src/FDM/JSBSim/models/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 Lesser 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 Lesser General Public License for more
  19  details.
  20
  21  You should have received a copy of the GNU Lesser 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 Lesser 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 <input_output/FGPropertyManager.h>
  43 #include <fstream>
  44
  45 #include <models/flight_control/FGFilter.h>
  46 #include <models/flight_control/FGDeadBand.h>
  47 #include <models/flight_control/FGGain.h>
  48 #include <models/flight_control/FGPID.h>
  49 #include <models/flight_control/FGGradient.h>
  50 #include <models/flight_control/FGSwitch.h>
  51 #include <models/flight_control/FGSummer.h>
  52 #include <models/flight_control/FGKinemat.h>
  53 #include <models/flight_control/FGFCSFunction.h>
  54 #include <models/flight_control/FGSensor.h>
  55 #include <models/flight_control/FGActuator.h>
  56
  57 namespace JSBSim {
  58
  59 static const char *IdSrc = "$Id$";
  60 static const char *IdHdr = ID_FCS;
  61
  62 #if defined(WIN32) && !defined(__CYGWIN__)
  63 #define snprintf _snprintf
  64 #endif
  65
  66 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  67 CLASS IMPLEMENTATION
  68 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  69
  70 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
  71 {
  72   int i;
  73   Name = "FGFCS";
  74
  75   DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
  76   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
  77   GearCmd = GearPos = 1; // default to gear down
  78   LeftBrake = RightBrake = CenterBrake = 0.0;
  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   Debug(0);
  87 }
  88
  89 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  90
  91 FGFCS::~FGFCS()
  92 {
  93   ThrottleCmd.clear();
  94   ThrottlePos.clear();
  95   MixtureCmd.clear();
  96   MixturePos.clear();
  97   PropAdvanceCmd.clear();
  98   PropAdvance.clear();
  99   SteerPosDeg.clear();
 100   PropFeatherCmd.clear();
 101   PropFeather.clear();
 102
 103   unsigned int i;
 104
 105   for (i=0;i<sensors.size();i++) delete sensors[i];
 106   sensors.clear();
 107   for (i=0;i<APComponents.size();i++) delete APComponents[i];
 108   APComponents.clear();
 109   for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
 110   FCSComponents.clear();
 111   for (i=0;i<Systems.size();i++) delete Systems[i];
 112   Systems.clear();
 113
 114   for (unsigned int i=0; i<interface_properties.size(); i++) delete interface_properties[i];
 115   interface_properties.clear();
 116
 117   Debug(1);
 118 }
 119
 120 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 121
 122 bool FGFCS::InitModel(void)
 123 {
 124   unsigned int i;
 125
 126   if (!FGModel::InitModel()) return false;
 127
 128   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = 0.0;
 129   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = 0.0;
 130   for (i=0; i<ThrottleCmd.size(); i++) ThrottleCmd[i] = 0.0;
 131   for (i=0; i<MixtureCmd.size(); i++) MixtureCmd[i] = 0.0;
 132   for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = 0.0;
 133   for (i=0; i<PropFeather.size(); i++) PropFeather[i] = 0.0;
 134
 135   DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
 136   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
 137
 138   for (i=0;i<NForms;i++) {
 139     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
 140     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
 141   }
 142
 143   return true;
 144 }
 145
 146 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 147 // Notes: In this logic the default engine commands are set. This is simply a
 148 // sort of safe-mode method in case the user has not defined control laws for
 149 // throttle, mixture, and prop-advance. The throttle, mixture, and prop advance
 150 // positions are set equal to the respective commands. Any control logic that is
 151 // actually present in the flight_control or autopilot section will override
 152 // these simple assignments.
 153
 154 bool FGFCS::Run(void)
 155 {
 156   unsigned int i;
 157
 158   if (FGModel::Run()) return true; // fast exit if nothing to do
 159   if (FDMExec->Holding()) return false;
 160
 161   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 162   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
 163   for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
 164   for (i=0; i<PropFeather.size(); i++) PropFeather[i] = PropFeatherCmd[i];
 165
 166   // Set the default steering angle
 167   for (i=0; i<SteerPosDeg.size(); i++) {
 168     FGLGear* gear = GroundReactions->GetGearUnit(i);
 169     SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
 170   }
 171
 172   // Cycle through the sensor, systems, autopilot, and flight control components
 173   // Execute Sensors
 174   for (i=0; i<sensors.size(); i++) sensors[i]->Run();
 175
 176   // Execute Systems in order
 177   for (i=0; i<Systems.size(); i++) Systems[i]->Run();
 178
 179   // Execute Autopilot
 180   for (i=0; i<APComponents.size(); i++) APComponents[i]->Run();
 181
 182   // Execute Flight Control System
 183   for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
 184
 185   return false;
 186 }
 187
 188 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 189
 190 void FGFCS::SetDaLPos( int form , double pos )
 191 {
 192   switch(form) {
 193   case ofRad:
 194     DaLPos[ofRad] = pos;
 195     DaLPos[ofDeg] = pos*radtodeg;
 196     break;
 197   case ofDeg:
 198     DaLPos[ofRad] = pos*degtorad;
 199     DaLPos[ofDeg] = pos;
 200     break;
 201   case ofNorm:
 202     DaLPos[ofNorm] = pos;
 203   }
 204   DaLPos[ofMag] = fabs(DaLPos[ofRad]);
 205 }
 206
 207 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 208
 209 void FGFCS::SetDaRPos( int form , double pos )
 210 {
 211   switch(form) {
 212   case ofRad:
 213     DaRPos[ofRad] = pos;
 214     DaRPos[ofDeg] = pos*radtodeg;
 215     break;
 216   case ofDeg:
 217     DaRPos[ofRad] = pos*degtorad;
 218     DaRPos[ofDeg] = pos;
 219     break;
 220   case ofNorm:
 221     DaRPos[ofNorm] = pos;
 222   }
 223   DaRPos[ofMag] = fabs(DaRPos[ofRad]);
 224 }
 225
 226 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 227
 228 void FGFCS::SetDePos( int form , double pos )
 229 {
 230   switch(form) {
 231   case ofRad:
 232     DePos[ofRad] = pos;
 233     DePos[ofDeg] = pos*radtodeg;
 234     break;
 235   case ofDeg:
 236     DePos[ofRad] = pos*degtorad;
 237     DePos[ofDeg] = pos;
 238     break;
 239   case ofNorm:
 240     DePos[ofNorm] = pos;
 241   }
 242   DePos[ofMag] = fabs(DePos[ofRad]);
 243 }
 244
 245 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 246
 247 void FGFCS::SetDrPos( int form , double pos )
 248 {
 249   switch(form) {
 250   case ofRad:
 251     DrPos[ofRad] = pos;
 252     DrPos[ofDeg] = pos*radtodeg;
 253     break;
 254   case ofDeg:
 255     DrPos[ofRad] = pos*degtorad;
 256     DrPos[ofDeg] = pos;
 257     break;
 258   case ofNorm:
 259     DrPos[ofNorm] = pos;
 260   }
 261   DrPos[ofMag] = fabs(DrPos[ofRad]);
 262 }
 263
 264 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 265
 266 void FGFCS::SetDfPos( int form , double pos )
 267 {
 268   switch(form) {
 269   case ofRad:
 270     DfPos[ofRad] = pos;
 271     DfPos[ofDeg] = pos*radtodeg;
 272     break;
 273   case ofDeg:
 274     DfPos[ofRad] = pos*degtorad;
 275     DfPos[ofDeg] = pos;
 276     break;
 277   case ofNorm:
 278     DfPos[ofNorm] = pos;
 279   }
 280   DfPos[ofMag] = fabs(DfPos[ofRad]);
 281 }
 282
 283 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 284
 285 void FGFCS::SetDsbPos( int form , double pos )
 286 {
 287   switch(form) {
 288   case ofRad:
 289     DsbPos[ofRad] = pos;
 290     DsbPos[ofDeg] = pos*radtodeg;
 291     break;
 292   case ofDeg:
 293     DsbPos[ofRad] = pos*degtorad;
 294     DsbPos[ofDeg] = pos;
 295     break;
 296   case ofNorm:
 297     DsbPos[ofNorm] = pos;
 298   }
 299   DsbPos[ofMag] = fabs(DsbPos[ofRad]);
 300 }
 301
 302 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 303
 304 void FGFCS::SetDspPos( int form , double pos )
 305 {
 306   switch(form) {
 307   case ofRad:
 308     DspPos[ofRad] = pos;
 309     DspPos[ofDeg] = pos*radtodeg;
 310     break;
 311   case ofDeg:
 312     DspPos[ofRad] = pos*degtorad;
 313     DspPos[ofDeg] = pos;
 314     break;
 315   case ofNorm:
 316     DspPos[ofNorm] = pos;
 317   }
 318   DspPos[ofMag] = fabs(DspPos[ofRad]);
 319 }
 320
 321 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 322
 323 void FGFCS::SetThrottleCmd(int engineNum, double setting)
 324 {
 325   unsigned int ctr;
 326
 327   if (engineNum < (int)ThrottlePos.size()) {
 328     if (engineNum < 0) {
 329       for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 330     } else {
 331       ThrottleCmd[engineNum] = setting;
 332     }
 333   } else {
 334     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 335          << " engines exist, but attempted throttle command is for engine "
 336          << engineNum << endl;
 337   }
 338 }
 339
 340 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 341
 342 void FGFCS::SetThrottlePos(int engineNum, double setting)
 343 {
 344   unsigned int ctr;
 345
 346   if (engineNum < (int)ThrottlePos.size()) {
 347     if (engineNum < 0) {
 348       for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
 349     } else {
 350       ThrottlePos[engineNum] = setting;
 351     }
 352   } else {
 353     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 354          << " engines exist, but attempted throttle position setting is for engine "
 355          << engineNum << endl;
 356   }
 357 }
 358
 359 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 360
 361 double FGFCS::GetThrottleCmd(int engineNum) const
 362 {
 363   if (engineNum < (int)ThrottlePos.size()) {
 364     if (engineNum < 0) {
 365        cerr << "Cannot get throttle value for ALL engines" << endl;
 366     } else {
 367       return ThrottleCmd[engineNum];
 368     }
 369   } else {
 370     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 371          << " engines exist, but throttle setting for engine " << engineNum
 372          << " is selected" << endl;
 373   }
 374   return 0.0;
 375 }
 376
 377 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 378
 379 double FGFCS::GetThrottlePos(int engineNum) const
 380 {
 381   if (engineNum < (int)ThrottlePos.size()) {
 382     if (engineNum < 0) {
 383        cerr << "Cannot get throttle value for ALL engines" << endl;
 384     } else {
 385       return ThrottlePos[engineNum];
 386     }
 387   } else {
 388     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 389          << " engines exist, but attempted throttle position setting is for engine "
 390          << engineNum << endl;
 391   }
 392   return 0.0;
 393 }
 394
 395 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 396
 397 void FGFCS::SetMixtureCmd(int engineNum, double setting)
 398 {
 399   unsigned int ctr;
 400
 401   if (engineNum < (int)ThrottlePos.size()) {
 402     if (engineNum < 0) {
 403       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
 404     } else {
 405       MixtureCmd[engineNum] = setting;
 406     }
 407   }
 408 }
 409
 410 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 411
 412 void FGFCS::SetMixturePos(int engineNum, double setting)
 413 {
 414   unsigned int ctr;
 415
 416   if (engineNum < (int)ThrottlePos.size()) {
 417     if (engineNum < 0) {
 418       for (ctr=0;ctr<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
 419     } else {
 420       MixturePos[engineNum] = setting;
 421     }
 422   }
 423 }
 424
 425 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 426
 427 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
 428 {
 429   unsigned int ctr;
 430
 431   if (engineNum < (int)ThrottlePos.size()) {
 432     if (engineNum < 0) {
 433       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
 434     } else {
 435       PropAdvanceCmd[engineNum] = setting;
 436     }
 437   }
 438 }
 439
 440 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 441
 442 void FGFCS::SetPropAdvance(int engineNum, double setting)
 443 {
 444   unsigned int ctr;
 445
 446   if (engineNum < (int)ThrottlePos.size()) {
 447     if (engineNum < 0) {
 448       for (ctr=0;ctr<=PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
 449     } else {
 450       PropAdvance[engineNum] = setting;
 451     }
 452   }
 453 }
 454
 455 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 456
 457 void FGFCS::SetFeatherCmd(int engineNum, bool setting)
 458 {
 459   unsigned int ctr;
 460
 461   if (engineNum < (int)ThrottlePos.size()) {
 462     if (engineNum < 0) {
 463       for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeatherCmd[ctr] = setting;
 464     } else {
 465       PropFeatherCmd[engineNum] = setting;
 466     }
 467   }
 468 }
 469
 470 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 471
 472 void FGFCS::SetPropFeather(int engineNum, bool setting)
 473 {
 474   unsigned int ctr;
 475
 476   if (engineNum < (int)ThrottlePos.size()) {
 477     if (engineNum < 0) {
 478       for (ctr=0;ctr<=PropFeatherCmd.size();ctr++) PropFeather[ctr] = PropFeatherCmd[ctr];
 479     } else {
 480       PropFeather[engineNum] = setting;
 481     }
 482   }
 483 }
 484
 485 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 486
 487 bool FGFCS::Load(Element* el, SystemType systype)
 488 {
 489   string name, file, fname, interface_property_string, parent_name;
 490   vector <FGFCSComponent*> *Components;
 491   Element *component_element, *property_element, *sensor_element;
 492   Element *channel_element;
 493
 494   Components=0;
 495
 496   string separator = "/";
 497
 498 // ToDo: The handling of name and file attributes could be improved, here,
 499 //       considering that a name can be in the external file, as well.
 500
 501   name = el->GetAttributeValue("name");
 502
 503   if (name.empty()) {
 504     fname = el->GetAttributeValue("file");
 505     if (systype == stSystem) {
 506       file = FindSystemFullPathname(fname);
 507     } else {
 508     file = FDMExec->GetFullAircraftPath() + separator + fname + ".xml";
 509     }
 510     if (fname.empty()) {
 511       cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl;
 512       return false;
 513     } else {
 514       document = LoadXMLDocument(file);
 515       name = document->GetAttributeValue("name");
 516     }
 517   } else {
 518     document = el;
 519   }
 520
 521   if (document->GetName() == "autopilot") {
 522     Components = &APComponents;
 523     Name = "Autopilot: " + document->GetAttributeValue("name");
 524   } else if (document->GetName() == "flight_control") {
 525     Components = &FCSComponents;
 526     Name = "FCS: " + document->GetAttributeValue("name");
 527   } else if (document->GetName() == "system") {
 528     Components = &Systems;
 529     Name = "System: " + document->GetAttributeValue("name");
 530   }
 531   Debug(2);
 532
 533   // ToDo: How do these get untied?
 534   // ToDo: Consider having INPUT and OUTPUT interface properties. Would then
 535   //       have to duplicate this block of code after channel read code.
 536   //       Input properties could be write only (nah), and output could be read
 537   //       only.
 538
 539   if (document->GetName() == "flight_control") bindModel();
 540
 541   // Interface properties from any autopilot, flight control, or other system are
 542   // all stored in the interface properties array.
 543
 544   property_element = document->FindElement("property");
 545   while (property_element) {
 546     double value=0.0;
 547     if ( ! property_element->GetAttributeValue("value").empty())
 548       value = property_element->GetAttributeValueAsNumber("value");
 549     interface_properties.push_back(new double(value));
 550     interface_property_string = property_element->GetDataLine();
 551     PropertyManager->Tie(interface_property_string, interface_properties.back());
 552     property_element = document->FindNextElement("property");
 553   }
 554
 555   // Any sensor elements that are outside of a channel (in either the autopilot
 556   // or the flight_control, or even any possible "system") are placed into the global
 557   // "sensors" array, and are executed prior to any autopilot, flight control, or
 558   // system.
 559
 560   sensor_element = document->FindElement("sensor");
 561   while (sensor_element) {
 562     try {
 563       sensors.push_back(new FGSensor(this, sensor_element));
 564     } catch (string s) {
 565       cerr << highint << fgred << endl << "  " << s << endl;
 566       return false;
 567     }
 568     sensor_element = document->FindNextElement("sensor");
 569   }
 570
 571   channel_element = document->FindElement("channel");
 572   while (channel_element) {
 573     component_element = channel_element->GetElement();
 574     while (component_element) {
 575       try {
 576         if ((component_element->GetName() == string("lag_filter")) ||
 577             (component_element->GetName() == string("lead_lag_filter")) ||
 578             (component_element->GetName() == string("washout_filter")) ||
 579             (component_element->GetName() == string("second_order_filter")) ||
 580             (component_element->GetName() == string("integrator")) )
 581         {
 582           Components->push_back(new FGFilter(this, component_element));
 583         } else if ((component_element->GetName() == string("pure_gain")) ||
 584                    (component_element->GetName() == string("scheduled_gain")) ||
 585                    (component_element->GetName() == string("aerosurface_scale")))
 586         {
 587           Components->push_back(new FGGain(this, component_element));
 588         } else if (component_element->GetName() == string("summer")) {
 589           Components->push_back(new FGSummer(this, component_element));
 590         } else if (component_element->GetName() == string("deadband")) {
 591           Components->push_back(new FGDeadBand(this, component_element));
 592         } else if (component_element->GetName() == string("switch")) {
 593           Components->push_back(new FGSwitch(this, component_element));
 594         } else if (component_element->GetName() == string("kinematic")) {
 595           Components->push_back(new FGKinemat(this, component_element));
 596         } else if (component_element->GetName() == string("fcs_function")) {
 597           Components->push_back(new FGFCSFunction(this, component_element));
 598         } else if (component_element->GetName() == string("pid")) {
 599           Components->push_back(new FGPID(this, component_element));
 600         } else if (component_element->GetName() == string("actuator")) {
 601           Components->push_back(new FGActuator(this, component_element));
 602         } else if (component_element->GetName() == string("sensor")) {
 603           Components->push_back(new FGSensor(this, component_element));
 604         } else {
 605           cerr << "Unknown FCS component: " << component_element->GetName() << endl;
 606         }
 607       } catch(string s) {
 608         cerr << highint << fgred << endl << "  " << s << endl;
 609         cerr << reset << endl;
 610         return false;
 611       }
 612       component_element = channel_element->GetNextElement();
 613     }
 614     channel_element = document->FindNextElement("channel");
 615   }
 616
 617   ResetParser();
 618
 619   return true;
 620 }
 621
 622 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 623
 624 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 625 {
 626   switch (bg) {
 627   case FGLGear::bgLeft:
 628     return LeftBrake;
 629   case FGLGear::bgRight:
 630     return RightBrake;
 631   case FGLGear::bgCenter:
 632     return CenterBrake;
 633   default:
 634     cerr << "GetBrake asked to return a bogus brake value" << endl;
 635   }
 636   return 0.0;
 637 }
 638
 639 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 640
 641 string FGFCS::FindSystemFullPathname(string system_filename)
 642 {
 643   string fullpath, localpath;
 644   string systemPath = FDMExec->GetSystemsPath();
 645   string aircraftPath = FDMExec->GetFullAircraftPath();
 646   ifstream system_file;
 647
 648   string separator = "/";
 649
 650   fullpath = systemPath + separator;
 651   localpath = aircraftPath + separator + "Systems" + separator;
 652
 653   system_file.open(string(fullpath + system_filename + ".xml").c_str());
 654   if ( !system_file.is_open()) {
 655     system_file.open(string(localpath + system_filename + ".xml").c_str());
 656       if ( !system_file.is_open()) {
 657         cerr << " Could not open system file: " << system_filename << " in path "
 658              << fullpath << " or " << localpath << endl;
 659         return string("");
 660       } else {
 661         return string(localpath + system_filename + ".xml");
 662       }
 663   }
 664   return string(fullpath + system_filename + ".xml");
 665 }
 666
 667 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 668
 669 ifstream* FGFCS::FindSystemFile(string system_filename)
 670 {
 671   string fullpath, localpath;
 672   string systemPath = FDMExec->GetSystemsPath();
 673   string aircraftPath = FDMExec->GetFullAircraftPath();
 674   ifstream* system_file = new ifstream();
 675
 676   string separator = "/";
 677
 678   fullpath = systemPath + separator;
 679   localpath = aircraftPath + separator + "Systems" + separator;
 680
 681   system_file->open(string(fullpath + system_filename + ".xml").c_str());
 682   if ( !system_file->is_open()) {
 683     system_file->open(string(localpath + system_filename + ".xml").c_str());
 684       if ( !system_file->is_open()) {
 685         cerr << " Could not open system file: " << system_filename << " in path "
 686              << fullpath << " or " << localpath << endl;
 687       }
 688   }
 689   return system_file;
 690 }
 691
 692 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 693
 694 string FGFCS::GetComponentStrings(string delimeter)
 695 {
 696   unsigned int comp;
 697   string CompStrings = "";
 698   bool firstime = true;
 699   int total_count=0;
 700
 701   for (unsigned int i=0; i<Systems.size(); i++) {
 702     if (firstime) firstime = false;
 703     else          CompStrings += delimeter;
 704
 705     CompStrings += Systems[i]->GetName();
 706     total_count++;
 707   }
 708
 709   for (comp = 0; comp < APComponents.size(); comp++)
 710   {
 711     if (firstime) firstime = false;
 712     else          CompStrings += delimeter;
 713
 714     CompStrings += APComponents[comp]->GetName();
 715     total_count++;
 716   }
 717
 718   for (comp = 0; comp < FCSComponents.size(); comp++) {
 719     if (firstime) firstime = false;
 720     else          CompStrings += delimeter;
 721
 722     CompStrings += FCSComponents[comp]->GetName();
 723     total_count++;
 724   }
 725
 726   return CompStrings;
 727 }
 728
 729 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 730
 731 string FGFCS::GetComponentValues(string delimeter)
 732 {
 733   unsigned int comp;
 734   string CompValues = "";
 735   char buffer[20];
 736   bool firstime = true;
 737   int total_count=0;
 738
 739   for (unsigned int i=0; i<Systems.size(); i++) {
 740     if (firstime) firstime = false;
 741     else          CompValues += delimeter;
 742
 743     sprintf(buffer, "%9.6f", Systems[i]->GetOutput());
 744     CompValues += string(buffer);
 745     total_count++;
 746   }
 747
 748   for (comp = 0; comp < APComponents.size(); comp++) {
 749     if (firstime) firstime = false;
 750     else          CompValues += delimeter;
 751
 752     sprintf(buffer, "%9.6f", APComponents[comp]->GetOutput());
 753     CompValues += string(buffer);
 754     total_count++;
 755   }
 756
 757   for (comp = 0; comp < FCSComponents.size(); comp++) {
 758     if (firstime) firstime = false;
 759     else          CompValues += delimeter;
 760
 761     sprintf(buffer, "%9.6f", FCSComponents[comp]->GetOutput());
 762     CompValues += string(buffer);
 763     total_count++;
 764   }
 765
 766   CompValues += "\0";
 767   return CompValues;
 768 }
 769
 770 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 771
 772 void FGFCS::AddThrottle(void)
 773 {
 774   ThrottleCmd.push_back(0.0);
 775   ThrottlePos.push_back(0.0);
 776   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 777   MixturePos.push_back(0.0);
 778   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 779   PropAdvance.push_back(0.0);
 780   PropFeatherCmd.push_back(false);
 781   PropFeather.push_back(false);
 782
 783   unsigned int num = (unsigned int)ThrottleCmd.size()-1;
 784   bindThrottle(num);
 785 }
 786
 787 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 788
 789 void FGFCS::AddGear(void)
 790 {
 791   SteerPosDeg.push_back(0.0);
 792 }
 793
 794 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 795
 796 double FGFCS::GetDt(void)
 797 {
 798   return FDMExec->GetDeltaT()*rate;
 799 }
 800
 801 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 802
 803 void FGFCS::bind(void)
 804 {
 805   PropertyManager->Tie("fcs/aileron-cmd-norm", this, &FGFCS::GetDaCmd, &FGFCS::SetDaCmd);
 806   PropertyManager->Tie("fcs/elevator-cmd-norm", this, &FGFCS::GetDeCmd, &FGFCS::SetDeCmd);
 807   PropertyManager->Tie("fcs/rudder-cmd-norm", this, &FGFCS::GetDrCmd, &FGFCS::SetDrCmd);
 808   PropertyManager->Tie("fcs/flap-cmd-norm", this, &FGFCS::GetDfCmd, &FGFCS::SetDfCmd);
 809   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this, &FGFCS::GetDsbCmd, &FGFCS::SetDsbCmd);
 810   PropertyManager->Tie("fcs/spoiler-cmd-norm", this, &FGFCS::GetDspCmd, &FGFCS::SetDspCmd);
 811   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this, &FGFCS::GetPitchTrimCmd, &FGFCS::SetPitchTrimCmd);
 812   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this, &FGFCS::GetRollTrimCmd, &FGFCS::SetRollTrimCmd);
 813   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this, &FGFCS::GetYawTrimCmd, &FGFCS::SetYawTrimCmd);
 814
 815   PropertyManager->Tie("fcs/left-aileron-pos-rad", this, ofRad, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 816   PropertyManager->Tie("fcs/left-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 817   PropertyManager->Tie("fcs/left-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 818   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this, ofMag, &FGFCS::GetDaLPos);
 819
 820   PropertyManager->Tie("fcs/right-aileron-pos-rad", this, ofRad, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 821   PropertyManager->Tie("fcs/right-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 822   PropertyManager->Tie("fcs/right-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 823   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this, ofMag, &FGFCS::GetDaRPos);
 824
 825   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad, &FGFCS::GetDePos, &FGFCS::SetDePos);
 826   PropertyManager->Tie("fcs/elevator-pos-deg", this, ofDeg, &FGFCS::GetDePos, &FGFCS::SetDePos);
 827   PropertyManager->Tie("fcs/elevator-pos-norm", this, ofNorm, &FGFCS::GetDePos, &FGFCS::SetDePos);
 828   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this, ofMag, &FGFCS::GetDePos);
 829
 830   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 831   PropertyManager->Tie("fcs/rudder-pos-deg", this,ofDeg, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 832   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 833   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag, &FGFCS::GetDrPos);
 834
 835   PropertyManager->Tie("fcs/flap-pos-rad", this,ofRad, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 836   PropertyManager->Tie("fcs/flap-pos-deg", this,ofDeg, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 837   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 838
 839   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 840   PropertyManager->Tie("fcs/speedbrake-pos-deg", this,ofDeg, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 841   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 842   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag, &FGFCS::GetDsbPos);
 843
 844   PropertyManager->Tie("fcs/spoiler-pos-rad", this, ofRad, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 845   PropertyManager->Tie("fcs/spoiler-pos-deg", this, ofDeg, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 846   PropertyManager->Tie("fcs/spoiler-pos-norm", this, ofNorm, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 847   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this, ofMag, &FGFCS::GetDspPos);
 848
 849   PropertyManager->Tie("gear/gear-pos-norm", this, &FGFCS::GetGearPos, &FGFCS::SetGearPos);
 850   PropertyManager->Tie("gear/gear-cmd-norm", this, &FGFCS::GetGearCmd, &FGFCS::SetGearCmd);
 851   PropertyManager->Tie("fcs/left-brake-cmd-norm", this, &FGFCS::GetLBrake, &FGFCS::SetLBrake);
 852   PropertyManager->Tie("fcs/right-brake-cmd-norm", this, &FGFCS::GetRBrake, &FGFCS::SetRBrake);
 853   PropertyManager->Tie("fcs/center-brake-cmd-norm", this, &FGFCS::GetCBrake, &FGFCS::SetCBrake);
 854   PropertyManager->Tie("fcs/steer-cmd-norm", this, &FGFCS::GetDsCmd, &FGFCS::SetDsCmd);
 855 }
 856
 857 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 858 // Technically, this function should probably bind propulsion type specific controls
 859 // rather than mixture and prop-advance.
 860 //
 861
 862 void FGFCS::bindThrottle(unsigned int num)
 863 {
 864   char tmp[80];
 865
 866   snprintf(tmp, 80, "fcs/throttle-cmd-norm[%u]",num);
 867   PropertyManager->Tie( tmp, this, num, &FGFCS::GetThrottleCmd,
 868                                         &FGFCS::SetThrottleCmd);
 869   snprintf(tmp, 80, "fcs/throttle-pos-norm[%u]",num);
 870   PropertyManager->Tie( tmp, this, num, &FGFCS::GetThrottlePos,
 871                                         &FGFCS::SetThrottlePos);
 872   snprintf(tmp, 80, "fcs/mixture-cmd-norm[%u]",num);
 873   PropertyManager->Tie( tmp, this, num, &FGFCS::GetMixtureCmd,
 874                                         &FGFCS::SetMixtureCmd);
 875   snprintf(tmp, 80, "fcs/mixture-pos-norm[%u]",num);
 876   PropertyManager->Tie( tmp, this, num, &FGFCS::GetMixturePos,
 877                                         &FGFCS::SetMixturePos);
 878   snprintf(tmp, 80, "fcs/advance-cmd-norm[%u]",num);
 879   PropertyManager->Tie( tmp, this, num, &FGFCS::GetPropAdvanceCmd,
 880                                         &FGFCS::SetPropAdvanceCmd);
 881   snprintf(tmp, 80, "fcs/advance-pos-norm[%u]", num);
 882   PropertyManager->Tie( tmp, this, num, &FGFCS::GetPropAdvance,
 883                                         &FGFCS::SetPropAdvance);
 884   snprintf(tmp, 80, "fcs/feather-cmd-norm[%u]", num);
 885   PropertyManager->Tie( tmp, this, num, &FGFCS::GetFeatherCmd,
 886                                         &FGFCS::SetFeatherCmd);
 887   snprintf(tmp, 80, "fcs/feather-pos-norm[%u]", num);
 888   PropertyManager->Tie( tmp, this, num, &FGFCS::GetPropFeather,
 889                                         &FGFCS::SetPropFeather);
 890 }
 891
 892 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 893
 894 void FGFCS::bindModel(void)
 895 {
 896   unsigned int i;
 897   char tmp[80];
 898
 899   for (i=0; i<SteerPosDeg.size(); i++) {
 900     if (GroundReactions->GetGearUnit(i)->GetSteerable()) {
 901       snprintf(tmp,80,"fcs/steer-pos-deg[%u]",i);
 902       PropertyManager->Tie( tmp, this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
 903     }
 904   }
 905 }
 906
 907 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 908 //    The bitmasked value choices are as follows:
 909 //    unset: In this case (the default) JSBSim would only print
 910 //       out the normally expected messages, essentially echoing
 911 //       the config files as they are read. If the environment
 912 //       variable is not set, debug_lvl is set to 1 internally
 913 //    0: This requests JSBSim not to output any messages
 914 //       whatsoever.
 915 //    1: This value explicity requests the normal JSBSim
 916 //       startup messages
 917 //    2: This value asks for a message to be printed out when
 918 //       a class is instantiated
 919 //    4: When this value is set, a message is displayed when a
 920 //       FGModel object executes its Run() method
 921 //    8: When this value is set, various runtime state variables
 922 //       are printed out periodically
 923 //    16: When set various parameters are sanity checked and
 924 //       a message is printed out when they go out of bounds
 925
 926 void FGFCS::Debug(int from)
 927 {
 928   if (debug_lvl <= 0) return;
 929
 930   if (debug_lvl & 1) { // Standard console startup message output
 931     if (from == 2) { // Loader
 932       cout << endl << "  Flight Control (" << Name << ")" << endl;
 933     }
 934   }
 935   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 936     if (from == 0) cout << "Instantiated: FGFCS" << endl;
 937     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
 938   }
 939   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 940   }
 941   if (debug_lvl & 8 ) { // Runtime state variables
 942   }
 943   if (debug_lvl & 16) { // Sanity checking
 944   }
 945   if (debug_lvl & 64) {
 946     if (from == 0) { // Constructor
 947       cout << IdSrc << endl;
 948       cout << IdHdr << endl;
 949     }
 950   }
 951 }
 952
 953 }