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   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
  78   GearCmd = GearPos = 1; // default to gear down
  79   LeftBrake = RightBrake = CenterBrake = 0.0;
  80   DoNormalize=true;
  81
  82   bind();
  83   for (i=0;i<=NForms;i++) {
  84     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
  85     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
  86   }
  87
  88   for (i=0;i<NNorm;i++) { ToNormalize[i]=-1;}
  89   Debug(0);
  90 }
  91
  92 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  93
  94 FGFCS::~FGFCS()
  95 {
  96   ThrottleCmd.clear();
  97   ThrottlePos.clear();
  98   MixtureCmd.clear();
  99   MixturePos.clear();
 100   PropAdvanceCmd.clear();
 101   PropAdvance.clear();
 102
 103   unsigned int i;
 104
 105   unbind();
 106
 107   for (i=0;i<Components.size();i++) delete Components[i];
 108   Debug(1);
 109 }
 110
 111 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 112
 113 bool FGFCS::Run(void)
 114 {
 115   unsigned int i;
 116
 117   if (!FGModel::Run()) {
 118     for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 119     for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
 120     for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
 121     for (i=0; i<Components.size(); i++)  Components[i]->Run();
 122     if (DoNormalize) Normalize();
 123
 124         return false;
 125   } else {
 126         return true;
 127   }
 128 }
 129
 130 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 131
 132 void FGFCS::SetThrottleCmd(int engineNum, double setting)
 133 {
 134   unsigned int ctr;
 135
 136   if (engineNum < (int)ThrottlePos.size()) {
 137     if (engineNum < 0) {
 138       for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 139     } else {
 140       ThrottleCmd[engineNum] = setting;
 141     }
 142   } else {
 143     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 144          << " engines exist, but attempted throttle command is for engine "
 145          << engineNum << endl;
 146   }
 147 }
 148
 149 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 150
 151 void FGFCS::SetThrottlePos(int engineNum, double setting)
 152 {
 153   unsigned int ctr;
 154
 155   if (engineNum < (int)ThrottlePos.size()) {
 156     if (engineNum < 0) {
 157       for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
 158     } else {
 159       ThrottlePos[engineNum] = setting;
 160     }
 161   } else {
 162     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 163          << " engines exist, but attempted throttle position setting is for engine "
 164          << engineNum << endl;
 165   }
 166 }
 167
 168 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 169
 170 double FGFCS::GetThrottleCmd(int engineNum) const
 171 {
 172   if (engineNum < (int)ThrottlePos.size()) {
 173     if (engineNum < 0) {
 174        cerr << "Cannot get throttle value for ALL engines" << endl;
 175     } else {
 176       return ThrottleCmd[engineNum];
 177     }
 178   } else {
 179     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 180          << " engines exist, but throttle setting for engine " << engineNum
 181          << " is selected" << endl;
 182   }
 183   return 0.0;
 184 }
 185
 186 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 187
 188 double FGFCS::GetThrottlePos(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 ThrottlePos[engineNum];
 195     }
 196   } else {
 197     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 198          << " engines exist, but attempted throttle position setting is for engine "
 199          << engineNum << endl;
 200   }
 201   return 0.0;
 202 }
 203
 204 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 205
 206 void FGFCS::SetMixtureCmd(int engineNum, double setting)
 207 {
 208   unsigned int ctr;
 209
 210   if (engineNum < (int)ThrottlePos.size()) {
 211     if (engineNum < 0) {
 212       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
 213     } else {
 214       MixtureCmd[engineNum] = setting;
 215     }
 216   }
 217 }
 218
 219 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 220
 221 void FGFCS::SetMixturePos(int engineNum, double setting)
 222 {
 223   unsigned int ctr;
 224
 225   if (engineNum < (int)ThrottlePos.size()) {
 226     if (engineNum < 0) {
 227       for (ctr=0;ctr<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
 228     } else {
 229       MixturePos[engineNum] = setting;
 230     }
 231   }
 232 }
 233
 234 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 235
 236 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
 237 {
 238   unsigned int ctr;
 239
 240   if (engineNum < (int)ThrottlePos.size()) {
 241     if (engineNum < 0) {
 242       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
 243     } else {
 244       PropAdvanceCmd[engineNum] = setting;
 245     }
 246   }
 247 }
 248
 249 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 250
 251 void FGFCS::SetPropAdvance(int engineNum, double setting)
 252 {
 253   unsigned int ctr;
 254
 255   if (engineNum < (int)ThrottlePos.size()) {
 256     if (engineNum < 0) {
 257       for (ctr=0;ctr<=PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
 258     } else {
 259       PropAdvance[engineNum] = setting;
 260     }
 261   }
 262 }
 263
 264 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 265
 266 bool FGFCS::Load(FGConfigFile* AC_cfg)
 267 {
 268   string token;
 269   unsigned i;
 270
 271   Name = Name + ":" + AC_cfg->GetValue("NAME");
 272   if (debug_lvl > 0) cout << "    Control System Name: " << Name << endl;
 273   if ( AC_cfg->GetValue("NORMALIZE") == "FALSE") {
 274       DoNormalize=false;
 275       cout << "    Automatic Control Surface Normalization Disabled" << endl;
 276   }
 277   AC_cfg->GetNextConfigLine();
 278   while ((token = AC_cfg->GetValue()) != string("/FLIGHT_CONTROL")) {
 279     if (token == "COMPONENT") {
 280       token = AC_cfg->GetValue("TYPE");
 281       if (debug_lvl > 0) cout << endl << "    Loading Component \""
 282                               << AC_cfg->GetValue("NAME")
 283                               << "\" of type: " << token << endl;
 284       if ((token == "LAG_FILTER") ||
 285           (token == "LEAD_LAG_FILTER") ||
 286           (token == "SECOND_ORDER_FILTER") ||
 287           (token == "WASHOUT_FILTER") ||
 288           (token == "INTEGRATOR") ) {
 289         Components.push_back(new FGFilter(this, AC_cfg));
 290       } else if ((token == "PURE_GAIN") ||
 291                  (token == "SCHEDULED_GAIN") ||
 292                  (token == "AEROSURFACE_SCALE") ) {
 293
 294         Components.push_back(new FGGain(this, AC_cfg));
 295
 296       } else if (token == "SUMMER") {
 297         Components.push_back(new FGSummer(this, AC_cfg));
 298       } else if (token == "DEADBAND") {
 299         Components.push_back(new FGDeadBand(this, AC_cfg));
 300       } else if (token == "GRADIENT") {
 301         Components.push_back(new FGGradient(this, AC_cfg));
 302       } else if (token == "SWITCH") {
 303         Components.push_back(new FGSwitch(this, AC_cfg));
 304       } else if (token == "KINEMAT") {
 305         Components.push_back(new FGKinemat(this, AC_cfg));
 306       } else {
 307         cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
 308         return false;
 309       }
 310       AC_cfg->GetNextConfigLine();
 311     }
 312   }
 313   //collect information for normalizing control surfaces
 314   string nodeName;
 315   for (i=0;i<Components.size();i++) {
 316
 317     if ( (Components[i]->GetType() == "AEROSURFACE_SCALE"
 318           || Components[i]->GetType() == "KINEMAT")
 319                     && Components[i]->GetOutputNode() ) {
 320       nodeName= Components[i]->GetOutputNode()->GetName();
 321       if ( nodeName == "elevator-pos-rad" ) {
 322         ToNormalize[iDe]=i;
 323       } else if ( nodeName  == "left-aileron-pos-rad"
 324                    || nodeName == "aileron-pos-rad" ) {
 325         ToNormalize[iDaL]=i;
 326       } else if ( nodeName == "right-aileron-pos-rad" ) {
 327         ToNormalize[iDaR]=i;
 328       } else if ( nodeName == "rudder-pos-rad" ) {
 329         ToNormalize[iDr]=i;
 330       } else if ( nodeName == "speedbrake-pos-rad" ) {
 331         ToNormalize[iDsb]=i;
 332       } else if ( nodeName == "spoiler-pos-rad" ) {
 333         ToNormalize[iDsp]=i;
 334       } else if ( nodeName == "flap-pos-deg" ) {
 335         ToNormalize[iDf]=i;
 336       }
 337     }
 338   }
 339
 340   bindModel();
 341
 342   return true;
 343 }
 344
 345 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 346
 347 double FGFCS::GetComponentOutput(int idx) {
 348   return Components[idx]->GetOutput();
 349 }
 350
 351 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 352
 353 string FGFCS::GetComponentName(int idx) {
 354   return Components[idx]->GetName();
 355 }
 356
 357 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 358
 359 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 360 {
 361   switch (bg) {
 362   case FGLGear::bgLeft:
 363     return LeftBrake;
 364   case FGLGear::bgRight:
 365     return RightBrake;
 366   case FGLGear::bgCenter:
 367     return CenterBrake;
 368   default:
 369     cerr << "GetBrake asked to return a bogus brake value" << endl;
 370   }
 371   return 0.0;
 372 }
 373
 374 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 375
 376 string FGFCS::GetComponentStrings(void)
 377 {
 378   unsigned int comp;
 379   string CompStrings = "";
 380   bool firstime = true;
 381
 382   for (comp = 0; comp < Components.size(); comp++) {
 383     if (firstime) firstime = false;
 384     else          CompStrings += ", ";
 385
 386     CompStrings += Components[comp]->GetName();
 387   }
 388
 389   return CompStrings;
 390 }
 391
 392 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 393
 394 string FGFCS::GetComponentValues(void)
 395 {
 396   unsigned int comp;
 397   string CompValues = "";
 398   char buffer[10];
 399   bool firstime = true;
 400
 401   for (comp = 0; comp < Components.size(); comp++) {
 402     if (firstime) firstime = false;
 403     else          CompValues += ", ";
 404
 405     sprintf(buffer, "%9.6f", Components[comp]->GetOutput());
 406     CompValues += string(buffer);
 407   }
 408
 409   return CompValues;
 410 }
 411
 412 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 413
 414 void FGFCS::AddThrottle(void)
 415 {
 416   ThrottleCmd.push_back(0.0);
 417   ThrottlePos.push_back(0.0);
 418   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 419   MixturePos.push_back(0.0);
 420   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 421   PropAdvance.push_back(0.0);
 422 }
 423
 424 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 425
 426 void FGFCS::Normalize(void) {
 427
 428   //not all of these are guaranteed to be defined for every model
 429   //those that are have an index >=0 in the ToNormalize array
 430   //ToNormalize is filled in Load()
 431
 432   if ( ToNormalize[iDe] > -1 ) {
 433     DePos[ofNorm] = Components[ToNormalize[iDe]]->GetOutputPct();
 434   }
 435
 436   if ( ToNormalize[iDaL] > -1 ) {
 437     DaLPos[ofNorm] = Components[ToNormalize[iDaL]]->GetOutputPct();
 438   }
 439
 440   if ( ToNormalize[iDaR] > -1 ) {
 441     DaRPos[ofNorm] = Components[ToNormalize[iDaR]]->GetOutputPct();
 442   }
 443
 444   if ( ToNormalize[iDr] > -1 ) {
 445     DrPos[ofNorm] = Components[ToNormalize[iDr]]->GetOutputPct();
 446   }
 447
 448   if ( ToNormalize[iDsb] > -1 ) {
 449     DsbPos[ofNorm] = Components[ToNormalize[iDsb]]->GetOutputPct();
 450   }
 451
 452   if ( ToNormalize[iDsp] > -1 ) {
 453     DspPos[ofNorm] = Components[ToNormalize[iDsp]]->GetOutputPct();
 454   }
 455
 456   if ( ToNormalize[iDf] > -1 ) {
 457     DfPos[ofNorm] = Components[ToNormalize[iDf]]->GetOutputPct();
 458   }
 459
 460   DePos[ofMag]  = fabs(DePos[ofRad]);
 461   DaLPos[ofMag] = fabs(DaLPos[ofRad]);
 462   DaRPos[ofMag] = fabs(DaRPos[ofRad]);
 463   DrPos[ofMag]  = fabs(DrPos[ofRad]);
 464   DsbPos[ofMag] = fabs(DsbPos[ofRad]);
 465   DspPos[ofMag] = fabs(DspPos[ofRad]);
 466   DfPos[ofMag]  = fabs(DfPos[ofRad]);
 467
 468 }
 469
 470 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 471
 472 void FGFCS::bind(void)
 473 {
 474   PropertyManager->Tie("fcs/aileron-cmd-norm", this,
 475                        &FGFCS::GetDaCmd,
 476                        &FGFCS::SetDaCmd,
 477                        true);
 478   PropertyManager->Tie("fcs/elevator-cmd-norm", this,
 479                        &FGFCS::GetDeCmd,
 480                        &FGFCS::SetDeCmd,
 481                        true);
 482   PropertyManager->Tie("fcs/rudder-cmd-norm", this,
 483                        &FGFCS::GetDrCmd,
 484                        &FGFCS::SetDrCmd,
 485                        true);
 486   PropertyManager->Tie("fcs/flap-cmd-norm", this,
 487                        &FGFCS::GetDfCmd,
 488                        &FGFCS::SetDfCmd,
 489                        true);
 490   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this,
 491                        &FGFCS::GetDsbCmd,
 492                        &FGFCS::SetDsbCmd,
 493                        true);
 494   PropertyManager->Tie("fcs/spoiler-cmd-norm", this,
 495                        &FGFCS::GetDspCmd,
 496                        &FGFCS::SetDspCmd,
 497                        true);
 498   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this,
 499                        &FGFCS::GetPitchTrimCmd,
 500                        &FGFCS::SetPitchTrimCmd,
 501                        true);
 502   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this,
 503                        &FGFCS::GetYawTrimCmd,
 504                        &FGFCS::SetYawTrimCmd,
 505                        true);
 506   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this,
 507                        &FGFCS::GetRollTrimCmd,
 508                        &FGFCS::SetRollTrimCmd,
 509                        true);
 510   PropertyManager->Tie("gear/gear-cmd-norm", this,
 511                        &FGFCS::GetGearCmd,
 512                        &FGFCS::SetGearCmd,
 513                        true);
 514
 515   PropertyManager->Tie("fcs/left-aileron-pos-rad", this,ofRad,
 516                        &FGFCS::GetDaLPos,
 517                        &FGFCS::SetDaLPos,
 518                        true);
 519   PropertyManager->Tie("fcs/left-aileron-pos-norm", this,ofNorm,
 520                        &FGFCS::GetDaLPos,
 521                        &FGFCS::SetDaLPos,
 522                        true);
 523   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this,ofMag,
 524                        &FGFCS::GetDaLPos,
 525                        &FGFCS::SetDaLPos,
 526                        true);
 527
 528   PropertyManager->Tie("fcs/right-aileron-pos-rad", this,ofRad,
 529                        &FGFCS::GetDaRPos,
 530                        &FGFCS::SetDaRPos,
 531                        true);
 532   PropertyManager->Tie("fcs/right-aileron-pos-norm", this,ofNorm,
 533                        &FGFCS::GetDaRPos,
 534                        &FGFCS::SetDaRPos,
 535                        true);
 536   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this,ofMag,
 537                        &FGFCS::GetDaRPos,
 538                        &FGFCS::SetDaRPos,
 539                        true);
 540
 541   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad,
 542                        &FGFCS::GetDePos,
 543                        &FGFCS::SetDePos,
 544                        true );
 545   PropertyManager->Tie("fcs/elevator-pos-norm", this,ofNorm,
 546                        &FGFCS::GetDePos,
 547                        &FGFCS::SetDePos,
 548                        true );
 549   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this,ofMag,
 550                        &FGFCS::GetDePos,
 551                        &FGFCS::SetDePos,
 552                        true );
 553
 554   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad,
 555                        &FGFCS::GetDrPos,
 556                        &FGFCS::SetDrPos,
 557                        true);
 558   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm,
 559                        &FGFCS::GetDrPos,
 560                        &FGFCS::SetDrPos,
 561                        true);
 562   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag,
 563                        &FGFCS::GetDrPos,
 564                        &FGFCS::SetDrPos,
 565                        true);
 566
 567   PropertyManager->Tie("fcs/flap-pos-deg", this,ofRad,
 568                        &FGFCS::GetDfPos,
 569                        &FGFCS::SetDfPos,
 570                        true);
 571   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm,
 572                        &FGFCS::GetDfPos,
 573                        &FGFCS::SetDfPos,
 574                        true);
 575
 576   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad,
 577                        &FGFCS::GetDsbPos,
 578                        &FGFCS::SetDsbPos,
 579                        true);
 580   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm,
 581                        &FGFCS::GetDsbPos,
 582                        &FGFCS::SetDsbPos,
 583                        true);
 584   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag,
 585                        &FGFCS::GetDsbPos,
 586                        &FGFCS::SetDsbPos,
 587                        true);
 588
 589   PropertyManager->Tie("fcs/spoiler-pos-rad", this,ofRad,
 590                        &FGFCS::GetDspPos,
 591                        &FGFCS::SetDspPos,
 592                        true);
 593   PropertyManager->Tie("fcs/spoiler-pos-norm", this,ofNorm,
 594                        &FGFCS::GetDspPos,
 595                        &FGFCS::SetDspPos,
 596                        true);
 597   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this,ofMag,
 598                        &FGFCS::GetDspPos,
 599                        &FGFCS::SetDspPos,
 600                        true);
 601
 602   PropertyManager->Tie("gear/gear-pos-norm", this,
 603                        &FGFCS::GetGearPos,
 604                        &FGFCS::SetGearPos,
 605                        true);
 606 }
 607
 608 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 609
 610 void FGFCS::bindModel(void)
 611 {
 612   unsigned i;
 613   char tmp[80];
 614
 615   for (i=0; i<ThrottleCmd.size(); i++) {
 616     snprintf(tmp,80,"fcs/throttle-cmd-norm[%u]",i);
 617     PropertyManager->Tie( tmp,this,i,
 618                           &FGFCS::GetThrottleCmd,
 619                           &FGFCS::SetThrottleCmd,
 620                           true );
 621     snprintf(tmp,80,"fcs/throttle-pos-norm[%u]",i);
 622     PropertyManager->Tie( tmp,this,i,
 623                           &FGFCS::GetThrottlePos,
 624                           &FGFCS::SetThrottlePos,
 625                           true );
 626     if ( MixtureCmd.size() > i ) {
 627       snprintf(tmp,80,"fcs/mixture-cmd-norm[%u]",i);
 628       PropertyManager->Tie( tmp,this,i,
 629                             &FGFCS::GetMixtureCmd,
 630                             &FGFCS::SetMixtureCmd,
 631                             true );
 632       snprintf(tmp,80,"fcs/mixture-pos-norm[%u]",i);
 633       PropertyManager->Tie( tmp,this,i,
 634                             &FGFCS::GetMixturePos,
 635                             &FGFCS::SetMixturePos,
 636                             true );
 637     }
 638     if ( PropAdvanceCmd.size() > i ) {
 639       snprintf(tmp,80,"fcs/advance-cmd-norm[%u]",i);
 640       PropertyManager->Tie( tmp,this,i,
 641                             &FGFCS::GetPropAdvanceCmd,
 642                             &FGFCS::SetPropAdvanceCmd,
 643                             true );
 644       snprintf(tmp,80,"fcs/advance-pos-norm[%u]",i);
 645       PropertyManager->Tie( tmp,this,i,
 646                             &FGFCS::GetPropAdvance,
 647                             &FGFCS::SetPropAdvance,
 648                             true );
 649     }
 650   }
 651 }
 652
 653 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 654
 655 void FGFCS::unbind(void)
 656 {
 657   PropertyManager->Untie("fcs/aileron-cmd-norm");
 658   PropertyManager->Untie("fcs/elevator-cmd-norm");
 659   PropertyManager->Untie("fcs/rudder-cmd-norm");
 660   PropertyManager->Untie("fcs/flap-cmd-norm");
 661   PropertyManager->Untie("fcs/speedbrake-cmd-norm");
 662   PropertyManager->Untie("fcs/spoiler-cmd-norm");
 663   PropertyManager->Untie("fcs/pitch-trim-cmd-norm");
 664   PropertyManager->Untie("fcs/roll-trim-cmd-norm");
 665   PropertyManager->Untie("fcs/yaw-trim-cmd-norm");
 666   PropertyManager->Untie("gear/gear-cmd-norm");
 667   PropertyManager->Untie("fcs/left-aileron-pos-rad");
 668   PropertyManager->Untie("fcs/mag-left-aileron-pos-rad");
 669   PropertyManager->Untie("fcs/left-aileron-pos-norm");
 670   PropertyManager->Untie("fcs/right-aileron-pos-rad");
 671   PropertyManager->Untie("fcs/mag-right-aileron-pos-rad");
 672   PropertyManager->Untie("fcs/right-aileron-pos-norm");
 673   PropertyManager->Untie("fcs/elevator-pos-rad");
 674   PropertyManager->Untie("fcs/mag-elevator-pos-rad");
 675   PropertyManager->Untie("fcs/elevator-pos-norm");
 676   PropertyManager->Untie("fcs/rudder-pos-rad");
 677   PropertyManager->Untie("fcs/mag-rudder-pos-rad");
 678   PropertyManager->Untie("fcs/rudder-pos-norm");
 679   PropertyManager->Untie("fcs/flap-pos-deg");
 680   PropertyManager->Untie("fcs/flap-pos-norm");
 681   PropertyManager->Untie("fcs/speedbrake-pos-rad");
 682   PropertyManager->Untie("fcs/mag-speedbrake-pos-rad");
 683   PropertyManager->Untie("fcs/speedbrake-pos-norm");
 684   PropertyManager->Untie("fcs/spoiler-pos-rad");
 685   PropertyManager->Untie("fcs/mag-spoiler-pos-rad");
 686   PropertyManager->Untie("fcs/spoiler-pos-norm");
 687   PropertyManager->Untie("gear/gear-pos-norm");
 688 }
 689
 690 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 691 //    The bitmasked value choices are as follows:
 692 //    unset: In this case (the default) JSBSim would only print
 693 //       out the normally expected messages, essentially echoing
 694 //       the config files as they are read. If the environment
 695 //       variable is not set, debug_lvl is set to 1 internally
 696 //    0: This requests JSBSim not to output any messages
 697 //       whatsoever.
 698 //    1: This value explicity requests the normal JSBSim
 699 //       startup messages
 700 //    2: This value asks for a message to be printed out when
 701 //       a class is instantiated
 702 //    4: When this value is set, a message is displayed when a
 703 //       FGModel object executes its Run() method
 704 //    8: When this value is set, various runtime state variables
 705 //       are printed out periodically
 706 //    16: When set various parameters are sanity checked and
 707 //       a message is printed out when they go out of bounds
 708
 709 void FGFCS::Debug(int from)
 710 {
 711   if (debug_lvl <= 0) return;
 712
 713   if (debug_lvl & 1) { // Standard console startup message output
 714     if (from == 0) { // Constructor
 715
 716     }
 717   }
 718   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 719     if (from == 0) cout << "Instantiated: FGFCS" << endl;
 720     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
 721   }
 722   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 723   }
 724   if (debug_lvl & 8 ) { // Runtime state variables
 725   }
 726   if (debug_lvl & 16) { // Sanity checking
 727   }
 728   if (debug_lvl & 64) {
 729     if (from == 0) { // Constructor
 730       cout << IdSrc << endl;
 731       cout << IdHdr << endl;
 732     }
 733   }
 734 }
 735