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 #include "FGPropertyManager.h"
  51
  52 #include "filtersjb/FGFilter.h"
  53 #include "filtersjb/FGDeadBand.h"
  54 #include "filtersjb/FGGain.h"
  55 #include "filtersjb/FGGradient.h"
  56 #include "filtersjb/FGSwitch.h"
  57 #include "filtersjb/FGSummer.h"
  58 #include "filtersjb/FGKinemat.h"
  59
  60 static const char *IdSrc = "$Id$";
  61 static const char *IdHdr = ID_FCS;
  62
  63 #if defined(WIN32) && !defined(__CYGWIN__)
  64 #define snprintf _snprintf
  65 #endif
  66
  67 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  68 CLASS IMPLEMENTATION
  69 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  70
  71 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
  72 {
  73   int i;
  74   Name = "FGFCS";
  75
  76   DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = 0.0;
  77   AP_DaCmd = AP_DeCmd = AP_DrCmd = AP_ThrottleCmd = 0.0;
  78   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
  79   GearCmd = GearPos = 1; // default to gear down
  80   LeftBrake = RightBrake = CenterBrake = 0.0;
  81   DoNormalize=true;
  82
  83   eMode = mNone;
  84
  85   bind();
  86   for (i=0;i<=NForms;i++) {
  87     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
  88     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
  89   }
  90
  91   for (i=0;i<NNorm;i++) { ToNormalize[i]=-1;}
  92   Debug(0);
  93 }
  94
  95 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  96
  97 FGFCS::~FGFCS()
  98 {
  99   ThrottleCmd.clear();
 100   ThrottlePos.clear();
 101   MixtureCmd.clear();
 102   MixturePos.clear();
 103   PropAdvanceCmd.clear();
 104   PropAdvance.clear();
 105
 106   unbind();
 107
 108   unsigned int i;
 109
 110   for (i=0;i<APComponents.size();i++) delete APComponents[i];
 111   for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
 112
 113   Debug(1);
 114 }
 115
 116 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 117
 118 bool FGFCS::Run(void)
 119 {
 120   unsigned int i;
 121
 122   if (!FGModel::Run()) {
 123     for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 124     for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
 125     for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
 126     for (i=0; i<APComponents.size(); i++)  {
 127       eMode = mAP;
 128       APComponents[i]->Run();
 129       eMode = mNone;
 130     }
 131     for (i=0; i<FCSComponents.size(); i++)  {
 132       eMode = mFCS;
 133       FCSComponents[i]->Run();
 134       eMode = mNone;
 135     }
 136     if (DoNormalize) Normalize();
 137
 138     return false;
 139   } else {
 140     return true;
 141   }
 142 }
 143
 144 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 145
 146 void FGFCS::SetThrottleCmd(int engineNum, double setting)
 147 {
 148   unsigned int ctr;
 149
 150   if (engineNum < (int)ThrottlePos.size()) {
 151     if (engineNum < 0) {
 152       for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 153     } else {
 154       ThrottleCmd[engineNum] = setting;
 155     }
 156   } else {
 157     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 158          << " engines exist, but attempted throttle command is for engine "
 159          << engineNum << endl;
 160   }
 161 }
 162
 163 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 164
 165 void FGFCS::SetThrottlePos(int engineNum, double setting)
 166 {
 167   unsigned int ctr;
 168
 169   if (engineNum < (int)ThrottlePos.size()) {
 170     if (engineNum < 0) {
 171       for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
 172     } else {
 173       ThrottlePos[engineNum] = setting;
 174     }
 175   } else {
 176     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 177          << " engines exist, but attempted throttle position setting is for engine "
 178          << engineNum << endl;
 179   }
 180 }
 181
 182 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 183
 184 double FGFCS::GetThrottleCmd(int engineNum) const
 185 {
 186   if (engineNum < (int)ThrottlePos.size()) {
 187     if (engineNum < 0) {
 188        cerr << "Cannot get throttle value for ALL engines" << endl;
 189     } else {
 190       return ThrottleCmd[engineNum];
 191     }
 192   } else {
 193     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 194          << " engines exist, but throttle setting for engine " << engineNum
 195          << " is selected" << endl;
 196   }
 197   return 0.0;
 198 }
 199
 200 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 201
 202 double FGFCS::GetThrottlePos(int engineNum) const
 203 {
 204   if (engineNum < (int)ThrottlePos.size()) {
 205     if (engineNum < 0) {
 206        cerr << "Cannot get throttle value for ALL engines" << endl;
 207     } else {
 208       return ThrottlePos[engineNum];
 209     }
 210   } else {
 211     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 212          << " engines exist, but attempted throttle position setting is for engine "
 213          << engineNum << endl;
 214   }
 215   return 0.0;
 216 }
 217
 218 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 219
 220 void FGFCS::SetMixtureCmd(int engineNum, double setting)
 221 {
 222   unsigned int ctr;
 223
 224   if (engineNum < (int)ThrottlePos.size()) {
 225     if (engineNum < 0) {
 226       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
 227     } else {
 228       MixtureCmd[engineNum] = setting;
 229     }
 230   }
 231 }
 232
 233 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 234
 235 void FGFCS::SetMixturePos(int engineNum, double setting)
 236 {
 237   unsigned int ctr;
 238
 239   if (engineNum < (int)ThrottlePos.size()) {
 240     if (engineNum < 0) {
 241       for (ctr=0;ctr<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
 242     } else {
 243       MixturePos[engineNum] = setting;
 244     }
 245   }
 246 }
 247
 248 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 249
 250 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
 251 {
 252   unsigned int ctr;
 253
 254   if (engineNum < (int)ThrottlePos.size()) {
 255     if (engineNum < 0) {
 256       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
 257     } else {
 258       PropAdvanceCmd[engineNum] = setting;
 259     }
 260   }
 261 }
 262
 263 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 264
 265 void FGFCS::SetPropAdvance(int engineNum, double setting)
 266 {
 267   unsigned int ctr;
 268
 269   if (engineNum < (int)ThrottlePos.size()) {
 270     if (engineNum < 0) {
 271       for (ctr=0;ctr<=PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
 272     } else {
 273       PropAdvance[engineNum] = setting;
 274     }
 275   }
 276 }
 277
 278 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 279
 280 bool FGFCS::Load(FGConfigFile* AC_cfg)
 281 {
 282   string token, delimiter;
 283   string name, file, fname;
 284   unsigned i;
 285   vector <FGFCSComponent*> *Components;
 286   FGConfigFile *FCS_cfg;
 287
 288   Components=0;
 289   // Determine if the FCS/Autopilot is defined inline in the aircraft configuration
 290   // file or in a separate file. Set up the config file class as appropriate.
 291
 292   delimiter = AC_cfg->GetValue();
 293   name  = AC_cfg->GetValue("NAME");
 294   fname = AC_cfg->GetValue("FILE");
 295
 296   if ( AC_cfg->GetValue("NORMALIZE") == "FALSE") {
 297     DoNormalize = false;
 298     cout << "    Automatic Control Surface Normalization Disabled" << endl;
 299   }
 300
 301 # ifndef macintosh
 302   file = "control/" + fname + ".xml";
 303 # else
 304   file = "control;" + fname + ".xml";
 305 # endif
 306
 307   if (name.empty()) {
 308     name = fname;
 309     if (file.empty()) {
 310       cerr << "FCS/Autopilot does not appear to be defined inline nor in a file" << endl;
 311     } else {
 312       FCS_cfg = new FGConfigFile(file);
 313       if (!FCS_cfg->IsOpen()) {
 314         cerr << "Could not open " << delimiter << " file: " << file << endl;
 315         return false;
 316       } else {
 317         AC_cfg = FCS_cfg; // set local config file object pointer to FCS config
 318                                 // file object pointer
 319       }
 320     }
 321   } else {
 322     AC_cfg->GetNextConfigLine();
 323   }
 324
 325   if (delimiter == "AUTOPILOT") {
 326     Components = &APComponents;
 327     eMode = mAP;
 328     Name = "Autopilot: " + name;
 329   } else if (delimiter == "FLIGHT_CONTROL") {
 330     Components = &FCSComponents;
 331     eMode = mFCS;
 332     Name = "FCS: " + name;
 333   } else {
 334     cerr << endl << "Unknown FCS delimiter" << endl << endl;
 335   }
 336
 337   if (debug_lvl > 0) cout << "    Control System Name: " << Name << endl;
 338
 339   while ((token = AC_cfg->GetValue()) != string("/" + delimiter)) {
 340     if (token == "COMPONENT") {
 341       token = AC_cfg->GetValue("TYPE");
 342       if (debug_lvl > 0) cout << endl << "    Loading Component \""
 343                               << AC_cfg->GetValue("NAME")
 344                               << "\" of type: " << token << endl;
 345       if ((token == "LAG_FILTER") ||
 346           (token == "LEAD_LAG_FILTER") ||
 347           (token == "SECOND_ORDER_FILTER") ||
 348           (token == "WASHOUT_FILTER") ||
 349           (token == "INTEGRATOR") ) {
 350         Components->push_back(new FGFilter(this, AC_cfg));
 351       } else if ((token == "PURE_GAIN") ||
 352                  (token == "SCHEDULED_GAIN") ||
 353                  (token == "AEROSURFACE_SCALE") ) {
 354
 355         Components->push_back(new FGGain(this, AC_cfg));
 356
 357       } else if (token == "SUMMER") {
 358         Components->push_back(new FGSummer(this, AC_cfg));
 359       } else if (token == "DEADBAND") {
 360         Components->push_back(new FGDeadBand(this, AC_cfg));
 361       } else if (token == "GRADIENT") {
 362         Components->push_back(new FGGradient(this, AC_cfg));
 363       } else if (token == "SWITCH") {
 364         Components->push_back(new FGSwitch(this, AC_cfg));
 365       } else if (token == "KINEMAT") {
 366         Components->push_back(new FGKinemat(this, AC_cfg));
 367       } else {
 368         cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
 369         return false;
 370       }
 371       if (AC_cfg->GetNextConfigLine() == "EOF") break;
 372     }
 373   }
 374
 375   //collect information for normalizing control surfaces
 376
 377   string nodeName;
 378   for (i=0; i<Components->size(); i++) {
 379
 380     if ( (((*Components)[i])->GetType() == "AEROSURFACE_SCALE"
 381           || ((*Components)[i])->GetType() == "KINEMAT")
 382                     && ((*Components)[i])->GetOutputNode() ) {
 383       nodeName = ((*Components)[i])->GetOutputNode()->GetName();
 384       if ( nodeName == "elevator-pos-rad" ) {
 385         ToNormalize[iDe]=i;
 386       } else if ( nodeName  == "left-aileron-pos-rad"
 387                    || nodeName == "aileron-pos-rad" ) {
 388         ToNormalize[iDaL]=i;
 389       } else if ( nodeName == "right-aileron-pos-rad" ) {
 390         ToNormalize[iDaR]=i;
 391       } else if ( nodeName == "rudder-pos-rad" ) {
 392         ToNormalize[iDr]=i;
 393       } else if ( nodeName == "speedbrake-pos-rad" ) {
 394         ToNormalize[iDsb]=i;
 395       } else if ( nodeName == "spoiler-pos-rad" ) {
 396         ToNormalize[iDsp]=i;
 397       } else if ( nodeName == "flap-pos-deg" ) {
 398         ToNormalize[iDf]=i;
 399       }
 400     }
 401   }
 402
 403   if (delimiter == "FLIGHT_CONTROL") bindModel();
 404
 405   eMode = mNone;
 406
 407   return true;
 408 }
 409
 410 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 411
 412 double FGFCS::GetComponentOutput(int idx)
 413 {
 414   switch (eMode) {
 415   case mFCS:
 416     return FCSComponents[idx]->GetOutput();
 417   case mAP:
 418     return APComponents[idx]->GetOutput();
 419   case mNone:
 420     cerr << "Unknown FCS mode" << endl;
 421     break;
 422   }
 423   return 0.0;
 424 }
 425
 426 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 427
 428 string FGFCS::GetComponentName(int idx)
 429 {
 430   switch (eMode) {
 431   case mFCS:
 432     return FCSComponents[idx]->GetName();
 433   case mAP:
 434     return APComponents[idx]->GetName();
 435   case mNone:
 436     cerr << "Unknown FCS mode" << endl;
 437     break;
 438   }
 439   return string("");
 440 }
 441
 442 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 443
 444 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 445 {
 446   switch (bg) {
 447   case FGLGear::bgLeft:
 448     return LeftBrake;
 449   case FGLGear::bgRight:
 450     return RightBrake;
 451   case FGLGear::bgCenter:
 452     return CenterBrake;
 453   default:
 454     cerr << "GetBrake asked to return a bogus brake value" << endl;
 455   }
 456   return 0.0;
 457 }
 458
 459 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 460
 461 string FGFCS::GetComponentStrings(void)
 462 {
 463   unsigned int comp;
 464   string CompStrings = "";
 465   bool firstime = true;
 466
 467   for (comp = 0; comp < FCSComponents.size(); comp++) {
 468     if (firstime) firstime = false;
 469     else          CompStrings += ", ";
 470
 471     CompStrings += FCSComponents[comp]->GetName();
 472   }
 473
 474   for (comp = 0; comp < APComponents.size(); comp++)
 475   {
 476     CompStrings += ", ";
 477     CompStrings += APComponents[comp]->GetName();
 478   }
 479
 480   return CompStrings;
 481 }
 482
 483 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 484
 485 string FGFCS::GetComponentValues(void)
 486 {
 487   unsigned int comp;
 488   string CompValues = "";
 489   char buffer[10];
 490   bool firstime = true;
 491
 492   for (comp = 0; comp < FCSComponents.size(); comp++) {
 493     if (firstime) firstime = false;
 494     else          CompValues += ", ";
 495
 496     sprintf(buffer, "%9.6f", FCSComponents[comp]->GetOutput());
 497     CompValues += string(buffer);
 498   }
 499
 500   for (comp = 0; comp < APComponents.size(); comp++) {
 501     sprintf(buffer, ", %9.6f", APComponents[comp]->GetOutput());
 502     CompValues += string(buffer);
 503   }
 504
 505   return CompValues;
 506 }
 507
 508 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 509
 510 void FGFCS::AddThrottle(void)
 511 {
 512   ThrottleCmd.push_back(0.0);
 513   ThrottlePos.push_back(0.0);
 514   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 515   MixturePos.push_back(0.0);
 516   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 517   PropAdvance.push_back(0.0);
 518 }
 519
 520 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 521
 522 void FGFCS::Normalize(void) {
 523
 524   //not all of these are guaranteed to be defined for every model
 525   //those that are have an index >=0 in the ToNormalize array
 526   //ToNormalize is filled in Load()
 527
 528   if ( ToNormalize[iDe] > -1 ) {
 529     DePos[ofNorm] = FCSComponents[ToNormalize[iDe]]->GetOutputPct();
 530   }
 531
 532   if ( ToNormalize[iDaL] > -1 ) {
 533     DaLPos[ofNorm] = FCSComponents[ToNormalize[iDaL]]->GetOutputPct();
 534   }
 535
 536   if ( ToNormalize[iDaR] > -1 ) {
 537     DaRPos[ofNorm] = FCSComponents[ToNormalize[iDaR]]->GetOutputPct();
 538   }
 539
 540   if ( ToNormalize[iDr] > -1 ) {
 541     DrPos[ofNorm] = FCSComponents[ToNormalize[iDr]]->GetOutputPct();
 542   }
 543
 544   if ( ToNormalize[iDsb] > -1 ) {
 545     DsbPos[ofNorm] = FCSComponents[ToNormalize[iDsb]]->GetOutputPct();
 546   }
 547
 548   if ( ToNormalize[iDsp] > -1 ) {
 549     DspPos[ofNorm] = FCSComponents[ToNormalize[iDsp]]->GetOutputPct();
 550   }
 551
 552   if ( ToNormalize[iDf] > -1 ) {
 553     DfPos[ofNorm] = FCSComponents[ToNormalize[iDf]]->GetOutputPct();
 554   }
 555
 556   DePos[ofMag]  = fabs(DePos[ofRad]);
 557   DaLPos[ofMag] = fabs(DaLPos[ofRad]);
 558   DaRPos[ofMag] = fabs(DaRPos[ofRad]);
 559   DrPos[ofMag]  = fabs(DrPos[ofRad]);
 560   DsbPos[ofMag] = fabs(DsbPos[ofRad]);
 561   DspPos[ofMag] = fabs(DspPos[ofRad]);
 562   DfPos[ofMag]  = fabs(DfPos[ofRad]);
 563
 564 }
 565
 566 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 567
 568 void FGFCS::bind(void)
 569 {
 570   PropertyManager->Tie("fcs/aileron-cmd-norm", this,
 571                        &FGFCS::GetDaCmd,
 572                        &FGFCS::SetDaCmd,
 573                        true);
 574   PropertyManager->Tie("fcs/elevator-cmd-norm", this,
 575                        &FGFCS::GetDeCmd,
 576                        &FGFCS::SetDeCmd,
 577                        true);
 578   PropertyManager->Tie("fcs/rudder-cmd-norm", this,
 579                        &FGFCS::GetDrCmd,
 580                        &FGFCS::SetDrCmd,
 581                        true);
 582   PropertyManager->Tie("fcs/flap-cmd-norm", this,
 583                        &FGFCS::GetDfCmd,
 584                        &FGFCS::SetDfCmd,
 585                        true);
 586   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this,
 587                        &FGFCS::GetDsbCmd,
 588                        &FGFCS::SetDsbCmd,
 589                        true);
 590   PropertyManager->Tie("fcs/spoiler-cmd-norm", this,
 591                        &FGFCS::GetDspCmd,
 592                        &FGFCS::SetDspCmd,
 593                        true);
 594   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this,
 595                        &FGFCS::GetPitchTrimCmd,
 596                        &FGFCS::SetPitchTrimCmd,
 597                        true);
 598   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this,
 599                        &FGFCS::GetYawTrimCmd,
 600                        &FGFCS::SetYawTrimCmd,
 601                        true);
 602   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this,
 603                        &FGFCS::GetRollTrimCmd,
 604                        &FGFCS::SetRollTrimCmd,
 605                        true);
 606   PropertyManager->Tie("gear/gear-cmd-norm", this,
 607                        &FGFCS::GetGearCmd,
 608                        &FGFCS::SetGearCmd,
 609                        true);
 610
 611   PropertyManager->Tie("fcs/left-aileron-pos-rad", this,ofRad,
 612                        &FGFCS::GetDaLPos,
 613                        &FGFCS::SetDaLPos,
 614                        true);
 615   PropertyManager->Tie("fcs/left-aileron-pos-norm", this,ofNorm,
 616                        &FGFCS::GetDaLPos,
 617                        &FGFCS::SetDaLPos,
 618                        true);
 619   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this,ofMag,
 620                        &FGFCS::GetDaLPos,
 621                        &FGFCS::SetDaLPos,
 622                        true);
 623
 624   PropertyManager->Tie("fcs/right-aileron-pos-rad", this,ofRad,
 625                        &FGFCS::GetDaRPos,
 626                        &FGFCS::SetDaRPos,
 627                        true);
 628   PropertyManager->Tie("fcs/right-aileron-pos-norm", this,ofNorm,
 629                        &FGFCS::GetDaRPos,
 630                        &FGFCS::SetDaRPos,
 631                        true);
 632   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this,ofMag,
 633                        &FGFCS::GetDaRPos,
 634                        &FGFCS::SetDaRPos,
 635                        true);
 636
 637   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad,
 638                        &FGFCS::GetDePos,
 639                        &FGFCS::SetDePos,
 640                        true );
 641   PropertyManager->Tie("fcs/elevator-pos-norm", this,ofNorm,
 642                        &FGFCS::GetDePos,
 643                        &FGFCS::SetDePos,
 644                        true );
 645   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this,ofMag,
 646                        &FGFCS::GetDePos,
 647                        &FGFCS::SetDePos,
 648                        true );
 649
 650   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad,
 651                        &FGFCS::GetDrPos,
 652                        &FGFCS::SetDrPos,
 653                        true);
 654   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm,
 655                        &FGFCS::GetDrPos,
 656                        &FGFCS::SetDrPos,
 657                        true);
 658   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag,
 659                        &FGFCS::GetDrPos,
 660                        &FGFCS::SetDrPos,
 661                        true);
 662
 663   PropertyManager->Tie("fcs/flap-pos-deg", this,ofRad,
 664                        &FGFCS::GetDfPos,
 665                        &FGFCS::SetDfPos,
 666                        true);
 667   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm,
 668                        &FGFCS::GetDfPos,
 669                        &FGFCS::SetDfPos,
 670                        true);
 671
 672   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad,
 673                        &FGFCS::GetDsbPos,
 674                        &FGFCS::SetDsbPos,
 675                        true);
 676   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm,
 677                        &FGFCS::GetDsbPos,
 678                        &FGFCS::SetDsbPos,
 679                        true);
 680   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag,
 681                        &FGFCS::GetDsbPos,
 682                        &FGFCS::SetDsbPos,
 683                        true);
 684
 685   PropertyManager->Tie("fcs/spoiler-pos-rad", this,ofRad,
 686                        &FGFCS::GetDspPos,
 687                        &FGFCS::SetDspPos,
 688                        true);
 689   PropertyManager->Tie("fcs/spoiler-pos-norm", this,ofNorm,
 690                        &FGFCS::GetDspPos,
 691                        &FGFCS::SetDspPos,
 692                        true);
 693   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this,ofMag,
 694                        &FGFCS::GetDspPos,
 695                        &FGFCS::SetDspPos,
 696                        true);
 697
 698   PropertyManager->Tie("gear/gear-pos-norm", this,
 699                        &FGFCS::GetGearPos,
 700                        &FGFCS::SetGearPos,
 701                        true);
 702
 703   PropertyManager->Tie("ap/elevator_cmd", this,
 704                        &FGFCS::GetAPDeCmd,
 705                        &FGFCS::SetAPDeCmd,
 706                        true);
 707
 708   PropertyManager->Tie("ap/aileron_cmd", this,
 709                        &FGFCS::GetAPDaCmd,
 710                        &FGFCS::SetAPDaCmd,
 711                        true);
 712
 713   PropertyManager->Tie("ap/rudder_cmd", this,
 714                        &FGFCS::GetAPDrCmd,
 715                        &FGFCS::SetAPDrCmd,
 716                        true);
 717
 718   PropertyManager->Tie("ap/throttle_cmd", this,
 719                        &FGFCS::GetAPThrottleCmd,
 720                        &FGFCS::SetAPThrottleCmd,
 721                        true);
 722
 723   PropertyManager->Tie("ap/attitude_setpoint", this,
 724                        &FGFCS::GetAPAttitudeSetPt,
 725                        &FGFCS::SetAPAttitudeSetPt,
 726                        true);
 727
 728   PropertyManager->Tie("ap/altitude_setpoint", this,
 729                        &FGFCS::GetAPAltitudeSetPt,
 730                        &FGFCS::SetAPAltitudeSetPt,
 731                        true);
 732
 733   PropertyManager->Tie("ap/heading_setpoint", this,
 734                        &FGFCS::GetAPHeadingSetPt,
 735                        &FGFCS::SetAPHeadingSetPt,
 736                        true);
 737
 738   PropertyManager->Tie("ap/airspeed_setpoint", this,
 739                        &FGFCS::GetAPAirspeedSetPt,
 740                        &FGFCS::SetAPAirspeedSetPt,
 741                        true);
 742
 743   PropertyManager->Tie("ap/acquire_attitude", this,
 744                        &FGFCS::GetAPAcquireAttitude,
 745                        &FGFCS::SetAPAcquireAttitude,
 746                        true);
 747
 748   PropertyManager->Tie("ap/acquire_altitude", this,
 749                        &FGFCS::GetAPAcquireAltitude,
 750                        &FGFCS::SetAPAcquireAltitude,
 751                        true);
 752
 753   PropertyManager->Tie("ap/acquire_heading", this,
 754                        &FGFCS::GetAPAcquireHeading,
 755                        &FGFCS::SetAPAcquireHeading,
 756                        true);
 757
 758   PropertyManager->Tie("ap/acquire_airspeed", this,
 759                        &FGFCS::GetAPAcquireAirspeed,
 760                        &FGFCS::SetAPAcquireAirspeed,
 761                        true);
 762
 763   PropertyManager->Tie("ap/attitude_hold", this,
 764                        &FGFCS::GetAPAttitudeHold,
 765                        &FGFCS::SetAPAttitudeHold,
 766                        true);
 767
 768   PropertyManager->Tie("ap/altitude_hold", this,
 769                        &FGFCS::GetAPAltitudeHold,
 770                        &FGFCS::SetAPAltitudeHold,
 771                        true);
 772
 773   PropertyManager->Tie("ap/heading_hold", this,
 774                        &FGFCS::GetAPHeadingHold,
 775                        &FGFCS::SetAPHeadingHold,
 776                        true);
 777
 778   PropertyManager->Tie("ap/airspeed_hold", this,
 779                        &FGFCS::GetAPAirspeedHold,
 780                        &FGFCS::SetAPAirspeedHold,
 781                        true);
 782
 783   PropertyManager->Tie("ap/wingslevel_hold", this,
 784                        &FGFCS::GetAPWingsLevelHold,
 785                        &FGFCS::SetAPWingsLevelHold,
 786                        true);
 787 }
 788
 789 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 790
 791 void FGFCS::bindModel(void)
 792 {
 793   unsigned i;
 794   char tmp[80];
 795
 796
 797   for (i=0; i<ThrottleCmd.size(); i++) {
 798     snprintf(tmp,80,"fcs/throttle-cmd-norm[%u]",i);
 799     PropertyManager->Tie( tmp,this,i,
 800                           &FGFCS::GetThrottleCmd,
 801                           &FGFCS::SetThrottleCmd,
 802                           true );
 803     snprintf(tmp,80,"fcs/throttle-pos-norm[%u]",i);
 804     PropertyManager->Tie( tmp,this,i,
 805                           &FGFCS::GetThrottlePos,
 806                           &FGFCS::SetThrottlePos,
 807                           true );
 808     if ( MixtureCmd.size() > i ) {
 809       snprintf(tmp,80,"fcs/mixture-cmd-norm[%u]",i);
 810       PropertyManager->Tie( tmp,this,i,
 811                             &FGFCS::GetMixtureCmd,
 812                             &FGFCS::SetMixtureCmd,
 813                             true );
 814       snprintf(tmp,80,"fcs/mixture-pos-norm[%u]",i);
 815       PropertyManager->Tie( tmp,this,i,
 816                             &FGFCS::GetMixturePos,
 817                             &FGFCS::SetMixturePos,
 818                             true );
 819     }
 820     if ( PropAdvanceCmd.size() > i ) {
 821       snprintf(tmp,80,"fcs/advance-cmd-norm[%u]",i);
 822       PropertyManager->Tie( tmp,this,i,
 823                             &FGFCS::GetPropAdvanceCmd,
 824                             &FGFCS::SetPropAdvanceCmd,
 825                             true );
 826       snprintf(tmp,80,"fcs/advance-pos-norm[%u]",i);
 827       PropertyManager->Tie( tmp,this,i,
 828                             &FGFCS::GetPropAdvance,
 829                             &FGFCS::SetPropAdvance,
 830                             true );
 831     }
 832   }
 833 }
 834
 835 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 836
 837 void FGFCS::unbind(void)
 838 {
 839   PropertyManager->Untie("fcs/aileron-cmd-norm");
 840   PropertyManager->Untie("fcs/elevator-cmd-norm");
 841   PropertyManager->Untie("fcs/rudder-cmd-norm");
 842   PropertyManager->Untie("fcs/flap-cmd-norm");
 843   PropertyManager->Untie("fcs/speedbrake-cmd-norm");
 844   PropertyManager->Untie("fcs/spoiler-cmd-norm");
 845   PropertyManager->Untie("fcs/pitch-trim-cmd-norm");
 846   PropertyManager->Untie("fcs/roll-trim-cmd-norm");
 847   PropertyManager->Untie("fcs/yaw-trim-cmd-norm");
 848   PropertyManager->Untie("gear/gear-cmd-norm");
 849   PropertyManager->Untie("fcs/left-aileron-pos-rad");
 850   PropertyManager->Untie("fcs/mag-left-aileron-pos-rad");
 851   PropertyManager->Untie("fcs/left-aileron-pos-norm");
 852   PropertyManager->Untie("fcs/right-aileron-pos-rad");
 853   PropertyManager->Untie("fcs/mag-right-aileron-pos-rad");
 854   PropertyManager->Untie("fcs/right-aileron-pos-norm");
 855   PropertyManager->Untie("fcs/elevator-pos-rad");
 856   PropertyManager->Untie("fcs/mag-elevator-pos-rad");
 857   PropertyManager->Untie("fcs/elevator-pos-norm");
 858   PropertyManager->Untie("fcs/rudder-pos-rad");
 859   PropertyManager->Untie("fcs/mag-rudder-pos-rad");
 860   PropertyManager->Untie("fcs/rudder-pos-norm");
 861   PropertyManager->Untie("fcs/flap-pos-deg");
 862   PropertyManager->Untie("fcs/flap-pos-norm");
 863   PropertyManager->Untie("fcs/speedbrake-pos-rad");
 864   PropertyManager->Untie("fcs/mag-speedbrake-pos-rad");
 865   PropertyManager->Untie("fcs/speedbrake-pos-norm");
 866   PropertyManager->Untie("fcs/spoiler-pos-rad");
 867   PropertyManager->Untie("fcs/mag-spoiler-pos-rad");
 868   PropertyManager->Untie("fcs/spoiler-pos-norm");
 869   PropertyManager->Untie("gear/gear-pos-norm");
 870   PropertyManager->Untie("ap/elevator_cmd");
 871   PropertyManager->Untie("ap/aileron_cmd");
 872   PropertyManager->Untie("ap/rudder_cmd");
 873   PropertyManager->Untie("ap/throttle_cmd");
 874   PropertyManager->Untie("ap/attitude_setpoint");
 875   PropertyManager->Untie("ap/altitude_setpoint");
 876   PropertyManager->Untie("ap/heading_setpoint");
 877   PropertyManager->Untie("ap/airspeed_setpoint");
 878   PropertyManager->Untie("ap/acquire_attitude");
 879   PropertyManager->Untie("ap/acquire_altitude");
 880   PropertyManager->Untie("ap/acquire_heading");
 881   PropertyManager->Untie("ap/acquire_airspeed");
 882   PropertyManager->Untie("ap/attitude_hold");
 883   PropertyManager->Untie("ap/altitude_hold");
 884   PropertyManager->Untie("ap/heading_hold");
 885   PropertyManager->Untie("ap/airspeed_hold");
 886   PropertyManager->Untie("ap/wingslevel_hold");
 887 }
 888
 889 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 890 //    The bitmasked value choices are as follows:
 891 //    unset: In this case (the default) JSBSim would only print
 892 //       out the normally expected messages, essentially echoing
 893 //       the config files as they are read. If the environment
 894 //       variable is not set, debug_lvl is set to 1 internally
 895 //    0: This requests JSBSim not to output any messages
 896 //       whatsoever.
 897 //    1: This value explicity requests the normal JSBSim
 898 //       startup messages
 899 //    2: This value asks for a message to be printed out when
 900 //       a class is instantiated
 901 //    4: When this value is set, a message is displayed when a
 902 //       FGModel object executes its Run() method
 903 //    8: When this value is set, various runtime state variables
 904 //       are printed out periodically
 905 //    16: When set various parameters are sanity checked and
 906 //       a message is printed out when they go out of bounds
 907
 908 void FGFCS::Debug(int from)
 909 {
 910   if (debug_lvl <= 0) return;
 911
 912   if (debug_lvl & 1) { // Standard console startup message output
 913     if (from == 0) { // Constructor
 914
 915     }
 916   }
 917   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 918     if (from == 0) cout << "Instantiated: FGFCS" << endl;
 919     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
 920   }
 921   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 922   }
 923   if (debug_lvl & 8 ) { // Runtime state variables
 924   }
 925   if (debug_lvl & 16) { // Sanity checking
 926   }
 927   if (debug_lvl & 64) {
 928     if (from == 0) { // Constructor
 929       cout << IdSrc << endl;
 930       cout << IdHdr << endl;
 931     }
 932   }
 933 }
 934