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 "FGFDMExec.h"
  42 #include "FGPropertyManager.h"
  43
  44 #include "filtersjb/FGFilter.h"
  45 #include "filtersjb/FGDeadBand.h"
  46 #include "filtersjb/FGGain.h"
  47 #include "filtersjb/FGGradient.h"
  48 #include "filtersjb/FGSwitch.h"
  49 #include "filtersjb/FGSummer.h"
  50 #include "filtersjb/FGKinemat.h"
  51
  52 namespace JSBSim {
  53
  54 static const char *IdSrc = "$Id$";
  55 static const char *IdHdr = ID_FCS;
  56
  57 #if defined(WIN32) && !defined(__CYGWIN__)
  58 #define snprintf _snprintf
  59 #endif
  60
  61 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  62 CLASS IMPLEMENTATION
  63 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  64
  65 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
  66 {
  67   int i;
  68   Name = "FGFCS";
  69
  70   DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = 0.0;
  71   AP_DaCmd = AP_DeCmd = AP_DrCmd = AP_ThrottleCmd = 0.0;
  72   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
  73   GearCmd = GearPos = 1; // default to gear down
  74   LeftBrake = RightBrake = CenterBrake = 0.0;
  75   APAttitudeSetPt = APAltitudeSetPt = APHeadingSetPt = APAirspeedSetPt = 0.0;
  76   DoNormalize=true;
  77
  78   eMode = mNone;
  79
  80   bind();
  81   for (i=0;i<=NForms;i++) {
  82     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
  83     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
  84   }
  85
  86   for (i=0;i<NNorm;i++) { ToNormalize[i]=-1;}
  87   Debug(0);
  88 }
  89
  90 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  91
  92 FGFCS::~FGFCS()
  93 {
  94   unbind( PropertyManager->GetNode("fcs") );
  95   unbind( PropertyManager->GetNode("ap") );
  96   PropertyManager->Untie( "gear/gear-cmd-norm" );
  97   PropertyManager->Untie( "gear/gear-pos-norm" );
  98
  99   ThrottleCmd.clear();
 100   ThrottlePos.clear();
 101   MixtureCmd.clear();
 102   MixturePos.clear();
 103   PropAdvanceCmd.clear();
 104   PropAdvance.clear();
 105
 106   unsigned int i;
 107
 108   for (i=0;i<APComponents.size();i++) delete APComponents[i];
 109   for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
 110
 111   Debug(1);
 112 }
 113
 114 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 115
 116 bool FGFCS::Run(void)
 117 {
 118   unsigned int i;
 119
 120   if (!FGModel::Run()) {
 121     for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 122     for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
 123     for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
 124     for (i=0; i<APComponents.size(); i++)  {
 125       eMode = mAP;
 126       APComponents[i]->Run();
 127       eMode = mNone;
 128     }
 129     for (i=0; i<FCSComponents.size(); i++)  {
 130       eMode = mFCS;
 131       FCSComponents[i]->Run();
 132       eMode = mNone;
 133     }
 134     if (DoNormalize) Normalize();
 135
 136     return false;
 137   } else {
 138     return true;
 139   }
 140 }
 141
 142 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 143
 144 void FGFCS::SetThrottleCmd(int engineNum, double setting)
 145 {
 146   unsigned int ctr;
 147
 148   if (engineNum < (int)ThrottlePos.size()) {
 149     if (engineNum < 0) {
 150       for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 151     } else {
 152       ThrottleCmd[engineNum] = setting;
 153     }
 154   } else {
 155     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 156          << " engines exist, but attempted throttle command is for engine "
 157          << engineNum << endl;
 158   }
 159 }
 160
 161 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 162
 163 void FGFCS::SetThrottlePos(int engineNum, double setting)
 164 {
 165   unsigned int ctr;
 166
 167   if (engineNum < (int)ThrottlePos.size()) {
 168     if (engineNum < 0) {
 169       for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
 170     } else {
 171       ThrottlePos[engineNum] = setting;
 172     }
 173   } else {
 174     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 175          << " engines exist, but attempted throttle position setting is for engine "
 176          << engineNum << endl;
 177   }
 178 }
 179
 180 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 181
 182 double FGFCS::GetThrottleCmd(int engineNum) const
 183 {
 184   if (engineNum < (int)ThrottlePos.size()) {
 185     if (engineNum < 0) {
 186        cerr << "Cannot get throttle value for ALL engines" << endl;
 187     } else {
 188       return ThrottleCmd[engineNum];
 189     }
 190   } else {
 191     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 192          << " engines exist, but throttle setting for engine " << engineNum
 193          << " is selected" << endl;
 194   }
 195   return 0.0;
 196 }
 197
 198 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 199
 200 double FGFCS::GetThrottlePos(int engineNum) const
 201 {
 202   if (engineNum < (int)ThrottlePos.size()) {
 203     if (engineNum < 0) {
 204        cerr << "Cannot get throttle value for ALL engines" << endl;
 205     } else {
 206       return ThrottlePos[engineNum];
 207     }
 208   } else {
 209     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 210          << " engines exist, but attempted throttle position setting is for engine "
 211          << engineNum << endl;
 212   }
 213   return 0.0;
 214 }
 215
 216 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 217
 218 void FGFCS::SetMixtureCmd(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<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
 225     } else {
 226       MixtureCmd[engineNum] = setting;
 227     }
 228   }
 229 }
 230
 231 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 232
 233 void FGFCS::SetMixturePos(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<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
 240     } else {
 241       MixturePos[engineNum] = setting;
 242     }
 243   }
 244 }
 245
 246 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 247
 248 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
 249 {
 250   unsigned int ctr;
 251
 252   if (engineNum < (int)ThrottlePos.size()) {
 253     if (engineNum < 0) {
 254       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
 255     } else {
 256       PropAdvanceCmd[engineNum] = setting;
 257     }
 258   }
 259 }
 260
 261 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 262
 263 void FGFCS::SetPropAdvance(int engineNum, double setting)
 264 {
 265   unsigned int ctr;
 266
 267   if (engineNum < (int)ThrottlePos.size()) {
 268     if (engineNum < 0) {
 269       for (ctr=0;ctr<=PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
 270     } else {
 271       PropAdvance[engineNum] = setting;
 272     }
 273   }
 274 }
 275
 276 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 277
 278 bool FGFCS::Load(FGConfigFile* AC_cfg)
 279 {
 280   string token, delimiter;
 281   string name, file, fname;
 282   unsigned i;
 283   vector <FGFCSComponent*> *Components;
 284   FGConfigFile *FCS_cfg;
 285
 286   Components=0;
 287   // Determine if the FCS/Autopilot is defined inline in the aircraft configuration
 288   // file or in a separate file. Set up the config file class as appropriate.
 289
 290   delimiter = AC_cfg->GetValue();
 291   name  = AC_cfg->GetValue("NAME");
 292   fname = AC_cfg->GetValue("FILE");
 293
 294   if ( AC_cfg->GetValue("NORMALIZE") == "FALSE") {
 295     DoNormalize = false;
 296     cout << "    Automatic Control Surface Normalization Disabled" << endl;
 297   }
 298
 299 # ifndef macintosh
 300   file = "control/" + fname + ".xml";
 301 # else
 302   file = "control;" + fname + ".xml";
 303 # endif
 304
 305   if (name.empty()) {
 306     name = fname;
 307     if (file.empty()) {
 308       cerr << "FCS/Autopilot does not appear to be defined inline nor in a file" << endl;
 309     } else {
 310       FCS_cfg = new FGConfigFile(file);
 311       if (!FCS_cfg->IsOpen()) {
 312         cerr << "Could not open " << delimiter << " file: " << file << endl;
 313         return false;
 314       } else {
 315         AC_cfg = FCS_cfg; // set local config file object pointer to FCS config
 316                           // file object pointer
 317       }
 318     }
 319   } else {
 320     AC_cfg->GetNextConfigLine();
 321   }
 322
 323   if (delimiter == "AUTOPILOT") {
 324     Components = &APComponents;
 325     eMode = mAP;
 326     Name = "Autopilot: " + name;
 327   } else if (delimiter == "FLIGHT_CONTROL") {
 328     Components = &FCSComponents;
 329     eMode = mFCS;
 330     Name = "FCS: " + name;
 331   } else {
 332     cerr << endl << "Unknown FCS delimiter" << endl << endl;
 333   }
 334
 335   if (debug_lvl > 0) cout << "    Control System Name: " << Name << endl;
 336
 337   while ((token = AC_cfg->GetValue()) != string("/" + delimiter)) {
 338     if (token == "COMPONENT") {
 339       token = AC_cfg->GetValue("TYPE");
 340       if (debug_lvl > 0) cout << endl << "    Loading Component \""
 341                               << AC_cfg->GetValue("NAME")
 342                               << "\" of type: " << token << endl;
 343       if ((token == "LAG_FILTER") ||
 344           (token == "LEAD_LAG_FILTER") ||
 345           (token == "SECOND_ORDER_FILTER") ||
 346           (token == "WASHOUT_FILTER") ||
 347           (token == "INTEGRATOR") ) {
 348         Components->push_back(new FGFilter(this, AC_cfg));
 349       } else if ((token == "PURE_GAIN") ||
 350                  (token == "SCHEDULED_GAIN") ||
 351                  (token == "AEROSURFACE_SCALE") ) {
 352
 353         Components->push_back(new FGGain(this, AC_cfg));
 354
 355       } else if (token == "SUMMER") {
 356         Components->push_back(new FGSummer(this, AC_cfg));
 357       } else if (token == "DEADBAND") {
 358         Components->push_back(new FGDeadBand(this, AC_cfg));
 359       } else if (token == "GRADIENT") {
 360         Components->push_back(new FGGradient(this, AC_cfg));
 361       } else if (token == "SWITCH") {
 362         Components->push_back(new FGSwitch(this, AC_cfg));
 363       } else if (token == "KINEMAT") {
 364         Components->push_back(new FGKinemat(this, AC_cfg));
 365       } else {
 366         cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
 367         return false;
 368       }
 369       if (AC_cfg->GetNextConfigLine() == "EOF") break;
 370     }
 371   }
 372
 373   //collect information for normalizing control surfaces
 374
 375   string nodeName;
 376   for (i=0; i<Components->size(); i++) {
 377
 378     if ( (((*Components)[i])->GetType() == "AEROSURFACE_SCALE"
 379           || ((*Components)[i])->GetType() == "KINEMAT")
 380                     && ((*Components)[i])->GetOutputNode() ) {
 381       nodeName = ((*Components)[i])->GetOutputNode()->GetName();
 382       if ( nodeName == "elevator-pos-rad" ) {
 383         ToNormalize[iDe]=i;
 384       } else if ( nodeName  == "left-aileron-pos-rad"
 385                    || nodeName == "aileron-pos-rad" ) {
 386         ToNormalize[iDaL]=i;
 387       } else if ( nodeName == "right-aileron-pos-rad" ) {
 388         ToNormalize[iDaR]=i;
 389       } else if ( nodeName == "rudder-pos-rad" ) {
 390         ToNormalize[iDr]=i;
 391       } else if ( nodeName == "speedbrake-pos-rad" ) {
 392         ToNormalize[iDsb]=i;
 393       } else if ( nodeName == "spoiler-pos-rad" ) {
 394         ToNormalize[iDsp]=i;
 395       } else if ( nodeName == "flap-pos-deg" ) {
 396         ToNormalize[iDf]=i;
 397       }
 398     }
 399   }
 400
 401   if (delimiter == "FLIGHT_CONTROL") bindModel();
 402
 403   eMode = mNone;
 404
 405   return true;
 406 }
 407
 408 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 409
 410 double FGFCS::GetComponentOutput(int idx)
 411 {
 412   switch (eMode) {
 413   case mFCS:
 414     return FCSComponents[idx]->GetOutput();
 415   case mAP:
 416     return APComponents[idx]->GetOutput();
 417   case mNone:
 418     cerr << "Unknown FCS mode" << endl;
 419     break;
 420   }
 421   return 0.0;
 422 }
 423
 424 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 425
 426 string FGFCS::GetComponentName(int idx)
 427 {
 428   switch (eMode) {
 429   case mFCS:
 430     return FCSComponents[idx]->GetName();
 431   case mAP:
 432     return APComponents[idx]->GetName();
 433   case mNone:
 434     cerr << "Unknown FCS mode" << endl;
 435     break;
 436   }
 437   return string("");
 438 }
 439
 440 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 441
 442 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 443 {
 444   switch (bg) {
 445   case FGLGear::bgLeft:
 446     return LeftBrake;
 447   case FGLGear::bgRight:
 448     return RightBrake;
 449   case FGLGear::bgCenter:
 450     return CenterBrake;
 451   default:
 452     cerr << "GetBrake asked to return a bogus brake value" << endl;
 453   }
 454   return 0.0;
 455 }
 456
 457 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 458
 459 string FGFCS::GetComponentStrings(void)
 460 {
 461   unsigned int comp;
 462   string CompStrings = "";
 463   bool firstime = true;
 464
 465   for (comp = 0; comp < FCSComponents.size(); comp++) {
 466     if (firstime) firstime = false;
 467     else          CompStrings += ", ";
 468
 469     CompStrings += FCSComponents[comp]->GetName();
 470   }
 471
 472   for (comp = 0; comp < APComponents.size(); comp++)
 473   {
 474     CompStrings += ", ";
 475     CompStrings += APComponents[comp]->GetName();
 476   }
 477
 478   return CompStrings;
 479 }
 480
 481 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 482
 483 string FGFCS::GetComponentValues(void)
 484 {
 485   unsigned int comp;
 486   string CompValues = "";
 487   char buffer[10];
 488   bool firstime = true;
 489
 490   for (comp = 0; comp < FCSComponents.size(); comp++) {
 491     if (firstime) firstime = false;
 492     else          CompValues += ", ";
 493
 494     sprintf(buffer, "%9.6f", FCSComponents[comp]->GetOutput());
 495     CompValues += string(buffer);
 496   }
 497
 498   for (comp = 0; comp < APComponents.size(); comp++) {
 499     sprintf(buffer, ", %9.6f", APComponents[comp]->GetOutput());
 500     CompValues += string(buffer);
 501   }
 502
 503   return CompValues;
 504 }
 505
 506 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 507
 508 void FGFCS::AddThrottle(void)
 509 {
 510   ThrottleCmd.push_back(0.0);
 511   ThrottlePos.push_back(0.0);
 512   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 513   MixturePos.push_back(0.0);
 514   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 515   PropAdvance.push_back(0.0);
 516 }
 517
 518 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 519
 520 void FGFCS::Normalize(void) {
 521
 522   //not all of these are guaranteed to be defined for every model
 523   //those that are have an index >=0 in the ToNormalize array
 524   //ToNormalize is filled in Load()
 525
 526   if ( ToNormalize[iDe] > -1 ) {
 527     DePos[ofNorm] = FCSComponents[ToNormalize[iDe]]->GetOutputPct();
 528   }
 529
 530   if ( ToNormalize[iDaL] > -1 ) {
 531     DaLPos[ofNorm] = FCSComponents[ToNormalize[iDaL]]->GetOutputPct();
 532   }
 533
 534   if ( ToNormalize[iDaR] > -1 ) {
 535     DaRPos[ofNorm] = FCSComponents[ToNormalize[iDaR]]->GetOutputPct();
 536   }
 537
 538   if ( ToNormalize[iDr] > -1 ) {
 539     DrPos[ofNorm] = FCSComponents[ToNormalize[iDr]]->GetOutputPct();
 540   }
 541
 542   if ( ToNormalize[iDsb] > -1 ) {
 543     DsbPos[ofNorm] = FCSComponents[ToNormalize[iDsb]]->GetOutputPct();
 544   }
 545
 546   if ( ToNormalize[iDsp] > -1 ) {
 547     DspPos[ofNorm] = FCSComponents[ToNormalize[iDsp]]->GetOutputPct();
 548   }
 549
 550   if ( ToNormalize[iDf] > -1 ) {
 551     DfPos[ofNorm] = FCSComponents[ToNormalize[iDf]]->GetOutputPct();
 552   }
 553
 554   DePos[ofMag]  = fabs(DePos[ofRad]);
 555   DaLPos[ofMag] = fabs(DaLPos[ofRad]);
 556   DaRPos[ofMag] = fabs(DaRPos[ofRad]);
 557   DrPos[ofMag]  = fabs(DrPos[ofRad]);
 558   DsbPos[ofMag] = fabs(DsbPos[ofRad]);
 559   DspPos[ofMag] = fabs(DspPos[ofRad]);
 560   DfPos[ofMag]  = fabs(DfPos[ofRad]);
 561
 562 }
 563
 564 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 565
 566 void FGFCS::bind(void)
 567 {
 568   PropertyManager->Tie("fcs/aileron-cmd-norm", this,
 569                        &FGFCS::GetDaCmd,
 570                        &FGFCS::SetDaCmd,
 571                        true);
 572   PropertyManager->Tie("fcs/elevator-cmd-norm", this,
 573                        &FGFCS::GetDeCmd,
 574                        &FGFCS::SetDeCmd,
 575                        true);
 576   PropertyManager->Tie("fcs/rudder-cmd-norm", this,
 577                        &FGFCS::GetDrCmd,
 578                        &FGFCS::SetDrCmd,
 579                        true);
 580   PropertyManager->Tie("fcs/flap-cmd-norm", this,
 581                        &FGFCS::GetDfCmd,
 582                        &FGFCS::SetDfCmd,
 583                        true);
 584   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this,
 585                        &FGFCS::GetDsbCmd,
 586                        &FGFCS::SetDsbCmd,
 587                        true);
 588   PropertyManager->Tie("fcs/spoiler-cmd-norm", this,
 589                        &FGFCS::GetDspCmd,
 590                        &FGFCS::SetDspCmd,
 591                        true);
 592   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this,
 593                        &FGFCS::GetPitchTrimCmd,
 594                        &FGFCS::SetPitchTrimCmd,
 595                        true);
 596   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this,
 597                        &FGFCS::GetRollTrimCmd,
 598                        &FGFCS::SetRollTrimCmd,
 599                        true);
 600   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this,
 601                        &FGFCS::GetYawTrimCmd,
 602                        &FGFCS::SetYawTrimCmd,
 603                        true);
 604   PropertyManager->Tie("gear/gear-cmd-norm", this,
 605                        &FGFCS::GetGearCmd,
 606                        &FGFCS::SetGearCmd,
 607                        true);
 608
 609   PropertyManager->Tie("fcs/left-aileron-pos-rad", this,ofRad,
 610                        &FGFCS::GetDaLPos,
 611                        &FGFCS::SetDaLPos,
 612                        true);
 613   PropertyManager->Tie("fcs/left-aileron-pos-norm", this,ofNorm,
 614                        &FGFCS::GetDaLPos,
 615                        &FGFCS::SetDaLPos,
 616                        true);
 617   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this,ofMag,
 618                        &FGFCS::GetDaLPos,
 619                        &FGFCS::SetDaLPos,
 620                        true);
 621
 622   PropertyManager->Tie("fcs/right-aileron-pos-rad", this,ofRad,
 623                        &FGFCS::GetDaRPos,
 624                        &FGFCS::SetDaRPos,
 625                        true);
 626   PropertyManager->Tie("fcs/right-aileron-pos-norm", this,ofNorm,
 627                        &FGFCS::GetDaRPos,
 628                        &FGFCS::SetDaRPos,
 629                        true);
 630   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this,ofMag,
 631                        &FGFCS::GetDaRPos,
 632                        &FGFCS::SetDaRPos,
 633                        true);
 634
 635   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad,
 636                        &FGFCS::GetDePos,
 637                        &FGFCS::SetDePos,
 638                        true );
 639   PropertyManager->Tie("fcs/elevator-pos-norm", this,ofNorm,
 640                        &FGFCS::GetDePos,
 641                        &FGFCS::SetDePos,
 642                        true );
 643   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this,ofMag,
 644                        &FGFCS::GetDePos,
 645                        &FGFCS::SetDePos,
 646                        true );
 647
 648   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad,
 649                        &FGFCS::GetDrPos,
 650                        &FGFCS::SetDrPos,
 651                        true);
 652   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm,
 653                        &FGFCS::GetDrPos,
 654                        &FGFCS::SetDrPos,
 655                        true);
 656   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag,
 657                        &FGFCS::GetDrPos,
 658                        &FGFCS::SetDrPos,
 659                        true);
 660
 661   PropertyManager->Tie("fcs/flap-pos-deg", this,ofRad,
 662                        &FGFCS::GetDfPos,
 663                        &FGFCS::SetDfPos,
 664                        true);
 665   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm,
 666                        &FGFCS::GetDfPos,
 667                        &FGFCS::SetDfPos,
 668                        true);
 669
 670   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad,
 671                        &FGFCS::GetDsbPos,
 672                        &FGFCS::SetDsbPos,
 673                        true);
 674   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm,
 675                        &FGFCS::GetDsbPos,
 676                        &FGFCS::SetDsbPos,
 677                        true);
 678   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag,
 679                        &FGFCS::GetDsbPos,
 680                        &FGFCS::SetDsbPos,
 681                        true);
 682
 683   PropertyManager->Tie("fcs/spoiler-pos-rad", this,ofRad,
 684                        &FGFCS::GetDspPos,
 685                        &FGFCS::SetDspPos,
 686                        true);
 687   PropertyManager->Tie("fcs/spoiler-pos-norm", this,ofNorm,
 688                        &FGFCS::GetDspPos,
 689                        &FGFCS::SetDspPos,
 690                        true);
 691   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this,ofMag,
 692                        &FGFCS::GetDspPos,
 693                        &FGFCS::SetDspPos,
 694                        true);
 695
 696   PropertyManager->Tie("gear/gear-pos-norm", this,
 697                        &FGFCS::GetGearPos,
 698                        &FGFCS::SetGearPos,
 699                        true);
 700
 701   PropertyManager->Tie("ap/elevator_cmd", this,
 702                        &FGFCS::GetAPDeCmd,
 703                        &FGFCS::SetAPDeCmd,
 704                        true);
 705
 706   PropertyManager->Tie("ap/aileron_cmd", this,
 707                        &FGFCS::GetAPDaCmd,
 708                        &FGFCS::SetAPDaCmd,
 709                        true);
 710
 711   PropertyManager->Tie("ap/rudder_cmd", this,
 712                        &FGFCS::GetAPDrCmd,
 713                        &FGFCS::SetAPDrCmd,
 714                        true);
 715
 716   PropertyManager->Tie("ap/throttle_cmd", this,
 717                        &FGFCS::GetAPThrottleCmd,
 718                        &FGFCS::SetAPThrottleCmd,
 719                        true);
 720
 721   PropertyManager->Tie("ap/attitude_setpoint", this,
 722                        &FGFCS::GetAPAttitudeSetPt,
 723                        &FGFCS::SetAPAttitudeSetPt,
 724                        true);
 725
 726   PropertyManager->Tie("ap/altitude_setpoint", this,
 727                        &FGFCS::GetAPAltitudeSetPt,
 728                        &FGFCS::SetAPAltitudeSetPt,
 729                        true);
 730
 731   PropertyManager->Tie("ap/heading_setpoint", this,
 732                        &FGFCS::GetAPHeadingSetPt,
 733                        &FGFCS::SetAPHeadingSetPt,
 734                        true);
 735
 736   PropertyManager->Tie("ap/airspeed_setpoint", this,
 737                        &FGFCS::GetAPAirspeedSetPt,
 738                        &FGFCS::SetAPAirspeedSetPt,
 739                        true);
 740
 741   PropertyManager->Tie("ap/acquire_attitude", this,
 742                        &FGFCS::GetAPAcquireAttitude,
 743                        &FGFCS::SetAPAcquireAttitude,
 744                        true);
 745
 746   PropertyManager->Tie("ap/acquire_altitude", this,
 747                        &FGFCS::GetAPAcquireAltitude,
 748                        &FGFCS::SetAPAcquireAltitude,
 749                        true);
 750
 751   PropertyManager->Tie("ap/acquire_heading", this,
 752                        &FGFCS::GetAPAcquireHeading,
 753                        &FGFCS::SetAPAcquireHeading,
 754                        true);
 755
 756   PropertyManager->Tie("ap/acquire_airspeed", this,
 757                        &FGFCS::GetAPAcquireAirspeed,
 758                        &FGFCS::SetAPAcquireAirspeed,
 759                        true);
 760
 761   PropertyManager->Tie("ap/attitude_hold", this,
 762                        &FGFCS::GetAPAttitudeHold,
 763                        &FGFCS::SetAPAttitudeHold,
 764                        true);
 765
 766   PropertyManager->Tie("ap/altitude_hold", this,
 767                        &FGFCS::GetAPAltitudeHold,
 768                        &FGFCS::SetAPAltitudeHold,
 769                        true);
 770
 771   PropertyManager->Tie("ap/heading_hold", this,
 772                        &FGFCS::GetAPHeadingHold,
 773                        &FGFCS::SetAPHeadingHold,
 774                        true);
 775
 776   PropertyManager->Tie("ap/airspeed_hold", this,
 777                        &FGFCS::GetAPAirspeedHold,
 778                        &FGFCS::SetAPAirspeedHold,
 779                        true);
 780
 781   PropertyManager->Tie("ap/wingslevel_hold", this,
 782                        &FGFCS::GetAPWingsLevelHold,
 783                        &FGFCS::SetAPWingsLevelHold,
 784                        true);
 785 }
 786
 787 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 788
 789 void FGFCS::bindModel(void)
 790 {
 791   unsigned i;
 792   char tmp[80];
 793
 794
 795   for (i=0; i<ThrottleCmd.size(); i++) {
 796     snprintf(tmp,80,"fcs/throttle-cmd-norm[%u]",i);
 797     PropertyManager->Tie( tmp,this,i,
 798                           &FGFCS::GetThrottleCmd,
 799                           &FGFCS::SetThrottleCmd,
 800                           true );
 801     snprintf(tmp,80,"fcs/throttle-pos-norm[%u]",i);
 802     PropertyManager->Tie( tmp,this,i,
 803                           &FGFCS::GetThrottlePos,
 804                           &FGFCS::SetThrottlePos,
 805                           true );
 806     if ( MixtureCmd.size() > i ) {
 807       snprintf(tmp,80,"fcs/mixture-cmd-norm[%u]",i);
 808       PropertyManager->Tie( tmp,this,i,
 809                             &FGFCS::GetMixtureCmd,
 810                             &FGFCS::SetMixtureCmd,
 811                             true );
 812       snprintf(tmp,80,"fcs/mixture-pos-norm[%u]",i);
 813       PropertyManager->Tie( tmp,this,i,
 814                             &FGFCS::GetMixturePos,
 815                             &FGFCS::SetMixturePos,
 816                             true );
 817     }
 818     if ( PropAdvanceCmd.size() > i ) {
 819       snprintf(tmp,80,"fcs/advance-cmd-norm[%u]",i);
 820       PropertyManager->Tie( tmp,this,i,
 821                             &FGFCS::GetPropAdvanceCmd,
 822                             &FGFCS::SetPropAdvanceCmd,
 823                             true );
 824       snprintf(tmp,80,"fcs/advance-pos-norm[%u]",i);
 825       PropertyManager->Tie( tmp,this,i,
 826                             &FGFCS::GetPropAdvance,
 827                             &FGFCS::SetPropAdvance,
 828                             true );
 829     }
 830   }
 831 }
 832
 833 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 834
 835 void FGFCS::unbind(FGPropertyManager *node)
 836 {
 837   int N = node->nChildren();
 838   for(int i=0;i<N;i++) {
 839     if(node->getChild(i)->nChildren() ) {
 840       unbind( (FGPropertyManager*)node->getChild(i) );
 841     } else if( node->getChild(i)->isTied() ) {
 842       node->getChild(i)->untie();
 843     }
 844   }
 845 }
 846
 847 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 848 //    The bitmasked value choices are as follows:
 849 //    unset: In this case (the default) JSBSim would only print
 850 //       out the normally expected messages, essentially echoing
 851 //       the config files as they are read. If the environment
 852 //       variable is not set, debug_lvl is set to 1 internally
 853 //    0: This requests JSBSim not to output any messages
 854 //       whatsoever.
 855 //    1: This value explicity requests the normal JSBSim
 856 //       startup messages
 857 //    2: This value asks for a message to be printed out when
 858 //       a class is instantiated
 859 //    4: When this value is set, a message is displayed when a
 860 //       FGModel object executes its Run() method
 861 //    8: When this value is set, various runtime state variables
 862 //       are printed out periodically
 863 //    16: When set various parameters are sanity checked and
 864 //       a message is printed out when they go out of bounds
 865
 866 void FGFCS::Debug(int from)
 867 {
 868   if (debug_lvl <= 0) return;
 869
 870   if (debug_lvl & 1) { // Standard console startup message output
 871     if (from == 0) { // Constructor
 872
 873     }
 874   }
 875   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 876     if (from == 0) cout << "Instantiated: FGFCS" << endl;
 877     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
 878   }
 879   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 880   }
 881   if (debug_lvl & 8 ) { // Runtime state variables
 882   }
 883   if (debug_lvl & 16) { // Sanity checking
 884   }
 885   if (debug_lvl & 64) {
 886     if (from == 0) { // Constructor
 887       cout << IdSrc << endl;
 888       cout << IdHdr << endl;
 889     }
 890   }
 891 }
 892
 893 }