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 "FGFDMExec.h"
  42 #include "FGPropertyManager.h"
  43
  44 #include "filtersjb/FGFilter.h"
  45 #include "filtersjb/FGDeadBand.h"
  46 #include "filtersjb/FGGain.h"
  47 #include "filtersjb/FGGradient.h"
  48 #include "filtersjb/FGSwitch.h"
  49 #include "filtersjb/FGSummer.h"
  50 #include "filtersjb/FGKinemat.h"
  51
  52 namespace JSBSim {
  53
  54 static const char *IdSrc = "$Id$";
  55 static const char *IdHdr = ID_FCS;
  56
  57 #if defined(WIN32) && !defined(__CYGWIN__)
  58 #define snprintf _snprintf
  59 #endif
  60
  61 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  62 CLASS IMPLEMENTATION
  63 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  64
  65 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
  66 {
  67   int i;
  68   Name = "FGFCS";
  69
  70   DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = 0.0;
  71   AP_DaCmd = AP_DeCmd = AP_DrCmd = AP_ThrottleCmd = 0.0;
  72   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
  73   GearCmd = GearPos = 1; // default to gear down
  74   LeftBrake = RightBrake = CenterBrake = 0.0;
  75   APAttitudeSetPt = APAltitudeSetPt = APHeadingSetPt = APAirspeedSetPt = 0.0;
  76   DoNormalize=true;
  77
  78   bind();
  79   for (i=0;i<=NForms;i++) {
  80     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
  81     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
  82   }
  83
  84   for (i=0;i<NNorm;i++) { ToNormalize[i]=-1;}
  85   Debug(0);
  86 }
  87
  88 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  89
  90 FGFCS::~FGFCS()
  91 {
  92   unbind( PropertyManager->GetNode("fcs") );
  93   unbind( PropertyManager->GetNode("ap") );
  94   PropertyManager->Untie( "gear/gear-cmd-norm" );
  95   PropertyManager->Untie( "gear/gear-pos-norm" );
  96
  97   ThrottleCmd.clear();
  98   ThrottlePos.clear();
  99   MixtureCmd.clear();
 100   MixturePos.clear();
 101   PropAdvanceCmd.clear();
 102   PropAdvance.clear();
 103
 104   unsigned int i;
 105
 106   for (i=0;i<APComponents.size();i++) delete APComponents[i];
 107   for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
 108
 109   Debug(1);
 110 }
 111
 112 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 113
 114 bool FGFCS::Run(void)
 115 {
 116   unsigned int i;
 117
 118   if (FGModel::Run()) return true; // fast exit if nothing to do
 119
 120   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 121   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
 122   for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
 123
 124   for (i=0; i<APComponents.size(); i++) APComponents[i]->Run(); // cycle AP components
 125   for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run(); // cycle FCS components
 126
 127   if (DoNormalize) Normalize();
 128
 129   return false;
 130 }
 131
 132 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 133
 134 void FGFCS::SetThrottleCmd(int engineNum, double setting)
 135 {
 136   unsigned int ctr;
 137
 138   if (engineNum < (int)ThrottlePos.size()) {
 139     if (engineNum < 0) {
 140       for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 141     } else {
 142       ThrottleCmd[engineNum] = setting;
 143     }
 144   } else {
 145     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 146          << " engines exist, but attempted throttle command is for engine "
 147          << engineNum << endl;
 148   }
 149 }
 150
 151 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 152
 153 void FGFCS::SetThrottlePos(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<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
 160     } else {
 161       ThrottlePos[engineNum] = setting;
 162     }
 163   } else {
 164     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 165          << " engines exist, but attempted throttle position setting is for engine "
 166          << engineNum << endl;
 167   }
 168 }
 169
 170 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 171
 172 double FGFCS::GetThrottleCmd(int engineNum) const
 173 {
 174   if (engineNum < (int)ThrottlePos.size()) {
 175     if (engineNum < 0) {
 176        cerr << "Cannot get throttle value for ALL engines" << endl;
 177     } else {
 178       return ThrottleCmd[engineNum];
 179     }
 180   } else {
 181     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 182          << " engines exist, but throttle setting for engine " << engineNum
 183          << " is selected" << endl;
 184   }
 185   return 0.0;
 186 }
 187
 188 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 189
 190 double FGFCS::GetThrottlePos(int engineNum) const
 191 {
 192   if (engineNum < (int)ThrottlePos.size()) {
 193     if (engineNum < 0) {
 194        cerr << "Cannot get throttle value for ALL engines" << endl;
 195     } else {
 196       return ThrottlePos[engineNum];
 197     }
 198   } else {
 199     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 200          << " engines exist, but attempted throttle position setting is for engine "
 201          << engineNum << endl;
 202   }
 203   return 0.0;
 204 }
 205
 206 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 207
 208 void FGFCS::SetMixtureCmd(int engineNum, double setting)
 209 {
 210   unsigned int ctr;
 211
 212   if (engineNum < (int)ThrottlePos.size()) {
 213     if (engineNum < 0) {
 214       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
 215     } else {
 216       MixtureCmd[engineNum] = setting;
 217     }
 218   }
 219 }
 220
 221 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 222
 223 void FGFCS::SetMixturePos(int engineNum, double setting)
 224 {
 225   unsigned int ctr;
 226
 227   if (engineNum < (int)ThrottlePos.size()) {
 228     if (engineNum < 0) {
 229       for (ctr=0;ctr<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
 230     } else {
 231       MixturePos[engineNum] = setting;
 232     }
 233   }
 234 }
 235
 236 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 237
 238 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
 239 {
 240   unsigned int ctr;
 241
 242   if (engineNum < (int)ThrottlePos.size()) {
 243     if (engineNum < 0) {
 244       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
 245     } else {
 246       PropAdvanceCmd[engineNum] = setting;
 247     }
 248   }
 249 }
 250
 251 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 252
 253 void FGFCS::SetPropAdvance(int engineNum, double setting)
 254 {
 255   unsigned int ctr;
 256
 257   if (engineNum < (int)ThrottlePos.size()) {
 258     if (engineNum < 0) {
 259       for (ctr=0;ctr<=PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
 260     } else {
 261       PropAdvance[engineNum] = setting;
 262     }
 263   }
 264 }
 265
 266 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 267
 268 bool FGFCS::Load(FGConfigFile* AC_cfg)
 269 {
 270   string token, delimiter;
 271   string name, file, fname;
 272   unsigned i;
 273   vector <FGFCSComponent*> *Components;
 274   FGConfigFile *FCS_cfg;
 275
 276   Components=0;
 277   // Determine if the FCS/Autopilot is defined inline in the aircraft configuration
 278   // file or in a separate file. Set up the config file class as appropriate.
 279
 280   delimiter = AC_cfg->GetValue();
 281   name  = AC_cfg->GetValue("NAME");
 282   fname = AC_cfg->GetValue("FILE");
 283
 284   if ( AC_cfg->GetValue("NORMALIZE") == "FALSE") {
 285     DoNormalize = false;
 286     cout << "    Automatic Control Surface Normalization Disabled" << endl;
 287   }
 288
 289 # ifndef macintosh
 290 //  file = "control/" + fname + ".xml";
 291   file = FDMExec->GetAircraftPath() + "/" + FDMExec->GetModelName() + "/" + fname + ".xml";
 292 # else
 293 //  file = "control;" + fname + ".xml";
 294   file = FDMExec->GetAircraftPath() + ";" + FDMExec->GetModelName() + ";" + fname + ".xml";
 295 # endif
 296
 297   if (name.empty()) {
 298     name = fname;
 299     if (file.empty()) {
 300       cerr << "FCS/Autopilot does not appear to be defined inline nor in a file" << endl;
 301     } else {
 302       FCS_cfg = new FGConfigFile(file);
 303       if (!FCS_cfg->IsOpen()) {
 304         cerr << "Could not open " << delimiter << " file: " << file << endl;
 305         return false;
 306       } else {
 307         AC_cfg = FCS_cfg; // set local config file object pointer to FCS config
 308                           // file object pointer
 309       }
 310     }
 311   } else {
 312     AC_cfg->GetNextConfigLine();
 313   }
 314
 315   if (delimiter == "AUTOPILOT") {
 316     Components = &APComponents;
 317     Name = "Autopilot: " + name;
 318   } else if (delimiter == "FLIGHT_CONTROL") {
 319     Components = &FCSComponents;
 320     Name = "FCS: " + name;
 321   } else {
 322     cerr << endl << "Unknown FCS delimiter" << endl << endl;
 323   }
 324
 325   if (debug_lvl > 0) cout << "    Control System Name: " << Name << endl;
 326
 327   while ((token = AC_cfg->GetValue()) != string("/" + delimiter)) {
 328     if (token == "COMPONENT") {
 329       token = AC_cfg->GetValue("TYPE");
 330       if (debug_lvl > 0) cout << endl << "    Loading Component \""
 331                               << AC_cfg->GetValue("NAME")
 332                               << "\" of type: " << token << endl;
 333       if ((token == "LAG_FILTER") ||
 334           (token == "LEAD_LAG_FILTER") ||
 335           (token == "SECOND_ORDER_FILTER") ||
 336           (token == "WASHOUT_FILTER") ||
 337           (token == "INTEGRATOR") ) {
 338         Components->push_back(new FGFilter(this, AC_cfg));
 339       } else if ((token == "PURE_GAIN") ||
 340                  (token == "SCHEDULED_GAIN") ||
 341                  (token == "AEROSURFACE_SCALE") ) {
 342
 343         Components->push_back(new FGGain(this, AC_cfg));
 344
 345       } else if (token == "SUMMER") {
 346         Components->push_back(new FGSummer(this, AC_cfg));
 347       } else if (token == "DEADBAND") {
 348         Components->push_back(new FGDeadBand(this, AC_cfg));
 349       } else if (token == "GRADIENT") {
 350         Components->push_back(new FGGradient(this, AC_cfg));
 351       } else if (token == "SWITCH") {
 352         Components->push_back(new FGSwitch(this, AC_cfg));
 353       } else if (token == "KINEMAT") {
 354         Components->push_back(new FGKinemat(this, AC_cfg));
 355       } else {
 356         cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
 357         return false;
 358       }
 359       if (AC_cfg->GetNextConfigLine() == "EOF") break;
 360     }
 361   }
 362
 363   //collect information for normalizing control surfaces
 364
 365   string nodeName;
 366   for (i=0; i<Components->size(); i++) {
 367
 368     if ( (((*Components)[i])->GetType() == "AEROSURFACE_SCALE"
 369           || ((*Components)[i])->GetType() == "KINEMAT")
 370                     && ((*Components)[i])->GetOutputNode() ) {
 371       nodeName = ((*Components)[i])->GetOutputNode()->GetName();
 372       if ( nodeName == "elevator-pos-rad" ) {
 373         ToNormalize[iDe]=i;
 374       } else if ( nodeName  == "left-aileron-pos-rad"
 375                    || nodeName == "aileron-pos-rad" ) {
 376         ToNormalize[iDaL]=i;
 377       } else if ( nodeName == "right-aileron-pos-rad" ) {
 378         ToNormalize[iDaR]=i;
 379       } else if ( nodeName == "rudder-pos-rad" ) {
 380         ToNormalize[iDr]=i;
 381       } else if ( nodeName == "speedbrake-pos-rad" ) {
 382         ToNormalize[iDsb]=i;
 383       } else if ( nodeName == "spoiler-pos-rad" ) {
 384         ToNormalize[iDsp]=i;
 385       } else if ( nodeName == "flap-pos-deg" ) {
 386         ToNormalize[iDf]=i;
 387       }
 388     }
 389   }
 390
 391   if (delimiter == "FLIGHT_CONTROL") bindModel();
 392
 393   return true;
 394 }
 395
 396 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 397
 398 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 399 {
 400   switch (bg) {
 401   case FGLGear::bgLeft:
 402     return LeftBrake;
 403   case FGLGear::bgRight:
 404     return RightBrake;
 405   case FGLGear::bgCenter:
 406     return CenterBrake;
 407   default:
 408     cerr << "GetBrake asked to return a bogus brake value" << endl;
 409   }
 410   return 0.0;
 411 }
 412
 413 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 414
 415 string FGFCS::GetComponentStrings(void)
 416 {
 417   unsigned int comp;
 418   string CompStrings = "";
 419   bool firstime = true;
 420
 421   for (comp = 0; comp < FCSComponents.size(); comp++) {
 422     if (firstime) firstime = false;
 423     else          CompStrings += ", ";
 424
 425     CompStrings += FCSComponents[comp]->GetName();
 426   }
 427
 428   for (comp = 0; comp < APComponents.size(); comp++)
 429   {
 430     CompStrings += ", ";
 431     CompStrings += APComponents[comp]->GetName();
 432   }
 433
 434   return CompStrings;
 435 }
 436
 437 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 438
 439 string FGFCS::GetComponentValues(void)
 440 {
 441   unsigned int comp;
 442   string CompValues = "";
 443   char buffer[12];
 444   bool firstime = true;
 445
 446   for (comp = 0; comp < FCSComponents.size(); comp++) {
 447     if (firstime) firstime = false;
 448     else          CompValues += ", ";
 449
 450     sprintf(buffer, "%9.6f", FCSComponents[comp]->GetOutput());
 451     CompValues += string(buffer);
 452   }
 453
 454   for (comp = 0; comp < APComponents.size(); comp++) {
 455     sprintf(buffer, ", %9.6f", APComponents[comp]->GetOutput());
 456     CompValues += string(buffer);
 457   }
 458
 459   return CompValues;
 460 }
 461
 462 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 463
 464 void FGFCS::AddThrottle(void)
 465 {
 466   ThrottleCmd.push_back(0.0);
 467   ThrottlePos.push_back(0.0);
 468   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 469   MixturePos.push_back(0.0);
 470   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 471   PropAdvance.push_back(0.0);
 472 }
 473
 474 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 475
 476 void FGFCS::Normalize(void) {
 477
 478   //not all of these are guaranteed to be defined for every model
 479   //those that are have an index >=0 in the ToNormalize array
 480   //ToNormalize is filled in Load()
 481
 482   if ( ToNormalize[iDe] > -1 ) {
 483     DePos[ofNorm] = FCSComponents[ToNormalize[iDe]]->GetOutputPct();
 484   }
 485
 486   if ( ToNormalize[iDaL] > -1 ) {
 487     DaLPos[ofNorm] = FCSComponents[ToNormalize[iDaL]]->GetOutputPct();
 488   }
 489
 490   if ( ToNormalize[iDaR] > -1 ) {
 491     DaRPos[ofNorm] = FCSComponents[ToNormalize[iDaR]]->GetOutputPct();
 492   }
 493
 494   if ( ToNormalize[iDr] > -1 ) {
 495     DrPos[ofNorm] = FCSComponents[ToNormalize[iDr]]->GetOutputPct();
 496   }
 497
 498   if ( ToNormalize[iDsb] > -1 ) {
 499     DsbPos[ofNorm] = FCSComponents[ToNormalize[iDsb]]->GetOutputPct();
 500   }
 501
 502   if ( ToNormalize[iDsp] > -1 ) {
 503     DspPos[ofNorm] = FCSComponents[ToNormalize[iDsp]]->GetOutputPct();
 504   }
 505
 506   if ( ToNormalize[iDf] > -1 ) {
 507     DfPos[ofNorm] = FCSComponents[ToNormalize[iDf]]->GetOutputPct();
 508   }
 509
 510   DePos[ofMag]  = fabs(DePos[ofRad]);
 511   DaLPos[ofMag] = fabs(DaLPos[ofRad]);
 512   DaRPos[ofMag] = fabs(DaRPos[ofRad]);
 513   DrPos[ofMag]  = fabs(DrPos[ofRad]);
 514   DsbPos[ofMag] = fabs(DsbPos[ofRad]);
 515   DspPos[ofMag] = fabs(DspPos[ofRad]);
 516   DfPos[ofMag]  = fabs(DfPos[ofRad]);
 517
 518 }
 519
 520 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 521
 522 void FGFCS::bind(void)
 523 {
 524   PropertyManager->Tie("fcs/aileron-cmd-norm", this,
 525                        &FGFCS::GetDaCmd,
 526                        &FGFCS::SetDaCmd,
 527                        true);
 528   PropertyManager->Tie("fcs/elevator-cmd-norm", this,
 529                        &FGFCS::GetDeCmd,
 530                        &FGFCS::SetDeCmd,
 531                        true);
 532   PropertyManager->Tie("fcs/rudder-cmd-norm", this,
 533                        &FGFCS::GetDrCmd,
 534                        &FGFCS::SetDrCmd,
 535                        true);
 536   PropertyManager->Tie("fcs/flap-cmd-norm", this,
 537                        &FGFCS::GetDfCmd,
 538                        &FGFCS::SetDfCmd,
 539                        true);
 540   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this,
 541                        &FGFCS::GetDsbCmd,
 542                        &FGFCS::SetDsbCmd,
 543                        true);
 544   PropertyManager->Tie("fcs/spoiler-cmd-norm", this,
 545                        &FGFCS::GetDspCmd,
 546                        &FGFCS::SetDspCmd,
 547                        true);
 548   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this,
 549                        &FGFCS::GetPitchTrimCmd,
 550                        &FGFCS::SetPitchTrimCmd,
 551                        true);
 552   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this,
 553                        &FGFCS::GetRollTrimCmd,
 554                        &FGFCS::SetRollTrimCmd,
 555                        true);
 556   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this,
 557                        &FGFCS::GetYawTrimCmd,
 558                        &FGFCS::SetYawTrimCmd,
 559                        true);
 560   PropertyManager->Tie("gear/gear-cmd-norm", this,
 561                        &FGFCS::GetGearCmd,
 562                        &FGFCS::SetGearCmd,
 563                        true);
 564
 565   PropertyManager->Tie("fcs/left-aileron-pos-rad", this,ofRad,
 566                        &FGFCS::GetDaLPos,
 567                        &FGFCS::SetDaLPos,
 568                        true);
 569   PropertyManager->Tie("fcs/left-aileron-pos-norm", this,ofNorm,
 570                        &FGFCS::GetDaLPos,
 571                        &FGFCS::SetDaLPos,
 572                        true);
 573   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this,ofMag,
 574                        &FGFCS::GetDaLPos,
 575                        &FGFCS::SetDaLPos,
 576                        true);
 577
 578   PropertyManager->Tie("fcs/right-aileron-pos-rad", this,ofRad,
 579                        &FGFCS::GetDaRPos,
 580                        &FGFCS::SetDaRPos,
 581                        true);
 582   PropertyManager->Tie("fcs/right-aileron-pos-norm", this,ofNorm,
 583                        &FGFCS::GetDaRPos,
 584                        &FGFCS::SetDaRPos,
 585                        true);
 586   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this,ofMag,
 587                        &FGFCS::GetDaRPos,
 588                        &FGFCS::SetDaRPos,
 589                        true);
 590
 591   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad,
 592                        &FGFCS::GetDePos,
 593                        &FGFCS::SetDePos,
 594                        true );
 595   PropertyManager->Tie("fcs/elevator-pos-norm", this,ofNorm,
 596                        &FGFCS::GetDePos,
 597                        &FGFCS::SetDePos,
 598                        true );
 599   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this,ofMag,
 600                        &FGFCS::GetDePos,
 601                        &FGFCS::SetDePos,
 602                        true );
 603
 604   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad,
 605                        &FGFCS::GetDrPos,
 606                        &FGFCS::SetDrPos,
 607                        true);
 608   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm,
 609                        &FGFCS::GetDrPos,
 610                        &FGFCS::SetDrPos,
 611                        true);
 612   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag,
 613                        &FGFCS::GetDrPos,
 614                        &FGFCS::SetDrPos,
 615                        true);
 616
 617   PropertyManager->Tie("fcs/flap-pos-deg", this,ofRad,
 618                        &FGFCS::GetDfPos,
 619                        &FGFCS::SetDfPos,
 620                        true);
 621   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm,
 622                        &FGFCS::GetDfPos,
 623                        &FGFCS::SetDfPos,
 624                        true);
 625
 626   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad,
 627                        &FGFCS::GetDsbPos,
 628                        &FGFCS::SetDsbPos,
 629                        true);
 630   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm,
 631                        &FGFCS::GetDsbPos,
 632                        &FGFCS::SetDsbPos,
 633                        true);
 634   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag,
 635                        &FGFCS::GetDsbPos,
 636                        &FGFCS::SetDsbPos,
 637                        true);
 638
 639   PropertyManager->Tie("fcs/spoiler-pos-rad", this,ofRad,
 640                        &FGFCS::GetDspPos,
 641                        &FGFCS::SetDspPos,
 642                        true);
 643   PropertyManager->Tie("fcs/spoiler-pos-norm", this,ofNorm,
 644                        &FGFCS::GetDspPos,
 645                        &FGFCS::SetDspPos,
 646                        true);
 647   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this,ofMag,
 648                        &FGFCS::GetDspPos,
 649                        &FGFCS::SetDspPos,
 650                        true);
 651
 652   PropertyManager->Tie("gear/gear-pos-norm", this,
 653                        &FGFCS::GetGearPos,
 654                        &FGFCS::SetGearPos,
 655                        true);
 656
 657   PropertyManager->Tie("ap/elevator_cmd", this,
 658                        &FGFCS::GetAPDeCmd,
 659                        &FGFCS::SetAPDeCmd,
 660                        true);
 661
 662   PropertyManager->Tie("ap/aileron_cmd", this,
 663                        &FGFCS::GetAPDaCmd,
 664                        &FGFCS::SetAPDaCmd,
 665                        true);
 666
 667   PropertyManager->Tie("ap/rudder_cmd", this,
 668                        &FGFCS::GetAPDrCmd,
 669                        &FGFCS::SetAPDrCmd,
 670                        true);
 671
 672   PropertyManager->Tie("ap/throttle_cmd", this,
 673                        &FGFCS::GetAPThrottleCmd,
 674                        &FGFCS::SetAPThrottleCmd,
 675                        true);
 676
 677   PropertyManager->Tie("ap/attitude_setpoint", this,
 678                        &FGFCS::GetAPAttitudeSetPt,
 679                        &FGFCS::SetAPAttitudeSetPt,
 680                        true);
 681
 682   PropertyManager->Tie("ap/altitude_setpoint", this,
 683                        &FGFCS::GetAPAltitudeSetPt,
 684                        &FGFCS::SetAPAltitudeSetPt,
 685                        true);
 686
 687   PropertyManager->Tie("ap/heading_setpoint", this,
 688                        &FGFCS::GetAPHeadingSetPt,
 689                        &FGFCS::SetAPHeadingSetPt,
 690                        true);
 691
 692   PropertyManager->Tie("ap/airspeed_setpoint", this,
 693                        &FGFCS::GetAPAirspeedSetPt,
 694                        &FGFCS::SetAPAirspeedSetPt,
 695                        true);
 696
 697   PropertyManager->Tie("ap/acquire_attitude", this,
 698                        &FGFCS::GetAPAcquireAttitude,
 699                        &FGFCS::SetAPAcquireAttitude,
 700                        true);
 701
 702   PropertyManager->Tie("ap/acquire_altitude", this,
 703                        &FGFCS::GetAPAcquireAltitude,
 704                        &FGFCS::SetAPAcquireAltitude,
 705                        true);
 706
 707   PropertyManager->Tie("ap/acquire_heading", this,
 708                        &FGFCS::GetAPAcquireHeading,
 709                        &FGFCS::SetAPAcquireHeading,
 710                        true);
 711
 712   PropertyManager->Tie("ap/acquire_airspeed", this,
 713                        &FGFCS::GetAPAcquireAirspeed,
 714                        &FGFCS::SetAPAcquireAirspeed,
 715                        true);
 716
 717   PropertyManager->Tie("ap/attitude_hold", this,
 718                        &FGFCS::GetAPAttitudeHold,
 719                        &FGFCS::SetAPAttitudeHold,
 720                        true);
 721
 722   PropertyManager->Tie("ap/altitude_hold", this,
 723                        &FGFCS::GetAPAltitudeHold,
 724                        &FGFCS::SetAPAltitudeHold,
 725                        true);
 726
 727   PropertyManager->Tie("ap/heading_hold", this,
 728                        &FGFCS::GetAPHeadingHold,
 729                        &FGFCS::SetAPHeadingHold,
 730                        true);
 731
 732   PropertyManager->Tie("ap/airspeed_hold", this,
 733                        &FGFCS::GetAPAirspeedHold,
 734                        &FGFCS::SetAPAirspeedHold,
 735                        true);
 736
 737   PropertyManager->Tie("ap/wingslevel_hold", this,
 738                        &FGFCS::GetAPWingsLevelHold,
 739                        &FGFCS::SetAPWingsLevelHold,
 740                        true);
 741 }
 742
 743 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 744
 745 void FGFCS::bindModel(void)
 746 {
 747   unsigned i;
 748   char tmp[80];
 749
 750   for (i=0; i<ThrottleCmd.size(); i++) {
 751     snprintf(tmp,80,"fcs/throttle-cmd-norm[%u]",i);
 752     PropertyManager->Tie( tmp,this,i,
 753                           &FGFCS::GetThrottleCmd,
 754                           &FGFCS::SetThrottleCmd,
 755                           true );
 756     snprintf(tmp,80,"fcs/throttle-pos-norm[%u]",i);
 757     PropertyManager->Tie( tmp,this,i,
 758                           &FGFCS::GetThrottlePos,
 759                           &FGFCS::SetThrottlePos,
 760                           true );
 761     if ( MixtureCmd.size() > i ) {
 762       snprintf(tmp,80,"fcs/mixture-cmd-norm[%u]",i);
 763       PropertyManager->Tie( tmp,this,i,
 764                             &FGFCS::GetMixtureCmd,
 765                             &FGFCS::SetMixtureCmd,
 766                             true );
 767       snprintf(tmp,80,"fcs/mixture-pos-norm[%u]",i);
 768       PropertyManager->Tie( tmp,this,i,
 769                             &FGFCS::GetMixturePos,
 770                             &FGFCS::SetMixturePos,
 771                             true );
 772     }
 773     if ( PropAdvanceCmd.size() > i ) {
 774       snprintf(tmp,80,"fcs/advance-cmd-norm[%u]",i);
 775       PropertyManager->Tie( tmp,this,i,
 776                             &FGFCS::GetPropAdvanceCmd,
 777                             &FGFCS::SetPropAdvanceCmd,
 778                             true );
 779       snprintf(tmp,80,"fcs/advance-pos-norm[%u]",i);
 780       PropertyManager->Tie( tmp,this,i,
 781                             &FGFCS::GetPropAdvance,
 782                             &FGFCS::SetPropAdvance,
 783                             true );
 784     }
 785   }
 786 }
 787
 788 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 789
 790 void FGFCS::unbind(FGPropertyManager *node)
 791 {
 792   int N = node->nChildren();
 793   for(int i=0;i<N;i++) {
 794     if(node->getChild(i)->nChildren() ) {
 795       unbind( (FGPropertyManager*)node->getChild(i) );
 796     } else if( node->getChild(i)->isTied() ) {
 797       node->getChild(i)->untie();
 798     }
 799   }
 800 }
 801
 802 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 803 //    The bitmasked value choices are as follows:
 804 //    unset: In this case (the default) JSBSim would only print
 805 //       out the normally expected messages, essentially echoing
 806 //       the config files as they are read. If the environment
 807 //       variable is not set, debug_lvl is set to 1 internally
 808 //    0: This requests JSBSim not to output any messages
 809 //       whatsoever.
 810 //    1: This value explicity requests the normal JSBSim
 811 //       startup messages
 812 //    2: This value asks for a message to be printed out when
 813 //       a class is instantiated
 814 //    4: When this value is set, a message is displayed when a
 815 //       FGModel object executes its Run() method
 816 //    8: When this value is set, various runtime state variables
 817 //       are printed out periodically
 818 //    16: When set various parameters are sanity checked and
 819 //       a message is printed out when they go out of bounds
 820
 821 void FGFCS::Debug(int from)
 822 {
 823   if (debug_lvl <= 0) return;
 824
 825   if (debug_lvl & 1) { // Standard console startup message output
 826     if (from == 0) { // Constructor
 827
 828     }
 829   }
 830   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 831     if (from == 0) cout << "Instantiated: FGFCS" << endl;
 832     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
 833   }
 834   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 835   }
 836   if (debug_lvl & 8 ) { // Runtime state variables
 837   }
 838   if (debug_lvl & 16) { // Sanity checking
 839   }
 840   if (debug_lvl & 64) {
 841     if (from == 0) { // Constructor
 842       cout << IdSrc << endl;
 843       cout << IdHdr << endl;
 844     }
 845   }
 846 }
 847
 848 }