token = AC_cfg->GetValue("TYPE");
 133       cout << "    Loading Component \"" << AC_cfg->GetValue("NAME") << "\" of type: " << token << endl;
 134       if ((token == "LAG_FILTER") ||
 135           (token == "LEAD_LAG_FILTER") ||
 136           (token == "SECOND_ORDER_FILTER") ||
 137           (token == "WASHOUT_FILTER") ||
 138           (token == "INTEGRATOR") ) {
 139         Components.push_back(new FGFilter(this, AC_cfg));
 140       } else if ((token == "PURE_GAIN") ||
 141                  (token == "SCHEDULED_GAIN") ||
 142                  (token == "AEROSURFACE_SCALE") ) {
 143
 144         Components.push_back(new FGGain(this, AC_cfg));
 145
 146       } else if (token == "SUMMER") {
 147         Components.push_back(new FGSummer(this, AC_cfg));
 148       } else if (token == "DEADBAND") {
 149         Components.push_back(new FGDeadBand(this, AC_cfg));
 150       } else if (token == "GRADIENT") {
 151         Components.push_back(new FGGradient(this, AC_cfg));
 152       } else if (token == "SWITCH") {
 153         Components.push_back(new FGSwitch(this, AC_cfg));
 154       } else if (token == "FLAPS") {
 155         Components.push_back(new FGFlaps(this, AC_cfg));
 156       } else {
 157         cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
 158         return false;
 159       }
 160       AC_cfg->GetNextConfigLine();
 161     }
 162   }
 163   return true;
 164 }
 165
 166 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 167
 168 float FGFCS::GetComponentOutput(eParam idx) {
 169   return Components[idx]->GetOutput();
 170 }
 171
 172 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 173
 174 string FGFCS::GetComponentName(int idx) {
 175   return Components[idx]->GetName();
 176 }
 177
 178 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 179
 180 float FGFCS::GetBrake(FGLGear::BrakeGroup bg) {
 181   switch (bg) {
 182   case FGLGear::bgLeft:
 183     return LeftBrake;
 184   case FGLGear::bgRight:
 185     return RightBrake;
 186   case FGLGear::bgCenter:
 187     return CenterBrake;
 188   default:
 189     cerr << "GetBrake asked to return a bogus brake value" << endl;
 190   }
 191   return 0.0;
 192 }
 193
 194 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 195
 196 string FGFCS::GetComponentStrings(void){
 197   string CompStrings = "";
 198   bool firstime = true;
 199
 200   for (unsigned int comp = 0; comp < Components.size(); comp++) {
 201     if (firstime) firstime = false;
 202     else          CompStrings += ", ";
 203
 204     CompStrings += Components[comp]->GetName();
 205   }
 206
 207   return CompStrings;
 208 }
 209
 210 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 211
 212 string FGFCS::GetComponentValues(void)
 213 {
 214   string CompValues = "";
 215   char buffer[10];
 216   bool firstime = true;
 217
 218   for (unsigned int comp = 0; comp < Components.size(); comp++) {
 219     if (firstime) firstime = false;
 220     else          CompValues += ", ";
 221
 222     sprintf(buffer, "%9.6f", Components[comp]->GetOutput());
 223     CompValues += string(buffer);
 224   }
 225
 226   return CompValues;
 227 }
 228
 229 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 230
 231 void FGFCS::AddThrottle(void)
 232 {
 233   ThrottleCmd.push_back(0.0);
 234   ThrottlePos.push_back(0.0);
 235 }
 236
 237 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 238
 239 void FGFCS::Debug(void)
 240 {
 241     //TODO: Add your source code here
 242 }
 243