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