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