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 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  64 CLASS IMPLEMENTATION
  65 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  66
  67 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
  68 {
  69   int i;
  70   Name = "FGFCS";
  71
  72   DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = 0.0;
  73   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
  74   GearCmd = GearPos = 1; // default to gear down
  75   LeftBrake = RightBrake = CenterBrake = 0.0;
  76   DoNormalize=true;
  77
  78   bind();
  79   for (i=0;i<=NForms;i++) {
  80     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
  81     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
  82   }
  83
  84   for (i=0;i<NNorm;i++) { ToNormalize[i]=-1;}
  85   Debug(0);
  86 }
  87
  88 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  89
  90 FGFCS::~FGFCS()
  91 {
  92   ThrottleCmd.clear();
  93   ThrottlePos.clear();
  94   MixtureCmd.clear();
  95   MixturePos.clear();
  96   PropAdvanceCmd.clear();
  97   PropAdvance.clear();
  98
  99   unsigned int i;
 100
 101   unbind();
 102
 103   for (i=0;i<Components.size();i++) delete Components[i];
 104   Debug(1);
 105 }
 106
 107 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 108
 109 bool FGFCS::Run(void)
 110 {
 111   unsigned int i;
 112
 113   if (!FGModel::Run()) {
 114     for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 115     for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
 116     for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
 117     for (i=0; i<Components.size(); i++)  Components[i]->Run();
 118     if (DoNormalize) Normalize();
 119   } else {
 120   }
 121
 122   return false;
 123 }
 124
 125 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 126
 127 void FGFCS::SetThrottleCmd(int engineNum, double setting)
 128 {
 129   unsigned int ctr;
 130
 131   if (engineNum < (int)ThrottlePos.size()) {
 132     if (engineNum < 0) {
 133       for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 134     } else {
 135       ThrottleCmd[engineNum] = setting;
 136     }
 137   } else {
 138     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 139          << " engines exist, but attempted throttle command is for engine "
 140          << engineNum << endl;
 141   }
 142 }
 143
 144 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 145
 146 void FGFCS::SetThrottlePos(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<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
 153     } else {
 154       ThrottlePos[engineNum] = setting;
 155     }
 156   } else {
 157     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 158          << " engines exist, but attempted throttle position setting is for engine "
 159          << engineNum << endl;
 160   }
 161 }
 162
 163 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 164
 165 double FGFCS::GetThrottleCmd(int engineNum) const
 166 {
 167   if (engineNum < (int)ThrottlePos.size()) {
 168     if (engineNum < 0) {
 169        cerr << "Cannot get throttle value for ALL engines" << endl;
 170     } else {
 171       return ThrottleCmd[engineNum];
 172     }
 173   } else {
 174     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 175          << " engines exist, but throttle setting for engine " << engineNum
 176          << " is selected" << endl;
 177   }
 178   return 0.0;
 179 }
 180
 181 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 182
 183 double FGFCS::GetThrottlePos(int engineNum) const
 184 {
 185   if (engineNum < (int)ThrottlePos.size()) {
 186     if (engineNum < 0) {
 187        cerr << "Cannot get throttle value for ALL engines" << endl;
 188     } else {
 189       return ThrottlePos[engineNum];
 190     }
 191   } else {
 192     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 193          << " engines exist, but attempted throttle position setting is for engine "
 194          << engineNum << endl;
 195   }
 196   return 0.0;
 197 }
 198
 199 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 200
 201 void FGFCS::SetMixtureCmd(int engineNum, double setting)
 202 {
 203   unsigned int ctr;
 204
 205   if (engineNum < (int)ThrottlePos.size()) {
 206     if (engineNum < 0) {
 207       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
 208     } else {
 209       MixtureCmd[engineNum] = setting;
 210     }
 211   }
 212 }
 213
 214 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 215
 216 void FGFCS::SetMixturePos(int engineNum, double setting)
 217 {
 218   unsigned int ctr;
 219
 220   if (engineNum < (int)ThrottlePos.size()) {
 221     if (engineNum < 0) {
 222       for (ctr=0;ctr<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
 223     } else {
 224       MixturePos[engineNum] = setting;
 225     }
 226   }
 227 }
 228
 229 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 230
 231 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
 232 {
 233   unsigned int ctr;
 234
 235   if (engineNum < (int)ThrottlePos.size()) {
 236     if (engineNum < 0) {
 237       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
 238     } else {
 239       PropAdvanceCmd[engineNum] = setting;
 240     }
 241   }
 242 }
 243
 244 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 245
 246 void FGFCS::SetPropAdvance(int engineNum, double setting)
 247 {
 248   unsigned int ctr;
 249
 250   if (engineNum < (int)ThrottlePos.size()) {
 251     if (engineNum < 0) {
 252       for (ctr=0;ctr<=PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
 253     } else {
 254       PropAdvance[engineNum] = setting;
 255     }
 256   }
 257 }
 258
 259 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 260
 261 bool FGFCS::Load(FGConfigFile* AC_cfg)
 262 {
 263   string token;
 264   unsigned i;
 265
 266   Name = Name + ":" + AC_cfg->GetValue("NAME");
 267   if (debug_lvl > 0) cout << "    Control System Name: " << Name << endl;
 268   if ( AC_cfg->GetValue("NORMALIZE") == "FALSE") {
 269       DoNormalize=false;
 270       cout << "    Automatic Control Surface Normalization Disabled" << endl;
 271   }
 272   AC_cfg->GetNextConfigLine();
 273   while ((token = AC_cfg->GetValue()) != string("/FLIGHT_CONTROL")) {
 274     if (token == "COMPONENT") {
 275       token = AC_cfg->GetValue("TYPE");
 276       if (debug_lvl > 0) cout << endl << "    Loading Component \""
 277                               << AC_cfg->GetValue("NAME")
 278                               << "\" of type: " << token << endl;
 279       if ((token == "LAG_FILTER") ||
 280           (token == "LEAD_LAG_FILTER") ||
 281           (token == "SECOND_ORDER_FILTER") ||
 282           (token == "WASHOUT_FILTER") ||
 283           (token == "INTEGRATOR") ) {
 284         Components.push_back(new FGFilter(this, AC_cfg));
 285       } else if ((token == "PURE_GAIN") ||
 286                  (token == "SCHEDULED_GAIN") ||
 287                  (token == "AEROSURFACE_SCALE") ) {
 288
 289         Components.push_back(new FGGain(this, AC_cfg));
 290
 291       } else if (token == "SUMMER") {
 292         Components.push_back(new FGSummer(this, AC_cfg));
 293       } else if (token == "DEADBAND") {
 294         Components.push_back(new FGDeadBand(this, AC_cfg));
 295       } else if (token == "GRADIENT") {
 296         Components.push_back(new FGGradient(this, AC_cfg));
 297       } else if (token == "SWITCH") {
 298         Components.push_back(new FGSwitch(this, AC_cfg));
 299       } else if (token == "KINEMAT") {
 300         Components.push_back(new FGKinemat(this, AC_cfg));
 301       } else {
 302         cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
 303         return false;
 304       }
 305       AC_cfg->GetNextConfigLine();
 306     }
 307   }
 308   //collect information for normalizing control surfaces
 309   string nodeName;
 310   for (i=0;i<Components.size();i++) {
 311
 312     if ( (Components[i]->GetType() == "AEROSURFACE_SCALE"
 313           || Components[i]->GetType() == "KINEMAT")
 314                     && Components[i]->GetOutputNode() ) {
 315       nodeName= Components[i]->GetOutputNode()->GetName();
 316       if ( nodeName == "elevator-pos-rad" ) {
 317         ToNormalize[iDe]=i;
 318       } else if ( nodeName  == "left-aileron-pos-rad"
 319                    || nodeName == "aileron-pos-rad" ) {
 320         ToNormalize[iDaL]=i;
 321       } else if ( nodeName == "right-aileron-pos-rad" ) {
 322         ToNormalize[iDaR]=i;
 323       } else if ( nodeName == "rudder-pos-rad" ) {
 324         ToNormalize[iDr]=i;
 325       } else if ( nodeName == "speedbrake-pos-rad" ) {
 326         ToNormalize[iDsb]=i;
 327       } else if ( nodeName == "spoiler-pos-rad" ) {
 328         ToNormalize[iDsp]=i;
 329       } else if ( nodeName == "flap-pos-deg" ) {
 330         ToNormalize[iDf]=i;
 331       }
 332     }
 333   }
 334
 335   bindModel();
 336
 337   return true;
 338 }
 339
 340 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 341
 342 double FGFCS::GetComponentOutput(int idx) {
 343   return Components[idx]->GetOutput();
 344 }
 345
 346 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 347
 348 string FGFCS::GetComponentName(int idx) {
 349   return Components[idx]->GetName();
 350 }
 351
 352 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 353
 354 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 355 {
 356   switch (bg) {
 357   case FGLGear::bgLeft:
 358     return LeftBrake;
 359   case FGLGear::bgRight:
 360     return RightBrake;
 361   case FGLGear::bgCenter:
 362     return CenterBrake;
 363   default:
 364     cerr << "GetBrake asked to return a bogus brake value" << endl;
 365   }
 366   return 0.0;
 367 }
 368
 369 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 370
 371 string FGFCS::GetComponentStrings(void)
 372 {
 373   unsigned int comp;
 374   string CompStrings = "";
 375   bool firstime = true;
 376
 377   for (comp = 0; comp < Components.size(); comp++) {
 378     if (firstime) firstime = false;
 379     else          CompStrings += ", ";
 380
 381     CompStrings += Components[comp]->GetName();
 382   }
 383
 384   return CompStrings;
 385 }
 386
 387 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 388
 389 string FGFCS::GetComponentValues(void)
 390 {
 391   unsigned int comp;
 392   string CompValues = "";
 393   char buffer[10];
 394   bool firstime = true;
 395
 396   for (comp = 0; comp < Components.size(); comp++) {
 397     if (firstime) firstime = false;
 398     else          CompValues += ", ";
 399
 400     sprintf(buffer, "%9.6f", Components[comp]->GetOutput());
 401     CompValues += string(buffer);
 402   }
 403
 404   return CompValues;
 405 }
 406
 407 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 408
 409 void FGFCS::AddThrottle(void)
 410 {
 411   ThrottleCmd.push_back(0.0);
 412   ThrottlePos.push_back(0.0);
 413   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 414   MixturePos.push_back(0.0);
 415   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 416   PropAdvance.push_back(0.0);
 417 }
 418
 419 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 420
 421 void FGFCS::Normalize(void) {
 422
 423   //not all of these are guaranteed to be defined for every model
 424   //those that are have an index >=0 in the ToNormalize array
 425   //ToNormalize is filled in Load()
 426
 427   if ( ToNormalize[iDe] > -1 ) {
 428     DePos[ofNorm] = Components[ToNormalize[iDe]]->GetOutputPct();
 429   }
 430
 431   if ( ToNormalize[iDaL] > -1 ) {
 432     DaLPos[ofNorm] = Components[ToNormalize[iDaL]]->GetOutputPct();
 433   }
 434
 435   if ( ToNormalize[iDaR] > -1 ) {
 436     DaRPos[ofNorm] = Components[ToNormalize[iDaR]]->GetOutputPct();
 437   }
 438
 439   if ( ToNormalize[iDr] > -1 ) {
 440     DrPos[ofNorm] = Components[ToNormalize[iDr]]->GetOutputPct();
 441   }
 442
 443   if ( ToNormalize[iDsb] > -1 ) {
 444     DsbPos[ofNorm] = Components[ToNormalize[iDsb]]->GetOutputPct();
 445   }
 446
 447   if ( ToNormalize[iDsp] > -1 ) {
 448     DspPos[ofNorm] = Components[ToNormalize[iDsp]]->GetOutputPct();
 449   }
 450
 451   if ( ToNormalize[iDf] > -1 ) {
 452     DfPos[ofNorm] = Components[ToNormalize[iDf]]->GetOutputPct();
 453   }
 454
 455   DePos[ofMag]  = fabs(DePos[ofRad]);
 456   DaLPos[ofMag] = fabs(DaLPos[ofRad]);
 457   DaRPos[ofMag] = fabs(DaRPos[ofRad]);
 458   DrPos[ofMag]  = fabs(DrPos[ofRad]);
 459   DsbPos[ofMag] = fabs(DsbPos[ofRad]);
 460   DspPos[ofMag] = fabs(DspPos[ofRad]);
 461   DfPos[ofMag]  = fabs(DfPos[ofRad]);
 462
 463 }
 464
 465 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 466
 467 void FGFCS::bind(void)
 468 {
 469   PropertyManager->Tie("fcs/aileron-cmd-norm", this,
 470                        &FGFCS::GetDaCmd,
 471                        &FGFCS::SetDaCmd,
 472                        true);
 473   PropertyManager->Tie("fcs/elevator-cmd-norm", this,
 474                        &FGFCS::GetDeCmd,
 475                        &FGFCS::SetDeCmd,
 476                        true);
 477   PropertyManager->Tie("fcs/rudder-cmd-norm", this,
 478                        &FGFCS::GetDrCmd,
 479                        &FGFCS::SetDrCmd,
 480                        true);
 481   PropertyManager->Tie("fcs/flap-cmd-norm", this,
 482                        &FGFCS::GetDfCmd,
 483                        &FGFCS::SetDfCmd,
 484                        true);
 485   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this,
 486                        &FGFCS::GetDsbCmd,
 487                        &FGFCS::SetDsbCmd,
 488                        true);
 489   PropertyManager->Tie("fcs/spoiler-cmd-norm", this,
 490                        &FGFCS::GetDspCmd,
 491                        &FGFCS::SetDspCmd,
 492                        true);
 493   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this,
 494                        &FGFCS::GetPitchTrimCmd,
 495                        &FGFCS::SetPitchTrimCmd,
 496                        true);
 497   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this,
 498                        &FGFCS::GetYawTrimCmd,
 499                        &FGFCS::SetYawTrimCmd,
 500                        true);
 501   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this,
 502                        &FGFCS::GetRollTrimCmd,
 503                        &FGFCS::SetRollTrimCmd,
 504                        true);
 505   PropertyManager->Tie("gear/gear-cmd-norm", this,
 506                        &FGFCS::GetGearCmd,
 507                        &FGFCS::SetGearCmd,
 508                        true);
 509
 510   PropertyManager->Tie("fcs/left-aileron-pos-rad", this,ofRad,
 511                        &FGFCS::GetDaLPos,
 512                        &FGFCS::SetDaLPos,
 513                        true);
 514   PropertyManager->Tie("fcs/left-aileron-pos-norm", this,ofNorm,
 515                        &FGFCS::GetDaLPos,
 516                        &FGFCS::SetDaLPos,
 517                        true);
 518   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this,ofMag,
 519                        &FGFCS::GetDaLPos,
 520                        &FGFCS::SetDaLPos,
 521                        true);
 522
 523   PropertyManager->Tie("fcs/right-aileron-pos-rad", this,ofRad,
 524                        &FGFCS::GetDaRPos,
 525                        &FGFCS::SetDaRPos,
 526                        true);
 527   PropertyManager->Tie("fcs/right-aileron-pos-norm", this,ofNorm,
 528                        &FGFCS::GetDaRPos,
 529                        &FGFCS::SetDaRPos,
 530                        true);
 531   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this,ofMag,
 532                        &FGFCS::GetDaRPos,
 533                        &FGFCS::SetDaRPos,
 534                        true);
 535
 536   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad,
 537                        &FGFCS::GetDePos,
 538                        &FGFCS::SetDePos,
 539                        true );
 540   PropertyManager->Tie("fcs/elevator-pos-norm", this,ofNorm,
 541                        &FGFCS::GetDePos,
 542                        &FGFCS::SetDePos,
 543                        true );
 544   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this,ofMag,
 545                        &FGFCS::GetDePos,
 546                        &FGFCS::SetDePos,
 547                        true );
 548
 549   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad,
 550                        &FGFCS::GetDrPos,
 551                        &FGFCS::SetDrPos,
 552                        true);
 553   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm,
 554                        &FGFCS::GetDrPos,
 555                        &FGFCS::SetDrPos,
 556                        true);
 557   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag,
 558                        &FGFCS::GetDrPos,
 559                        &FGFCS::SetDrPos,
 560                        true);
 561
 562   PropertyManager->Tie("fcs/flap-pos-deg", this,ofRad,
 563                        &FGFCS::GetDfPos,
 564                        &FGFCS::SetDfPos,
 565                        true);
 566   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm,
 567                        &FGFCS::GetDfPos,
 568                        &FGFCS::SetDfPos,
 569                        true);
 570
 571   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad,
 572                        &FGFCS::GetDsbPos,
 573                        &FGFCS::SetDsbPos,
 574                        true);
 575   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm,
 576                        &FGFCS::GetDsbPos,
 577                        &FGFCS::SetDsbPos,
 578                        true);
 579   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag,
 580                        &FGFCS::GetDsbPos,
 581                        &FGFCS::SetDsbPos,
 582                        true);
 583
 584   PropertyManager->Tie("fcs/spoiler-pos-rad", this,ofRad,
 585                        &FGFCS::GetDspPos,
 586                        &FGFCS::SetDspPos,
 587                        true);
 588   PropertyManager->Tie("fcs/spoiler-pos-norm", this,ofNorm,
 589                        &FGFCS::GetDspPos,
 590                        &FGFCS::SetDspPos,
 591                        true);
 592   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this,ofMag,
 593                        &FGFCS::GetDspPos,
 594                        &FGFCS::SetDspPos,
 595                        true);
 596
 597   PropertyManager->Tie("gear/gear-pos-norm", this,
 598                        &FGFCS::GetGearPos,
 599                        &FGFCS::SetGearPos,
 600                        true);
 601 }
 602
 603 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 604
 605 void FGFCS::bindModel(void)
 606 {
 607   unsigned i;
 608
 609   for (i=0; i<ThrottleCmd.size(); i++) {
 610     PropertyManager->Tie("fcs/throttle-cmd-norm",this,i,
 611                           &FGFCS::GetThrottleCmd,
 612                           &FGFCS::SetThrottleCmd,
 613                           true );
 614     PropertyManager->Tie("fcs/throttle-pos-norm",this,i,
 615                           &FGFCS::GetThrottlePos,
 616                           &FGFCS::SetThrottlePos,
 617                           true );
 618     if ( MixtureCmd.size() > i ) {
 619       PropertyManager->Tie("fcs/mixture-cmd-norm",this,i,
 620                             &FGFCS::GetMixtureCmd,
 621                             &FGFCS::SetMixtureCmd,
 622                             true );
 623       PropertyManager->Tie("fcs/mixture-pos-norm",this,i,
 624                             &FGFCS::GetMixturePos,
 625                             &FGFCS::SetMixturePos,
 626                             true );
 627     }
 628     if ( PropAdvanceCmd.size() > i ) {
 629       PropertyManager->Tie("fcs/advance-cmd-norm",this,i,
 630                             &FGFCS::GetPropAdvanceCmd,
 631                             &FGFCS::SetPropAdvanceCmd,
 632                             true );
 633       PropertyManager->Tie("fcs/advance-pos-norm",this,i,
 634                             &FGFCS::GetPropAdvance,
 635                             &FGFCS::SetPropAdvance,
 636                             true );
 637     }
 638   }
 639 }
 640
 641 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 642
 643 void FGFCS::unbind(void)
 644 {
 645   PropertyManager->Untie("fcs/aileron-cmd-norm");
 646   PropertyManager->Untie("fcs/elevator-cmd-norm");
 647   PropertyManager->Untie("fcs/rudder-cmd-norm");
 648   PropertyManager->Untie("fcs/flap-cmd-norm");
 649   PropertyManager->Untie("fcs/speedbrake-cmd-norm");
 650   PropertyManager->Untie("fcs/spoiler-cmd-norm");
 651   PropertyManager->Untie("fcs/pitch-trim-cmd-norm");
 652   PropertyManager->Untie("fcs/roll-trim-cmd-norm");
 653   PropertyManager->Untie("fcs/yaw-trim-cmd-norm");
 654   PropertyManager->Untie("gear/gear-cmd-norm");
 655   PropertyManager->Untie("fcs/left-aileron-pos-rad");
 656   PropertyManager->Untie("fcs/mag-left-aileron-pos-rad");
 657   PropertyManager->Untie("fcs/left-aileron-pos-norm");
 658   PropertyManager->Untie("fcs/right-aileron-pos-rad");
 659   PropertyManager->Untie("fcs/mag-right-aileron-pos-rad");
 660   PropertyManager->Untie("fcs/right-aileron-pos-norm");
 661   PropertyManager->Untie("fcs/elevator-pos-rad");
 662   PropertyManager->Untie("fcs/mag-elevator-pos-rad");
 663   PropertyManager->Untie("fcs/elevator-pos-norm");
 664   PropertyManager->Untie("fcs/rudder-pos-rad");
 665   PropertyManager->Untie("fcs/mag-rudder-pos-rad");
 666   PropertyManager->Untie("fcs/rudder-pos-norm");
 667   PropertyManager->Untie("fcs/flap-pos-deg");
 668   PropertyManager->Untie("fcs/flap-pos-norm");
 669   PropertyManager->Untie("fcs/speedbrake-pos-rad");
 670   PropertyManager->Untie("fcs/mag-speedbrake-pos-rad");
 671   PropertyManager->Untie("fcs/speedbrake-pos-norm");
 672   PropertyManager->Untie("fcs/spoiler-pos-rad");
 673   PropertyManager->Untie("fcs/mag-spoiler-pos-rad");
 674   PropertyManager->Untie("fcs/spoiler-pos-norm");
 675   PropertyManager->Untie("gear/gear-pos-norm");
 676 }
 677
 678 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 679 //    The bitmasked value choices are as follows:
 680 //    unset: In this case (the default) JSBSim would only print
 681 //       out the normally expected messages, essentially echoing
 682 //       the config files as they are read. If the environment
 683 //       variable is not set, debug_lvl is set to 1 internally
 684 //    0: This requests JSBSim not to output any messages
 685 //       whatsoever.
 686 //    1: This value explicity requests the normal JSBSim
 687 //       startup messages
 688 //    2: This value asks for a message to be printed out when
 689 //       a class is instantiated
 690 //    4: When this value is set, a message is displayed when a
 691 //       FGModel object executes its Run() method
 692 //    8: When this value is set, various runtime state variables
 693 //       are printed out periodically
 694 //    16: When set various parameters are sanity checked and
 695 //       a message is printed out when they go out of bounds
 696
 697 void FGFCS::Debug(int from)
 698 {
 699   if (debug_lvl <= 0) return;
 700
 701   if (debug_lvl & 1) { // Standard console startup message output
 702     if (from == 0) { // Constructor
 703
 704     }
 705   }
 706   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 707     if (from == 0) cout << "Instantiated: FGFCS" << endl;
 708     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
 709   }
 710   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 711   }
 712   if (debug_lvl & 8 ) { // Runtime state variables
 713   }
 714   if (debug_lvl & 16) { // Sanity checking
 715   }
 716   if (debug_lvl & 64) {
 717     if (from == 0) { // Constructor
 718       cout << IdSrc << endl;
 719       cout << IdHdr << endl;
 720     }
 721   }
 722 }
 723