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
  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"
  58
  59 static const char *IdSrc = "$Id$";
  60 static const char *IdHdr = ID_FCS;
  61
  62 extern short debug_lvl;
  63
  64 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  65 CLASS IMPLEMENTATION
  66 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  67
  68 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
  69 {
  70   Name = "FGFCS";
  71
  72   DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = PTrimCmd = 0.0;
  73   DaPos = DePos = DrPos = DfPos = DsbPos = DspPos = 0.0;
  74   LeftBrake = RightBrake = CenterBrake = 0.0;
  75
  76   if (debug_lvl & 2) cout << "Instantiated: " << Name << endl;
  77 }
  78
  79 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  80
  81 FGFCS::~FGFCS()
  82 {
  83   ThrottleCmd.clear();
  84   ThrottlePos.clear();
  85
  86   unsigned int i;
  87
  88   for(i=0;i<Components.size();i++) delete Components[i];
  89   if (debug_lvl & 2) cout << "Destroyed:    FGFCS" << endl;
  90 }
  91
  92 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  93
  94 bool FGFCS::Run(void)
  95 {
  96   unsigned int i;
  97
  98   if (!FGModel::Run()) {
  99     for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 100     for (i=0; i<Components.size(); i++)  Components[i]->Run();
 101   } else {
 102   }
 103
 104   return false;
 105 }
 106
 107 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 108
 109 void FGFCS::SetThrottleCmd(int engineNum, float setting)
 110 {
 111   unsigned int ctr;
 112
 113   if (engineNum < 0) {
 114     for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 115   } else {
 116     ThrottleCmd[engineNum] = setting;
 117   }
 118 }
 119
 120 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 121
 122 void FGFCS::SetThrottlePos(int engineNum, float setting)
 123 {
 124   unsigned int ctr;
 125
 126   if (engineNum < 0) {
 127     for (ctr=0;ctr<=ThrottleCmd.size();ctr++) ThrottlePos[ctr] = ThrottleCmd[ctr];
 128   } else {
 129     ThrottlePos[engineNum] = setting;
 130   }
 131 }
 132
 133 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 134
 135 bool FGFCS::LoadFCS(FGConfigFile* AC_cfg)
 136 {
 137   string token;
 138
 139   FCSName = AC_cfg->GetValue("NAME");
 140   if (debug_lvl > 0) cout << "    Control System Name: " << FCSName << endl;
 141   AC_cfg->GetNextConfigLine();
 142   while ((token = AC_cfg->GetValue()) != "/FLIGHT_CONTROL") {
 143     if (token == "COMPONENT") {
 144       token = AC_cfg->GetValue("TYPE");
 145       if (debug_lvl > 0) cout << "    Loading Component \""
 146                               << AC_cfg->GetValue("NAME")
 147                                                 << "\" of type: " << token << endl;
 148       if ((token == "LAG_FILTER") ||
 149           (token == "LEAD_LAG_FILTER") ||
 150           (token == "SECOND_ORDER_FILTER") ||
 151           (token == "WASHOUT_FILTER") ||
 152           (token == "INTEGRATOR") ) {
 153         Components.push_back(new FGFilter(this, AC_cfg));
 154       } else if ((token == "PURE_GAIN") ||
 155                  (token == "SCHEDULED_GAIN") ||
 156                  (token == "AEROSURFACE_SCALE") ) {
 157
 158         Components.push_back(new FGGain(this, AC_cfg));
 159
 160       } else if (token == "SUMMER") {
 161         Components.push_back(new FGSummer(this, AC_cfg));
 162       } else if (token == "DEADBAND") {
 163         Components.push_back(new FGDeadBand(this, AC_cfg));
 164       } else if (token == "GRADIENT") {
 165         Components.push_back(new FGGradient(this, AC_cfg));
 166       } else if (token == "SWITCH") {
 167         Components.push_back(new FGSwitch(this, AC_cfg));
 168       } else if (token == "FLAPS") {
 169         Components.push_back(new FGFlaps(this, AC_cfg));
 170       } else {
 171         cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
 172         return false;
 173       }
 174       AC_cfg->GetNextConfigLine();
 175     }
 176   }
 177   return true;
 178 }
 179
 180 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 181
 182 float FGFCS::GetComponentOutput(eParam idx) {
 183   return Components[idx]->GetOutput();
 184 }
 185
 186 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 187
 188 string FGFCS::GetComponentName(int idx) {
 189   return Components[idx]->GetName();
 190 }
 191
 192 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 193
 194 float FGFCS::GetBrake(FGLGear::BrakeGroup bg) {
 195   switch (bg) {
 196   case FGLGear::bgLeft:
 197     return LeftBrake;
 198   case FGLGear::bgRight:
 199     return RightBrake;
 200   case FGLGear::bgCenter:
 201     return CenterBrake;
 202   default:
 203     cerr << "GetBrake asked to return a bogus brake value" << endl;
 204   }
 205   return 0.0;
 206 }
 207
 208 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 209
 210 string FGFCS::GetComponentStrings(void)
 211 {
 212   unsigned int comp;
 213
 214   string CompStrings = "";
 215   bool firstime = true;
 216
 217   for (comp = 0; comp < Components.size(); comp++) {
 218     if (firstime) firstime = false;
 219     else          CompStrings += ", ";
 220
 221     CompStrings += Components[comp]->GetName();
 222   }
 223
 224   return CompStrings;
 225 }
 226
 227 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 228
 229 string FGFCS::GetComponentValues(void)
 230 {
 231   unsigned int comp;
 232
 233   string CompValues = "";
 234   char buffer[10];
 235   bool firstime = true;
 236
 237   for (comp = 0; comp < Components.size(); comp++) {
 238     if (firstime) firstime = false;
 239     else          CompValues += ", ";
 240
 241     sprintf(buffer, "%9.6f", Components[comp]->GetOutput());
 242     CompValues += string(buffer);
 243   }
 244
 245   return CompValues;
 246 }
 247
 248 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 249
 250 void FGFCS::AddThrottle(void)
 251 {
 252   ThrottleCmd.push_back(0.0);
 253   ThrottlePos.push_back(0.0);
 254 }
 255
 256 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 257
 258 void FGFCS::Debug(void)
 259 {
 260     //TODO: Add your source code here
 261 }
 262