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 "FGDefs.h"
  41
  42 #include "FGFCS.h"
  43 #include "FGState.h"
  44 #include "FGFDMExec.h"
  45 #include "FGAtmosphere.h"
  46 #include "FGAircraft.h"
  47 #include "FGTranslation.h"
  48 #include "FGRotation.h"
  49 #include "FGPosition.h"
  50 #include "FGAuxiliary.h"
  51 #include "FGOutput.h"
  52
  53 #include "filtersjb/FGFilter.h"
  54 #include "filtersjb/FGDeadBand.h"
  55 #include "filtersjb/FGGain.h"
  56 #include "filtersjb/FGGradient.h"
  57 #include "filtersjb/FGSwitch.h"
  58 #include "filtersjb/FGSummer.h"
  59 #include "filtersjb/FGFlaps.h"
  60
  61 static const char *IdSrc = "$Id$";
  62 static const char *IdHdr = ID_FCS;
  63
  64 extern short debug_lvl;
  65
  66 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  67 CLASS IMPLEMENTATION
  68 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  69
  70 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
  71 {
  72   Name = "FGFCS";
  73
  74   DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = PTrimCmd = 0.0;
  75   DaPos = DePos = DrPos = DfPos = DsbPos = DspPos = 0.0;
  76   LeftBrake = RightBrake = CenterBrake = 0.0;
  77
  78   if (debug_lvl & 2) cout << "Instantiated: " << Name << endl;
  79 }
  80
  81 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  82
  83 FGFCS::~FGFCS()
  84 {
  85   ThrottleCmd.clear();
  86   ThrottlePos.clear();
  87
  88   unsigned int i;
  89
  90   for(i=0;i<Components.size();i++) delete Components[i];
  91   if (debug_lvl & 2) cout << "Destroyed:    FGFCS" << endl;
  92 }
  93
  94 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  95
  96 bool FGFCS::Run(void)
  97 {
  98   unsigned int i;
  99
 100   if (!FGModel::Run()) {
 101     for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 102     for (i=0; i<Components.size(); i++)  Components[i]->Run();
 103   } else {
 104   }
 105
 106   return false;
 107 }
 108
 109 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 110
 111 void FGFCS::SetThrottleCmd(int engineNum, float setting)
 112 {
 113   unsigned int ctr;
 114
 115   if (engineNum < 0) {
 116     for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 117   } else {
 118     ThrottleCmd[engineNum] = setting;
 119   }
 120 }
 121
 122 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 123
 124 void FGFCS::SetThrottlePos(int engineNum, float setting)
 125 {
 126   unsigned int ctr;
 127
 128   if (engineNum < 0) {
 129     for (ctr=0;ctr<=ThrottleCmd.size();ctr++) ThrottlePos[ctr] = ThrottleCmd[ctr];
 130   } else {
 131     ThrottlePos[engineNum] = setting;
 132   }
 133 }
 134
 135 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 136
 137 bool FGFCS::Load(FGConfigFile* AC_cfg)
 138 {
 139   string token;
 140
 141   Name = AC_cfg->GetValue("NAME");
 142   if (debug_lvl > 0) cout << "    Control System Name: " << Name << endl;
 143   AC_cfg->GetNextConfigLine();
 144   while ((token = AC_cfg->GetValue()) != "/FLIGHT_CONTROL") {
 145     if (token == "COMPONENT") {
 146       token = AC_cfg->GetValue("TYPE");
 147       if (debug_lvl > 0) cout << "    Loading Component \""
 148                               << AC_cfg->GetValue("NAME")
 149                                                 << "\" of type: " << token << endl;
 150       if ((token == "LAG_FILTER") ||
 151           (token == "LEAD_LAG_FILTER") ||
 152           (token == "SECOND_ORDER_FILTER") ||
 153           (token == "WASHOUT_FILTER") ||
 154           (token == "INTEGRATOR") ) {
 155         Components.push_back(new FGFilter(this, AC_cfg));
 156       } else if ((token == "PURE_GAIN") ||
 157                  (token == "SCHEDULED_GAIN") ||
 158                  (token == "AEROSURFACE_SCALE") ) {
 159
 160         Components.push_back(new FGGain(this, AC_cfg));
 161
 162       } else if (token == "SUMMER") {
 163         Components.push_back(new FGSummer(this, AC_cfg));
 164       } else if (token == "DEADBAND") {
 165         Components.push_back(new FGDeadBand(this, AC_cfg));
 166       } else if (token == "GRADIENT") {
 167         Components.push_back(new FGGradient(this, AC_cfg));
 168       } else if (token == "SWITCH") {
 169         Components.push_back(new FGSwitch(this, AC_cfg));
 170       } else if (token == "FLAPS") {
 171         Components.push_back(new FGFlaps(this, AC_cfg));
 172       } else {
 173         cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
 174         return false;
 175       }
 176       AC_cfg->GetNextConfigLine();
 177     }
 178   }
 179   return true;
 180 }
 181
 182 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 183
 184 float FGFCS::GetComponentOutput(eParam idx) {
 185   return Components[idx]->GetOutput();
 186 }
 187
 188 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 189
 190 string FGFCS::GetComponentName(int idx) {
 191   return Components[idx]->GetName();
 192 }
 193
 194 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 195
 196 float FGFCS::GetBrake(FGLGear::BrakeGroup bg) {
 197   switch (bg) {
 198   case FGLGear::bgLeft:
 199     return LeftBrake;
 200   case FGLGear::bgRight:
 201     return RightBrake;
 202   case FGLGear::bgCenter:
 203     return CenterBrake;
 204   default:
 205     cerr << "GetBrake asked to return a bogus brake value" << endl;
 206   }
 207   return 0.0;
 208 }
 209
 210 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 211
 212 string FGFCS::GetComponentStrings(void)
 213 {
 214   unsigned int comp;
 215
 216   string CompStrings = "";
 217   bool firstime = true;
 218
 219   for (comp = 0; comp < Components.size(); comp++) {
 220     if (firstime) firstime = false;
 221     else          CompStrings += ", ";
 222
 223     CompStrings += Components[comp]->GetName();
 224   }
 225
 226   return CompStrings;
 227 }
 228
 229 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 230
 231 string FGFCS::GetComponentValues(void)
 232 {
 233   unsigned int comp;
 234
 235   string CompValues = "";
 236   char buffer[10];
 237   bool firstime = true;
 238
 239   for (comp = 0; comp < Components.size(); comp++) {
 240     if (firstime) firstime = false;
 241     else          CompValues += ", ";
 242
 243     sprintf(buffer, "%9.6f", Components[comp]->GetOutput());
 244     CompValues += string(buffer);
 245   }
 246
 247   return CompValues;
 248 }
 249
 250 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 251
 252 void FGFCS::AddThrottle(void)
 253 {
 254   ThrottleCmd.push_back(0.0);
 255   ThrottlePos.push_back(0.0);
 256 }
 257
 258 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 259
 260 void FGFCS::Debug(void)
 261 {
 262     //TODO: Add your source code here
 263 }
 264