1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
6 Purpose: Model the flight controls
9 ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
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
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
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.
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.
28 FUNCTIONAL DESCRIPTION
29 --------------------------------------------------------------------------------
30 This class models the flight controls for a specific airplane
33 --------------------------------------------------------------------------------
36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
45 #include "FGFDMExec.h"
46 #include "FGGroundReactions.h"
47 #include "input_output/FGPropertyManager.h"
49 #include "models/flight_control/FGFilter.h"
50 #include "models/flight_control/FGDeadBand.h"
51 #include "models/flight_control/FGGain.h"
52 #include "models/flight_control/FGPID.h"
53 #include "models/flight_control/FGSwitch.h"
54 #include "models/flight_control/FGSummer.h"
55 #include "models/flight_control/FGKinemat.h"
56 #include "models/flight_control/FGFCSFunction.h"
57 #include "models/flight_control/FGSensor.h"
58 #include "models/flight_control/FGActuator.h"
59 #include "models/flight_control/FGAccelerometer.h"
60 #include "models/flight_control/FGMagnetometer.h"
61 #include "models/flight_control/FGGyro.h"
67 static const char *IdSrc = "$Id: FGFCS.cpp,v 1.77 2011/09/25 14:05:40 bcoconni Exp $";
68 static const char *IdHdr = ID_FCS;
70 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
72 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
74 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
79 DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
80 PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
81 GearCmd = GearPos = 1; // default to gear down
82 BrakePos.resize(FGLGear::bgNumBrakeGroups);
83 TailhookPos = WingFoldPos = 0.0;
86 for (i=0;i<NForms;i++) {
87 DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
88 DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
94 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
102 PropAdvanceCmd.clear();
105 PropFeatherCmd.clear();
110 for (i=0;i<APComponents.size();i++) delete APComponents[i];
111 APComponents.clear();
112 for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
113 FCSComponents.clear();
114 for (i=0;i<Systems.size();i++) delete Systems[i];
121 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
123 bool FGFCS::InitModel(void)
127 for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = 0.0;
128 for (i=0; i<MixturePos.size(); i++) MixturePos[i] = 0.0;
129 for (i=0; i<ThrottleCmd.size(); i++) ThrottleCmd[i] = 0.0;
130 for (i=0; i<MixtureCmd.size(); i++) MixtureCmd[i] = 0.0;
131 for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = 0.0;
132 for (i=0; i<PropFeather.size(); i++) PropFeather[i] = 0.0;
134 DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
135 PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
136 TailhookPos = WingFoldPos = 0.0;
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;
143 for (unsigned int i=0; i<Systems.size(); i++) {
144 if (Systems[i]->GetType() == "LAG" ||
145 Systems[i]->GetType() == "LEAD_LAG" ||
146 Systems[i]->GetType() == "WASHOUT" ||
147 Systems[i]->GetType() == "SECOND_ORDER_FILTER" ||
148 Systems[i]->GetType() == "INTEGRATOR")
150 ((FGFilter*)Systems[i])->ResetPastStates();
151 } else if (Systems[i]->GetType() == "PID" ) {
152 ((FGPID*)Systems[i])->ResetPastStates();
156 for (unsigned int i=0; i<FCSComponents.size(); i++) {
157 if (FCSComponents[i]->GetType() == "LAG" ||
158 FCSComponents[i]->GetType() == "LEAD_LAG" ||
159 FCSComponents[i]->GetType() == "WASHOUT" ||
160 FCSComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
161 FCSComponents[i]->GetType() == "INTEGRATOR")
163 ((FGFilter*)FCSComponents[i])->ResetPastStates();
164 } else if (FCSComponents[i]->GetType() == "PID" ) {
165 ((FGPID*)FCSComponents[i])->ResetPastStates();
169 for (unsigned int i=0; i<APComponents.size(); i++) {
170 if (APComponents[i]->GetType() == "LAG" ||
171 APComponents[i]->GetType() == "LEAD_LAG" ||
172 APComponents[i]->GetType() == "WASHOUT" ||
173 APComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
174 APComponents[i]->GetType() == "INTEGRATOR")
176 ((FGFilter*)APComponents[i])->ResetPastStates();
177 } else if (APComponents[i]->GetType() == "PID" ) {
178 ((FGPID*)APComponents[i])->ResetPastStates();
185 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
186 // Notes: In this logic the default engine commands are set. This is simply a
187 // sort of safe-mode method in case the user has not defined control laws for
188 // throttle, mixture, and prop-advance. The throttle, mixture, and prop advance
189 // positions are set equal to the respective commands. Any control logic that is
190 // actually present in the flight_control or autopilot section will override
191 // these simple assignments.
193 bool FGFCS::Run(bool Holding)
197 if (FGModel::Run(Holding)) return true; // fast exit if nothing to do
198 if (Holding) return false;
202 for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
203 for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
204 for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
205 for (i=0; i<PropFeather.size(); i++) PropFeather[i] = PropFeatherCmd[i];
207 // Set the default steering angle
208 for (i=0; i<SteerPosDeg.size(); i++) {
209 FGLGear* gear = FDMExec->GetGroundReactions()->GetGearUnit(i);
210 SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
213 // Execute Systems in order
214 for (i=0; i<Systems.size(); i++) Systems[i]->Run();
217 for (i=0; i<APComponents.size(); i++) APComponents[i]->Run();
219 // Execute Flight Control System
220 for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
227 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
229 void FGFCS::SetDaLPos( int form , double pos )
234 DaLPos[ofDeg] = pos*radtodeg;
237 DaLPos[ofRad] = pos*degtorad;
241 DaLPos[ofNorm] = pos;
243 DaLPos[ofMag] = fabs(DaLPos[ofRad]);
246 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
248 void FGFCS::SetDaRPos( int form , double pos )
253 DaRPos[ofDeg] = pos*radtodeg;
256 DaRPos[ofRad] = pos*degtorad;
260 DaRPos[ofNorm] = pos;
262 DaRPos[ofMag] = fabs(DaRPos[ofRad]);
265 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
267 void FGFCS::SetDePos( int form , double pos )
272 DePos[ofDeg] = pos*radtodeg;
275 DePos[ofRad] = pos*degtorad;
281 DePos[ofMag] = fabs(DePos[ofRad]);
284 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
286 void FGFCS::SetDrPos( int form , double pos )
291 DrPos[ofDeg] = pos*radtodeg;
294 DrPos[ofRad] = pos*degtorad;
300 DrPos[ofMag] = fabs(DrPos[ofRad]);
303 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
305 void FGFCS::SetDfPos( int form , double pos )
310 DfPos[ofDeg] = pos*radtodeg;
313 DfPos[ofRad] = pos*degtorad;
319 DfPos[ofMag] = fabs(DfPos[ofRad]);
322 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
324 void FGFCS::SetDsbPos( int form , double pos )
329 DsbPos[ofDeg] = pos*radtodeg;
332 DsbPos[ofRad] = pos*degtorad;
336 DsbPos[ofNorm] = pos;
338 DsbPos[ofMag] = fabs(DsbPos[ofRad]);
341 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
343 void FGFCS::SetDspPos( int form , double pos )
348 DspPos[ofDeg] = pos*radtodeg;
351 DspPos[ofRad] = pos*degtorad;
355 DspPos[ofNorm] = pos;
357 DspPos[ofMag] = fabs(DspPos[ofRad]);
360 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
362 void FGFCS::SetThrottleCmd(int engineNum, double setting)
366 if (engineNum < (int)ThrottlePos.size()) {
368 for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
370 ThrottleCmd[engineNum] = setting;
373 cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
374 << " engines exist, but attempted throttle command is for engine "
375 << engineNum << endl;
379 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
381 void FGFCS::SetThrottlePos(int engineNum, double setting)
385 if (engineNum < (int)ThrottlePos.size()) {
387 for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
389 ThrottlePos[engineNum] = setting;
392 cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
393 << " engines exist, but attempted throttle position setting is for engine "
394 << engineNum << endl;
398 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
400 double FGFCS::GetThrottleCmd(int engineNum) const
402 if (engineNum < (int)ThrottlePos.size()) {
404 cerr << "Cannot get throttle value for ALL engines" << endl;
406 return ThrottleCmd[engineNum];
409 cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
410 << " engines exist, but throttle setting for engine " << engineNum
411 << " is selected" << endl;
416 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
418 double FGFCS::GetThrottlePos(int engineNum) const
420 if (engineNum < (int)ThrottlePos.size()) {
422 cerr << "Cannot get throttle value for ALL engines" << endl;
424 return ThrottlePos[engineNum];
427 cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
428 << " engines exist, but attempted throttle position setting is for engine "
429 << engineNum << endl;
434 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
436 void FGFCS::SetMixtureCmd(int engineNum, double setting)
440 if (engineNum < (int)ThrottlePos.size()) {
442 for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
444 MixtureCmd[engineNum] = setting;
449 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
451 void FGFCS::SetMixturePos(int engineNum, double setting)
455 if (engineNum < (int)ThrottlePos.size()) {
457 for (ctr=0;ctr<MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
459 MixturePos[engineNum] = setting;
464 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
466 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
470 if (engineNum < (int)ThrottlePos.size()) {
472 for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
474 PropAdvanceCmd[engineNum] = setting;
479 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
481 void FGFCS::SetPropAdvance(int engineNum, double setting)
485 if (engineNum < (int)ThrottlePos.size()) {
487 for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
489 PropAdvance[engineNum] = setting;
494 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
496 void FGFCS::SetFeatherCmd(int engineNum, bool setting)
500 if (engineNum < (int)ThrottlePos.size()) {
502 for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeatherCmd[ctr] = setting;
504 PropFeatherCmd[engineNum] = setting;
509 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
511 void FGFCS::SetPropFeather(int engineNum, bool setting)
515 if (engineNum < (int)ThrottlePos.size()) {
517 for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeather[ctr] = PropFeatherCmd[ctr];
519 PropFeather[engineNum] = setting;
524 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
526 bool FGFCS::Load(Element* el, SystemType systype)
528 string name, file, fname="", interface_property_string, parent_name;
529 vector <FGFCSComponent*> *Components;
530 Element *component_element;
531 Element *channel_element;
535 // ToDo: The handling of name and file attributes could be improved, here,
536 // considering that a name can be in the external file, as well.
538 name = el->GetAttributeValue("name");
540 if (name.empty() || !el->GetAttributeValue("file").empty()) {
541 fname = el->GetAttributeValue("file");
542 if (systype == stSystem) {
543 file = FindSystemFullPathname(fname);
545 file = FDMExec->GetFullAircraftPath() + "/" + fname + ".xml";
548 cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl;
551 document = LoadXMLDocument(file);
553 cerr << "Error loading file " << file << endl;
556 name = document->GetAttributeValue("name");
562 if (document->GetName() == "autopilot") {
563 Components = &APComponents;
564 Name = "Autopilot: " + document->GetAttributeValue("name");
565 } else if (document->GetName() == "flight_control") {
566 Components = &FCSComponents;
567 Name = "FCS: " + document->GetAttributeValue("name");
568 } else if (document->GetName() == "system") {
569 Components = &Systems;
570 Name = "System: " + document->GetAttributeValue("name");
574 if (document->GetName() == "flight_control") bindModel();
576 FGModel::Load(document); // Load interface properties from document
578 // After reading interface properties in a file, read properties in the local
579 // flight_control, autopilot, or system element. This allows general-purpose
580 // systems to be defined in a file, with overrides or initial loaded constants
581 // supplied in the relevant element of the aircraft configuration file.
583 Element* property_element = 0;
585 if (!fname.empty()) {
586 property_element = el->FindElement("property");
587 if (property_element && debug_lvl > 0) cout << endl << " Overriding properties" << endl << endl;
588 while (property_element) {
590 if ( ! property_element->GetAttributeValue("value").empty())
591 value = property_element->GetAttributeValueAsNumber("value");
593 interface_property_string = property_element->GetDataLine();
594 if (PropertyManager->HasNode(interface_property_string)) {
595 FGPropertyManager* node = PropertyManager->GetNode(interface_property_string);
597 cout << " " << "Overriding value for property " << interface_property_string
598 << " (old value: " << node->getDoubleValue() << " new value: " << value << ")" << endl;
599 node->setDoubleValue(value);
601 interface_properties.push_back(new double(value));
602 PropertyManager->Tie(interface_property_string, interface_properties.back());
604 cout << " " << interface_property_string << " (initial value: " << value << ")" << endl;
607 property_element = el->FindNextElement("property");
611 channel_element = document->FindElement("channel");
612 while (channel_element) {
615 cout << endl << highint << fgblue << " Channel "
616 << normint << channel_element->GetAttributeValue("name") << reset << endl;
618 component_element = channel_element->GetElement();
619 while (component_element) {
621 if ((component_element->GetName() == string("lag_filter")) ||
622 (component_element->GetName() == string("lead_lag_filter")) ||
623 (component_element->GetName() == string("washout_filter")) ||
624 (component_element->GetName() == string("second_order_filter")) ||
625 (component_element->GetName() == string("integrator")) )
627 Components->push_back(new FGFilter(this, component_element));
628 } else if ((component_element->GetName() == string("pure_gain")) ||
629 (component_element->GetName() == string("scheduled_gain")) ||
630 (component_element->GetName() == string("aerosurface_scale")))
632 Components->push_back(new FGGain(this, component_element));
633 } else if (component_element->GetName() == string("summer")) {
634 Components->push_back(new FGSummer(this, component_element));
635 } else if (component_element->GetName() == string("deadband")) {
636 Components->push_back(new FGDeadBand(this, component_element));
637 } else if (component_element->GetName() == string("switch")) {
638 Components->push_back(new FGSwitch(this, component_element));
639 } else if (component_element->GetName() == string("kinematic")) {
640 Components->push_back(new FGKinemat(this, component_element));
641 } else if (component_element->GetName() == string("fcs_function")) {
642 Components->push_back(new FGFCSFunction(this, component_element));
643 } else if (component_element->GetName() == string("pid")) {
644 Components->push_back(new FGPID(this, component_element));
645 } else if (component_element->GetName() == string("actuator")) {
646 Components->push_back(new FGActuator(this, component_element));
647 } else if (component_element->GetName() == string("sensor")) {
648 Components->push_back(new FGSensor(this, component_element));
649 } else if (component_element->GetName() == string("accelerometer")) {
650 Components->push_back(new FGAccelerometer(this, component_element));
651 } else if (component_element->GetName() == string("magnetometer")) {
652 Components->push_back(new FGMagnetometer(this, component_element));
653 } else if (component_element->GetName() == string("gyro")) {
654 Components->push_back(new FGGyro(this, component_element));
656 cerr << "Unknown FCS component: " << component_element->GetName() << endl;
659 cerr << highint << fgred << endl << " " << s << endl;
660 cerr << reset << endl;
663 component_element = channel_element->GetNextElement();
665 channel_element = document->FindNextElement("channel");
668 PostLoad(document, PropertyManager);
675 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
677 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
682 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
684 string FGFCS::FindSystemFullPathname(const string& sysfilename)
686 string fullpath, localpath;
687 string system_filename = sysfilename;
688 string systemPath = FDMExec->GetSystemsPath();
689 string aircraftPath = FDMExec->GetFullAircraftPath();
690 ifstream system_file;
692 fullpath = systemPath + "/";
693 localpath = aircraftPath + "/Systems/";
695 if (system_filename.length() <=4 || system_filename.substr(system_filename.length()-4, 4) != ".xml") {
696 system_filename.append(".xml");
699 system_file.open(string(localpath + system_filename).c_str());
700 if ( !system_file.is_open()) {
701 system_file.open(string(fullpath + system_filename).c_str());
702 if ( !system_file.is_open()) {
703 cerr << " Could not open system file: " << system_filename << " in path "
704 << fullpath << " or " << localpath << endl;
707 return string(fullpath + system_filename);
710 return string(localpath + system_filename);
713 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
715 ifstream* FGFCS::FindSystemFile(const string& sysfilename)
717 string fullpath, localpath;
718 string system_filename = sysfilename;
719 string systemPath = FDMExec->GetSystemsPath();
720 string aircraftPath = FDMExec->GetFullAircraftPath();
721 ifstream* system_file = new ifstream();
723 fullpath = systemPath + "/";
724 localpath = aircraftPath + "/Systems/";
726 if (system_filename.substr(system_filename.length()-4, 4) != ".xml") {
727 system_filename.append(".xml");
730 system_file->open(string(localpath + system_filename).c_str());
731 if ( !system_file->is_open()) {
732 system_file->open(string(fullpath + system_filename).c_str());
733 if ( !system_file->is_open()) {
734 cerr << " Could not open system file: " << system_filename << " in path "
735 << fullpath << " or " << localpath << endl;
741 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
743 string FGFCS::GetComponentStrings(const string& delimiter) const
746 string CompStrings = "";
747 bool firstime = true;
750 for (unsigned int i=0; i<Systems.size(); i++) {
751 if (firstime) firstime = false;
752 else CompStrings += delimiter;
754 CompStrings += Systems[i]->GetName();
758 for (comp = 0; comp < APComponents.size(); comp++)
760 if (firstime) firstime = false;
761 else CompStrings += delimiter;
763 CompStrings += APComponents[comp]->GetName();
767 for (comp = 0; comp < FCSComponents.size(); comp++) {
768 if (firstime) firstime = false;
769 else CompStrings += delimiter;
771 CompStrings += FCSComponents[comp]->GetName();
778 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
780 string FGFCS::GetComponentValues(const string& delimiter) const
782 std::ostringstream buf;
785 bool firstime = true;
788 for (unsigned int i=0; i<Systems.size(); i++) {
789 if (firstime) firstime = false;
790 else buf << delimiter;
792 buf << setprecision(9) << Systems[i]->GetOutput();
796 for (comp = 0; comp < APComponents.size(); comp++) {
797 if (firstime) firstime = false;
798 else buf << delimiter;
800 buf << setprecision(9) << APComponents[comp]->GetOutput();
804 for (comp = 0; comp < FCSComponents.size(); comp++) {
805 if (firstime) firstime = false;
806 else buf << delimiter;
808 buf << setprecision(9) << FCSComponents[comp]->GetOutput();
815 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
817 void FGFCS::AddThrottle(void)
819 ThrottleCmd.push_back(0.0);
820 ThrottlePos.push_back(0.0);
821 MixtureCmd.push_back(0.0); // assume throttle and mixture are coupled
822 MixturePos.push_back(0.0);
823 PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
824 PropAdvance.push_back(0.0);
825 PropFeatherCmd.push_back(false);
826 PropFeather.push_back(false);
828 unsigned int num = (unsigned int)ThrottleCmd.size()-1;
832 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
834 void FGFCS::AddGear(unsigned int NumGear)
837 for (unsigned int i=0; i<NumGear; i++) SteerPosDeg.push_back(0.0);
840 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
842 double FGFCS::GetDt(void)
844 return FDMExec->GetDeltaT()*rate;
847 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
849 void FGFCS::bind(void)
851 PropertyManager->Tie("fcs/aileron-cmd-norm", this, &FGFCS::GetDaCmd, &FGFCS::SetDaCmd);
852 PropertyManager->Tie("fcs/elevator-cmd-norm", this, &FGFCS::GetDeCmd, &FGFCS::SetDeCmd);
853 PropertyManager->Tie("fcs/rudder-cmd-norm", this, &FGFCS::GetDrCmd, &FGFCS::SetDrCmd);
854 PropertyManager->Tie("fcs/flap-cmd-norm", this, &FGFCS::GetDfCmd, &FGFCS::SetDfCmd);
855 PropertyManager->Tie("fcs/speedbrake-cmd-norm", this, &FGFCS::GetDsbCmd, &FGFCS::SetDsbCmd);
856 PropertyManager->Tie("fcs/spoiler-cmd-norm", this, &FGFCS::GetDspCmd, &FGFCS::SetDspCmd);
857 PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this, &FGFCS::GetPitchTrimCmd, &FGFCS::SetPitchTrimCmd);
858 PropertyManager->Tie("fcs/roll-trim-cmd-norm", this, &FGFCS::GetRollTrimCmd, &FGFCS::SetRollTrimCmd);
859 PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this, &FGFCS::GetYawTrimCmd, &FGFCS::SetYawTrimCmd);
861 PropertyManager->Tie("fcs/left-aileron-pos-rad", this, ofRad, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
862 PropertyManager->Tie("fcs/left-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
863 PropertyManager->Tie("fcs/left-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
864 PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this, ofMag, &FGFCS::GetDaLPos);
866 PropertyManager->Tie("fcs/right-aileron-pos-rad", this, ofRad, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
867 PropertyManager->Tie("fcs/right-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
868 PropertyManager->Tie("fcs/right-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
869 PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this, ofMag, &FGFCS::GetDaRPos);
871 PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad, &FGFCS::GetDePos, &FGFCS::SetDePos);
872 PropertyManager->Tie("fcs/elevator-pos-deg", this, ofDeg, &FGFCS::GetDePos, &FGFCS::SetDePos);
873 PropertyManager->Tie("fcs/elevator-pos-norm", this, ofNorm, &FGFCS::GetDePos, &FGFCS::SetDePos);
874 PropertyManager->Tie("fcs/mag-elevator-pos-rad", this, ofMag, &FGFCS::GetDePos);
876 PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
877 PropertyManager->Tie("fcs/rudder-pos-deg", this,ofDeg, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
878 PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
879 PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag, &FGFCS::GetDrPos);
881 PropertyManager->Tie("fcs/flap-pos-rad", this,ofRad, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
882 PropertyManager->Tie("fcs/flap-pos-deg", this,ofDeg, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
883 PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
885 PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
886 PropertyManager->Tie("fcs/speedbrake-pos-deg", this,ofDeg, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
887 PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
888 PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag, &FGFCS::GetDsbPos);
890 PropertyManager->Tie("fcs/spoiler-pos-rad", this, ofRad, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
891 PropertyManager->Tie("fcs/spoiler-pos-deg", this, ofDeg, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
892 PropertyManager->Tie("fcs/spoiler-pos-norm", this, ofNorm, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
893 PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this, ofMag, &FGFCS::GetDspPos);
895 PropertyManager->Tie("gear/gear-pos-norm", this, &FGFCS::GetGearPos, &FGFCS::SetGearPos);
896 PropertyManager->Tie("gear/gear-cmd-norm", this, &FGFCS::GetGearCmd, &FGFCS::SetGearCmd);
897 PropertyManager->Tie("fcs/left-brake-cmd-norm", this, &FGFCS::GetLBrake, &FGFCS::SetLBrake);
898 PropertyManager->Tie("fcs/right-brake-cmd-norm", this, &FGFCS::GetRBrake, &FGFCS::SetRBrake);
899 PropertyManager->Tie("fcs/center-brake-cmd-norm", this, &FGFCS::GetCBrake, &FGFCS::SetCBrake);
900 PropertyManager->Tie("fcs/steer-cmd-norm", this, &FGFCS::GetDsCmd, &FGFCS::SetDsCmd);
902 PropertyManager->Tie("gear/tailhook-pos-norm", this, &FGFCS::GetTailhookPos, &FGFCS::SetTailhookPos);
903 PropertyManager->Tie("fcs/wing-fold-pos-norm", this, &FGFCS::GetWingFoldPos, &FGFCS::SetWingFoldPos);
906 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
907 // Technically, this function should probably bind propulsion type specific controls
908 // rather than mixture and prop-advance.
910 void FGFCS::bindThrottle(unsigned int num)
914 tmp = CreateIndexedPropertyName("fcs/throttle-cmd-norm", num);
915 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottleCmd,
916 &FGFCS::SetThrottleCmd);
917 tmp = CreateIndexedPropertyName("fcs/throttle-pos-norm", num);
918 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottlePos,
919 &FGFCS::SetThrottlePos);
920 tmp = CreateIndexedPropertyName("fcs/mixture-cmd-norm", num);
921 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixtureCmd,
922 &FGFCS::SetMixtureCmd);
923 tmp = CreateIndexedPropertyName("fcs/mixture-pos-norm", num);
924 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixturePos,
925 &FGFCS::SetMixturePos);
926 tmp = CreateIndexedPropertyName("fcs/advance-cmd-norm", num);
927 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvanceCmd,
928 &FGFCS::SetPropAdvanceCmd);
929 tmp = CreateIndexedPropertyName("fcs/advance-pos-norm", num);
930 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvance,
931 &FGFCS::SetPropAdvance);
932 tmp = CreateIndexedPropertyName("fcs/feather-cmd-norm", num);
933 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetFeatherCmd,
934 &FGFCS::SetFeatherCmd);
935 tmp = CreateIndexedPropertyName("fcs/feather-pos-norm", num);
936 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropFeather,
937 &FGFCS::SetPropFeather);
940 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
942 void FGFCS::bindModel(void)
947 for (i=0; i<SteerPosDeg.size(); i++) {
948 if (FDMExec->GetGroundReactions()->GetGearUnit(i)->GetSteerable()) {
949 tmp = CreateIndexedPropertyName("fcs/steer-pos-deg", i);
950 PropertyManager->Tie( tmp.c_str(), this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
955 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
956 // The bitmasked value choices are as follows:
957 // unset: In this case (the default) JSBSim would only print
958 // out the normally expected messages, essentially echoing
959 // the config files as they are read. If the environment
960 // variable is not set, debug_lvl is set to 1 internally
961 // 0: This requests JSBSim not to output any messages
963 // 1: This value explicity requests the normal JSBSim
965 // 2: This value asks for a message to be printed out when
966 // a class is instantiated
967 // 4: When this value is set, a message is displayed when a
968 // FGModel object executes its Run() method
969 // 8: When this value is set, various runtime state variables
970 // are printed out periodically
971 // 16: When set various parameters are sanity checked and
972 // a message is printed out when they go out of bounds
974 void FGFCS::Debug(int from)
976 if (debug_lvl <= 0) return;
978 if (debug_lvl & 1) { // Standard console startup message output
979 if (from == 2) { // Loader
980 cout << endl << " " << Name << endl;
983 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
984 if (from == 0) cout << "Instantiated: FGFCS" << endl;
985 if (from == 1) cout << "Destroyed: FGFCS" << endl;
987 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
989 if (debug_lvl & 8 ) { // Runtime state variables
991 if (debug_lvl & 16) { // Sanity checking
993 if (debug_lvl & 64) {
994 if (from == 0) { // Constructor
995 cout << IdSrc << endl;
996 cout << IdHdr << endl;