1 /*******************************************************************************
6 Purpose: Model the flight controls
9 ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
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
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
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.
25 Further information about the GNU General Public License can also be found on
26 the world wide web at http://www.gnu.org.
28 FUNCTIONAL DESCRIPTION
29 --------------------------------------------------------------------------------
30 This class models the flight controls for a specific airplane
33 --------------------------------------------------------------------------------
36 ********************************************************************************
38 *******************************************************************************/
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"
51 #include "filtersjb/FGFilter.h"
52 #include "filtersjb/FGDeadBand.h"
53 #include "filtersjb/FGGain.h"
54 #include "filtersjb/FGGradient.h"
55 #include "filtersjb/FGSwitch.h"
56 #include "filtersjb/FGSummer.h"
57 #include "filtersjb/FGFlaps.h"
59 /*******************************************************************************
60 ************************************ CODE **************************************
61 *******************************************************************************/
64 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex) {
66 for (int i=0; i < MAX_ENGINES; i++) {
70 DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = 0.0;
71 DaPos = DePos = DrPos = DfPos = DsbPos = DspPos = 0.0;
74 /******************************************************************************/
76 FGFCS::~FGFCS(void) {}
78 /******************************************************************************/
80 bool FGFCS::Run(void) {
81 if (!FGModel::Run()) {
83 for (unsigned int i=0; i<Aircraft->GetNumEngines(); i++) ThrottlePos[i]=ThrottleCmd[i];
85 for (unsigned int i=0; i<Components.size(); i++) Components[i]->Run();
93 /******************************************************************************/
95 void FGFCS::SetThrottleCmd(int engineNum, float setting) {
97 for (unsigned int ctr=0;ctr<Aircraft->GetNumEngines();ctr++) ThrottleCmd[ctr] = setting;
99 ThrottleCmd[engineNum] = setting;
103 /******************************************************************************/
105 void FGFCS::SetThrottlePos(int engineNum, float setting) {
107 for (unsigned int ctr=0;ctr<=Aircraft->GetNumEngines();ctr++) ThrottlePos[ctr] = ThrottleCmd[ctr];
109 ThrottlePos[engineNum] = setting;
113 /******************************************************************************/
115 bool FGFCS::LoadFCS(FGConfigFile* AC_cfg) {
118 FCSName = AC_cfg->GetValue("NAME");
119 cout << " Control System Name: " << FCSName << endl;
120 AC_cfg->GetNextConfigLine();
121 while ((token = AC_cfg->GetValue()) != "/FLIGHT_CONTROL") {
122 if (token == "COMPONENT") {
123 token = AC_cfg->GetValue("TYPE");
124 cout << " Loading Component \"" << AC_cfg->GetValue("NAME") << "\" of type: " << token << endl;
125 if ((token == "LAG_FILTER") ||
126 (token == "RECT_LAG_FILTER") ||
127 (token == "LEAD_LAG_FILTER") ||
128 (token == "SECOND_ORDER_FILTER") ||
129 (token == "WASHOUT_FILTER") ||
130 (token == "INTEGRATOR") ) {
131 Components.push_back(new FGFilter(this, AC_cfg));
132 } else if ((token == "PURE_GAIN") ||
133 (token == "SCHEDULED_GAIN") ||
134 (token == "AEROSURFACE_SCALE") ) {
136 Components.push_back(new FGGain(this, AC_cfg));
138 } else if (token == "SUMMER") {
139 Components.push_back(new FGSummer(this, AC_cfg));
140 } else if (token == "DEADBAND") {
141 Components.push_back(new FGDeadBand(this, AC_cfg));
142 } else if (token == "GRADIENT") {
143 Components.push_back(new FGGradient(this, AC_cfg));
144 } else if (token == "SWITCH") {
145 Components.push_back(new FGSwitch(this, AC_cfg));
146 } else if (token == "FLAPS") {
147 Components.push_back(new FGFlaps(this, AC_cfg));
149 AC_cfg->GetNextConfigLine();
155 /******************************************************************************/
157 float FGFCS::GetComponentOutput(int idx) {
158 return Components[idx]->GetOutput();
161 /******************************************************************************/
163 string FGFCS::GetComponentName(int idx) {
164 return Components[idx]->GetName();