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