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   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
  78   GearCmd = GearPos = 1; // default to gear down
  79   LeftBrake = RightBrake = CenterBrake = 0.0;
  80   DoNormalize=true;
  81
  82   bind();
  83   for (i=0;i<=NForms;i++) {
  84     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
  85     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
  86   }
  87
  88   for (i=0;i<NNorm;i++) { ToNormalize[i]=-1;}
  89   Debug(0);
  90 }
  91
  92 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  93
  94 FGFCS::~FGFCS()
  95 {
  96   ThrottleCmd.clear();
  97   ThrottlePos.clear();
  98   MixtureCmd.clear();
  99   MixturePos.clear();
 100   PropAdvanceCmd.clear();
 101   PropAdvance.clear();
 102
 103   unsigned int i;
 104
 105   unbind();
 106
 107   for (i=0;i<Components.size();i++) delete Components[i];
 108   Debug(1);
 109 }
 110
 111 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 112
 113 bool FGFCS::Run(void)
 114 {
 115   unsigned int i;
 116
 117   if (!FGModel::Run()) {
 118     for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 119     for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
 120     for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
 121     for (i=0; i<Components.size(); i++)  Components[i]->Run();
 122     if (DoNormalize) Normalize();
 123   } else {
 124   }
 125
 126   return false;
 127 }
 128
 129 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 130
 131 void FGFCS::SetThrottleCmd(int engineNum, double setting)
 132 {
 133   unsigned int ctr;
 134
 135   if (engineNum < (int)ThrottlePos.size()) {
 136     if (engineNum < 0) {
 137       for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 138     } else {
 139       ThrottleCmd[engineNum] = setting;
 140     }
 141   } else {
 142     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 143          << " engines exist, but attempted throttle command is for engine "
 144          << engineNum << endl;
 145   }
 146 }
 147
 148 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 149
 150 void FGFCS::SetThrottlePos(int engineNum, double setting)
 151 {
 152   unsigned int ctr;
 153
 154   if (engineNum < (int)ThrottlePos.size()) {
 155     if (engineNum < 0) {
 156       for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
 157     } else {
 158       ThrottlePos[engineNum] = setting;
 159     }
 160   } else {
 161     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 162          << " engines exist, but attempted throttle position setting is for engine "
 163          << engineNum << endl;
 164   }
 165 }
 166
 167 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 168
 169 double FGFCS::GetThrottleCmd(int engineNum) const
 170 {
 171   if (engineNum < (int)ThrottlePos.size()) {
 172     if (engineNum < 0) {
 173        cerr << "Cannot get throttle value for ALL engines" << endl;
 174     } else {
 175       return ThrottleCmd[engineNum];
 176     }
 177   } else {
 178     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 179          << " engines exist, but throttle setting for engine " << engineNum
 180          << " is selected" << endl;
 181   }
 182   return 0.0;
 183 }
 184
 185 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 186
 187 double FGFCS::GetThrottlePos(int engineNum) const
 188 {
 189   if (engineNum < (int)ThrottlePos.size()) {
 190     if (engineNum < 0) {
 191        cerr << "Cannot get throttle value for ALL engines" << endl;
 192     } else {
 193       return ThrottlePos[engineNum];
 194     }
 195   } else {
 196     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 197          << " engines exist, but attempted throttle position setting is for engine "
 198          << engineNum << endl;
 199   }
 200   return 0.0;
 201 }
 202
 203 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 204
 205 void FGFCS::SetMixtureCmd(int engineNum, double setting)
 206 {
 207   unsigned int ctr;
 208
 209   if (engineNum < (int)ThrottlePos.size()) {
 210     if (engineNum < 0) {
 211       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
 212     } else {
 213       MixtureCmd[engineNum] = setting;
 214     }
 215   }
 216 }
 217
 218 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 219
 220 void FGFCS::SetMixturePos(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++) MixturePos[ctr] = MixtureCmd[ctr];
 227     } else {
 228       MixturePos[engineNum] = setting;
 229     }
 230   }
 231 }
 232
 233 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 234
 235 void FGFCS::SetPropAdvanceCmd(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<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
 242     } else {
 243       PropAdvanceCmd[engineNum] = setting;
 244     }
 245   }
 246 }
 247
 248 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 249
 250 void FGFCS::SetPropAdvance(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++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
 257     } else {
 258       PropAdvance[engineNum] = setting;
 259     }
 260   }
 261 }
 262
 263 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 264
 265 bool FGFCS::Load(FGConfigFile* AC_cfg)
 266 {
 267   string token;
 268   unsigned i;
 269
 270   Name = Name + ":" + AC_cfg->GetValue("NAME");
 271   if (debug_lvl > 0) cout << "    Control System Name: " << Name << endl;
 272   if ( AC_cfg->GetValue("NORMALIZE") == "FALSE") {
 273       DoNormalize=false;
 274       cout << "    Automatic Control Surface Normalization Disabled" << endl;
 275   }
 276   AC_cfg->GetNextConfigLine();
 277   while ((token = AC_cfg->GetValue()) != string("/FLIGHT_CONTROL")) {
 278     if (token == "COMPONENT") {
 279       token = AC_cfg->GetValue("TYPE");
 280       if (debug_lvl > 0) cout << endl << "    Loading Component \""
 281                               << AC_cfg->GetValue("NAME")
 282                               << "\" of type: " << token << endl;
 283       if ((token == "LAG_FILTER") ||
 284           (token == "LEAD_LAG_FILTER") ||
 285           (token == "SECOND_ORDER_FILTER") ||
 286           (token == "WASHOUT_FILTER") ||
 287           (token == "INTEGRATOR") ) {
 288         Components.push_back(new FGFilter(this, AC_cfg));
 289       } else if ((token == "PURE_GAIN") ||
 290                  (token == "SCHEDULED_GAIN") ||
 291                  (token == "AEROSURFACE_SCALE") ) {
 292
 293         Components.push_back(new FGGain(this, AC_cfg));
 294
 295       } else if (token == "SUMMER") {
 296         Components.push_back(new FGSummer(this, AC_cfg));
 297       } else if (token == "DEADBAND") {
 298         Components.push_back(new FGDeadBand(this, AC_cfg));
 299       } else if (token == "GRADIENT") {
 300         Components.push_back(new FGGradient(this, AC_cfg));
 301       } else if (token == "SWITCH") {
 302         Components.push_back(new FGSwitch(this, AC_cfg));
 303       } else if (token == "KINEMAT") {
 304         Components.push_back(new FGKinemat(this, AC_cfg));
 305       } else {
 306         cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
 307         return false;
 308       }
 309       AC_cfg->GetNextConfigLine();
 310     }
 311   }
 312   //collect information for normalizing control surfaces
 313   string nodeName;
 314   for (i=0;i<Components.size();i++) {
 315
 316     if ( (Components[i]->GetType() == "AEROSURFACE_SCALE"
 317           || Components[i]->GetType() == "KINEMAT")
 318                     && Components[i]->GetOutputNode() ) {
 319       nodeName= Components[i]->GetOutputNode()->GetName();
 320       if ( nodeName == "elevator-pos-rad" ) {
 321         ToNormalize[iDe]=i;
 322       } else if ( nodeName  == "left-aileron-pos-rad"
 323                    || nodeName == "aileron-pos-rad" ) {
 324         ToNormalize[iDaL]=i;
 325       } else if ( nodeName == "right-aileron-pos-rad" ) {
 326         ToNormalize[iDaR]=i;
 327       } else if ( nodeName == "rudder-pos-rad" ) {
 328         ToNormalize[iDr]=i;
 329       } else if ( nodeName == "speedbrake-pos-rad" ) {
 330         ToNormalize[iDsb]=i;
 331       } else if ( nodeName == "spoiler-pos-rad" ) {
 332         ToNormalize[iDsp]=i;
 333       } else if ( nodeName == "flap-pos-deg" ) {
 334         ToNormalize[iDf]=i;
 335       }
 336     }
 337   }
 338
 339   bindModel();
 340
 341   return true;
 342 }
 343
 344 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 345
 346 double FGFCS::GetComponentOutput(int idx) {
 347   return Components[idx]->GetOutput();
 348 }
 349
 350 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 351
 352 string FGFCS::GetComponentName(int idx) {
 353   return Components[idx]->GetName();
 354 }
 355
 356 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 357
 358 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 359 {
 360   switch (bg) {
 361   case FGLGear::bgLeft:
 362     return LeftBrake;
 363   case FGLGear::bgRight:
 364     return RightBrake;
 365   case FGLGear::bgCenter:
 366     return CenterBrake;
 367   default:
 368     cerr << "GetBrake asked to return a bogus brake value" << endl;
 369   }
 370   return 0.0;
 371 }
 372
 373 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 374
 375 string FGFCS::GetComponentStrings(void)
 376 {
 377   unsigned int comp;
 378   string CompStrings = "";
 379   bool firstime = true;
 380
 381   for (comp = 0; comp < Components.size(); comp++) {
 382     if (firstime) firstime = false;
 383     else          CompStrings += ", ";
 384
 385     CompStrings += Components[comp]->GetName();
 386   }
 387
 388   return CompStrings;
 389 }
 390
 391 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 392
 393 string FGFCS::GetComponentValues(void)
 394 {
 395   unsigned int comp;
 396   string CompValues = "";
 397   char buffer[10];
 398   bool firstime = true;
 399
 400   for (comp = 0; comp < Components.size(); comp++) {
 401     if (firstime) firstime = false;
 402     else          CompValues += ", ";
 403
 404     sprintf(buffer, "%9.6f", Components[comp]->GetOutput());
 405     CompValues += string(buffer);
 406   }
 407
 408   return CompValues;
 409 }
 410
 411 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 412
 413 void FGFCS::AddThrottle(void)
 414 {
 415   ThrottleCmd.push_back(0.0);
 416   ThrottlePos.push_back(0.0);
 417   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 418   MixturePos.push_back(0.0);
 419   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 420   PropAdvance.push_back(0.0);
 421 }
 422
 423 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 424
 425 void FGFCS::Normalize(void) {
 426
 427   //not all of these are guaranteed to be defined for every model
 428   //those that are have an index >=0 in the ToNormalize array
 429   //ToNormalize is filled in Load()
 430
 431   if ( ToNormalize[iDe] > -1 ) {
 432     DePos[ofNorm] = Components[ToNormalize[iDe]]->GetOutputPct();
 433   }
 434
 435   if ( ToNormalize[iDaL] > -1 ) {
 436     DaLPos[ofNorm] = Components[ToNormalize[iDaL]]->GetOutputPct();
 437   }
 438
 439   if ( ToNormalize[iDaR] > -1 ) {
 440     DaRPos[ofNorm] = Components[ToNormalize[iDaR]]->GetOutputPct();
 441   }
 442
 443   if ( ToNormalize[iDr] > -1 ) {
 444     DrPos[ofNorm] = Components[ToNormalize[iDr]]->GetOutputPct();
 445   }
 446
 447   if ( ToNormalize[iDsb] > -1 ) {
 448     DsbPos[ofNorm] = Components[ToNormalize[iDsb]]->GetOutputPct();
 449   }
 450
 451   if ( ToNormalize[iDsp] > -1 ) {
 452     DspPos[ofNorm] = Components[ToNormalize[iDsp]]->GetOutputPct();
 453   }
 454
 455   if ( ToNormalize[iDf] > -1 ) {
 456     DfPos[ofNorm] = Components[ToNormalize[iDf]]->GetOutputPct();
 457   }
 458
 459   DePos[ofMag]  = fabs(DePos[ofRad]);
 460   DaLPos[ofMag] = fabs(DaLPos[ofRad]);
 461   DaRPos[ofMag] = fabs(DaRPos[ofRad]);
 462   DrPos[ofMag]  = fabs(DrPos[ofRad]);
 463   DsbPos[ofMag] = fabs(DsbPos[ofRad]);
 464   DspPos[ofMag] = fabs(DspPos[ofRad]);
 465   DfPos[ofMag]  = fabs(DfPos[ofRad]);
 466
 467 }
 468
 469 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 470
 471 void FGFCS::bind(void)
 472 {
 473   PropertyManager->Tie("fcs/aileron-cmd-norm", this,
 474                        &FGFCS::GetDaCmd,
 475                        &FGFCS::SetDaCmd,
 476                        true);
 477   PropertyManager->Tie("fcs/elevator-cmd-norm", this,
 478                        &FGFCS::GetDeCmd,
 479                        &FGFCS::SetDeCmd,
 480                        true);
 481   PropertyManager->Tie("fcs/rudder-cmd-norm", this,
 482                        &FGFCS::GetDrCmd,
 483                        &FGFCS::SetDrCmd,
 484                        true);
 485   PropertyManager->Tie("fcs/flap-cmd-norm", this,
 486                        &FGFCS::GetDfCmd,
 487                        &FGFCS::SetDfCmd,
 488                        true);
 489   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this,
 490                        &FGFCS::GetDsbCmd,
 491                        &FGFCS::SetDsbCmd,
 492                        true);
 493   PropertyManager->Tie("fcs/spoiler-cmd-norm", this,
 494                        &FGFCS::GetDspCmd,
 495                        &FGFCS::SetDspCmd,
 496                        true);
 497   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this,
 498                        &FGFCS::GetPitchTrimCmd,
 499                        &FGFCS::SetPitchTrimCmd,
 500                        true);
 501   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this,
 502                        &FGFCS::GetYawTrimCmd,
 503                        &FGFCS::SetYawTrimCmd,
 504                        true);
 505   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this,
 506                        &FGFCS::GetRollTrimCmd,
 507                        &FGFCS::SetRollTrimCmd,
 508                        true);
 509   PropertyManager->Tie("gear/gear-cmd-norm", this,
 510                        &FGFCS::GetGearCmd,
 511                        &FGFCS::SetGearCmd,
 512                        true);
 513
 514   PropertyManager->Tie("fcs/left-aileron-pos-rad", this,ofRad,
 515                        &FGFCS::GetDaLPos,
 516                        &FGFCS::SetDaLPos,
 517                        true);
 518   PropertyManager->Tie("fcs/left-aileron-pos-norm", this,ofNorm,
 519                        &FGFCS::GetDaLPos,
 520                        &FGFCS::SetDaLPos,
 521                        true);
 522   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this,ofMag,
 523                        &FGFCS::GetDaLPos,
 524                        &FGFCS::SetDaLPos,
 525                        true);
 526
 527   PropertyManager->Tie("fcs/right-aileron-pos-rad", this,ofRad,
 528                        &FGFCS::GetDaRPos,
 529                        &FGFCS::SetDaRPos,
 530                        true);
 531   PropertyManager->Tie("fcs/right-aileron-pos-norm", this,ofNorm,
 532                        &FGFCS::GetDaRPos,
 533                        &FGFCS::SetDaRPos,
 534                        true);
 535   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this,ofMag,
 536                        &FGFCS::GetDaRPos,
 537                        &FGFCS::SetDaRPos,
 538                        true);
 539
 540   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad,
 541                        &FGFCS::GetDePos,
 542                        &FGFCS::SetDePos,
 543                        true );
 544   PropertyManager->Tie("fcs/elevator-pos-norm", this,ofNorm,
 545                        &FGFCS::GetDePos,
 546                        &FGFCS::SetDePos,
 547                        true );
 548   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this,ofMag,
 549                        &FGFCS::GetDePos,
 550                        &FGFCS::SetDePos,
 551                        true );
 552
 553   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad,
 554                        &FGFCS::GetDrPos,
 555                        &FGFCS::SetDrPos,
 556                        true);
 557   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm,
 558                        &FGFCS::GetDrPos,
 559                        &FGFCS::SetDrPos,
 560                        true);
 561   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag,
 562                        &FGFCS::GetDrPos,
 563                        &FGFCS::SetDrPos,
 564                        true);
 565
 566   PropertyManager->Tie("fcs/flap-pos-deg", this,ofRad,
 567                        &FGFCS::GetDfPos,
 568                        &FGFCS::SetDfPos,
 569                        true);
 570   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm,
 571                        &FGFCS::GetDfPos,
 572                        &FGFCS::SetDfPos,
 573                        true);
 574
 575   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad,
 576                        &FGFCS::GetDsbPos,
 577                        &FGFCS::SetDsbPos,
 578                        true);
 579   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm,
 580                        &FGFCS::GetDsbPos,
 581                        &FGFCS::SetDsbPos,
 582                        true);
 583   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag,
 584                        &FGFCS::GetDsbPos,
 585                        &FGFCS::SetDsbPos,
 586                        true);
 587
 588   PropertyManager->Tie("fcs/spoiler-pos-rad", this,ofRad,
 589                        &FGFCS::GetDspPos,
 590                        &FGFCS::SetDspPos,
 591                        true);
 592   PropertyManager->Tie("fcs/spoiler-pos-norm", this,ofNorm,
 593                        &FGFCS::GetDspPos,
 594                        &FGFCS::SetDspPos,
 595                        true);
 596   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this,ofMag,
 597                        &FGFCS::GetDspPos,
 598                        &FGFCS::SetDspPos,
 599                        true);
 600
 601   PropertyManager->Tie("gear/gear-pos-norm", this,
 602                        &FGFCS::GetGearPos,
 603                        &FGFCS::SetGearPos,
 604                        true);
 605 }
 606
 607 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 608
 609 void FGFCS::bindModel(void)
 610 {
 611   unsigned i;
 612   char tmp[80];
 613
 614   for (i=0; i<ThrottleCmd.size(); i++) {
 615     snprintf(tmp,80,"fcs/throttle-cmd-norm[%u]",i);
 616     PropertyManager->Tie( tmp,this,i,
 617                           &FGFCS::GetThrottleCmd,
 618                           &FGFCS::SetThrottleCmd,
 619                           true );
 620     snprintf(tmp,80,"fcs/throttle-pos-norm[%u]",i);
 621     PropertyManager->Tie( tmp,this,i,
 622                           &FGFCS::GetThrottlePos,
 623                           &FGFCS::SetThrottlePos,
 624                           true );
 625     if ( MixtureCmd.size() > i ) {
 626       snprintf(tmp,80,"fcs/mixture-cmd-norm[%u]",i);
 627       PropertyManager->Tie( tmp,this,i,
 628                             &FGFCS::GetMixtureCmd,
 629                             &FGFCS::SetMixtureCmd,
 630                             true );
 631       snprintf(tmp,80,"fcs/mixture-pos-norm[%u]",i);
 632       PropertyManager->Tie( tmp,this,i,
 633                             &FGFCS::GetMixturePos,
 634                             &FGFCS::SetMixturePos,
 635                             true );
 636     }
 637     if ( PropAdvanceCmd.size() > i ) {
 638       snprintf(tmp,80,"fcs/advance-cmd-norm[%u]",i);
 639       PropertyManager->Tie( tmp,this,i,
 640                             &FGFCS::GetPropAdvanceCmd,
 641                             &FGFCS::SetPropAdvanceCmd,
 642                             true );
 643       snprintf(tmp,80,"fcs/advance-pos-norm[%u]",i);
 644       PropertyManager->Tie( tmp,this,i,
 645                             &FGFCS::GetPropAdvance,
 646                             &FGFCS::SetPropAdvance,
 647                             true );
 648     }
 649   }
 650 }
 651
 652 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 653
 654 void FGFCS::unbind(void)
 655 {
 656   PropertyManager->Untie("fcs/aileron-cmd-norm");
 657   PropertyManager->Untie("fcs/elevator-cmd-norm");
 658   PropertyManager->Untie("fcs/rudder-cmd-norm");
 659   PropertyManager->Untie("fcs/flap-cmd-norm");
 660   PropertyManager->Untie("fcs/speedbrake-cmd-norm");
 661   PropertyManager->Untie("fcs/spoiler-cmd-norm");
 662   PropertyManager->Untie("fcs/pitch-trim-cmd-norm");
 663   PropertyManager->Untie("fcs/roll-trim-cmd-norm");
 664   PropertyManager->Untie("fcs/yaw-trim-cmd-norm");
 665   PropertyManager->Untie("gear/gear-cmd-norm");
 666   PropertyManager->Untie("fcs/left-aileron-pos-rad");
 667   PropertyManager->Untie("fcs/mag-left-aileron-pos-rad");
 668   PropertyManager->Untie("fcs/left-aileron-pos-norm");
 669   PropertyManager->Untie("fcs/right-aileron-pos-rad");
 670   PropertyManager->Untie("fcs/mag-right-aileron-pos-rad");
 671   PropertyManager->Untie("fcs/right-aileron-pos-norm");
 672   PropertyManager->Untie("fcs/elevator-pos-rad");
 673   PropertyManager->Untie("fcs/mag-elevator-pos-rad");
 674   PropertyManager->Untie("fcs/elevator-pos-norm");
 675   PropertyManager->Untie("fcs/rudder-pos-rad");
 676   PropertyManager->Untie("fcs/mag-rudder-pos-rad");
 677   PropertyManager->Untie("fcs/rudder-pos-norm");
 678   PropertyManager->Untie("fcs/flap-pos-deg");
 679   PropertyManager->Untie("fcs/flap-pos-norm");
 680   PropertyManager->Untie("fcs/speedbrake-pos-rad");
 681   PropertyManager->Untie("fcs/mag-speedbrake-pos-rad");
 682   PropertyManager->Untie("fcs/speedbrake-pos-norm");
 683   PropertyManager->Untie("fcs/spoiler-pos-rad");
 684   PropertyManager->Untie("fcs/mag-spoiler-pos-rad");
 685   PropertyManager->Untie("fcs/spoiler-pos-norm");
 686   PropertyManager->Untie("gear/gear-pos-norm");
 687 }
 688
 689 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 690 //    The bitmasked value choices are as follows:
 691 //    unset: In this case (the default) JSBSim would only print
 692 //       out the normally expected messages, essentially echoing
 693 //       the config files as they are read. If the environment
 694 //       variable is not set, debug_lvl is set to 1 internally
 695 //    0: This requests JSBSim not to output any messages
 696 //       whatsoever.
 697 //    1: This value explicity requests the normal JSBSim
 698 //       startup messages
 699 //    2: This value asks for a message to be printed out when
 700 //       a class is instantiated
 701 //    4: When this value is set, a message is displayed when a
 702 //       FGModel object executes its Run() method
 703 //    8: When this value is set, various runtime state variables
 704 //       are printed out periodically
 705 //    16: When set various parameters are sanity checked and
 706 //       a message is printed out when they go out of bounds
 707
 708 void FGFCS::Debug(int from)
 709 {
 710   if (debug_lvl <= 0) return;
 711
 712   if (debug_lvl & 1) { // Standard console startup message output
 713     if (from == 0) { // Constructor
 714
 715     }
 716   }
 717   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 718     if (from == 0) cout << "Instantiated: FGFCS" << endl;
 719     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
 720   }
 721   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 722   }
 723   if (debug_lvl & 8 ) { // Runtime state variables
 724   }
 725   if (debug_lvl & 16) { // Sanity checking
 726   }
 727   if (debug_lvl & 64) {
 728     if (from == 0) { // Constructor
 729       cout << IdSrc << endl;
 730       cout << IdHdr << endl;
 731     }
 732   }
 733 }
 734