src/FDM/JSBSim/FGFCS.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGFCS.cpp
   4  Author:       Jon Berndt
   5  Date started: 12/12/98
   6  Purpose:      Model the flight controls
   7  Called by:    FDMExec
   8
   9  ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------
  10
  11  This program is free software; you can redistribute it and/or modify it under
  12  the terms of the GNU General Public License as published by the Free Software
  13  Foundation; either version 2 of the License, or (at your option) any later
  14  version.
  15
  16  This program is distributed in the hope that it will be useful, but WITHOUT
  17  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  18  FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
  19  details.
  20
  21  You should have received a copy of the GNU General Public License along with
  22  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  23  Place - Suite 330, Boston, MA  02111-1307, USA.
  24
  25  Further information about the GNU General Public License can also be found on
  26  the world wide web at http://www.gnu.org.
  27
  28 FUNCTIONAL DESCRIPTION
  29 --------------------------------------------------------------------------------
  30 This class models the flight controls for a specific airplane
  31
  32 HISTORY
  33 --------------------------------------------------------------------------------
  34 12/12/98   JSB   Created
  35
  36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  37 INCLUDES
  38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  39
  40 #include "FGFCS.h"
  41 #include "FGFDMExec.h"
  42 #include "FGPropertyManager.h"
  43
  44 #include "filtersjb/FGFilter.h"
  45 #include "filtersjb/FGDeadBand.h"
  46 #include "filtersjb/FGGain.h"
  47 #include "filtersjb/FGGradient.h"
  48 #include "filtersjb/FGSwitch.h"
  49 #include "filtersjb/FGSummer.h"
  50 #include "filtersjb/FGKinemat.h"
  51
  52 namespace JSBSim {
  53
  54 static const char *IdSrc = "$Id$";
  55 static const char *IdHdr = ID_FCS;
  56
  57 #if defined(WIN32) && !defined(__CYGWIN__)
  58 #define snprintf _snprintf
  59 #endif
  60
  61 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  62 CLASS IMPLEMENTATION
  63 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  64
  65 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
  66 {
  67   int i;
  68   Name = "FGFCS";
  69
  70   DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = 0.0;
  71   AP_DaCmd = AP_DeCmd = AP_DrCmd = AP_ThrottleCmd = 0.0;
  72   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
  73   GearCmd = GearPos = 1; // default to gear down
  74   LeftBrake = RightBrake = CenterBrake = 0.0;
  75   APAttitudeSetPt = APAltitudeSetPt = APHeadingSetPt = APAirspeedSetPt = 0.0;
  76   DoNormalize=true;
  77
  78   bind();
  79   for (i=0;i<=NForms;i++) {
  80     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
  81     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
  82   }
  83
  84   for (i=0;i<NNorm;i++) { ToNormalize[i]=-1;}
  85   Debug(0);
  86 }
  87
  88 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  89
  90 FGFCS::~FGFCS()
  91 {
  92   unbind( PropertyManager->GetNode("fcs") );
  93   unbind( PropertyManager->GetNode("ap") );
  94   PropertyManager->Untie( "gear/gear-cmd-norm" );
  95   PropertyManager->Untie( "gear/gear-pos-norm" );
  96
  97   ThrottleCmd.clear();
  98   ThrottlePos.clear();
  99   MixtureCmd.clear();
 100   MixturePos.clear();
 101   PropAdvanceCmd.clear();
 102   PropAdvance.clear();
 103   SteerPosDeg.clear();
 104
 105   unsigned int i;
 106
 107   for (i=0;i<APComponents.size();i++) delete APComponents[i];
 108   for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
 109
 110   Debug(1);
 111 }
 112
 113 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 114
 115 bool FGFCS::Run(void)
 116 {
 117   unsigned int i;
 118
 119   if (FGModel::Run()) return true; // fast exit if nothing to do
 120
 121   // Set the default engine commands
 122   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 123   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
 124   for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
 125
 126   // Set the default steering angle
 127   for (i=0; i<SteerPosDeg.size(); i++) {
 128     FGLGear* gear = GroundReactions->GetGearUnit(i);
 129     SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
 130   }
 131
 132   for (i=0; i<APComponents.size(); i++) APComponents[i]->Run(); // cycle AP components
 133   for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run(); // cycle FCS components
 134
 135   if (DoNormalize) Normalize();
 136
 137   return false;
 138 }
 139
 140 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 141
 142 void FGFCS::SetThrottleCmd(int engineNum, double setting)
 143 {
 144   unsigned int ctr;
 145
 146   if (engineNum < (int)ThrottlePos.size()) {
 147     if (engineNum < 0) {
 148       for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 149     } else {
 150       ThrottleCmd[engineNum] = setting;
 151     }
 152   } else {
 153     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 154          << " engines exist, but attempted throttle command is for engine "
 155          << engineNum << endl;
 156   }
 157 }
 158
 159 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 160
 161 void FGFCS::SetThrottlePos(int engineNum, double setting)
 162 {
 163   unsigned int ctr;
 164
 165   if (engineNum < (int)ThrottlePos.size()) {
 166     if (engineNum < 0) {
 167       for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
 168     } else {
 169       ThrottlePos[engineNum] = setting;
 170     }
 171   } else {
 172     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 173          << " engines exist, but attempted throttle position setting is for engine "
 174          << engineNum << endl;
 175   }
 176 }
 177
 178 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 179
 180 double FGFCS::GetThrottleCmd(int engineNum) const
 181 {
 182   if (engineNum < (int)ThrottlePos.size()) {
 183     if (engineNum < 0) {
 184        cerr << "Cannot get throttle value for ALL engines" << endl;
 185     } else {
 186       return ThrottleCmd[engineNum];
 187     }
 188   } else {
 189     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 190          << " engines exist, but throttle setting for engine " << engineNum
 191          << " is selected" << endl;
 192   }
 193   return 0.0;
 194 }
 195
 196 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 197
 198 double FGFCS::GetThrottlePos(int engineNum) const
 199 {
 200   if (engineNum < (int)ThrottlePos.size()) {
 201     if (engineNum < 0) {
 202        cerr << "Cannot get throttle value for ALL engines" << endl;
 203     } else {
 204       return ThrottlePos[engineNum];
 205     }
 206   } else {
 207     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 208          << " engines exist, but attempted throttle position setting is for engine "
 209          << engineNum << endl;
 210   }
 211   return 0.0;
 212 }
 213
 214 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 215
 216 void FGFCS::SetMixtureCmd(int engineNum, double setting)
 217 {
 218   unsigned int ctr;
 219
 220   if (engineNum < (int)ThrottlePos.size()) {
 221     if (engineNum < 0) {
 222       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
 223     } else {
 224       MixtureCmd[engineNum] = setting;
 225     }
 226   }
 227 }
 228
 229 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 230
 231 void FGFCS::SetMixturePos(int engineNum, double setting)
 232 {
 233   unsigned int ctr;
 234
 235   if (engineNum < (int)ThrottlePos.size()) {
 236     if (engineNum < 0) {
 237       for (ctr=0;ctr<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
 238     } else {
 239       MixturePos[engineNum] = setting;
 240     }
 241   }
 242 }
 243
 244 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 245
 246 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
 247 {
 248   unsigned int ctr;
 249
 250   if (engineNum < (int)ThrottlePos.size()) {
 251     if (engineNum < 0) {
 252       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
 253     } else {
 254       PropAdvanceCmd[engineNum] = setting;
 255     }
 256   }
 257 }
 258
 259 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 260
 261 void FGFCS::SetPropAdvance(int engineNum, double setting)
 262 {
 263   unsigned int ctr;
 264
 265   if (engineNum < (int)ThrottlePos.size()) {
 266     if (engineNum < 0) {
 267       for (ctr=0;ctr<=PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
 268     } else {
 269       PropAdvance[engineNum] = setting;
 270     }
 271   }
 272 }
 273
 274 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 275
 276 bool FGFCS::Load(FGConfigFile* AC_cfg)
 277 {
 278   string token, delimiter;
 279   string name, file, fname;
 280   unsigned i;
 281   vector <FGFCSComponent*> *Components;
 282   FGConfigFile *FCS_cfg;
 283
 284   Components=0;
 285   // Determine if the FCS/Autopilot is defined inline in the aircraft configuration
 286   // file or in a separate file. Set up the config file class as appropriate.
 287
 288   delimiter = AC_cfg->GetValue();
 289   name  = AC_cfg->GetValue("NAME");
 290   fname = AC_cfg->GetValue("FILE");
 291
 292   if ( AC_cfg->GetValue("NORMALIZE") == "FALSE") {
 293     DoNormalize = false;
 294     cout << "    Automatic Control Surface Normalization Disabled" << endl;
 295   }
 296
 297 # ifndef macintosh
 298 //  file = "control/" + fname + ".xml";
 299   file = FDMExec->GetAircraftPath() + "/" + FDMExec->GetModelName() + "/" + fname + ".xml";
 300 # else
 301 //  file = "control;" + fname + ".xml";
 302   file = FDMExec->GetAircraftPath() + ";" + FDMExec->GetModelName() + ";" + fname + ".xml";
 303 # endif
 304
 305   if (name.empty()) {
 306     name = fname;
 307     if (file.empty()) {
 308       cerr << "FCS/Autopilot does not appear to be defined inline nor in a file" << endl;
 309     } else {
 310       FCS_cfg = new FGConfigFile(file);
 311       if (!FCS_cfg->IsOpen()) {
 312         cerr << "Could not open " << delimiter << " file: " << file << endl;
 313         return false;
 314       } else {
 315         AC_cfg = FCS_cfg; // set local config file object pointer to FCS config
 316                           // file object pointer
 317       }
 318     }
 319   } else {
 320     AC_cfg->GetNextConfigLine();
 321   }
 322
 323   if (delimiter == "AUTOPILOT") {
 324     Components = &APComponents;
 325     Name = "Autopilot: " + name;
 326   } else if (delimiter == "FLIGHT_CONTROL") {
 327     Components = &FCSComponents;
 328     Name = "FCS: " + name;
 329   } else {
 330     cerr << endl << "Unknown FCS delimiter" << endl << endl;
 331   }
 332
 333   if (debug_lvl > 0) cout << "    Control System Name: " << Name << endl;
 334
 335   while ((token = AC_cfg->GetValue()) != string("/" + delimiter)) {
 336     if (token == "COMPONENT") {
 337       token = AC_cfg->GetValue("TYPE");
 338       if (debug_lvl > 0) cout << endl << "    Loading Component \""
 339                               << AC_cfg->GetValue("NAME")
 340                               << "\" of type: " << token << endl;
 341       if ((token == "LAG_FILTER") ||
 342           (token == "LEAD_LAG_FILTER") ||
 343           (token == "SECOND_ORDER_FILTER") ||
 344           (token == "WASHOUT_FILTER") ||
 345           (token == "INTEGRATOR") ) {
 346         Components->push_back(new FGFilter(this, AC_cfg));
 347       } else if ((token == "PURE_GAIN") ||
 348                  (token == "SCHEDULED_GAIN") ||
 349                  (token == "AEROSURFACE_SCALE") ) {
 350
 351         Components->push_back(new FGGain(this, AC_cfg));
 352
 353       } else if (token == "SUMMER") {
 354         Components->push_back(new FGSummer(this, AC_cfg));
 355       } else if (token == "DEADBAND") {
 356         Components->push_back(new FGDeadBand(this, AC_cfg));
 357       } else if (token == "GRADIENT") {
 358         Components->push_back(new FGGradient(this, AC_cfg));
 359       } else if (token == "SWITCH") {
 360         Components->push_back(new FGSwitch(this, AC_cfg));
 361       } else if (token == "KINEMAT") {
 362         Components->push_back(new FGKinemat(this, AC_cfg));
 363       } else {
 364         cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
 365         return false;
 366       }
 367       if (AC_cfg->GetNextConfigLine() == "EOF") break;
 368     }
 369   }
 370
 371   //collect information for normalizing control surfaces
 372
 373   string nodeName;
 374   for (i=0; i<Components->size(); i++) {
 375
 376     if ( (((*Components)[i])->GetType() == "AEROSURFACE_SCALE"
 377           || ((*Components)[i])->GetType() == "KINEMAT")
 378                     && ((*Components)[i])->GetOutputNode() ) {
 379       nodeName = ((*Components)[i])->GetOutputNode()->GetName();
 380       if ( nodeName == "elevator-pos-rad" ) {
 381         ToNormalize[iDe]=i;
 382       } else if ( nodeName  == "left-aileron-pos-rad"
 383                    || nodeName == "aileron-pos-rad" ) {
 384         ToNormalize[iDaL]=i;
 385       } else if ( nodeName == "right-aileron-pos-rad" ) {
 386         ToNormalize[iDaR]=i;
 387       } else if ( nodeName == "rudder-pos-rad" ) {
 388         ToNormalize[iDr]=i;
 389       } else if ( nodeName == "speedbrake-pos-rad" ) {
 390         ToNormalize[iDsb]=i;
 391       } else if ( nodeName == "spoiler-pos-rad" ) {
 392         ToNormalize[iDsp]=i;
 393       } else if ( nodeName == "flap-pos-deg" ) {
 394         ToNormalize[iDf]=i;
 395       }
 396     }
 397   }
 398
 399   if (delimiter == "FLIGHT_CONTROL") bindModel();
 400
 401   return true;
 402 }
 403
 404 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 405
 406 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 407 {
 408   switch (bg) {
 409   case FGLGear::bgLeft:
 410     return LeftBrake;
 411   case FGLGear::bgRight:
 412     return RightBrake;
 413   case FGLGear::bgCenter:
 414     return CenterBrake;
 415   default:
 416     cerr << "GetBrake asked to return a bogus brake value" << endl;
 417   }
 418   return 0.0;
 419 }
 420
 421 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 422
 423 string FGFCS::GetComponentStrings(string delimeter)
 424 {
 425   unsigned int comp;
 426   string CompStrings = "";
 427   bool firstime = true;
 428
 429   for (comp = 0; comp < FCSComponents.size(); comp++) {
 430     if (firstime) firstime = false;
 431     else          CompStrings += delimeter;
 432
 433     CompStrings += FCSComponents[comp]->GetName();
 434   }
 435
 436   for (comp = 0; comp < APComponents.size(); comp++)
 437   {
 438     CompStrings += delimeter;
 439     CompStrings += APComponents[comp]->GetName();
 440   }
 441
 442   return CompStrings;
 443 }
 444
 445 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 446
 447 string FGFCS::GetComponentValues(string delimeter)
 448 {
 449   unsigned int comp;
 450   string CompValues = "";
 451   char buffer[12];
 452   bool firstime = true;
 453
 454   for (comp = 0; comp < FCSComponents.size(); comp++) {
 455     if (firstime) firstime = false;
 456     else          CompValues += delimeter;
 457
 458     sprintf(buffer, "%9.6f", FCSComponents[comp]->GetOutput());
 459     CompValues += string(buffer);
 460   }
 461
 462   for (comp = 0; comp < APComponents.size(); comp++) {
 463     sprintf(buffer, "%s%9.6f", delimeter.c_str(), APComponents[comp]->GetOutput());
 464     CompValues += string(buffer);
 465   }
 466
 467   return CompValues;
 468 }
 469
 470 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 471
 472 void FGFCS::AddThrottle(void)
 473 {
 474   ThrottleCmd.push_back(0.0);
 475   ThrottlePos.push_back(0.0);
 476   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 477   MixturePos.push_back(0.0);
 478   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 479   PropAdvance.push_back(0.0);
 480 }
 481
 482 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 483
 484 void FGFCS::AddGear(void)
 485 {
 486   SteerPosDeg.push_back(0.0);
 487 }
 488
 489 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 490
 491 void FGFCS::Normalize(void) {
 492
 493   //not all of these are guaranteed to be defined for every model
 494   //those that are have an index >=0 in the ToNormalize array
 495   //ToNormalize is filled in Load()
 496
 497   if ( ToNormalize[iDe] > -1 ) {
 498     DePos[ofNorm] = FCSComponents[ToNormalize[iDe]]->GetOutputPct();
 499   }
 500
 501   if ( ToNormalize[iDaL] > -1 ) {
 502     DaLPos[ofNorm] = FCSComponents[ToNormalize[iDaL]]->GetOutputPct();
 503   }
 504
 505   if ( ToNormalize[iDaR] > -1 ) {
 506     DaRPos[ofNorm] = FCSComponents[ToNormalize[iDaR]]->GetOutputPct();
 507   }
 508
 509   if ( ToNormalize[iDr] > -1 ) {
 510     DrPos[ofNorm] = FCSComponents[ToNormalize[iDr]]->GetOutputPct();
 511   }
 512
 513   if ( ToNormalize[iDsb] > -1 ) {
 514     DsbPos[ofNorm] = FCSComponents[ToNormalize[iDsb]]->GetOutputPct();
 515   }
 516
 517   if ( ToNormalize[iDsp] > -1 ) {
 518     DspPos[ofNorm] = FCSComponents[ToNormalize[iDsp]]->GetOutputPct();
 519   }
 520
 521   if ( ToNormalize[iDf] > -1 ) {
 522     DfPos[ofNorm] = FCSComponents[ToNormalize[iDf]]->GetOutputPct();
 523   }
 524
 525   DePos[ofMag]  = fabs(DePos[ofRad]);
 526   DaLPos[ofMag] = fabs(DaLPos[ofRad]);
 527   DaRPos[ofMag] = fabs(DaRPos[ofRad]);
 528   DrPos[ofMag]  = fabs(DrPos[ofRad]);
 529   DsbPos[ofMag] = fabs(DsbPos[ofRad]);
 530   DspPos[ofMag] = fabs(DspPos[ofRad]);
 531   DfPos[ofMag]  = fabs(DfPos[ofRad]);
 532
 533 }
 534
 535 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 536
 537 void FGFCS::bind(void)
 538 {
 539   PropertyManager->Tie("fcs/aileron-cmd-norm", this,
 540                        &FGFCS::GetDaCmd,
 541                        &FGFCS::SetDaCmd,
 542                        true);
 543   PropertyManager->Tie("fcs/elevator-cmd-norm", this,
 544                        &FGFCS::GetDeCmd,
 545                        &FGFCS::SetDeCmd,
 546                        true);
 547   PropertyManager->Tie("fcs/rudder-cmd-norm", this,
 548                        &FGFCS::GetDrCmd,
 549                        &FGFCS::SetDrCmd,
 550                        true);
 551   PropertyManager->Tie("fcs/steer-cmd-norm", this,
 552                        &FGFCS::GetDsCmd,
 553                        &FGFCS::SetDsCmd,
 554                        true);
 555   PropertyManager->Tie("fcs/flap-cmd-norm", this,
 556                        &FGFCS::GetDfCmd,
 557                        &FGFCS::SetDfCmd,
 558                        true);
 559   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this,
 560                        &FGFCS::GetDsbCmd,
 561                        &FGFCS::SetDsbCmd,
 562                        true);
 563   PropertyManager->Tie("fcs/spoiler-cmd-norm", this,
 564                        &FGFCS::GetDspCmd,
 565                        &FGFCS::SetDspCmd,
 566                        true);
 567   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this,
 568                        &FGFCS::GetPitchTrimCmd,
 569                        &FGFCS::SetPitchTrimCmd,
 570                        true);
 571   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this,
 572                        &FGFCS::GetRollTrimCmd,
 573                        &FGFCS::SetRollTrimCmd,
 574                        true);
 575   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this,
 576                        &FGFCS::GetYawTrimCmd,
 577                        &FGFCS::SetYawTrimCmd,
 578                        true);
 579   PropertyManager->Tie("gear/gear-cmd-norm", this,
 580                        &FGFCS::GetGearCmd,
 581                        &FGFCS::SetGearCmd,
 582                        true);
 583
 584   PropertyManager->Tie("fcs/left-aileron-pos-rad", this,ofRad,
 585                        &FGFCS::GetDaLPos,
 586                        &FGFCS::SetDaLPos,
 587                        true);
 588   PropertyManager->Tie("fcs/left-aileron-pos-norm", this,ofNorm,
 589                        &FGFCS::GetDaLPos,
 590                        &FGFCS::SetDaLPos,
 591                        true);
 592   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this,ofMag,
 593                        &FGFCS::GetDaLPos,
 594                        &FGFCS::SetDaLPos,
 595                        true);
 596
 597   PropertyManager->Tie("fcs/right-aileron-pos-rad", this,ofRad,
 598                        &FGFCS::GetDaRPos,
 599                        &FGFCS::SetDaRPos,
 600                        true);
 601   PropertyManager->Tie("fcs/right-aileron-pos-norm", this,ofNorm,
 602                        &FGFCS::GetDaRPos,
 603                        &FGFCS::SetDaRPos,
 604                        true);
 605   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this,ofMag,
 606                        &FGFCS::GetDaRPos,
 607                        &FGFCS::SetDaRPos,
 608                        true);
 609
 610   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad,
 611                        &FGFCS::GetDePos,
 612                        &FGFCS::SetDePos,
 613                        true );
 614   PropertyManager->Tie("fcs/elevator-pos-norm", this,ofNorm,
 615                        &FGFCS::GetDePos,
 616                        &FGFCS::SetDePos,
 617                        true );
 618   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this,ofMag,
 619                        &FGFCS::GetDePos,
 620                        &FGFCS::SetDePos,
 621                        true );
 622
 623   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad,
 624                        &FGFCS::GetDrPos,
 625                        &FGFCS::SetDrPos,
 626                        true);
 627   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm,
 628                        &FGFCS::GetDrPos,
 629                        &FGFCS::SetDrPos,
 630                        true);
 631   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag,
 632                        &FGFCS::GetDrPos,
 633                        &FGFCS::SetDrPos,
 634                        true);
 635
 636   PropertyManager->Tie("fcs/flap-pos-deg", this,ofRad,
 637                        &FGFCS::GetDfPos,
 638                        &FGFCS::SetDfPos,
 639                        true);
 640   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm,
 641                        &FGFCS::GetDfPos,
 642                        &FGFCS::SetDfPos,
 643                        true);
 644
 645   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad,
 646                        &FGFCS::GetDsbPos,
 647                        &FGFCS::SetDsbPos,
 648                        true);
 649   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm,
 650                        &FGFCS::GetDsbPos,
 651                        &FGFCS::SetDsbPos,
 652                        true);
 653   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag,
 654                        &FGFCS::GetDsbPos,
 655                        &FGFCS::SetDsbPos,
 656                        true);
 657
 658   PropertyManager->Tie("fcs/spoiler-pos-rad", this,ofRad,
 659                        &FGFCS::GetDspPos,
 660                        &FGFCS::SetDspPos,
 661                        true);
 662   PropertyManager->Tie("fcs/spoiler-pos-norm", this,ofNorm,
 663                        &FGFCS::GetDspPos,
 664                        &FGFCS::SetDspPos,
 665                        true);
 666   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this,ofMag,
 667                        &FGFCS::GetDspPos,
 668                        &FGFCS::SetDspPos,
 669                        true);
 670
 671   PropertyManager->Tie("gear/gear-pos-norm", this,
 672                        &FGFCS::GetGearPos,
 673                        &FGFCS::SetGearPos,
 674                        true);
 675
 676   PropertyManager->Tie("ap/elevator_cmd", this,
 677                        &FGFCS::GetAPDeCmd,
 678                        &FGFCS::SetAPDeCmd,
 679                        true);
 680
 681   PropertyManager->Tie("ap/aileron_cmd", this,
 682                        &FGFCS::GetAPDaCmd,
 683                        &FGFCS::SetAPDaCmd,
 684                        true);
 685
 686   PropertyManager->Tie("ap/rudder_cmd", this,
 687                        &FGFCS::GetAPDrCmd,
 688                        &FGFCS::SetAPDrCmd,
 689                        true);
 690
 691   PropertyManager->Tie("ap/throttle_cmd", this,
 692                        &FGFCS::GetAPThrottleCmd,
 693                        &FGFCS::SetAPThrottleCmd,
 694                        true);
 695
 696   PropertyManager->Tie("ap/attitude_setpoint", this,
 697                        &FGFCS::GetAPAttitudeSetPt,
 698                        &FGFCS::SetAPAttitudeSetPt,
 699                        true);
 700
 701   PropertyManager->Tie("ap/altitude_setpoint", this,
 702                        &FGFCS::GetAPAltitudeSetPt,
 703                        &FGFCS::SetAPAltitudeSetPt,
 704                        true);
 705
 706   PropertyManager->Tie("ap/heading_setpoint", this,
 707                        &FGFCS::GetAPHeadingSetPt,
 708                        &FGFCS::SetAPHeadingSetPt,
 709                        true);
 710
 711   PropertyManager->Tie("ap/airspeed_setpoint", this,
 712                        &FGFCS::GetAPAirspeedSetPt,
 713                        &FGFCS::SetAPAirspeedSetPt,
 714                        true);
 715
 716   PropertyManager->Tie("ap/acquire_attitude", this,
 717                        &FGFCS::GetAPAcquireAttitude,
 718                        &FGFCS::SetAPAcquireAttitude,
 719                        true);
 720
 721   PropertyManager->Tie("ap/acquire_altitude", this,
 722                        &FGFCS::GetAPAcquireAltitude,
 723                        &FGFCS::SetAPAcquireAltitude,
 724                        true);
 725
 726   PropertyManager->Tie("ap/acquire_heading", this,
 727                        &FGFCS::GetAPAcquireHeading,
 728                        &FGFCS::SetAPAcquireHeading,
 729                        true);
 730
 731   PropertyManager->Tie("ap/acquire_airspeed", this,
 732                        &FGFCS::GetAPAcquireAirspeed,
 733                        &FGFCS::SetAPAcquireAirspeed,
 734                        true);
 735
 736   PropertyManager->Tie("ap/attitude_hold", this,
 737                        &FGFCS::GetAPAttitudeHold,
 738                        &FGFCS::SetAPAttitudeHold,
 739                        true);
 740
 741   PropertyManager->Tie("ap/altitude_hold", this,
 742                        &FGFCS::GetAPAltitudeHold,
 743                        &FGFCS::SetAPAltitudeHold,
 744                        true);
 745
 746   PropertyManager->Tie("ap/heading_hold", this,
 747                        &FGFCS::GetAPHeadingHold,
 748                        &FGFCS::SetAPHeadingHold,
 749                        true);
 750
 751   PropertyManager->Tie("ap/airspeed_hold", this,
 752                        &FGFCS::GetAPAirspeedHold,
 753                        &FGFCS::SetAPAirspeedHold,
 754                        true);
 755
 756   PropertyManager->Tie("ap/wingslevel_hold", this,
 757                        &FGFCS::GetAPWingsLevelHold,
 758                        &FGFCS::SetAPWingsLevelHold,
 759                        true);
 760 }
 761
 762 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 763
 764 void FGFCS::bindModel(void)
 765 {
 766   unsigned i;
 767   char tmp[80];
 768
 769   for (i=0; i<ThrottleCmd.size(); i++) {
 770     snprintf(tmp,80,"fcs/throttle-cmd-norm[%u]",i);
 771     PropertyManager->Tie( tmp,this,i,
 772                           &FGFCS::GetThrottleCmd,
 773                           &FGFCS::SetThrottleCmd,
 774                           true );
 775     snprintf(tmp,80,"fcs/throttle-pos-norm[%u]",i);
 776     PropertyManager->Tie( tmp,this,i,
 777                           &FGFCS::GetThrottlePos,
 778                           &FGFCS::SetThrottlePos,
 779                           true );
 780     if ( MixtureCmd.size() > i ) {
 781       snprintf(tmp,80,"fcs/mixture-cmd-norm[%u]",i);
 782       PropertyManager->Tie( tmp,this,i,
 783                             &FGFCS::GetMixtureCmd,
 784                             &FGFCS::SetMixtureCmd,
 785                             true );
 786       snprintf(tmp,80,"fcs/mixture-pos-norm[%u]",i);
 787       PropertyManager->Tie( tmp,this,i,
 788                             &FGFCS::GetMixturePos,
 789                             &FGFCS::SetMixturePos,
 790                             true );
 791     }
 792     if ( PropAdvanceCmd.size() > i ) {
 793       snprintf(tmp,80,"fcs/advance-cmd-norm[%u]",i);
 794       PropertyManager->Tie( tmp,this,i,
 795                             &FGFCS::GetPropAdvanceCmd,
 796                             &FGFCS::SetPropAdvanceCmd,
 797                             true );
 798       snprintf(tmp,80,"fcs/advance-pos-norm[%u]",i);
 799       PropertyManager->Tie( tmp,this,i,
 800                             &FGFCS::GetPropAdvance,
 801                             &FGFCS::SetPropAdvance,
 802                             true );
 803     }
 804   }
 805
 806   for (i=0; i<SteerPosDeg.size(); i++) {
 807     if (GroundReactions->GetGearUnit(i)->GetSteerable()) {
 808       snprintf(tmp,80,"fcs/steer-pos-deg[%u]",i);
 809       PropertyManager->Tie( tmp, this, i,
 810                             &FGFCS::GetSteerPosDeg,
 811                             &FGFCS::SetSteerPosDeg,
 812                             true );
 813     }
 814   }
 815 }
 816
 817 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 818
 819 void FGFCS::unbind(FGPropertyManager *node)
 820 {
 821   int N = node->nChildren();
 822   for(int i=0;i<N;i++) {
 823     if(node->getChild(i)->nChildren() ) {
 824       unbind( (FGPropertyManager*)node->getChild(i) );
 825     } else if( node->getChild(i)->isTied() ) {
 826       node->getChild(i)->untie();
 827     }
 828   }
 829 }
 830
 831 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 832 //    The bitmasked value choices are as follows:
 833 //    unset: In this case (the default) JSBSim would only print
 834 //       out the normally expected messages, essentially echoing
 835 //       the config files as they are read. If the environment
 836 //       variable is not set, debug_lvl is set to 1 internally
 837 //    0: This requests JSBSim not to output any messages
 838 //       whatsoever.
 839 //    1: This value explicity requests the normal JSBSim
 840 //       startup messages
 841 //    2: This value asks for a message to be printed out when
 842 //       a class is instantiated
 843 //    4: When this value is set, a message is displayed when a
 844 //       FGModel object executes its Run() method
 845 //    8: When this value is set, various runtime state variables
 846 //       are printed out periodically
 847 //    16: When set various parameters are sanity checked and
 848 //       a message is printed out when they go out of bounds
 849
 850 void FGFCS::Debug(int from)
 851 {
 852   if (debug_lvl <= 0) return;
 853
 854   if (debug_lvl & 1) { // Standard console startup message output
 855     if (from == 0) { // Constructor
 856
 857     }
 858   }
 859   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 860     if (from == 0) cout << "Instantiated: FGFCS" << endl;
 861     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
 862   }
 863   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 864   }
 865   if (debug_lvl & 8 ) { // Runtime state variables
 866   }
 867   if (debug_lvl & 16) { // Sanity checking
 868   }
 869   if (debug_lvl & 64) {
 870     if (from == 0) { // Constructor
 871       cout << IdSrc << endl;
 872       cout << IdHdr << endl;
 873     }
 874   }
 875 }
 876
 877 }