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 #ifdef HAVE_CONFIG_H
  41 #  include <config.h>
  42 #endif
  43
  44 #include "FGFCS.h"
  45 #include "FGFDMExec.h"
  46 #include "FGPropertyManager.h"
  47
  48 #include "filtersjb/FGFilter.h"
  49 #include "filtersjb/FGDeadBand.h"
  50 #include "filtersjb/FGGain.h"
  51 #include "filtersjb/FGGradient.h"
  52 #include "filtersjb/FGSwitch.h"
  53 #include "filtersjb/FGSummer.h"
  54 #include "filtersjb/FGKinemat.h"
  55
  56 namespace JSBSim {
  57
  58 static const char *IdSrc = "$Id$";
  59 static const char *IdHdr = ID_FCS;
  60
  61 #if defined(WIN32) && !defined(__CYGWIN__)
  62 #define snprintf _snprintf
  63 #endif
  64
  65 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  66 CLASS IMPLEMENTATION
  67 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  68
  69 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
  70 {
  71   int i;
  72   Name = "FGFCS";
  73
  74   DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = 0.0;
  75   AP_DaCmd = AP_DeCmd = AP_DrCmd = AP_ThrottleCmd = 0.0;
  76   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
  77   GearCmd = GearPos = 1; // default to gear down
  78   LeftBrake = RightBrake = CenterBrake = 0.0;
  79   APAttitudeSetPt = APAltitudeSetPt = APHeadingSetPt = APAirspeedSetPt = 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   unbind( PropertyManager->GetNode("fcs") );
  97   unbind( PropertyManager->GetNode("ap") );
  98   PropertyManager->Untie( "gear/gear-cmd-norm" );
  99   PropertyManager->Untie( "gear/gear-pos-norm" );
 100
 101   ThrottleCmd.clear();
 102   ThrottlePos.clear();
 103   MixtureCmd.clear();
 104   MixturePos.clear();
 105   PropAdvanceCmd.clear();
 106   PropAdvance.clear();
 107   SteerPosDeg.clear();
 108
 109   unsigned int i;
 110
 111   for (i=0;i<APComponents.size();i++) delete APComponents[i];
 112   for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
 113
 114   Debug(1);
 115 }
 116
 117 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 118
 119 bool FGFCS::Run(void)
 120 {
 121   unsigned int i;
 122
 123   if (FGModel::Run()) return true; // fast exit if nothing to do
 124
 125   // Set the default engine commands
 126   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 127   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
 128   for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
 129
 130   // Set the default steering angle
 131   for (i=0; i<SteerPosDeg.size(); i++) {
 132     FGLGear* gear = GroundReactions->GetGearUnit(i);
 133     SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
 134   }
 135
 136   for (i=0; i<APComponents.size(); i++) APComponents[i]->Run(); // cycle AP components
 137   for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run(); // cycle FCS components
 138
 139   if (DoNormalize) Normalize();
 140
 141   return false;
 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   Components=0;
 289   // Determine if the FCS/Autopilot is defined inline in the aircraft configuration
 290   // file or in a separate file. Set up the config file class as appropriate.
 291
 292   delimiter = AC_cfg->GetValue();
 293   name  = AC_cfg->GetValue("NAME");
 294   fname = AC_cfg->GetValue("FILE");
 295
 296   if ( AC_cfg->GetValue("NORMALIZE") == "FALSE") {
 297     DoNormalize = false;
 298     cout << "    Automatic Control Surface Normalization Disabled" << endl;
 299   }
 300
 301 # ifndef macintosh
 302 //  file = "control/" + fname + ".xml";
 303   file = FDMExec->GetAircraftPath() + "/" + FDMExec->GetModelName() + "/" + fname + ".xml";
 304 # else
 305 //  file = "control;" + fname + ".xml";
 306   file = FDMExec->GetAircraftPath() + ";" + FDMExec->GetModelName() + ";" + fname + ".xml";
 307 # endif
 308
 309   if (name.empty()) {
 310     name = fname;
 311     if (file.empty()) {
 312       cerr << "FCS/Autopilot does not appear to be defined inline nor in a file" << endl;
 313     } else {
 314       FCS_cfg = new FGConfigFile(file);
 315       if (!FCS_cfg->IsOpen()) {
 316         cerr << "Could not open " << delimiter << " file: " << file << endl;
 317         return false;
 318       } else {
 319         AC_cfg = FCS_cfg; // set local config file object pointer to FCS config
 320                           // file object pointer
 321       }
 322     }
 323   } else {
 324     AC_cfg->GetNextConfigLine();
 325   }
 326
 327   if (delimiter == "AUTOPILOT") {
 328     Components = &APComponents;
 329     Name = "Autopilot: " + name;
 330   } else if (delimiter == "FLIGHT_CONTROL") {
 331     Components = &FCSComponents;
 332     Name = "FCS: " + name;
 333   } else {
 334     cerr << endl << "Unknown FCS delimiter" << endl << endl;
 335   }
 336
 337   if (debug_lvl > 0) cout << "    Control System Name: " << Name << endl;
 338
 339   while ((token = AC_cfg->GetValue()) != string("/" + delimiter)) {
 340     if (token == "COMPONENT") {
 341       token = AC_cfg->GetValue("TYPE");
 342       if (debug_lvl > 0) cout << endl << "    Loading Component \""
 343                               << AC_cfg->GetValue("NAME")
 344                               << "\" of type: " << token << endl;
 345       if ((token == "LAG_FILTER") ||
 346           (token == "LEAD_LAG_FILTER") ||
 347           (token == "SECOND_ORDER_FILTER") ||
 348           (token == "WASHOUT_FILTER") ||
 349           (token == "INTEGRATOR") ) {
 350         Components->push_back(new FGFilter(this, AC_cfg));
 351       } else if ((token == "PURE_GAIN") ||
 352                  (token == "SCHEDULED_GAIN") ||
 353                  (token == "AEROSURFACE_SCALE") ) {
 354
 355         Components->push_back(new FGGain(this, AC_cfg));
 356
 357       } else if (token == "SUMMER") {
 358         Components->push_back(new FGSummer(this, AC_cfg));
 359       } else if (token == "DEADBAND") {
 360         Components->push_back(new FGDeadBand(this, AC_cfg));
 361       } else if (token == "GRADIENT") {
 362         Components->push_back(new FGGradient(this, AC_cfg));
 363       } else if (token == "SWITCH") {
 364         Components->push_back(new FGSwitch(this, AC_cfg));
 365       } else if (token == "KINEMAT") {
 366         Components->push_back(new FGKinemat(this, AC_cfg));
 367       } else {
 368         cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
 369         return false;
 370       }
 371       if (AC_cfg->GetNextConfigLine() == "EOF") break;
 372     }
 373   }
 374
 375   //collect information for normalizing control surfaces
 376
 377   string nodeName;
 378   for (i=0; i<Components->size(); i++) {
 379
 380     if ( (((*Components)[i])->GetType() == "AEROSURFACE_SCALE"
 381           || ((*Components)[i])->GetType() == "KINEMAT")
 382                     && ((*Components)[i])->GetOutputNode() ) {
 383       nodeName = ((*Components)[i])->GetOutputNode()->GetName();
 384       if ( nodeName == "elevator-pos-rad" ) {
 385         ToNormalize[iDe]=i;
 386       } else if ( nodeName  == "left-aileron-pos-rad"
 387                    || nodeName == "aileron-pos-rad" ) {
 388         ToNormalize[iDaL]=i;
 389       } else if ( nodeName == "right-aileron-pos-rad" ) {
 390         ToNormalize[iDaR]=i;
 391       } else if ( nodeName == "rudder-pos-rad" ) {
 392         ToNormalize[iDr]=i;
 393       } else if ( nodeName == "speedbrake-pos-rad" ) {
 394         ToNormalize[iDsb]=i;
 395       } else if ( nodeName == "spoiler-pos-rad" ) {
 396         ToNormalize[iDsp]=i;
 397       } else if ( nodeName == "flap-pos-deg" ) {
 398         ToNormalize[iDf]=i;
 399       }
 400     }
 401   }
 402
 403   if (delimiter == "FLIGHT_CONTROL") bindModel();
 404
 405   return true;
 406 }
 407
 408 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 409
 410 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 411 {
 412   switch (bg) {
 413   case FGLGear::bgLeft:
 414     return LeftBrake;
 415   case FGLGear::bgRight:
 416     return RightBrake;
 417   case FGLGear::bgCenter:
 418     return CenterBrake;
 419   default:
 420     cerr << "GetBrake asked to return a bogus brake value" << endl;
 421   }
 422   return 0.0;
 423 }
 424
 425 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 426
 427 string FGFCS::GetComponentStrings(string delimeter)
 428 {
 429   unsigned int comp;
 430   string CompStrings = "";
 431   bool firstime = true;
 432
 433   for (comp = 0; comp < FCSComponents.size(); comp++) {
 434     if (firstime) firstime = false;
 435     else          CompStrings += delimeter;
 436
 437     CompStrings += FCSComponents[comp]->GetName();
 438   }
 439
 440   for (comp = 0; comp < APComponents.size(); comp++)
 441   {
 442     CompStrings += delimeter;
 443     CompStrings += APComponents[comp]->GetName();
 444   }
 445
 446   return CompStrings;
 447 }
 448
 449 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 450
 451 string FGFCS::GetComponentValues(string delimeter)
 452 {
 453   unsigned int comp;
 454   string CompValues = "";
 455   char buffer[12];
 456   bool firstime = true;
 457
 458   for (comp = 0; comp < FCSComponents.size(); comp++) {
 459     if (firstime) firstime = false;
 460     else          CompValues += delimeter;
 461
 462     sprintf(buffer, "%9.6f", FCSComponents[comp]->GetOutput());
 463     CompValues += string(buffer);
 464   }
 465
 466   for (comp = 0; comp < APComponents.size(); comp++) {
 467     sprintf(buffer, "%s%9.6f", delimeter.c_str(), APComponents[comp]->GetOutput());
 468     CompValues += string(buffer);
 469   }
 470
 471   return CompValues;
 472 }
 473
 474 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 475
 476 void FGFCS::AddThrottle(void)
 477 {
 478   ThrottleCmd.push_back(0.0);
 479   ThrottlePos.push_back(0.0);
 480   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 481   MixturePos.push_back(0.0);
 482   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 483   PropAdvance.push_back(0.0);
 484 }
 485
 486 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 487
 488 void FGFCS::AddGear(void)
 489 {
 490   SteerPosDeg.push_back(0.0);
 491 }
 492
 493 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 494
 495 void FGFCS::Normalize(void) {
 496
 497   //not all of these are guaranteed to be defined for every model
 498   //those that are have an index >=0 in the ToNormalize array
 499   //ToNormalize is filled in Load()
 500
 501   if ( ToNormalize[iDe] > -1 ) {
 502     DePos[ofNorm] = FCSComponents[ToNormalize[iDe]]->GetOutputPct();
 503   }
 504
 505   if ( ToNormalize[iDaL] > -1 ) {
 506     DaLPos[ofNorm] = FCSComponents[ToNormalize[iDaL]]->GetOutputPct();
 507   }
 508
 509   if ( ToNormalize[iDaR] > -1 ) {
 510     DaRPos[ofNorm] = FCSComponents[ToNormalize[iDaR]]->GetOutputPct();
 511   }
 512
 513   if ( ToNormalize[iDr] > -1 ) {
 514     DrPos[ofNorm] = FCSComponents[ToNormalize[iDr]]->GetOutputPct();
 515   }
 516
 517   if ( ToNormalize[iDsb] > -1 ) {
 518     DsbPos[ofNorm] = FCSComponents[ToNormalize[iDsb]]->GetOutputPct();
 519   }
 520
 521   if ( ToNormalize[iDsp] > -1 ) {
 522     DspPos[ofNorm] = FCSComponents[ToNormalize[iDsp]]->GetOutputPct();
 523   }
 524
 525   if ( ToNormalize[iDf] > -1 ) {
 526     DfPos[ofNorm] = FCSComponents[ToNormalize[iDf]]->GetOutputPct();
 527   }
 528
 529   DePos[ofMag]  = fabs(DePos[ofRad]);
 530   DaLPos[ofMag] = fabs(DaLPos[ofRad]);
 531   DaRPos[ofMag] = fabs(DaRPos[ofRad]);
 532   DrPos[ofMag]  = fabs(DrPos[ofRad]);
 533   DsbPos[ofMag] = fabs(DsbPos[ofRad]);
 534   DspPos[ofMag] = fabs(DspPos[ofRad]);
 535   DfPos[ofMag]  = fabs(DfPos[ofRad]);
 536
 537 }
 538
 539 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 540
 541 void FGFCS::bind(void)
 542 {
 543   PropertyManager->Tie("fcs/aileron-cmd-norm", this,
 544                        &FGFCS::GetDaCmd,
 545                        &FGFCS::SetDaCmd,
 546                        true);
 547   PropertyManager->Tie("fcs/elevator-cmd-norm", this,
 548                        &FGFCS::GetDeCmd,
 549                        &FGFCS::SetDeCmd,
 550                        true);
 551   PropertyManager->Tie("fcs/rudder-cmd-norm", this,
 552                        &FGFCS::GetDrCmd,
 553                        &FGFCS::SetDrCmd,
 554                        true);
 555   PropertyManager->Tie("fcs/steer-cmd-norm", this,
 556                        &FGFCS::GetDsCmd,
 557                        &FGFCS::SetDsCmd,
 558                        true);
 559   PropertyManager->Tie("fcs/flap-cmd-norm", this,
 560                        &FGFCS::GetDfCmd,
 561                        &FGFCS::SetDfCmd,
 562                        true);
 563   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this,
 564                        &FGFCS::GetDsbCmd,
 565                        &FGFCS::SetDsbCmd,
 566                        true);
 567   PropertyManager->Tie("fcs/spoiler-cmd-norm", this,
 568                        &FGFCS::GetDspCmd,
 569                        &FGFCS::SetDspCmd,
 570                        true);
 571   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this,
 572                        &FGFCS::GetPitchTrimCmd,
 573                        &FGFCS::SetPitchTrimCmd,
 574                        true);
 575   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this,
 576                        &FGFCS::GetRollTrimCmd,
 577                        &FGFCS::SetRollTrimCmd,
 578                        true);
 579   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this,
 580                        &FGFCS::GetYawTrimCmd,
 581                        &FGFCS::SetYawTrimCmd,
 582                        true);
 583   PropertyManager->Tie("gear/gear-cmd-norm", this,
 584                        &FGFCS::GetGearCmd,
 585                        &FGFCS::SetGearCmd,
 586                        true);
 587
 588   PropertyManager->Tie("fcs/left-aileron-pos-rad", this,ofRad,
 589                        &FGFCS::GetDaLPos,
 590                        &FGFCS::SetDaLPos,
 591                        true);
 592   PropertyManager->Tie("fcs/left-aileron-pos-norm", this,ofNorm,
 593                        &FGFCS::GetDaLPos,
 594                        &FGFCS::SetDaLPos,
 595                        true);
 596   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this,ofMag,
 597                        &FGFCS::GetDaLPos,
 598                        &FGFCS::SetDaLPos,
 599                        true);
 600
 601   PropertyManager->Tie("fcs/right-aileron-pos-rad", this,ofRad,
 602                        &FGFCS::GetDaRPos,
 603                        &FGFCS::SetDaRPos,
 604                        true);
 605   PropertyManager->Tie("fcs/right-aileron-pos-norm", this,ofNorm,
 606                        &FGFCS::GetDaRPos,
 607                        &FGFCS::SetDaRPos,
 608                        true);
 609   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this,ofMag,
 610                        &FGFCS::GetDaRPos,
 611                        &FGFCS::SetDaRPos,
 612                        true);
 613
 614   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad,
 615                        &FGFCS::GetDePos,
 616                        &FGFCS::SetDePos,
 617                        true );
 618   PropertyManager->Tie("fcs/elevator-pos-norm", this,ofNorm,
 619                        &FGFCS::GetDePos,
 620                        &FGFCS::SetDePos,
 621                        true );
 622   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this,ofMag,
 623                        &FGFCS::GetDePos,
 624                        &FGFCS::SetDePos,
 625                        true );
 626
 627   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad,
 628                        &FGFCS::GetDrPos,
 629                        &FGFCS::SetDrPos,
 630                        true);
 631   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm,
 632                        &FGFCS::GetDrPos,
 633                        &FGFCS::SetDrPos,
 634                        true);
 635   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag,
 636                        &FGFCS::GetDrPos,
 637                        &FGFCS::SetDrPos,
 638                        true);
 639
 640   PropertyManager->Tie("fcs/flap-pos-deg", this,ofRad,
 641                        &FGFCS::GetDfPos,
 642                        &FGFCS::SetDfPos,
 643                        true);
 644   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm,
 645                        &FGFCS::GetDfPos,
 646                        &FGFCS::SetDfPos,
 647                        true);
 648
 649   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad,
 650                        &FGFCS::GetDsbPos,
 651                        &FGFCS::SetDsbPos,
 652                        true);
 653   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm,
 654                        &FGFCS::GetDsbPos,
 655                        &FGFCS::SetDsbPos,
 656                        true);
 657   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag,
 658                        &FGFCS::GetDsbPos,
 659                        &FGFCS::SetDsbPos,
 660                        true);
 661
 662   PropertyManager->Tie("fcs/spoiler-pos-rad", this,ofRad,
 663                        &FGFCS::GetDspPos,
 664                        &FGFCS::SetDspPos,
 665                        true);
 666   PropertyManager->Tie("fcs/spoiler-pos-norm", this,ofNorm,
 667                        &FGFCS::GetDspPos,
 668                        &FGFCS::SetDspPos,
 669                        true);
 670   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this,ofMag,
 671                        &FGFCS::GetDspPos,
 672                        &FGFCS::SetDspPos,
 673                        true);
 674
 675   PropertyManager->Tie("gear/gear-pos-norm", this,
 676                        &FGFCS::GetGearPos,
 677                        &FGFCS::SetGearPos,
 678                        true);
 679
 680   PropertyManager->Tie("ap/elevator_cmd", this,
 681                        &FGFCS::GetAPDeCmd,
 682                        &FGFCS::SetAPDeCmd,
 683                        true);
 684
 685   PropertyManager->Tie("ap/aileron_cmd", this,
 686                        &FGFCS::GetAPDaCmd,
 687                        &FGFCS::SetAPDaCmd,
 688                        true);
 689
 690   PropertyManager->Tie("ap/rudder_cmd", this,
 691                        &FGFCS::GetAPDrCmd,
 692                        &FGFCS::SetAPDrCmd,
 693                        true);
 694
 695   PropertyManager->Tie("ap/throttle_cmd", this,
 696                        &FGFCS::GetAPThrottleCmd,
 697                        &FGFCS::SetAPThrottleCmd,
 698                        true);
 699
 700   PropertyManager->Tie("ap/attitude_setpoint", this,
 701                        &FGFCS::GetAPAttitudeSetPt,
 702                        &FGFCS::SetAPAttitudeSetPt,
 703                        true);
 704
 705   PropertyManager->Tie("ap/altitude_setpoint", this,
 706                        &FGFCS::GetAPAltitudeSetPt,
 707                        &FGFCS::SetAPAltitudeSetPt,
 708                        true);
 709
 710   PropertyManager->Tie("ap/heading_setpoint", this,
 711                        &FGFCS::GetAPHeadingSetPt,
 712                        &FGFCS::SetAPHeadingSetPt,
 713                        true);
 714
 715   PropertyManager->Tie("ap/airspeed_setpoint", this,
 716                        &FGFCS::GetAPAirspeedSetPt,
 717                        &FGFCS::SetAPAirspeedSetPt,
 718                        true);
 719
 720   PropertyManager->Tie("ap/acquire_attitude", this,
 721                        &FGFCS::GetAPAcquireAttitude,
 722                        &FGFCS::SetAPAcquireAttitude,
 723                        true);
 724
 725   PropertyManager->Tie("ap/acquire_altitude", this,
 726                        &FGFCS::GetAPAcquireAltitude,
 727                        &FGFCS::SetAPAcquireAltitude,
 728                        true);
 729
 730   PropertyManager->Tie("ap/acquire_heading", this,
 731                        &FGFCS::GetAPAcquireHeading,
 732                        &FGFCS::SetAPAcquireHeading,
 733                        true);
 734
 735   PropertyManager->Tie("ap/acquire_airspeed", this,
 736                        &FGFCS::GetAPAcquireAirspeed,
 737                        &FGFCS::SetAPAcquireAirspeed,
 738                        true);
 739
 740   PropertyManager->Tie("ap/attitude_hold", this,
 741                        &FGFCS::GetAPAttitudeHold,
 742                        &FGFCS::SetAPAttitudeHold,
 743                        true);
 744
 745   PropertyManager->Tie("ap/altitude_hold", this,
 746                        &FGFCS::GetAPAltitudeHold,
 747                        &FGFCS::SetAPAltitudeHold,
 748                        true);
 749
 750   PropertyManager->Tie("ap/heading_hold", this,
 751                        &FGFCS::GetAPHeadingHold,
 752                        &FGFCS::SetAPHeadingHold,
 753                        true);
 754
 755   PropertyManager->Tie("ap/airspeed_hold", this,
 756                        &FGFCS::GetAPAirspeedHold,
 757                        &FGFCS::SetAPAirspeedHold,
 758                        true);
 759
 760   PropertyManager->Tie("ap/wingslevel_hold", this,
 761                        &FGFCS::GetAPWingsLevelHold,
 762                        &FGFCS::SetAPWingsLevelHold,
 763                        true);
 764 }
 765
 766 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 767
 768 void FGFCS::bindModel(void)
 769 {
 770   unsigned i;
 771   char tmp[80];
 772
 773   for (i=0; i<ThrottleCmd.size(); i++) {
 774     snprintf(tmp,80,"fcs/throttle-cmd-norm[%u]",i);
 775     PropertyManager->Tie( tmp,this,i,
 776                           &FGFCS::GetThrottleCmd,
 777                           &FGFCS::SetThrottleCmd,
 778                           true );
 779     snprintf(tmp,80,"fcs/throttle-pos-norm[%u]",i);
 780     PropertyManager->Tie( tmp,this,i,
 781                           &FGFCS::GetThrottlePos,
 782                           &FGFCS::SetThrottlePos,
 783                           true );
 784     if ( MixtureCmd.size() > i ) {
 785       snprintf(tmp,80,"fcs/mixture-cmd-norm[%u]",i);
 786       PropertyManager->Tie( tmp,this,i,
 787                             &FGFCS::GetMixtureCmd,
 788                             &FGFCS::SetMixtureCmd,
 789                             true );
 790       snprintf(tmp,80,"fcs/mixture-pos-norm[%u]",i);
 791       PropertyManager->Tie( tmp,this,i,
 792                             &FGFCS::GetMixturePos,
 793                             &FGFCS::SetMixturePos,
 794                             true );
 795     }
 796     if ( PropAdvanceCmd.size() > i ) {
 797       snprintf(tmp,80,"fcs/advance-cmd-norm[%u]",i);
 798       PropertyManager->Tie( tmp,this,i,
 799                             &FGFCS::GetPropAdvanceCmd,
 800                             &FGFCS::SetPropAdvanceCmd,
 801                             true );
 802       snprintf(tmp,80,"fcs/advance-pos-norm[%u]",i);
 803       PropertyManager->Tie( tmp,this,i,
 804                             &FGFCS::GetPropAdvance,
 805                             &FGFCS::SetPropAdvance,
 806                             true );
 807     }
 808   }
 809
 810   for (i=0; i<SteerPosDeg.size(); i++) {
 811     if (GroundReactions->GetGearUnit(i)->GetSteerable()) {
 812       snprintf(tmp,80,"fcs/steer-pos-deg[%u]",i);
 813       PropertyManager->Tie( tmp, this, i,
 814                             &FGFCS::GetSteerPosDeg,
 815                             &FGFCS::SetSteerPosDeg,
 816                             true );
 817     }
 818   }
 819 }
 820
 821 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 822
 823 void FGFCS::unbind(FGPropertyManager *node)
 824 {
 825   int N = node->nChildren();
 826   for(int i=0;i<N;i++) {
 827     if(node->getChild(i)->nChildren() ) {
 828       unbind( (FGPropertyManager*)node->getChild(i) );
 829     } else if( node->getChild(i)->isTied() ) {
 830       node->getChild(i)->untie();
 831     }
 832   }
 833 }
 834
 835 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 836
 837 void FGFCS::convert(void)
 838 {
 839   for (int i=0; i<FCSComponents.size(); i++) {
 840     FCSComponents[i]->convert();
 841   }
 842 }
 843
 844 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 845 //    The bitmasked value choices are as follows:
 846 //    unset: In this case (the default) JSBSim would only print
 847 //       out the normally expected messages, essentially echoing
 848 //       the config files as they are read. If the environment
 849 //       variable is not set, debug_lvl is set to 1 internally
 850 //    0: This requests JSBSim not to output any messages
 851 //       whatsoever.
 852 //    1: This value explicity requests the normal JSBSim
 853 //       startup messages
 854 //    2: This value asks for a message to be printed out when
 855 //       a class is instantiated
 856 //    4: When this value is set, a message is displayed when a
 857 //       FGModel object executes its Run() method
 858 //    8: When this value is set, various runtime state variables
 859 //       are printed out periodically
 860 //    16: When set various parameters are sanity checked and
 861 //       a message is printed out when they go out of bounds
 862
 863 void FGFCS::Debug(int from)
 864 {
 865   if (debug_lvl <= 0) return;
 866
 867   if (debug_lvl & 1) { // Standard console startup message output
 868     if (from == 0) { // Constructor
 869
 870     }
 871   }
 872   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 873     if (from == 0) cout << "Instantiated: FGFCS" << endl;
 874     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
 875   }
 876   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 877   }
 878   if (debug_lvl & 8 ) { // Runtime state variables
 879   }
 880   if (debug_lvl & 16) { // Sanity checking
 881   }
 882   if (debug_lvl & 64) {
 883     if (from == 0) { // Constructor
 884       cout << IdSrc << endl;
 885       cout << IdHdr << endl;
 886     }
 887   }
 888 }
 889
 890 }