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++) Components[i]->Run();
  91
  92   } else {}
  93
  94
  95   return false;
  96 }
  97
  98 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  99
 100 void FGFCS::SetThrottleCmd(int engineNum, float setting) {
 101   if (engineNum < 0) {
 102     for (unsigned int ctr=0;ctr<Aircraft->GetNumEngines();ctr++) ThrottleCmd[ctr] = setting;
 103   } else {
 104     ThrottleCmd[engineNum] = setting;
 105   }
 106 }
 107
 108 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 109
 110 void FGFCS::SetThrottlePos(int engineNum, float setting) {
 111   if (engineNum < 0) {
 112     for (unsigned int ctr=0;ctr<=Aircraft->GetNumEngines();ctr++) ThrottlePos[ctr] = ThrottleCmd[ctr];
 113   } else {
 114     ThrottlePos[engineNum] = setting;
 115   }
 116 }
 117
 118 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 119
 120 bool FGFCS::LoadFCS(FGConfigFile* AC_cfg) {
 121   string token;
 122
 123   FCSName = AC_cfg->GetValue("NAME");
 124   cout << "    Control System Name: " << FCSName << endl;
 125   AC_cfg->GetNextConfigLine();
 126   while ((token = AC_cfg->GetValue()) != "/FLIGHT_CONTROL") {
 127     if (token == "COMPONENT") {
 128       token = AC_cfg->GetValue("TYPE");
 129       cout << "    Loading Component \"" << AC_cfg->GetValue("NAME") << "\" of type: " << token << endl;
 130       if ((token == "LAG_FILTER") ||
 131           (token == "RECT_LAG_FILTER") ||
 132           (token == "LEAD_LAG_FILTER") ||
 133           (token == "SECOND_ORDER_FILTER") ||
 134           (token == "WASHOUT_FILTER") ||
 135           (token == "INTEGRATOR") ) {
 136         Components.push_back(new FGFilter(this, AC_cfg));
 137       } else if ((token == "PURE_GAIN") ||
 138                  (token == "SCHEDULED_GAIN") ||
 139                  (token == "AEROSURFACE_SCALE") ) {
 140
 141         Components.push_back(new FGGain(this, AC_cfg));
 142
 143       } else if (token == "SUMMER") {
 144         Components.push_back(new FGSummer(this, AC_cfg));
 145       } else if (token == "DEADBAND") {
 146         Components.push_back(new FGDeadBand(this, AC_cfg));
 147       } else if (token == "GRADIENT") {
 148         Components.push_back(new FGGradient(this, AC_cfg));
 149       } else if (token == "SWITCH") {
 150         Components.push_back(new FGSwitch(this, AC_cfg));
 151       } else if (token == "FLAPS") {
 152         Components.push_back(new FGFlaps(this, AC_cfg));
 153       }
 154       AC_cfg->GetNextConfigLine();
 155     }
 156   }
 157   return true;
 158 }
 159
 160 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 161
 162 float FGFCS::GetComponentOutput(eParam idx) {
 163   return Components[idx]->GetOutput();
 164 }
 165
 166 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 167
 168 string FGFCS::GetComponentName(int idx) {
 169   return Components[idx]->GetName();
 170 }
 171
 172 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 173
 174 float FGFCS::GetBrake(FGLGear::eBrakeGroup bg) {
 175   switch (bg) {
 176   case FGLGear::bgLeft:
 177     return LeftBrake;
 178   case FGLGear::bgRight:
 179     return RightBrake;
 180   case FGLGear::bgCenter:
 181     return CenterBrake;
 182   default:
 183     cerr << "GetBrake asked to return a bogus brake value" << endl;
 184   }
 185 }