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
  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"
  58
  59 static const char *IdSrc = "$Header$";
  60 static const char *IdHdr = "ID_FCS";
  61
  62 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  63 CLASS IMPLEMENTATION
  64 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  65
  66 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex) {
  67   Name = "FGFCS";
  68   for (int i=0; i < MAX_ENGINES; i++) {  // needs to be changed: no limit
  69     ThrottleCmd[i] = 0.0;
  70     ThrottlePos[i] = 0.0;
  71   }
  72   DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = PTrimCmd = 0.0;
  73   DaPos = DePos = DrPos = DfPos = DsbPos = DspPos = 0.0;
  74 }
  75
  76 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  77
  78 FGFCS::~FGFCS(void) {
  79   for(unsigned int i=0;i<Components.size();i++)
  80     delete Components[i];
  81 }
  82
  83 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  84
  85 bool FGFCS::Run(void) {
  86   if (!FGModel::Run()) {
  87
  88     for (unsigned int i=0; i<Aircraft->GetNumEngines(); i++) ThrottlePos[i]=ThrottleCmd[i];
  89
  90     for (unsigned int i=0; i<Components.size(); i++) {
  91       Components[i]->Run();
  92     }
  93
  94   } else {}
  95
  96
  97   return false;
  98 }
  99
 100 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 101
 102 void FGFCS::SetThrottleCmd(int engineNum, float setting) {
 103   if (engineNum < 0) {
 104     for (unsigned int ctr=0;ctr<Aircraft->GetNumEngines();ctr++) ThrottleCmd[ctr] = setting;
 105   } else {
 106     ThrottleCmd[engineNum] = setting;
 107   }
 108 }
 109
 110 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 111
 112 void FGFCS::SetThrottlePos(int engineNum, float setting) {
 113   if (engineNum < 0) {
 114     for (unsigned int ctr=0;ctr<=Aircraft->GetNumEngines();ctr++) ThrottlePos[ctr] = ThrottleCmd[ctr];
 115   } else {
 116     ThrottlePos[engineNum] = setting;
 117   }
 118 }
 119
 120 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 121
 122 bool FGFCS::LoadFCS(FGConfigFile* AC_cfg) {
 123   string token;
 124
 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") ) {
 142
 143         Components.push_back(new FGGain(this, AC_cfg));
 144
 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));
 155       }
 156       AC_cfg->GetNextConfigLine();
 157     }
 158   }
 159   return true;
 160 }
 161
 162 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 163
 164 float FGFCS::GetComponentOutput(eParam idx) {
 165   return Components[idx]->GetOutput();
 166 }
 167
 168 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 169
 170 string FGFCS::GetComponentName(int idx) {
 171   return Components[idx]->GetName();
 172 }
 173
 174 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 175
 176 float FGFCS::GetBrake(FGLGear::eBrakeGroup bg) {
 177   switch (bg) {
 178   case FGLGear::bgLeft:
 179     return LeftBrake;
 180   case FGLGear::bgRight:
 181     return RightBrake;
 182   case FGLGear::bgCenter:
 183     return CenterBrake;
 184   default:
 185     cerr << "GetBrake asked to return a bogus brake value" << endl;
 186   }
 187 }
 188
 189 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 190
 191 string FGFCS::GetComponentStrings(void){
 192   string CompStrings = "";
 193   bool firstime = true;
 194
 195   for (unsigned int comp = 0; comp < Components.size(); comp++) {
 196     if (firstime) firstime = false;
 197     else          CompStrings += ", ";
 198
 199     CompStrings += Components[comp]->GetName();
 200   }
 201
 202   return CompStrings;
 203 }
 204
 205 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 206
 207 string FGFCS::GetComponentValues(void){
 208   string CompValues = "";
 209   char buffer[10];
 210   bool firstime = true;
 211
 212   for (unsigned int comp = 0; comp < Components.size(); comp++) {
 213     if (firstime) firstime = false;
 214     else          CompValues += ", ";
 215
 216     sprintf(buffer, "%9.6f", Components[comp]->GetOutput());
 217     CompValues += string(buffer);
 218   }
 219
 220   return CompValues;
 221 }