1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
6 Purpose: Model the flight controls
9 ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
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
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
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.
25 Further information about the GNU General Public License can also be found on
26 the world wide web at http://www.gnu.org.
28 FUNCTIONAL DESCRIPTION
29 --------------------------------------------------------------------------------
30 This class models the flight controls for a specific airplane
33 --------------------------------------------------------------------------------
36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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"
51 #include "filtersjb/FGFilter.h"
52 #include "filtersjb/FGDeadBand.h"
53 #include "filtersjb/FGGain.h"
54 #include "filtersjb/FGGradient.h"
55 #include "filtersjb/FGSwitch.h"
56 #include "filtersjb/FGSummer.h"
57 #include "filtersjb/FGFlaps.h"
59 static const char *IdSrc = "$Header$";
60 static const char *IdHdr = "ID_FCS";
62 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
64 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
66 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex) {
68 for (int i=0; i < MAX_ENGINES; i++) { // needs to be changed: no limit
72 DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = PTrimCmd = 0.0;
73 DaPos = DePos = DrPos = DfPos = DsbPos = DspPos = 0.0;
76 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
79 for(unsigned int i=0;i<Components.size();i++)
83 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
85 bool FGFCS::Run(void) {
86 if (!FGModel::Run()) {
88 for (unsigned int i=0; i<Aircraft->GetNumEngines(); i++) ThrottlePos[i]=ThrottleCmd[i];
90 for (unsigned int i=0; i<Components.size(); i++) {
100 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
102 void FGFCS::SetThrottleCmd(int engineNum, float setting) {
104 for (unsigned int ctr=0;ctr<Aircraft->GetNumEngines();ctr++) ThrottleCmd[ctr] = setting;
106 ThrottleCmd[engineNum] = setting;
110 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
112 void FGFCS::SetThrottlePos(int engineNum, float setting) {
114 for (unsigned int ctr=0;ctr<=Aircraft->GetNumEngines();ctr++) ThrottlePos[ctr] = ThrottleCmd[ctr];
116 ThrottlePos[engineNum] = setting;
120 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
122 bool FGFCS::LoadFCS(FGConfigFile* AC_cfg) {
125 FCSName = AC_cfg->GetValue("NAME");
126 cout << " Control System Name: " << FCSName << endl;
127 AC_cfg->GetNextConfigLine();
128 while ((token = AC_cfg->GetValue()) != "/FLIGHT_CONTROL") {
129 if (token == "COMPONENT") {
130 token = AC_cfg->GetValue("TYPE");
131 cout << " Loading Component \"" << AC_cfg->GetValue("NAME") << "\" of type: " << token << endl;
132 if ((token == "LAG_FILTER") ||
133 (token == "RECT_LAG_FILTER") ||
134 (token == "LEAD_LAG_FILTER") ||
135 (token == "SECOND_ORDER_FILTER") ||
136 (token == "WASHOUT_FILTER") ||
137 (token == "INTEGRATOR") ) {
138 Components.push_back(new FGFilter(this, AC_cfg));
139 } else if ((token == "PURE_GAIN") ||
140 (token == "SCHEDULED_GAIN") ||
141 (token == "AEROSURFACE_SCALE") ) {
143 Components.push_back(new FGGain(this, AC_cfg));
145 } else if (token == "SUMMER") {
146 Components.push_back(new FGSummer(this, AC_cfg));
147 } else if (token == "DEADBAND") {
148 Components.push_back(new FGDeadBand(this, AC_cfg));
149 } else if (token == "GRADIENT") {
150 Components.push_back(new FGGradient(this, AC_cfg));
151 } else if (token == "SWITCH") {
152 Components.push_back(new FGSwitch(this, AC_cfg));
153 } else if (token == "FLAPS") {
154 Components.push_back(new FGFlaps(this, AC_cfg));
156 AC_cfg->GetNextConfigLine();
162 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
164 float FGFCS::GetComponentOutput(eParam idx) {
165 return Components[idx]->GetOutput();
168 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
170 string FGFCS::GetComponentName(int idx) {
171 return Components[idx]->GetName();
174 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
176 float FGFCS::GetBrake(FGLGear::eBrakeGroup bg) {
178 case FGLGear::bgLeft:
180 case FGLGear::bgRight:
182 case FGLGear::bgCenter:
185 cerr << "GetBrake asked to return a bogus brake value" << endl;
189 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
191 string FGFCS::GetComponentStrings(void){
192 string CompStrings = "";
193 bool firstime = true;
195 for (unsigned int comp = 0; comp < Components.size(); comp++) {
196 if (firstime) firstime = false;
197 else CompStrings += ", ";
199 CompStrings += Components[comp]->GetName();
205 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
207 string FGFCS::GetComponentValues(void){
208 string CompValues = "";
210 bool firstime = true;
212 for (unsigned int comp = 0; comp < Components.size(); comp++) {
213 if (firstime) firstime = false;
214 else CompValues += ", ";
216 sprintf(buffer, "%9.6f", Components[comp]->GetOutput());
217 CompValues += string(buffer);