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   ThrottleCmd.clear();
 100   ThrottlePos.clear();
 101   MixtureCmd.clear();
 102   MixturePos.clear();
 103   PropAdvanceCmd.clear();
 104   PropAdvance.clear();
 105
 106   unbind();
 107
 108   unsigned int i;
 109
 110   for (i=0;i<APComponents.size();i++) delete APComponents[i];
 111   for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
 112
 113   Debug(1);
 114 }
 115
 116 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 117
 118 bool FGFCS::Run(void)
 119 {
 120   unsigned int i;
 121
 122   if (!FGModel::Run()) {
 123     for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 124     for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
 125     for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
 126     for (i=0; i<APComponents.size(); i++)  {
 127       eMode = mAP;
 128       APComponents[i]->Run();
 129       eMode = mNone;
 130     }
 131     for (i=0; i<FCSComponents.size(); i++)  {
 132       eMode = mFCS;
 133       FCSComponents[i]->Run();
 134       eMode = mNone;
 135     }
 136     if (DoNormalize) Normalize();
 137
 138     return false;
 139   } else {
 140     return true;
 141   }
 142 }
 143
 144 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 145
 146 void FGFCS::SetThrottleCmd(int engineNum, double setting)
 147 {
 148   unsigned int ctr;
 149
 150   if (engineNum < (int)ThrottlePos.size()) {
 151     if (engineNum < 0) {
 152       for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 153     } else {
 154       ThrottleCmd[engineNum] = setting;
 155     }
 156   } else {
 157     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 158          << " engines exist, but attempted throttle command is for engine "
 159          << engineNum << endl;
 160   }
 161 }
 162
 163 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 164
 165 void FGFCS::SetThrottlePos(int engineNum, double setting)
 166 {
 167   unsigned int ctr;
 168
 169   if (engineNum < (int)ThrottlePos.size()) {
 170     if (engineNum < 0) {
 171       for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
 172     } else {
 173       ThrottlePos[engineNum] = setting;
 174     }
 175   } else {
 176     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 177          << " engines exist, but attempted throttle position setting is for engine "
 178          << engineNum << endl;
 179   }
 180 }
 181
 182 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 183
 184 double FGFCS::GetThrottleCmd(int engineNum) const
 185 {
 186   if (engineNum < (int)ThrottlePos.size()) {
 187     if (engineNum < 0) {
 188        cerr << "Cannot get throttle value for ALL engines" << endl;
 189     } else {
 190       return ThrottleCmd[engineNum];
 191     }
 192   } else {
 193     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 194          << " engines exist, but throttle setting for engine " << engineNum
 195          << " is selected" << endl;
 196   }
 197   return 0.0;
 198 }
 199
 200 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 201
 202 double FGFCS::GetThrottlePos(int engineNum) const
 203 {
 204   if (engineNum < (int)ThrottlePos.size()) {
 205     if (engineNum < 0) {
 206        cerr << "Cannot get throttle value for ALL engines" << endl;
 207     } else {
 208       return ThrottlePos[engineNum];
 209     }
 210   } else {
 211     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 212          << " engines exist, but attempted throttle position setting is for engine "
 213          << engineNum << endl;
 214   }
 215   return 0.0;
 216 }
 217
 218 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 219
 220 void FGFCS::SetMixtureCmd(int engineNum, double setting)
 221 {
 222   unsigned int ctr;
 223
 224   if (engineNum < (int)ThrottlePos.size()) {
 225     if (engineNum < 0) {
 226       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
 227     } else {
 228       MixtureCmd[engineNum] = setting;
 229     }
 230   }
 231 }
 232
 233 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 234
 235 void FGFCS::SetMixturePos(int engineNum, double setting)
 236 {
 237   unsigned int ctr;
 238
 239   if (engineNum < (int)ThrottlePos.size()) {
 240     if (engineNum < 0) {
 241       for (ctr=0;ctr<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
 242     } else {
 243       MixturePos[engineNum] = setting;
 244     }
 245   }
 246 }
 247
 248 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 249
 250 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
 251 {
 252   unsigned int ctr;
 253
 254   if (engineNum < (int)ThrottlePos.size()) {
 255     if (engineNum < 0) {
 256       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
 257     } else {
 258       PropAdvanceCmd[engineNum] = setting;
 259     }
 260   }
 261 }
 262
 263 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 264
 265 void FGFCS::SetPropAdvance(int engineNum, double setting)
 266 {
 267   unsigned int ctr;
 268
 269   if (engineNum < (int)ThrottlePos.size()) {
 270     if (engineNum < 0) {
 271       for (ctr=0;ctr<=PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
 272     } else {
 273       PropAdvance[engineNum] = setting;
 274     }
 275   }
 276 }
 277
 278 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 279
 280 bool FGFCS::Load(FGConfigFile* AC_cfg)
 281 {
 282   string token, delimiter;
 283   string name, file, fname;
 284   unsigned i;
 285   vector <FGFCSComponent*> *Components;
 286   FGConfigFile *FCS_cfg;
 287
 288   // Determine if the FCS/Autopilot is defined inline in the aircraft configuration
 289   // file or in a separate file. Set up the config file class as appropriate.
 290
 291   delimiter = AC_cfg->GetValue();
 292   name  = AC_cfg->GetValue("NAME");
 293   fname = AC_cfg->GetValue("FILE");
 294
 295   if ( AC_cfg->GetValue("NORMALIZE") == "FALSE") {
 296     DoNormalize = false;
 297     cout << "    Automatic Control Surface Normalization Disabled" << endl;
 298   }
 299
 300 # ifndef macintosh
 301   file = "control/" + fname + ".xml";
 302 # else
 303   file = "control;" + fname + ".xml";
 304 # endif
 305
 306   if (name.empty()) {
 307     name = fname;
 308     if (file.empty()) {
 309       cerr << "FCS/Autopilot does not appear to be defined inline nor in a file" << endl;
 310     } else {
 311       FCS_cfg = new FGConfigFile(file);
 312       if (!FCS_cfg->IsOpen()) {
 313         cerr << "Could not open " << delimiter << " file: " << file << endl;
 314         return false;
 315       } else {
 316         AC_cfg = FCS_cfg; // set local config file object pointer to FCS config
 317                                 // file object pointer
 318       }
 319     }
 320   } else {
 321     AC_cfg->GetNextConfigLine();
 322   }
 323
 324   if (delimiter == "AUTOPILOT") {
 325     Components = &APComponents;
 326     eMode = mAP;
 327     Name = "Autopilot:" + name;
 328   } else if (delimiter == "FLIGHT_CONTROL") {
 329     Components = &FCSComponents;
 330     eMode = mFCS;
 331     Name = "FCS:" + name;
 332   } else {
 333     cerr << endl << "Unknown FCS delimiter" << endl << endl;
 334   }
 335
 336   if (debug_lvl > 0) cout << "    Control System Name: " << Name << endl;
 337
 338   while ((token = AC_cfg->GetValue()) != string("/" + delimiter)) {
 339     if (token == "COMPONENT") {
 340       token = AC_cfg->GetValue("TYPE");
 341       if (debug_lvl > 0) cout << endl << "    Loading Component \""
 342                               << AC_cfg->GetValue("NAME")
 343                               << "\" of type: " << token << endl;
 344       if ((token == "LAG_FILTER") ||
 345           (token == "LEAD_LAG_FILTER") ||
 346           (token == "SECOND_ORDER_FILTER") ||
 347           (token == "WASHOUT_FILTER") ||
 348           (token == "INTEGRATOR") ) {
 349         Components->push_back(new FGFilter(this, AC_cfg));
 350       } else if ((token == "PURE_GAIN") ||
 351                  (token == "SCHEDULED_GAIN") ||
 352                  (token == "AEROSURFACE_SCALE") ) {
 353
 354         Components->push_back(new FGGain(this, AC_cfg));
 355
 356       } else if (token == "SUMMER") {
 357         Components->push_back(new FGSummer(this, AC_cfg));
 358       } else if (token == "DEADBAND") {
 359         Components->push_back(new FGDeadBand(this, AC_cfg));
 360       } else if (token == "GRADIENT") {
 361         Components->push_back(new FGGradient(this, AC_cfg));
 362       } else if (token == "SWITCH") {
 363         Components->push_back(new FGSwitch(this, AC_cfg));
 364       } else if (token == "KINEMAT") {
 365         Components->push_back(new FGKinemat(this, AC_cfg));
 366       } else {
 367         cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
 368         return false;
 369       }
 370       if (AC_cfg->GetNextConfigLine() == "EOF") break;
 371     }
 372   }
 373
 374   //collect information for normalizing control surfaces
 375
 376   string nodeName;
 377   for (i=0; i<Components->size(); i++) {
 378
 379     if ( (((*Components)[i])->GetType() == "AEROSURFACE_SCALE"
 380           || ((*Components)[i])->GetType() == "KINEMAT")
 381                     && ((*Components)[i])->GetOutputNode() ) {
 382       nodeName = ((*Components)[i])->GetOutputNode()->GetName();
 383       if ( nodeName == "elevator-pos-rad" ) {
 384         ToNormalize[iDe]=i;
 385       } else if ( nodeName  == "left-aileron-pos-rad"
 386                    || nodeName == "aileron-pos-rad" ) {
 387         ToNormalize[iDaL]=i;
 388       } else if ( nodeName == "right-aileron-pos-rad" ) {
 389         ToNormalize[iDaR]=i;
 390       } else if ( nodeName == "rudder-pos-rad" ) {
 391         ToNormalize[iDr]=i;
 392       } else if ( nodeName == "speedbrake-pos-rad" ) {
 393         ToNormalize[iDsb]=i;
 394       } else if ( nodeName == "spoiler-pos-rad" ) {
 395         ToNormalize[iDsp]=i;
 396       } else if ( nodeName == "flap-pos-deg" ) {
 397         ToNormalize[iDf]=i;
 398       }
 399     }
 400   }
 401
 402   if (delimiter == "FLIGHT_CONTROL") bindModel();
 403
 404   eMode = mNone;
 405
 406   return true;
 407 }
 408
 409 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 410
 411 double FGFCS::GetComponentOutput(int idx)
 412 {
 413   switch (eMode) {
 414   case mFCS:
 415     return FCSComponents[idx]->GetOutput();
 416   case mAP:
 417     return APComponents[idx]->GetOutput();
 418   case mNone:
 419     cerr << "Unknown FCS mode" << endl;
 420     break;
 421   }
 422 }
 423
 424 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 425
 426 string FGFCS::GetComponentName(int idx)
 427 {
 428   switch (eMode) {
 429   case mFCS:
 430     return FCSComponents[idx]->GetName();
 431   case mAP:
 432     return APComponents[idx]->GetName();
 433   case mNone:
 434     cerr << "Unknown FCS mode" << endl;
 435     break;
 436   }
 437 }
 438
 439 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 440
 441 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 442 {
 443   switch (bg) {
 444   case FGLGear::bgLeft:
 445     return LeftBrake;
 446   case FGLGear::bgRight:
 447     return RightBrake;
 448   case FGLGear::bgCenter:
 449     return CenterBrake;
 450   default:
 451     cerr << "GetBrake asked to return a bogus brake value" << endl;
 452   }
 453   return 0.0;
 454 }
 455
 456 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 457
 458 string FGFCS::GetComponentStrings(void)
 459 {
 460   unsigned int comp;
 461   string CompStrings = "";
 462   bool firstime = true;
 463
 464   for (comp = 0; comp < FCSComponents.size(); comp++) {
 465     if (firstime) firstime = false;
 466     else          CompStrings += ", ";
 467
 468     CompStrings += FCSComponents[comp]->GetName();
 469   }
 470
 471   for (comp = 0; comp < APComponents.size(); comp++)
 472   {
 473     CompStrings += ", ";
 474     CompStrings += APComponents[comp]->GetName();
 475   }
 476
 477   return CompStrings;
 478 }
 479
 480 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 481
 482 string FGFCS::GetComponentValues(void)
 483 {
 484   unsigned int comp;
 485   string CompValues = "";
 486   char buffer[10];
 487   bool firstime = true;
 488
 489   for (comp = 0; comp < FCSComponents.size(); comp++) {
 490     if (firstime) firstime = false;
 491     else          CompValues += ", ";
 492
 493     sprintf(buffer, "%9.6f", FCSComponents[comp]->GetOutput());
 494     CompValues += string(buffer);
 495   }
 496
 497   for (comp = 0; comp < APComponents.size(); comp++) {
 498     sprintf(buffer, ", %9.6f", APComponents[comp]->GetOutput());
 499     CompValues += string(buffer);
 500   }
 501
 502   return CompValues;
 503 }
 504
 505 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 506
 507 void FGFCS::AddThrottle(void)
 508 {
 509   ThrottleCmd.push_back(0.0);
 510   ThrottlePos.push_back(0.0);
 511   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 512   MixturePos.push_back(0.0);
 513   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 514   PropAdvance.push_back(0.0);
 515 }
 516
 517 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 518
 519 void FGFCS::Normalize(void) {
 520
 521   //not all of these are guaranteed to be defined for every model
 522   //those that are have an index >=0 in the ToNormalize array
 523   //ToNormalize is filled in Load()
 524
 525   if ( ToNormalize[iDe] > -1 ) {
 526     DePos[ofNorm] = FCSComponents[ToNormalize[iDe]]->GetOutputPct();
 527   }
 528
 529   if ( ToNormalize[iDaL] > -1 ) {
 530     DaLPos[ofNorm] = FCSComponents[ToNormalize[iDaL]]->GetOutputPct();
 531   }
 532
 533   if ( ToNormalize[iDaR] > -1 ) {
 534     DaRPos[ofNorm] = FCSComponents[ToNormalize[iDaR]]->GetOutputPct();
 535   }
 536
 537   if ( ToNormalize[iDr] > -1 ) {
 538     DrPos[ofNorm] = FCSComponents[ToNormalize[iDr]]->GetOutputPct();
 539   }
 540
 541   if ( ToNormalize[iDsb] > -1 ) {
 542     DsbPos[ofNorm] = FCSComponents[ToNormalize[iDsb]]->GetOutputPct();
 543   }
 544
 545   if ( ToNormalize[iDsp] > -1 ) {
 546     DspPos[ofNorm] = FCSComponents[ToNormalize[iDsp]]->GetOutputPct();
 547   }
 548
 549   if ( ToNormalize[iDf] > -1 ) {
 550     DfPos[ofNorm] = FCSComponents[ToNormalize[iDf]]->GetOutputPct();
 551   }
 552
 553   DePos[ofMag]  = fabs(DePos[ofRad]);
 554   DaLPos[ofMag] = fabs(DaLPos[ofRad]);
 555   DaRPos[ofMag] = fabs(DaRPos[ofRad]);
 556   DrPos[ofMag]  = fabs(DrPos[ofRad]);
 557   DsbPos[ofMag] = fabs(DsbPos[ofRad]);
 558   DspPos[ofMag] = fabs(DspPos[ofRad]);
 559   DfPos[ofMag]  = fabs(DfPos[ofRad]);
 560
 561 }
 562
 563 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 564
 565 void FGFCS::bind(void)
 566 {
 567   PropertyManager->Tie("fcs/aileron-cmd-norm", this,
 568                        &FGFCS::GetDaCmd,
 569                        &FGFCS::SetDaCmd,
 570                        true);
 571   PropertyManager->Tie("fcs/elevator-cmd-norm", this,
 572                        &FGFCS::GetDeCmd,
 573                        &FGFCS::SetDeCmd,
 574                        true);
 575   PropertyManager->Tie("fcs/rudder-cmd-norm", this,
 576                        &FGFCS::GetDrCmd,
 577                        &FGFCS::SetDrCmd,
 578                        true);
 579   PropertyManager->Tie("fcs/flap-cmd-norm", this,
 580                        &FGFCS::GetDfCmd,
 581                        &FGFCS::SetDfCmd,
 582                        true);
 583   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this,
 584                        &FGFCS::GetDsbCmd,
 585                        &FGFCS::SetDsbCmd,
 586                        true);
 587   PropertyManager->Tie("fcs/spoiler-cmd-norm", this,
 588                        &FGFCS::GetDspCmd,
 589                        &FGFCS::SetDspCmd,
 590                        true);
 591   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this,
 592                        &FGFCS::GetPitchTrimCmd,
 593                        &FGFCS::SetPitchTrimCmd,
 594                        true);
 595   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this,
 596                        &FGFCS::GetYawTrimCmd,
 597                        &FGFCS::SetYawTrimCmd,
 598                        true);
 599   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this,
 600                        &FGFCS::GetRollTrimCmd,
 601                        &FGFCS::SetRollTrimCmd,
 602                        true);
 603   PropertyManager->Tie("gear/gear-cmd-norm", this,
 604                        &FGFCS::GetGearCmd,
 605                        &FGFCS::SetGearCmd,
 606                        true);
 607
 608   PropertyManager->Tie("fcs/left-aileron-pos-rad", this,ofRad,
 609                        &FGFCS::GetDaLPos,
 610                        &FGFCS::SetDaLPos,
 611                        true);
 612   PropertyManager->Tie("fcs/left-aileron-pos-norm", this,ofNorm,
 613                        &FGFCS::GetDaLPos,
 614                        &FGFCS::SetDaLPos,
 615                        true);
 616   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this,ofMag,
 617                        &FGFCS::GetDaLPos,
 618                        &FGFCS::SetDaLPos,
 619                        true);
 620
 621   PropertyManager->Tie("fcs/right-aileron-pos-rad", this,ofRad,
 622                        &FGFCS::GetDaRPos,
 623                        &FGFCS::SetDaRPos,
 624                        true);
 625   PropertyManager->Tie("fcs/right-aileron-pos-norm", this,ofNorm,
 626                        &FGFCS::GetDaRPos,
 627                        &FGFCS::SetDaRPos,
 628                        true);
 629   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this,ofMag,
 630                        &FGFCS::GetDaRPos,
 631                        &FGFCS::SetDaRPos,
 632                        true);
 633
 634   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad,
 635                        &FGFCS::GetDePos,
 636                        &FGFCS::SetDePos,
 637                        true );
 638   PropertyManager->Tie("fcs/elevator-pos-norm", this,ofNorm,
 639                        &FGFCS::GetDePos,
 640                        &FGFCS::SetDePos,
 641                        true );
 642   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this,ofMag,
 643                        &FGFCS::GetDePos,
 644                        &FGFCS::SetDePos,
 645                        true );
 646
 647   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad,
 648                        &FGFCS::GetDrPos,
 649                        &FGFCS::SetDrPos,
 650                        true);
 651   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm,
 652                        &FGFCS::GetDrPos,
 653                        &FGFCS::SetDrPos,
 654                        true);
 655   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag,
 656                        &FGFCS::GetDrPos,
 657                        &FGFCS::SetDrPos,
 658                        true);
 659
 660   PropertyManager->Tie("fcs/flap-pos-deg", this,ofRad,
 661                        &FGFCS::GetDfPos,
 662                        &FGFCS::SetDfPos,
 663                        true);
 664   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm,
 665                        &FGFCS::GetDfPos,
 666                        &FGFCS::SetDfPos,
 667                        true);
 668
 669   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad,
 670                        &FGFCS::GetDsbPos,
 671                        &FGFCS::SetDsbPos,
 672                        true);
 673   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm,
 674                        &FGFCS::GetDsbPos,
 675                        &FGFCS::SetDsbPos,
 676                        true);
 677   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag,
 678                        &FGFCS::GetDsbPos,
 679                        &FGFCS::SetDsbPos,
 680                        true);
 681
 682   PropertyManager->Tie("fcs/spoiler-pos-rad", this,ofRad,
 683                        &FGFCS::GetDspPos,
 684                        &FGFCS::SetDspPos,
 685                        true);
 686   PropertyManager->Tie("fcs/spoiler-pos-norm", this,ofNorm,
 687                        &FGFCS::GetDspPos,
 688                        &FGFCS::SetDspPos,
 689                        true);
 690   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this,ofMag,
 691                        &FGFCS::GetDspPos,
 692                        &FGFCS::SetDspPos,
 693                        true);
 694
 695   PropertyManager->Tie("gear/gear-pos-norm", this,
 696                        &FGFCS::GetGearPos,
 697                        &FGFCS::SetGearPos,
 698                        true);
 699
 700   PropertyManager->Tie("ap/elevator_cmd", this,
 701                        &FGFCS::GetAPDeCmd,
 702                        &FGFCS::SetAPDeCmd,
 703                        true);
 704
 705   PropertyManager->Tie("ap/aileron_cmd", this,
 706                        &FGFCS::GetAPDaCmd,
 707                        &FGFCS::SetAPDaCmd,
 708                        true);
 709
 710   PropertyManager->Tie("ap/rudder_cmd", this,
 711                        &FGFCS::GetAPDrCmd,
 712                        &FGFCS::SetAPDrCmd,
 713                        true);
 714
 715   PropertyManager->Tie("ap/throttle_cmd", this,
 716                        &FGFCS::GetAPThrottleCmd,
 717                        &FGFCS::SetAPThrottleCmd,
 718                        true);
 719
 720   PropertyManager->Tie("ap/attitude_setpoint", this,
 721                        &FGFCS::GetAPAttitudeSetPt,
 722                        &FGFCS::SetAPAttitudeSetPt,
 723                        true);
 724
 725   PropertyManager->Tie("ap/altitude_setpoint", this,
 726                        &FGFCS::GetAPAltitudeSetPt,
 727                        &FGFCS::SetAPAltitudeSetPt,
 728                        true);
 729
 730   PropertyManager->Tie("ap/heading_setpoint", this,
 731                        &FGFCS::GetAPHeadingSetPt,
 732                        &FGFCS::SetAPHeadingSetPt,
 733                        true);
 734
 735   PropertyManager->Tie("ap/airspeed_setpoint", this,
 736                        &FGFCS::GetAPAirspeedSetPt,
 737                        &FGFCS::SetAPAirspeedSetPt,
 738                        true);
 739
 740   PropertyManager->Tie("ap/acquire_attitude", this,
 741                        &FGFCS::GetAPAcquireAttitude,
 742                        &FGFCS::SetAPAcquireAttitude,
 743                        true);
 744
 745   PropertyManager->Tie("ap/acquire_altitude", this,
 746                        &FGFCS::GetAPAcquireAltitude,
 747                        &FGFCS::SetAPAcquireAltitude,
 748                        true);
 749
 750   PropertyManager->Tie("ap/acquire_heading", this,
 751                        &FGFCS::GetAPAcquireHeading,
 752                        &FGFCS::SetAPAcquireHeading,
 753                        true);
 754
 755   PropertyManager->Tie("ap/acquire_airspeed", this,
 756                        &FGFCS::GetAPAcquireAirspeed,
 757                        &FGFCS::SetAPAcquireAirspeed,
 758                        true);
 759
 760   PropertyManager->Tie("ap/attitude_hold", this,
 761                        &FGFCS::GetAPAttitudeHold,
 762                        &FGFCS::SetAPAttitudeHold,
 763                        true);
 764
 765   PropertyManager->Tie("ap/altitude_hold", this,
 766                        &FGFCS::GetAPAltitudeHold,
 767                        &FGFCS::SetAPAltitudeHold,
 768                        true);
 769
 770   PropertyManager->Tie("ap/heading_hold", this,
 771                        &FGFCS::GetAPHeadingHold,
 772                        &FGFCS::SetAPHeadingHold,
 773                        true);
 774
 775   PropertyManager->Tie("ap/airspeed_hold", this,
 776                        &FGFCS::GetAPAirspeedHold,
 777                        &FGFCS::SetAPAirspeedHold,
 778                        true);
 779
 780   PropertyManager->Tie("ap/wingslevel_hold", this,
 781                        &FGFCS::GetAPWingsLevelHold,
 782                        &FGFCS::SetAPWingsLevelHold,
 783                        true);
 784 }
 785
 786 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 787
 788 void FGFCS::bindModel(void)
 789 {
 790   unsigned i;
 791   char tmp[80];
 792
 793   for (i=0; i<ThrottleCmd.size(); i++) {
 794     snprintf(tmp,80,"fcs/throttle-cmd-norm[%u]",i);
 795     PropertyManager->Tie( tmp,this,i,
 796                           &FGFCS::GetThrottleCmd,
 797                           &FGFCS::SetThrottleCmd,
 798                           true );
 799     snprintf(tmp,80,"fcs/throttle-pos-norm[%u]",i);
 800     PropertyManager->Tie( tmp,this,i,
 801                           &FGFCS::GetThrottlePos,
 802                           &FGFCS::SetThrottlePos,
 803                           true );
 804     if ( MixtureCmd.size() > i ) {
 805       snprintf(tmp,80,"fcs/mixture-cmd-norm[%u]",i);
 806       PropertyManager->Tie( tmp,this,i,
 807                             &FGFCS::GetMixtureCmd,
 808                             &FGFCS::SetMixtureCmd,
 809                             true );
 810       snprintf(tmp,80,"fcs/mixture-pos-norm[%u]",i);
 811       PropertyManager->Tie( tmp,this,i,
 812                             &FGFCS::GetMixturePos,
 813                             &FGFCS::SetMixturePos,
 814                             true );
 815     }
 816     if ( PropAdvanceCmd.size() > i ) {
 817       snprintf(tmp,80,"fcs/advance-cmd-norm[%u]",i);
 818       PropertyManager->Tie( tmp,this,i,
 819                             &FGFCS::GetPropAdvanceCmd,
 820                             &FGFCS::SetPropAdvanceCmd,
 821                             true );
 822       snprintf(tmp,80,"fcs/advance-pos-norm[%u]",i);
 823       PropertyManager->Tie( tmp,this,i,
 824                             &FGFCS::GetPropAdvance,
 825                             &FGFCS::SetPropAdvance,
 826                             true );
 827     }
 828   }
 829 }
 830
 831 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 832
 833 void FGFCS::unbind(void)
 834 {
 835   PropertyManager->Untie("fcs/aileron-cmd-norm");
 836   PropertyManager->Untie("fcs/elevator-cmd-norm");
 837   PropertyManager->Untie("fcs/rudder-cmd-norm");
 838   PropertyManager->Untie("fcs/flap-cmd-norm");
 839   PropertyManager->Untie("fcs/speedbrake-cmd-norm");
 840   PropertyManager->Untie("fcs/spoiler-cmd-norm");
 841   PropertyManager->Untie("fcs/pitch-trim-cmd-norm");
 842   PropertyManager->Untie("fcs/roll-trim-cmd-norm");
 843   PropertyManager->Untie("fcs/yaw-trim-cmd-norm");
 844   PropertyManager->Untie("gear/gear-cmd-norm");
 845   PropertyManager->Untie("fcs/left-aileron-pos-rad");
 846   PropertyManager->Untie("fcs/mag-left-aileron-pos-rad");
 847   PropertyManager->Untie("fcs/left-aileron-pos-norm");
 848   PropertyManager->Untie("fcs/right-aileron-pos-rad");
 849   PropertyManager->Untie("fcs/mag-right-aileron-pos-rad");
 850   PropertyManager->Untie("fcs/right-aileron-pos-norm");
 851   PropertyManager->Untie("fcs/elevator-pos-rad");
 852   PropertyManager->Untie("fcs/mag-elevator-pos-rad");
 853   PropertyManager->Untie("fcs/elevator-pos-norm");
 854   PropertyManager->Untie("fcs/rudder-pos-rad");
 855   PropertyManager->Untie("fcs/mag-rudder-pos-rad");
 856   PropertyManager->Untie("fcs/rudder-pos-norm");
 857   PropertyManager->Untie("fcs/flap-pos-deg");
 858   PropertyManager->Untie("fcs/flap-pos-norm");
 859   PropertyManager->Untie("fcs/speedbrake-pos-rad");
 860   PropertyManager->Untie("fcs/mag-speedbrake-pos-rad");
 861   PropertyManager->Untie("fcs/speedbrake-pos-norm");
 862   PropertyManager->Untie("fcs/spoiler-pos-rad");
 863   PropertyManager->Untie("fcs/mag-spoiler-pos-rad");
 864   PropertyManager->Untie("fcs/spoiler-pos-norm");
 865   PropertyManager->Untie("gear/gear-pos-norm");
 866   PropertyManager->Untie("ap/elevator_cmd");
 867   PropertyManager->Untie("ap/aileron_cmd");
 868   PropertyManager->Untie("ap/rudder_cmd");
 869   PropertyManager->Untie("ap/throttle_cmd");
 870   PropertyManager->Untie("ap/attitude_setpoint");
 871   PropertyManager->Untie("ap/altitude_setpoint");
 872   PropertyManager->Untie("ap/heading_setpoint");
 873   PropertyManager->Untie("ap/airspeed_setpoint");
 874   PropertyManager->Untie("ap/acquire_attitude");
 875   PropertyManager->Untie("ap/acquire_altitude");
 876   PropertyManager->Untie("ap/acquire_heading");
 877   PropertyManager->Untie("ap/acquire_airspeed");
 878   PropertyManager->Untie("ap/attitude_hold");
 879   PropertyManager->Untie("ap/altitude_hold");
 880   PropertyManager->Untie("ap/heading_hold");
 881   PropertyManager->Untie("ap/airspeed_hold");
 882   PropertyManager->Untie("ap/wingslevel_hold");
 883 }
 884
 885 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 886 //    The bitmasked value choices are as follows:
 887 //    unset: In this case (the default) JSBSim would only print
 888 //       out the normally expected messages, essentially echoing
 889 //       the config files as they are read. If the environment
 890 //       variable is not set, debug_lvl is set to 1 internally
 891 //    0: This requests JSBSim not to output any messages
 892 //       whatsoever.
 893 //    1: This value explicity requests the normal JSBSim
 894 //       startup messages
 895 //    2: This value asks for a message to be printed out when
 896 //       a class is instantiated
 897 //    4: When this value is set, a message is displayed when a
 898 //       FGModel object executes its Run() method
 899 //    8: When this value is set, various runtime state variables
 900 //       are printed out periodically
 901 //    16: When set various parameters are sanity checked and
 902 //       a message is printed out when they go out of bounds
 903
 904 void FGFCS::Debug(int from)
 905 {
 906   if (debug_lvl <= 0) return;
 907
 908   if (debug_lvl & 1) { // Standard console startup message output
 909     if (from == 0) { // Constructor
 910
 911     }
 912   }
 913   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 914     if (from == 0) cout << "Instantiated: FGFCS" << endl;
 915     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
 916   }
 917   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 918   }
 919   if (debug_lvl & 8 ) { // Runtime state variables
 920   }
 921   if (debug_lvl & 16) { // Sanity checking
 922   }
 923   if (debug_lvl & 64) {
 924     if (from == 0) { // Constructor
 925       cout << IdSrc << endl;
 926       cout << IdHdr << endl;
 927     }
 928   }
 929 }
 930