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 (jon@jsbsim.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 "FGGroundReactions.h"
  43 #include "input_output/FGPropertyManager.h"
  44 #include <fstream>
  45 #include <sstream>
  46 #include <iomanip>
  47
  48 #include "models/flight_control/FGFilter.h"
  49 #include "models/flight_control/FGDeadBand.h"
  50 #include "models/flight_control/FGGain.h"
  51 #include "models/flight_control/FGPID.h"
  52 #include "models/flight_control/FGSwitch.h"
  53 #include "models/flight_control/FGSummer.h"
  54 #include "models/flight_control/FGKinemat.h"
  55 #include "models/flight_control/FGFCSFunction.h"
  56 #include "models/flight_control/FGSensor.h"
  57 #include "models/flight_control/FGActuator.h"
  58 #include "models/flight_control/FGAccelerometer.h"
  59 #include "models/flight_control/FGMagnetometer.h"
  60 #include "models/flight_control/FGGyro.h"
  61
  62 using namespace std;
  63
  64 namespace JSBSim {
  65
  66 static const char *IdSrc = "$Id: FGFCS.cpp,v 1.71 2010/09/28 02:54:03 jberndt Exp $";
  67 static const char *IdHdr = ID_FCS;
  68
  69 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  70 CLASS IMPLEMENTATION
  71 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  72
  73 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
  74 {
  75   int i;
  76   Name = "FGFCS";
  77
  78   DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
  79   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
  80   GearCmd = GearPos = 1; // default to gear down
  81   LeftBrake = RightBrake = CenterBrake = 0.0;
  82   TailhookPos = WingFoldPos = 0.0;
  83
  84   bind();
  85   for (i=0;i<NForms;i++) {
  86     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
  87     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
  88   }
  89
  90   Debug(0);
  91 }
  92
  93 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  94
  95 FGFCS::~FGFCS()
  96 {
  97   ThrottleCmd.clear();
  98   ThrottlePos.clear();
  99   MixtureCmd.clear();
 100   MixturePos.clear();
 101   PropAdvanceCmd.clear();
 102   PropAdvance.clear();
 103   SteerPosDeg.clear();
 104   PropFeatherCmd.clear();
 105   PropFeather.clear();
 106
 107   unsigned int i;
 108
 109   for (i=0;i<APComponents.size();i++) delete APComponents[i];
 110   APComponents.clear();
 111   for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
 112   FCSComponents.clear();
 113   for (i=0;i<Systems.size();i++) delete Systems[i];
 114   Systems.clear();
 115
 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   TailhookPos = WingFoldPos = 0.0;
 138
 139   for (i=0;i<NForms;i++) {
 140     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
 141     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
 142   }
 143
 144   for (unsigned int i=0; i<Systems.size(); i++) {
 145     if (Systems[i]->GetType() == "LAG" ||
 146         Systems[i]->GetType() == "LEAD_LAG" ||
 147         Systems[i]->GetType() == "WASHOUT" ||
 148         Systems[i]->GetType() == "SECOND_ORDER_FILTER" ||
 149         Systems[i]->GetType() == "INTEGRATOR")
 150     {
 151       ((FGFilter*)Systems[i])->ResetPastStates();
 152     } else if (Systems[i]->GetType() == "PID" ) {
 153       ((FGPID*)Systems[i])->ResetPastStates();
 154     }
 155   }
 156
 157   for (unsigned int i=0; i<FCSComponents.size(); i++) {
 158     if (FCSComponents[i]->GetType() == "LAG" ||
 159         FCSComponents[i]->GetType() == "LEAD_LAG" ||
 160         FCSComponents[i]->GetType() == "WASHOUT" ||
 161         FCSComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
 162         FCSComponents[i]->GetType() == "INTEGRATOR")
 163     {
 164       ((FGFilter*)FCSComponents[i])->ResetPastStates();
 165     } else if (FCSComponents[i]->GetType() == "PID" ) {
 166       ((FGPID*)FCSComponents[i])->ResetPastStates();
 167     }
 168   }
 169
 170   for (unsigned int i=0; i<APComponents.size(); i++) {
 171     if (APComponents[i]->GetType() == "LAG" ||
 172         APComponents[i]->GetType() == "LEAD_LAG" ||
 173         APComponents[i]->GetType() == "WASHOUT" ||
 174         APComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
 175         APComponents[i]->GetType() == "INTEGRATOR")
 176     {
 177       ((FGFilter*)APComponents[i])->ResetPastStates();
 178     } else if (APComponents[i]->GetType() == "PID" ) {
 179       ((FGPID*)APComponents[i])->ResetPastStates();
 180     }
 181   }
 182
 183   return true;
 184 }
 185
 186 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 187
 188 void FGFCS::LateBind(void)
 189 {
 190   unsigned int i;
 191
 192   for (i=0; i<Systems.size(); i++) Systems[i]->LateBind();
 193   for (i=0; i<APComponents.size(); i++) APComponents[i]->LateBind();
 194   for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->LateBind();
 195 }
 196
 197 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 198 // Notes: In this logic the default engine commands are set. This is simply a
 199 // sort of safe-mode method in case the user has not defined control laws for
 200 // throttle, mixture, and prop-advance. The throttle, mixture, and prop advance
 201 // positions are set equal to the respective commands. Any control logic that is
 202 // actually present in the flight_control or autopilot section will override
 203 // these simple assignments.
 204
 205 bool FGFCS::Run(void)
 206 {
 207   unsigned int i;
 208
 209   if (FGModel::Run()) return true; // fast exit if nothing to do
 210   if (FDMExec->Holding()) return false;
 211
 212   RunPreFunctions();
 213
 214   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 215   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
 216   for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
 217   for (i=0; i<PropFeather.size(); i++) PropFeather[i] = PropFeatherCmd[i];
 218
 219   // Set the default steering angle
 220   for (i=0; i<SteerPosDeg.size(); i++) {
 221     FGLGear* gear = GroundReactions->GetGearUnit(i);
 222     SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
 223   }
 224
 225   // Execute Systems in order
 226   for (i=0; i<Systems.size(); i++) Systems[i]->Run();
 227
 228   // Execute Autopilot
 229   for (i=0; i<APComponents.size(); i++) APComponents[i]->Run();
 230
 231   // Execute Flight Control System
 232   for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
 233
 234   RunPostFunctions();
 235
 236   return false;
 237 }
 238
 239 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 240
 241 void FGFCS::SetDaLPos( int form , double pos )
 242 {
 243   switch(form) {
 244   case ofRad:
 245     DaLPos[ofRad] = pos;
 246     DaLPos[ofDeg] = pos*radtodeg;
 247     break;
 248   case ofDeg:
 249     DaLPos[ofRad] = pos*degtorad;
 250     DaLPos[ofDeg] = pos;
 251     break;
 252   case ofNorm:
 253     DaLPos[ofNorm] = pos;
 254   }
 255   DaLPos[ofMag] = fabs(DaLPos[ofRad]);
 256 }
 257
 258 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 259
 260 void FGFCS::SetDaRPos( int form , double pos )
 261 {
 262   switch(form) {
 263   case ofRad:
 264     DaRPos[ofRad] = pos;
 265     DaRPos[ofDeg] = pos*radtodeg;
 266     break;
 267   case ofDeg:
 268     DaRPos[ofRad] = pos*degtorad;
 269     DaRPos[ofDeg] = pos;
 270     break;
 271   case ofNorm:
 272     DaRPos[ofNorm] = pos;
 273   }
 274   DaRPos[ofMag] = fabs(DaRPos[ofRad]);
 275 }
 276
 277 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 278
 279 void FGFCS::SetDePos( int form , double pos )
 280 {
 281   switch(form) {
 282   case ofRad:
 283     DePos[ofRad] = pos;
 284     DePos[ofDeg] = pos*radtodeg;
 285     break;
 286   case ofDeg:
 287     DePos[ofRad] = pos*degtorad;
 288     DePos[ofDeg] = pos;
 289     break;
 290   case ofNorm:
 291     DePos[ofNorm] = pos;
 292   }
 293   DePos[ofMag] = fabs(DePos[ofRad]);
 294 }
 295
 296 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 297
 298 void FGFCS::SetDrPos( int form , double pos )
 299 {
 300   switch(form) {
 301   case ofRad:
 302     DrPos[ofRad] = pos;
 303     DrPos[ofDeg] = pos*radtodeg;
 304     break;
 305   case ofDeg:
 306     DrPos[ofRad] = pos*degtorad;
 307     DrPos[ofDeg] = pos;
 308     break;
 309   case ofNorm:
 310     DrPos[ofNorm] = pos;
 311   }
 312   DrPos[ofMag] = fabs(DrPos[ofRad]);
 313 }
 314
 315 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 316
 317 void FGFCS::SetDfPos( int form , double pos )
 318 {
 319   switch(form) {
 320   case ofRad:
 321     DfPos[ofRad] = pos;
 322     DfPos[ofDeg] = pos*radtodeg;
 323     break;
 324   case ofDeg:
 325     DfPos[ofRad] = pos*degtorad;
 326     DfPos[ofDeg] = pos;
 327     break;
 328   case ofNorm:
 329     DfPos[ofNorm] = pos;
 330   }
 331   DfPos[ofMag] = fabs(DfPos[ofRad]);
 332 }
 333
 334 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 335
 336 void FGFCS::SetDsbPos( int form , double pos )
 337 {
 338   switch(form) {
 339   case ofRad:
 340     DsbPos[ofRad] = pos;
 341     DsbPos[ofDeg] = pos*radtodeg;
 342     break;
 343   case ofDeg:
 344     DsbPos[ofRad] = pos*degtorad;
 345     DsbPos[ofDeg] = pos;
 346     break;
 347   case ofNorm:
 348     DsbPos[ofNorm] = pos;
 349   }
 350   DsbPos[ofMag] = fabs(DsbPos[ofRad]);
 351 }
 352
 353 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 354
 355 void FGFCS::SetDspPos( int form , double pos )
 356 {
 357   switch(form) {
 358   case ofRad:
 359     DspPos[ofRad] = pos;
 360     DspPos[ofDeg] = pos*radtodeg;
 361     break;
 362   case ofDeg:
 363     DspPos[ofRad] = pos*degtorad;
 364     DspPos[ofDeg] = pos;
 365     break;
 366   case ofNorm:
 367     DspPos[ofNorm] = pos;
 368   }
 369   DspPos[ofMag] = fabs(DspPos[ofRad]);
 370 }
 371
 372 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 373
 374 void FGFCS::SetThrottleCmd(int engineNum, double setting)
 375 {
 376   unsigned int ctr;
 377
 378   if (engineNum < (int)ThrottlePos.size()) {
 379     if (engineNum < 0) {
 380       for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 381     } else {
 382       ThrottleCmd[engineNum] = setting;
 383     }
 384   } else {
 385     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 386          << " engines exist, but attempted throttle command is for engine "
 387          << engineNum << endl;
 388   }
 389 }
 390
 391 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 392
 393 void FGFCS::SetThrottlePos(int engineNum, double setting)
 394 {
 395   unsigned int ctr;
 396
 397   if (engineNum < (int)ThrottlePos.size()) {
 398     if (engineNum < 0) {
 399       for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
 400     } else {
 401       ThrottlePos[engineNum] = setting;
 402     }
 403   } else {
 404     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 405          << " engines exist, but attempted throttle position setting is for engine "
 406          << engineNum << endl;
 407   }
 408 }
 409
 410 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 411
 412 double FGFCS::GetThrottleCmd(int engineNum) const
 413 {
 414   if (engineNum < (int)ThrottlePos.size()) {
 415     if (engineNum < 0) {
 416        cerr << "Cannot get throttle value for ALL engines" << endl;
 417     } else {
 418       return ThrottleCmd[engineNum];
 419     }
 420   } else {
 421     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 422          << " engines exist, but throttle setting for engine " << engineNum
 423          << " is selected" << endl;
 424   }
 425   return 0.0;
 426 }
 427
 428 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 429
 430 double FGFCS::GetThrottlePos(int engineNum) const
 431 {
 432   if (engineNum < (int)ThrottlePos.size()) {
 433     if (engineNum < 0) {
 434        cerr << "Cannot get throttle value for ALL engines" << endl;
 435     } else {
 436       return ThrottlePos[engineNum];
 437     }
 438   } else {
 439     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 440          << " engines exist, but attempted throttle position setting is for engine "
 441          << engineNum << endl;
 442   }
 443   return 0.0;
 444 }
 445
 446 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 447
 448 void FGFCS::SetMixtureCmd(int engineNum, double setting)
 449 {
 450   unsigned int ctr;
 451
 452   if (engineNum < (int)ThrottlePos.size()) {
 453     if (engineNum < 0) {
 454       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
 455     } else {
 456       MixtureCmd[engineNum] = setting;
 457     }
 458   }
 459 }
 460
 461 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 462
 463 void FGFCS::SetMixturePos(int engineNum, double setting)
 464 {
 465   unsigned int ctr;
 466
 467   if (engineNum < (int)ThrottlePos.size()) {
 468     if (engineNum < 0) {
 469       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
 470     } else {
 471       MixturePos[engineNum] = setting;
 472     }
 473   }
 474 }
 475
 476 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 477
 478 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
 479 {
 480   unsigned int ctr;
 481
 482   if (engineNum < (int)ThrottlePos.size()) {
 483     if (engineNum < 0) {
 484       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
 485     } else {
 486       PropAdvanceCmd[engineNum] = setting;
 487     }
 488   }
 489 }
 490
 491 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 492
 493 void FGFCS::SetPropAdvance(int engineNum, double setting)
 494 {
 495   unsigned int ctr;
 496
 497   if (engineNum < (int)ThrottlePos.size()) {
 498     if (engineNum < 0) {
 499       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
 500     } else {
 501       PropAdvance[engineNum] = setting;
 502     }
 503   }
 504 }
 505
 506 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 507
 508 void FGFCS::SetFeatherCmd(int engineNum, bool setting)
 509 {
 510   unsigned int ctr;
 511
 512   if (engineNum < (int)ThrottlePos.size()) {
 513     if (engineNum < 0) {
 514       for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeatherCmd[ctr] = setting;
 515     } else {
 516       PropFeatherCmd[engineNum] = setting;
 517     }
 518   }
 519 }
 520
 521 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 522
 523 void FGFCS::SetPropFeather(int engineNum, bool setting)
 524 {
 525   unsigned int ctr;
 526
 527   if (engineNum < (int)ThrottlePos.size()) {
 528     if (engineNum < 0) {
 529       for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeather[ctr] = PropFeatherCmd[ctr];
 530     } else {
 531       PropFeather[engineNum] = setting;
 532     }
 533   }
 534 }
 535
 536 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 537
 538 bool FGFCS::Load(Element* el, SystemType systype)
 539 {
 540   string name, file, fname="", interface_property_string, parent_name;
 541   vector <FGFCSComponent*> *Components;
 542   Element *component_element;
 543   Element *channel_element;
 544
 545   Components=0;
 546
 547 // ToDo: The handling of name and file attributes could be improved, here,
 548 //       considering that a name can be in the external file, as well.
 549
 550   name = el->GetAttributeValue("name");
 551
 552   if (name.empty() || !el->GetAttributeValue("file").empty()) {
 553     fname = el->GetAttributeValue("file");
 554     if (systype == stSystem) {
 555       file = FindSystemFullPathname(fname);
 556     } else {
 557       file = FDMExec->GetFullAircraftPath() + "/" + fname + ".xml";
 558     }
 559     if (fname.empty()) {
 560       cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl;
 561       return false;
 562     } else {
 563       document = LoadXMLDocument(file);
 564       if (!document) {
 565         cerr << "Error loading file " << file << endl;
 566         return false;
 567       }
 568       name = document->GetAttributeValue("name");
 569     }
 570   } else {
 571     document = el;
 572   }
 573
 574   if (document->GetName() == "autopilot") {
 575     Components = &APComponents;
 576     Name = "Autopilot: " + document->GetAttributeValue("name");
 577   } else if (document->GetName() == "flight_control") {
 578     Components = &FCSComponents;
 579     Name = "FCS: " + document->GetAttributeValue("name");
 580   } else if (document->GetName() == "system") {
 581     Components = &Systems;
 582     Name = "System: " + document->GetAttributeValue("name");
 583   }
 584   Debug(2);
 585
 586   if (document->GetName() == "flight_control") bindModel();
 587
 588   FGModel::Load(document); // Load interface properties from document
 589
 590   // After reading interface properties in a file, read properties in the local
 591   // flight_control, autopilot, or system element. This allows general-purpose
 592   // systems to be defined in a file, with overrides or initial loaded constants
 593   // supplied in the relevant element of the aircraft configuration file.
 594
 595   Element* property_element = 0;
 596
 597   if (!fname.empty()) {
 598     property_element = el->FindElement("property");
 599     if (property_element && debug_lvl > 0) cout << endl << "    Overriding properties" << endl << endl;
 600     while (property_element) {
 601       double value=0.0;
 602       if ( ! property_element->GetAttributeValue("value").empty())
 603         value = property_element->GetAttributeValueAsNumber("value");
 604
 605       interface_property_string = property_element->GetDataLine();
 606       if (PropertyManager->HasNode(interface_property_string)) {
 607         FGPropertyManager* node = PropertyManager->GetNode(interface_property_string);
 608         if (debug_lvl > 0)
 609           cout << "      " << "Overriding value for property " << interface_property_string
 610                << " (old value: " << node->getDoubleValue() << "  new value: " << value << ")" << endl;
 611         node->setDoubleValue(value);
 612       } else {
 613         interface_properties.push_back(new double(value));
 614         PropertyManager->Tie(interface_property_string, interface_properties.back());
 615         if (debug_lvl > 0)
 616           cout << "      " << interface_property_string << " (initial value: " << value << ")" << endl;
 617       }
 618
 619       property_element = el->FindNextElement("property");
 620     }
 621   }
 622
 623   channel_element = document->FindElement("channel");
 624   while (channel_element) {
 625
 626     if (debug_lvl > 0)
 627       cout << endl << highint << fgblue << "    Channel "
 628          << normint << channel_element->GetAttributeValue("name") << reset << endl;
 629
 630     component_element = channel_element->GetElement();
 631     while (component_element) {
 632       try {
 633         if ((component_element->GetName() == string("lag_filter")) ||
 634             (component_element->GetName() == string("lead_lag_filter")) ||
 635             (component_element->GetName() == string("washout_filter")) ||
 636             (component_element->GetName() == string("second_order_filter")) ||
 637             (component_element->GetName() == string("integrator")) )
 638         {
 639           Components->push_back(new FGFilter(this, component_element));
 640         } else if ((component_element->GetName() == string("pure_gain")) ||
 641                    (component_element->GetName() == string("scheduled_gain")) ||
 642                    (component_element->GetName() == string("aerosurface_scale")))
 643         {
 644           Components->push_back(new FGGain(this, component_element));
 645         } else if (component_element->GetName() == string("summer")) {
 646           Components->push_back(new FGSummer(this, component_element));
 647         } else if (component_element->GetName() == string("deadband")) {
 648           Components->push_back(new FGDeadBand(this, component_element));
 649         } else if (component_element->GetName() == string("switch")) {
 650           Components->push_back(new FGSwitch(this, component_element));
 651         } else if (component_element->GetName() == string("kinematic")) {
 652           Components->push_back(new FGKinemat(this, component_element));
 653         } else if (component_element->GetName() == string("fcs_function")) {
 654           Components->push_back(new FGFCSFunction(this, component_element));
 655         } else if (component_element->GetName() == string("pid")) {
 656           Components->push_back(new FGPID(this, component_element));
 657         } else if (component_element->GetName() == string("actuator")) {
 658           Components->push_back(new FGActuator(this, component_element));
 659         } else if (component_element->GetName() == string("sensor")) {
 660           Components->push_back(new FGSensor(this, component_element));
 661         } else if (component_element->GetName() == string("accelerometer")) {
 662           Components->push_back(new FGAccelerometer(this, component_element));
 663         } else if (component_element->GetName() == string("magnetometer")) {
 664           Components->push_back(new FGMagnetometer(this, component_element));
 665         } else if (component_element->GetName() == string("gyro")) {
 666           Components->push_back(new FGGyro(this, component_element));
 667         } else {
 668           cerr << "Unknown FCS component: " << component_element->GetName() << endl;
 669         }
 670       } catch(string s) {
 671         cerr << highint << fgred << endl << "  " << s << endl;
 672         cerr << reset << endl;
 673         return false;
 674       }
 675       component_element = channel_element->GetNextElement();
 676     }
 677     channel_element = document->FindNextElement("channel");
 678   }
 679
 680   ResetParser();
 681
 682   return true;
 683 }
 684
 685 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 686
 687 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 688 {
 689   switch (bg) {
 690   case FGLGear::bgLeft:
 691     return LeftBrake;
 692   case FGLGear::bgRight:
 693     return RightBrake;
 694   case FGLGear::bgCenter:
 695     return CenterBrake;
 696   default:
 697     cerr << "GetBrake asked to return a bogus brake value" << endl;
 698   }
 699   return 0.0;
 700 }
 701
 702 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 703
 704 string FGFCS::FindSystemFullPathname(const string& sysfilename)
 705 {
 706   string fullpath, localpath;
 707   string system_filename = sysfilename;
 708   string systemPath = FDMExec->GetSystemsPath();
 709   string aircraftPath = FDMExec->GetFullAircraftPath();
 710   ifstream system_file;
 711
 712   fullpath = systemPath + "/";
 713   localpath = aircraftPath + "/Systems/";
 714
 715   if (system_filename.length() <=4 || system_filename.substr(system_filename.length()-4, 4) != ".xml") {
 716     system_filename.append(".xml");
 717   }
 718
 719   system_file.open(string(localpath + system_filename).c_str());
 720   if ( !system_file.is_open()) {
 721     system_file.open(string(fullpath + system_filename).c_str());
 722       if ( !system_file.is_open()) {
 723         cerr << " Could not open system file: " << system_filename << " in path "
 724              << fullpath << " or " << localpath << endl;
 725         return string("");
 726       } else {
 727         return string(fullpath + system_filename);
 728       }
 729   }
 730   return string(localpath + system_filename);
 731 }
 732
 733 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 734
 735 ifstream* FGFCS::FindSystemFile(const string& sysfilename)
 736 {
 737   string fullpath, localpath;
 738   string system_filename = sysfilename;
 739   string systemPath = FDMExec->GetSystemsPath();
 740   string aircraftPath = FDMExec->GetFullAircraftPath();
 741   ifstream* system_file = new ifstream();
 742
 743   fullpath = systemPath + "/";
 744   localpath = aircraftPath + "/Systems/";
 745
 746   if (system_filename.substr(system_filename.length()-4, 4) != ".xml") {
 747     system_filename.append(".xml");
 748   }
 749
 750   system_file->open(string(localpath + system_filename).c_str());
 751   if ( !system_file->is_open()) {
 752     system_file->open(string(fullpath + system_filename).c_str());
 753       if ( !system_file->is_open()) {
 754         cerr << " Could not open system file: " << system_filename << " in path "
 755              << fullpath << " or " << localpath << endl;
 756       }
 757   }
 758   return system_file;
 759 }
 760
 761 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 762
 763 string FGFCS::GetComponentStrings(const string& delimiter)
 764 {
 765   unsigned int comp;
 766   string CompStrings = "";
 767   bool firstime = true;
 768   int total_count=0;
 769
 770   for (unsigned int i=0; i<Systems.size(); i++) {
 771     if (firstime) firstime = false;
 772     else          CompStrings += delimiter;
 773
 774     CompStrings += Systems[i]->GetName();
 775     total_count++;
 776   }
 777
 778   for (comp = 0; comp < APComponents.size(); comp++)
 779   {
 780     if (firstime) firstime = false;
 781     else          CompStrings += delimiter;
 782
 783     CompStrings += APComponents[comp]->GetName();
 784     total_count++;
 785   }
 786
 787   for (comp = 0; comp < FCSComponents.size(); comp++) {
 788     if (firstime) firstime = false;
 789     else          CompStrings += delimiter;
 790
 791     CompStrings += FCSComponents[comp]->GetName();
 792     total_count++;
 793   }
 794
 795   return CompStrings;
 796 }
 797
 798 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 799
 800 string FGFCS::GetComponentValues(const string& delimiter)
 801 {
 802   std::ostringstream buf;
 803
 804   unsigned int comp;
 805   bool firstime = true;
 806   int total_count=0;
 807
 808   for (unsigned int i=0; i<Systems.size(); i++) {
 809     if (firstime) firstime = false;
 810     else          buf << delimiter;
 811
 812     buf << setprecision(9) << Systems[i]->GetOutput();
 813     total_count++;
 814   }
 815
 816   for (comp = 0; comp < APComponents.size(); comp++) {
 817     if (firstime) firstime = false;
 818     else          buf << delimiter;
 819
 820     buf << setprecision(9) << APComponents[comp]->GetOutput();
 821     total_count++;
 822   }
 823
 824   for (comp = 0; comp < FCSComponents.size(); comp++) {
 825     if (firstime) firstime = false;
 826     else          buf << delimiter;
 827
 828     buf << setprecision(9) << FCSComponents[comp]->GetOutput();
 829     total_count++;
 830   }
 831
 832   return buf.str();
 833 }
 834
 835 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 836
 837 void FGFCS::AddThrottle(void)
 838 {
 839   ThrottleCmd.push_back(0.0);
 840   ThrottlePos.push_back(0.0);
 841   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 842   MixturePos.push_back(0.0);
 843   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 844   PropAdvance.push_back(0.0);
 845   PropFeatherCmd.push_back(false);
 846   PropFeather.push_back(false);
 847
 848   unsigned int num = (unsigned int)ThrottleCmd.size()-1;
 849   bindThrottle(num);
 850 }
 851
 852 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 853
 854 void FGFCS::AddGear(void)
 855 {
 856   SteerPosDeg.push_back(0.0);
 857 }
 858
 859 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 860
 861 double FGFCS::GetDt(void)
 862 {
 863   return FDMExec->GetDeltaT()*rate;
 864 }
 865
 866 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 867
 868 void FGFCS::bind(void)
 869 {
 870   PropertyManager->Tie("fcs/aileron-cmd-norm", this, &FGFCS::GetDaCmd, &FGFCS::SetDaCmd);
 871   PropertyManager->Tie("fcs/elevator-cmd-norm", this, &FGFCS::GetDeCmd, &FGFCS::SetDeCmd);
 872   PropertyManager->Tie("fcs/rudder-cmd-norm", this, &FGFCS::GetDrCmd, &FGFCS::SetDrCmd);
 873   PropertyManager->Tie("fcs/flap-cmd-norm", this, &FGFCS::GetDfCmd, &FGFCS::SetDfCmd);
 874   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this, &FGFCS::GetDsbCmd, &FGFCS::SetDsbCmd);
 875   PropertyManager->Tie("fcs/spoiler-cmd-norm", this, &FGFCS::GetDspCmd, &FGFCS::SetDspCmd);
 876   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this, &FGFCS::GetPitchTrimCmd, &FGFCS::SetPitchTrimCmd);
 877   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this, &FGFCS::GetRollTrimCmd, &FGFCS::SetRollTrimCmd);
 878   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this, &FGFCS::GetYawTrimCmd, &FGFCS::SetYawTrimCmd);
 879
 880   PropertyManager->Tie("fcs/left-aileron-pos-rad", this, ofRad, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 881   PropertyManager->Tie("fcs/left-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 882   PropertyManager->Tie("fcs/left-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 883   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this, ofMag, &FGFCS::GetDaLPos);
 884
 885   PropertyManager->Tie("fcs/right-aileron-pos-rad", this, ofRad, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 886   PropertyManager->Tie("fcs/right-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 887   PropertyManager->Tie("fcs/right-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 888   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this, ofMag, &FGFCS::GetDaRPos);
 889
 890   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad, &FGFCS::GetDePos, &FGFCS::SetDePos);
 891   PropertyManager->Tie("fcs/elevator-pos-deg", this, ofDeg, &FGFCS::GetDePos, &FGFCS::SetDePos);
 892   PropertyManager->Tie("fcs/elevator-pos-norm", this, ofNorm, &FGFCS::GetDePos, &FGFCS::SetDePos);
 893   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this, ofMag, &FGFCS::GetDePos);
 894
 895   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 896   PropertyManager->Tie("fcs/rudder-pos-deg", this,ofDeg, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 897   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 898   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag, &FGFCS::GetDrPos);
 899
 900   PropertyManager->Tie("fcs/flap-pos-rad", this,ofRad, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 901   PropertyManager->Tie("fcs/flap-pos-deg", this,ofDeg, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 902   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 903
 904   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 905   PropertyManager->Tie("fcs/speedbrake-pos-deg", this,ofDeg, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 906   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 907   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag, &FGFCS::GetDsbPos);
 908
 909   PropertyManager->Tie("fcs/spoiler-pos-rad", this, ofRad, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 910   PropertyManager->Tie("fcs/spoiler-pos-deg", this, ofDeg, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 911   PropertyManager->Tie("fcs/spoiler-pos-norm", this, ofNorm, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 912   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this, ofMag, &FGFCS::GetDspPos);
 913
 914   PropertyManager->Tie("gear/gear-pos-norm", this, &FGFCS::GetGearPos, &FGFCS::SetGearPos);
 915   PropertyManager->Tie("gear/gear-cmd-norm", this, &FGFCS::GetGearCmd, &FGFCS::SetGearCmd);
 916   PropertyManager->Tie("fcs/left-brake-cmd-norm", this, &FGFCS::GetLBrake, &FGFCS::SetLBrake);
 917   PropertyManager->Tie("fcs/right-brake-cmd-norm", this, &FGFCS::GetRBrake, &FGFCS::SetRBrake);
 918   PropertyManager->Tie("fcs/center-brake-cmd-norm", this, &FGFCS::GetCBrake, &FGFCS::SetCBrake);
 919   PropertyManager->Tie("fcs/steer-cmd-norm", this, &FGFCS::GetDsCmd, &FGFCS::SetDsCmd);
 920
 921   PropertyManager->Tie("gear/tailhook-pos-norm", this, &FGFCS::GetTailhookPos, &FGFCS::SetTailhookPos);
 922   PropertyManager->Tie("fcs/wing-fold-pos-norm", this, &FGFCS::GetWingFoldPos, &FGFCS::SetWingFoldPos);
 923 }
 924
 925 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 926 // Technically, this function should probably bind propulsion type specific controls
 927 // rather than mixture and prop-advance.
 928
 929 void FGFCS::bindThrottle(unsigned int num)
 930 {
 931   string tmp;
 932
 933   tmp = CreateIndexedPropertyName("fcs/throttle-cmd-norm", num);
 934   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottleCmd,
 935                                         &FGFCS::SetThrottleCmd);
 936   tmp = CreateIndexedPropertyName("fcs/throttle-pos-norm", num);
 937   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottlePos,
 938                                         &FGFCS::SetThrottlePos);
 939   tmp = CreateIndexedPropertyName("fcs/mixture-cmd-norm", num);
 940   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixtureCmd,
 941                                         &FGFCS::SetMixtureCmd);
 942   tmp = CreateIndexedPropertyName("fcs/mixture-pos-norm", num);
 943   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixturePos,
 944                                         &FGFCS::SetMixturePos);
 945   tmp = CreateIndexedPropertyName("fcs/advance-cmd-norm", num);
 946   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvanceCmd,
 947                                         &FGFCS::SetPropAdvanceCmd);
 948   tmp = CreateIndexedPropertyName("fcs/advance-pos-norm", num);
 949   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvance,
 950                                         &FGFCS::SetPropAdvance);
 951   tmp = CreateIndexedPropertyName("fcs/feather-cmd-norm", num);
 952   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetFeatherCmd,
 953                                         &FGFCS::SetFeatherCmd);
 954   tmp = CreateIndexedPropertyName("fcs/feather-pos-norm", num);
 955   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropFeather,
 956                                         &FGFCS::SetPropFeather);
 957 }
 958
 959 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 960
 961 void FGFCS::bindModel(void)
 962 {
 963   unsigned int i;
 964   string tmp;
 965
 966   for (i=0; i<SteerPosDeg.size(); i++) {
 967     if (GroundReactions->GetGearUnit(i)->GetSteerable()) {
 968       tmp = CreateIndexedPropertyName("fcs/steer-pos-deg", i);
 969       PropertyManager->Tie( tmp.c_str(), this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
 970     }
 971   }
 972 }
 973
 974 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 975 //    The bitmasked value choices are as follows:
 976 //    unset: In this case (the default) JSBSim would only print
 977 //       out the normally expected messages, essentially echoing
 978 //       the config files as they are read. If the environment
 979 //       variable is not set, debug_lvl is set to 1 internally
 980 //    0: This requests JSBSim not to output any messages
 981 //       whatsoever.
 982 //    1: This value explicity requests the normal JSBSim
 983 //       startup messages
 984 //    2: This value asks for a message to be printed out when
 985 //       a class is instantiated
 986 //    4: When this value is set, a message is displayed when a
 987 //       FGModel object executes its Run() method
 988 //    8: When this value is set, various runtime state variables
 989 //       are printed out periodically
 990 //    16: When set various parameters are sanity checked and
 991 //       a message is printed out when they go out of bounds
 992
 993 void FGFCS::Debug(int from)
 994 {
 995   if (debug_lvl <= 0) return;
 996
 997   if (debug_lvl & 1) { // Standard console startup message output
 998     if (from == 2) { // Loader
 999       cout << endl << "  " << Name << endl;
1000     }
1001   }
1002   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
1003     if (from == 0) cout << "Instantiated: FGFCS" << endl;
1004     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
1005   }
1006   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
1007   }
1008   if (debug_lvl & 8 ) { // Runtime state variables
1009   }
1010   if (debug_lvl & 16) { // Sanity checking
1011   }
1012   if (debug_lvl & 64) {
1013     if (from == 0) { // Constructor
1014       cout << IdSrc << endl;
1015       cout << IdHdr << endl;
1016     }
1017   }
1018 }
1019
1020 }