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/FGKinemat.h"
  58
  59 static const char *IdSrc = "$Id$";
  60 static const char *IdHdr = ID_FCS;
  61
  62 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  63 CLASS IMPLEMENTATION
  64 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  65
  66 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
  67 {
  68   Name = "FGFCS";
  69
  70   DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = PTrimCmd = 0.0;
  71   DaPos = DePos = DrPos = DfPos = DsbPos = DspPos = 0.0;
  72   GearCmd = GearPos = 1; // default to gear down
  73   LeftBrake = RightBrake = CenterBrake = 0.0;
  74
  75   if (debug_lvl & 2) cout << "Instantiated: " << Name << endl;
  76 }
  77
  78 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  79
  80 FGFCS::~FGFCS()
  81 {
  82   ThrottleCmd.clear();
  83   ThrottlePos.clear();
  84   MixtureCmd.clear();
  85   MixturePos.clear();
  86   PropPitchCmd.clear();
  87   PropPitchPos.clear();
  88
  89   unsigned int i;
  90
  91   for (i=0;i<Components.size();i++) delete Components[i];
  92   if (debug_lvl & 2) cout << "Destroyed:    FGFCS" << endl;
  93 }
  94
  95 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  96
  97 bool FGFCS::Run(void)
  98 {
  99   unsigned int i;
 100
 101   if (!FGModel::Run()) {
 102     for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 103     for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
 104     for (i=0; i<PropPitchPos.size(); i++) PropPitchPos[i] = PropPitchCmd[i];
 105     for (i=0; i<Components.size(); i++)  Components[i]->Run();
 106   } else {
 107   }
 108
 109   return false;
 110 }
 111
 112 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 113
 114 void FGFCS::SetThrottleCmd(int engineNum, double setting)
 115 {
 116   unsigned int ctr;
 117
 118   if (engineNum < (int)ThrottlePos.size()) {
 119     if (engineNum < 0) {
 120       for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 121     } else {
 122       ThrottleCmd[engineNum] = setting;
 123     }
 124   } else {
 125     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 126          << " engines exist, but attempted throttle command is for engine "
 127          << engineNum << endl;
 128   }
 129 }
 130
 131 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 132
 133 void FGFCS::SetThrottlePos(int engineNum, double setting)
 134 {
 135   unsigned int ctr;
 136
 137   if (engineNum < (int)ThrottlePos.size()) {
 138     if (engineNum < 0) {
 139       for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
 140     } else {
 141       ThrottlePos[engineNum] = setting;
 142     }
 143   } else {
 144     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 145          << " engines exist, but attempted throttle position setting is for engine "
 146          << engineNum << endl;
 147   }
 148 }
 149
 150 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 151
 152 double FGFCS::GetThrottleCmd(int engineNum)
 153 {
 154   if (engineNum < (int)ThrottlePos.size()) {
 155     if (engineNum < 0) {
 156        cerr << "Cannot get throttle value for ALL engines" << endl;
 157     } else {
 158       return ThrottleCmd[engineNum];
 159     }
 160   } else {
 161     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 162          << " engines exist, but throttle setting for engine " << engineNum
 163                << " is selected" << endl;
 164   }
 165   return 0.0;
 166 }
 167
 168 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 169
 170 double FGFCS::GetThrottlePos(int engineNum)
 171 {
 172   if (engineNum < (int)ThrottlePos.size()) {
 173     if (engineNum < 0) {
 174        cerr << "Cannot get throttle value for ALL engines" << endl;
 175     } else {
 176       return ThrottlePos[engineNum];
 177     }
 178   } else {
 179     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 180          << " engines exist, but attempted throttle position setting is for engine "
 181          << engineNum << endl;
 182   }
 183   return 0.0;
 184 }
 185
 186 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 187
 188 void FGFCS::SetMixtureCmd(int engineNum, double setting)
 189 {
 190   unsigned int ctr;
 191
 192   if (engineNum < (int)ThrottlePos.size()) {
 193     if (engineNum < 0) {
 194       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
 195     } else {
 196       MixtureCmd[engineNum] = setting;
 197     }
 198   }
 199 }
 200
 201 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 202
 203 void FGFCS::SetMixturePos(int engineNum, double setting)
 204 {
 205   unsigned int ctr;
 206
 207   if (engineNum < (int)ThrottlePos.size()) {
 208     if (engineNum < 0) {
 209       for (ctr=0;ctr<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
 210     } else {
 211       MixturePos[engineNum] = setting;
 212     }
 213   }
 214 }
 215
 216 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 217
 218 void FGFCS::SetPropPitchCmd(int engineNum, double setting)
 219 {
 220   unsigned int ctr;
 221
 222   if (engineNum < (int)ThrottlePos.size()) {
 223     if (engineNum < 0) {
 224       for (ctr=0;ctr<PropPitchCmd.size();ctr++) PropPitchCmd[ctr] = setting;
 225     } else {
 226       PropPitchCmd[engineNum] = setting;
 227     }
 228   }
 229 }
 230
 231 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 232
 233 void FGFCS::SetPropPitchPos(int engineNum, double setting)
 234 {
 235   unsigned int ctr;
 236
 237   if (engineNum < (int)ThrottlePos.size()) {
 238     if (engineNum < 0) {
 239       for (ctr=0;ctr<=PropPitchCmd.size();ctr++) PropPitchPos[ctr] = PropPitchCmd[ctr];
 240     } else {
 241       PropPitchPos[engineNum] = setting;
 242     }
 243   }
 244 }
 245
 246 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 247
 248 bool FGFCS::Load(FGConfigFile* AC_cfg)
 249 {
 250   string token;
 251
 252   Name = Name + ":" + AC_cfg->GetValue("NAME");
 253   if (debug_lvl > 0) cout << "    Control System Name: " << Name << endl;
 254   AC_cfg->GetNextConfigLine();
 255   while ((token = AC_cfg->GetValue()) != string("/FLIGHT_CONTROL")) {
 256     if (token == "COMPONENT") {
 257       token = AC_cfg->GetValue("TYPE");
 258       if (debug_lvl > 0) cout << "    Loading Component \""
 259                               << AC_cfg->GetValue("NAME")
 260                                                 << "\" of type: " << token << endl;
 261       if ((token == "LAG_FILTER") ||
 262           (token == "LEAD_LAG_FILTER") ||
 263           (token == "SECOND_ORDER_FILTER") ||
 264           (token == "WASHOUT_FILTER") ||
 265           (token == "INTEGRATOR") ) {
 266         Components.push_back(new FGFilter(this, AC_cfg));
 267       } else if ((token == "PURE_GAIN") ||
 268                  (token == "SCHEDULED_GAIN") ||
 269                  (token == "AEROSURFACE_SCALE") ) {
 270
 271         Components.push_back(new FGGain(this, AC_cfg));
 272
 273       } else if (token == "SUMMER") {
 274         Components.push_back(new FGSummer(this, AC_cfg));
 275       } else if (token == "DEADBAND") {
 276         Components.push_back(new FGDeadBand(this, AC_cfg));
 277       } else if (token == "GRADIENT") {
 278         Components.push_back(new FGGradient(this, AC_cfg));
 279       } else if (token == "SWITCH") {
 280         Components.push_back(new FGSwitch(this, AC_cfg));
 281       } else if (token == "KINEMAT") {
 282         Components.push_back(new FGKinemat(this, AC_cfg));
 283       } else {
 284         cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
 285         return false;
 286       }
 287       AC_cfg->GetNextConfigLine();
 288     }
 289   }
 290   return true;
 291 }
 292
 293 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 294
 295 double FGFCS::GetComponentOutput(eParam idx) {
 296   return Components[idx]->GetOutput();
 297 }
 298
 299 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 300
 301 string FGFCS::GetComponentName(int idx) {
 302   return Components[idx]->GetName();
 303 }
 304
 305 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 306
 307 double FGFCS::GetBrake(FGLGear::BrakeGroup bg) {
 308   switch (bg) {
 309   case FGLGear::bgLeft:
 310     return LeftBrake;
 311   case FGLGear::bgRight:
 312     return RightBrake;
 313   case FGLGear::bgCenter:
 314     return CenterBrake;
 315   default:
 316     cerr << "GetBrake asked to return a bogus brake value" << endl;
 317   }
 318   return 0.0;
 319 }
 320
 321 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 322
 323 string FGFCS::GetComponentStrings(void)
 324 {
 325   unsigned int comp;
 326
 327   string CompStrings = "";
 328   bool firstime = true;
 329
 330   for (comp = 0; comp < Components.size(); comp++) {
 331     if (firstime) firstime = false;
 332     else          CompStrings += ", ";
 333
 334     CompStrings += Components[comp]->GetName();
 335   }
 336
 337   return CompStrings;
 338 }
 339
 340 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 341
 342 string FGFCS::GetComponentValues(void)
 343 {
 344   unsigned int comp;
 345
 346   string CompValues = "";
 347   char buffer[10];
 348   bool firstime = true;
 349
 350   for (comp = 0; comp < Components.size(); comp++) {
 351     if (firstime) firstime = false;
 352     else          CompValues += ", ";
 353
 354     sprintf(buffer, "%9.6f", Components[comp]->GetOutput());
 355     CompValues += string(buffer);
 356   }
 357
 358   return CompValues;
 359 }
 360
 361 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 362
 363 void FGFCS::AddThrottle(void)
 364 {
 365   ThrottleCmd.push_back(0.0);
 366   ThrottlePos.push_back(0.0);
 367   MixtureCmd.push_back(0.0);    // assume throttle and mixture are coupled
 368   MixturePos.push_back(0.0);
 369   PropPitchCmd.push_back(0.0);  // assume throttle and prop pitch are coupled
 370   PropPitchPos.push_back(0.0);
 371 }
 372
 373 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 374
 375 void FGFCS::Debug(void)
 376 {
 377     //TODO: Add your source code here
 378 }
 379