1 /*******************************************************************************
6 Purpose: Model the flight controls
9 ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
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
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
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.
25 Further information about the GNU General Public License can also be found on
26 the world wide web at http://www.gnu.org.
28 FUNCTIONAL DESCRIPTION
29 --------------------------------------------------------------------------------
30 This class models the flight controls for a specific airplane
33 --------------------------------------------------------------------------------
36 ********************************************************************************
38 *******************************************************************************/
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"
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"
59 /*******************************************************************************
60 ************************************ CODE **************************************
61 *******************************************************************************/
64 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex) {
66 for (int i=0; i < MAX_ENGINES; i++) { // needs to be changed: no limit
70 DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = 0.0;
71 DaPos = DePos = DrPos = DfPos = DsbPos = DspPos = 0.0;
74 /******************************************************************************/
77 for(unsigned int i=0;i<Components.size();i++)
81 /******************************************************************************/
83 bool FGFCS::Run(void) {
84 if (!FGModel::Run()) {
86 for (unsigned int i=0; i<Aircraft->GetNumEngines(); i++) ThrottlePos[i]=ThrottleCmd[i];
88 for (unsigned int i=0; i<Components.size(); i++) Components[i]->Run();
96 /******************************************************************************/
98 void FGFCS::SetThrottleCmd(int engineNum, float setting) {
100 for (unsigned int ctr=0;ctr<Aircraft->GetNumEngines();ctr++) ThrottleCmd[ctr] = setting;
102 ThrottleCmd[engineNum] = setting;
106 /******************************************************************************/
108 void FGFCS::SetThrottlePos(int engineNum, float setting) {
110 for (unsigned int ctr=0;ctr<=Aircraft->GetNumEngines();ctr++) ThrottlePos[ctr] = ThrottleCmd[ctr];
112 ThrottlePos[engineNum] = setting;
116 /******************************************************************************/
118 void FGFCS::SetLBrake(float setting) {
122 /******************************************************************************/
124 void FGFCS::SetRBrake(float setting) {
127 /******************************************************************************/
128 void FGFCS::SetCBrake(float setting) {
131 /******************************************************************************/
132 bool FGFCS::LoadFCS(FGConfigFile* AC_cfg) {
135 FCSName = AC_cfg->GetValue("NAME");
136 cout << " Control System Name: " << FCSName << endl;
137 AC_cfg->GetNextConfigLine();
138 while ((token = AC_cfg->GetValue()) != "/FLIGHT_CONTROL") {
139 if (token == "COMPONENT") {
140 token = AC_cfg->GetValue("TYPE");
141 cout << " Loading Component \"" << AC_cfg->GetValue("NAME") << "\" of type: " << token << endl;
142 if ((token == "LAG_FILTER") ||
143 (token == "RECT_LAG_FILTER") ||
144 (token == "LEAD_LAG_FILTER") ||
145 (token == "SECOND_ORDER_FILTER") ||
146 (token == "WASHOUT_FILTER") ||
147 (token == "INTEGRATOR") ) {
148 Components.push_back(new FGFilter(this, AC_cfg));
149 } else if ((token == "PURE_GAIN") ||
150 (token == "SCHEDULED_GAIN") ||
151 (token == "AEROSURFACE_SCALE") ) {
153 Components.push_back(new FGGain(this, AC_cfg));
155 } else if (token == "SUMMER") {
156 Components.push_back(new FGSummer(this, AC_cfg));
157 } else if (token == "DEADBAND") {
158 Components.push_back(new FGDeadBand(this, AC_cfg));
159 } else if (token == "GRADIENT") {
160 Components.push_back(new FGGradient(this, AC_cfg));
161 } else if (token == "SWITCH") {
162 Components.push_back(new FGSwitch(this, AC_cfg));
163 } else if (token == "FLAPS") {
164 Components.push_back(new FGFlaps(this, AC_cfg));
166 AC_cfg->GetNextConfigLine();
172 /******************************************************************************/
174 float FGFCS::GetComponentOutput(eParam idx) {
175 return Components[idx]->GetOutput();
178 /******************************************************************************/
180 string FGFCS::GetComponentName(int idx) {
181 return Components[idx]->GetName();