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 #ifdef macintosh
 498   separator = ";";
 499 #endif
 500
 501 // ToDo: The handling of name and file attributes could be improved, here,
 502 //       considering that a name can be in the external file, as well.
 503
 504   name = el->GetAttributeValue("name");
 505
 506   if (name.empty()) {
 507     fname = el->GetAttributeValue("file");
 508     if (systype == stSystem) {
 509       file = FindSystemFullPathname(fname);
 510     } else {
 511     file = FDMExec->GetFullAircraftPath() + separator + fname + ".xml";
 512     }
 513     if (fname.empty()) {
 514       cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl;
 515       return false;
 516     } else {
 517       document = LoadXMLDocument(file);
 518       name = document->GetAttributeValue("name");
 519     }
 520   } else {
 521     document = el;
 522   }
 523
 524   if (document->GetName() == "autopilot") {
 525     Components = &APComponents;
 526     Name = "Autopilot: " + document->GetAttributeValue("name");
 527   } else if (document->GetName() == "flight_control") {
 528     Components = &FCSComponents;
 529     Name = "FCS: " + document->GetAttributeValue("name");
 530   } else if (document->GetName() == "system") {
 531     Components = &Systems;
 532     Name = "System: " + document->GetAttributeValue("name");
 533   }
 534   Debug(2);
 535
 536   // ToDo: How do these get untied?
 537   // ToDo: Consider having INPUT and OUTPUT interface properties. Would then
 538   //       have to duplicate this block of code after channel read code.
 539   //       Input properties could be write only (nah), and output could be read
 540   //       only.
 541
 542   if (document->GetName() == "flight_control") bindModel();
 543
 544   // Interface properties from any autopilot, flight control, or other system are
 545   // all stored in the interface properties array.
 546
 547   property_element = document->FindElement("property");
 548   while (property_element) {
 549     double value=0.0;
 550     if ( ! property_element->GetAttributeValue("value").empty())
 551       value = property_element->GetAttributeValueAsNumber("value");
 552     interface_properties.push_back(new double(value));
 553     interface_property_string = property_element->GetDataLine();
 554     PropertyManager->Tie(interface_property_string, interface_properties.back());
 555     property_element = document->FindNextElement("property");
 556   }
 557
 558   // Any sensor elements that are outside of a channel (in either the autopilot
 559   // or the flight_control, or even any possible "system") are placed into the global
 560   // "sensors" array, and are executed prior to any autopilot, flight control, or
 561   // system.
 562
 563   sensor_element = document->FindElement("sensor");
 564   while (sensor_element) {
 565     try {
 566       sensors.push_back(new FGSensor(this, sensor_element));
 567     } catch (string s) {
 568       cerr << highint << fgred << endl << "  " << s << endl;
 569       return false;
 570     }
 571     sensor_element = document->FindNextElement("sensor");
 572   }
 573
 574   channel_element = document->FindElement("channel");
 575   while (channel_element) {
 576     component_element = channel_element->GetElement();
 577     while (component_element) {
 578       try {
 579         if ((component_element->GetName() == string("lag_filter")) ||
 580             (component_element->GetName() == string("lead_lag_filter")) ||
 581             (component_element->GetName() == string("washout_filter")) ||
 582             (component_element->GetName() == string("second_order_filter")) ||
 583             (component_element->GetName() == string("integrator")) )
 584         {
 585           Components->push_back(new FGFilter(this, component_element));
 586         } else if ((component_element->GetName() == string("pure_gain")) ||
 587                    (component_element->GetName() == string("scheduled_gain")) ||
 588                    (component_element->GetName() == string("aerosurface_scale")))
 589         {
 590           Components->push_back(new FGGain(this, component_element));
 591         } else if (component_element->GetName() == string("summer")) {
 592           Components->push_back(new FGSummer(this, component_element));
 593         } else if (component_element->GetName() == string("deadband")) {
 594           Components->push_back(new FGDeadBand(this, component_element));
 595         } else if (component_element->GetName() == string("switch")) {
 596           Components->push_back(new FGSwitch(this, component_element));
 597         } else if (component_element->GetName() == string("kinematic")) {
 598           Components->push_back(new FGKinemat(this, component_element));
 599         } else if (component_element->GetName() == string("fcs_function")) {
 600           Components->push_back(new FGFCSFunction(this, component_element));
 601         } else if (component_element->GetName() == string("pid")) {
 602           Components->push_back(new FGPID(this, component_element));
 603         } else if (component_element->GetName() == string("actuator")) {
 604           Components->push_back(new FGActuator(this, component_element));
 605         } else if (component_element->GetName() == string("sensor")) {
 606           Components->push_back(new FGSensor(this, component_element));
 607         } else {
 608           cerr << "Unknown FCS component: " << component_element->GetName() << endl;
 609         }
 610       } catch(string s) {
 611         cerr << highint << fgred << endl << "  " << s << endl;
 612         cerr << reset << endl;
 613         return false;
 614       }
 615       component_element = channel_element->GetNextElement();
 616     }
 617     channel_element = document->FindNextElement("channel");
 618   }
 619
 620   ResetParser();
 621
 622   return true;
 623 }
 624
 625 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 626
 627 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 628 {
 629   switch (bg) {
 630   case FGLGear::bgLeft:
 631     return LeftBrake;
 632   case FGLGear::bgRight:
 633     return RightBrake;
 634   case FGLGear::bgCenter:
 635     return CenterBrake;
 636   default:
 637     cerr << "GetBrake asked to return a bogus brake value" << endl;
 638   }
 639   return 0.0;
 640 }
 641
 642 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 643
 644 string FGFCS::FindSystemFullPathname(string system_filename)
 645 {
 646   string fullpath, localpath;
 647   string systemPath = FDMExec->GetSystemsPath();
 648   string aircraftPath = FDMExec->GetFullAircraftPath();
 649   ifstream system_file;
 650
 651   string separator = "/";
 652 # ifdef macintosh
 653   separator = ";";
 654 # endif
 655
 656   fullpath = systemPath + separator;
 657   localpath = aircraftPath + separator + "Systems" + separator;
 658
 659   system_file.open(string(fullpath + system_filename + ".xml").c_str());
 660   if ( !system_file.is_open()) {
 661     system_file.open(string(localpath + system_filename + ".xml").c_str());
 662       if ( !system_file.is_open()) {
 663         cerr << " Could not open system file: " << system_filename << " in path "
 664              << fullpath << " or " << localpath << endl;
 665         return string("");
 666       } else {
 667         return string(localpath + system_filename + ".xml");
 668       }
 669   }
 670   return string(fullpath + system_filename + ".xml");
 671 }
 672
 673 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 674
 675 ifstream* FGFCS::FindSystemFile(string system_filename)
 676 {
 677   string fullpath, localpath;
 678   string systemPath = FDMExec->GetSystemsPath();
 679   string aircraftPath = FDMExec->GetFullAircraftPath();
 680   ifstream* system_file = new ifstream();
 681
 682   string separator = "/";
 683 # ifdef macintosh
 684   separator = ";";
 685 # endif
 686
 687   fullpath = systemPath + separator;
 688   localpath = aircraftPath + separator + "Systems" + separator;
 689
 690   system_file->open(string(fullpath + system_filename + ".xml").c_str());
 691   if ( !system_file->is_open()) {
 692     system_file->open(string(localpath + system_filename + ".xml").c_str());
 693       if ( !system_file->is_open()) {
 694         cerr << " Could not open system file: " << system_filename << " in path "
 695              << fullpath << " or " << localpath << endl;
 696       }
 697   }
 698   return system_file;
 699 }
 700
 701 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 702
 703 string FGFCS::GetComponentStrings(string delimeter)
 704 {
 705   unsigned int comp;
 706   string CompStrings = "";
 707   bool firstime = true;
 708   int total_count=0;
 709
 710   for (unsigned int i=0; i<Systems.size(); i++) {
 711     if (firstime) firstime = false;
 712     else          CompStrings += delimeter;
 713
 714     CompStrings += Systems[i]->GetName();
 715     total_count++;
 716   }
 717
 718   for (comp = 0; comp < APComponents.size(); comp++)
 719   {
 720     if (firstime) firstime = false;
 721     else          CompStrings += delimeter;
 722
 723     CompStrings += APComponents[comp]->GetName();
 724     total_count++;
 725   }
 726
 727   for (comp = 0; comp < FCSComponents.size(); comp++) {
 728     if (firstime) firstime = false;
 729     else          CompStrings += delimeter;
 730
 731     CompStrings += FCSComponents[comp]->GetName();
 732     total_count++;
 733   }
 734
 735   return CompStrings;
 736 }
 737
 738 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 739
 740 string FGFCS::GetComponentValues(string delimeter)
 741 {
 742   unsigned int comp;
 743   string CompValues = "";
 744   char buffer[20];
 745   bool firstime = true;
 746   int total_count=0;
 747
 748   for (unsigned int i=0; i<Systems.size(); i++) {
 749     if (firstime) firstime = false;
 750     else          CompValues += delimeter;
 751
 752     sprintf(buffer, "%9.6f", Systems[i]->GetOutput());
 753     CompValues += string(buffer);
 754     total_count++;
 755   }
 756
 757   for (comp = 0; comp < APComponents.size(); comp++) {
 758     if (firstime) firstime = false;
 759     else          CompValues += delimeter;
 760
 761     sprintf(buffer, "%9.6f", APComponents[comp]->GetOutput());
 762     CompValues += string(buffer);
 763     total_count++;
 764   }
 765
 766   for (comp = 0; comp < FCSComponents.size(); comp++) {
 767     if (firstime) firstime = false;
 768     else          CompValues += delimeter;
 769
 770     sprintf(buffer, "%9.6f", FCSComponents[comp]->GetOutput());
 771     CompValues += string(buffer);
 772     total_count++;
 773   }
 774
 775   CompValues += "\0";
 776   return CompValues;
 777 }
 778
 779 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 780
 781 void FGFCS::AddThrottle(void)
 782 {
 783   ThrottleCmd.push_back(0.0);
 784   ThrottlePos.push_back(0.0);
 785   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 786   MixturePos.push_back(0.0);
 787   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 788   PropAdvance.push_back(0.0);
 789   PropFeatherCmd.push_back(false);
 790   PropFeather.push_back(false);
 791
 792   unsigned int num = (unsigned int)ThrottleCmd.size()-1;
 793   bindThrottle(num);
 794 }
 795
 796 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 797
 798 void FGFCS::AddGear(void)
 799 {
 800   SteerPosDeg.push_back(0.0);
 801 }
 802
 803 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 804
 805 double FGFCS::GetDt(void)
 806 {
 807   return FDMExec->GetDeltaT()*rate;
 808 }
 809
 810 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 811
 812 void FGFCS::bind(void)
 813 {
 814   PropertyManager->Tie("fcs/aileron-cmd-norm", this, &FGFCS::GetDaCmd, &FGFCS::SetDaCmd);
 815   PropertyManager->Tie("fcs/elevator-cmd-norm", this, &FGFCS::GetDeCmd, &FGFCS::SetDeCmd);
 816   PropertyManager->Tie("fcs/rudder-cmd-norm", this, &FGFCS::GetDrCmd, &FGFCS::SetDrCmd);
 817   PropertyManager->Tie("fcs/flap-cmd-norm", this, &FGFCS::GetDfCmd, &FGFCS::SetDfCmd);
 818   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this, &FGFCS::GetDsbCmd, &FGFCS::SetDsbCmd);
 819   PropertyManager->Tie("fcs/spoiler-cmd-norm", this, &FGFCS::GetDspCmd, &FGFCS::SetDspCmd);
 820   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this, &FGFCS::GetPitchTrimCmd, &FGFCS::SetPitchTrimCmd);
 821   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this, &FGFCS::GetRollTrimCmd, &FGFCS::SetRollTrimCmd);
 822   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this, &FGFCS::GetYawTrimCmd, &FGFCS::SetYawTrimCmd);
 823
 824   PropertyManager->Tie("fcs/left-aileron-pos-rad", this, ofRad, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 825   PropertyManager->Tie("fcs/left-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 826   PropertyManager->Tie("fcs/left-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 827   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this, ofMag, &FGFCS::GetDaLPos);
 828
 829   PropertyManager->Tie("fcs/right-aileron-pos-rad", this, ofRad, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 830   PropertyManager->Tie("fcs/right-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 831   PropertyManager->Tie("fcs/right-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 832   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this, ofMag, &FGFCS::GetDaRPos);
 833
 834   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad, &FGFCS::GetDePos, &FGFCS::SetDePos);
 835   PropertyManager->Tie("fcs/elevator-pos-deg", this, ofDeg, &FGFCS::GetDePos, &FGFCS::SetDePos);
 836   PropertyManager->Tie("fcs/elevator-pos-norm", this, ofNorm, &FGFCS::GetDePos, &FGFCS::SetDePos);
 837   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this, ofMag, &FGFCS::GetDePos);
 838
 839   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 840   PropertyManager->Tie("fcs/rudder-pos-deg", this,ofDeg, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 841   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 842   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag, &FGFCS::GetDrPos);
 843
 844   PropertyManager->Tie("fcs/flap-pos-rad", this,ofRad, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 845   PropertyManager->Tie("fcs/flap-pos-deg", this,ofDeg, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 846   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 847
 848   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 849   PropertyManager->Tie("fcs/speedbrake-pos-deg", this,ofDeg, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 850   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 851   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag, &FGFCS::GetDsbPos);
 852
 853   PropertyManager->Tie("fcs/spoiler-pos-rad", this, ofRad, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 854   PropertyManager->Tie("fcs/spoiler-pos-deg", this, ofDeg, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 855   PropertyManager->Tie("fcs/spoiler-pos-norm", this, ofNorm, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 856   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this, ofMag, &FGFCS::GetDspPos);
 857
 858   PropertyManager->Tie("gear/gear-pos-norm", this, &FGFCS::GetGearPos, &FGFCS::SetGearPos);
 859   PropertyManager->Tie("gear/gear-cmd-norm", this, &FGFCS::GetGearCmd, &FGFCS::SetGearCmd);
 860   PropertyManager->Tie("fcs/left-brake-cmd-norm", this, &FGFCS::GetLBrake, &FGFCS::SetLBrake);
 861   PropertyManager->Tie("fcs/right-brake-cmd-norm", this, &FGFCS::GetRBrake, &FGFCS::SetRBrake);
 862   PropertyManager->Tie("fcs/center-brake-cmd-norm", this, &FGFCS::GetCBrake, &FGFCS::SetCBrake);
 863   PropertyManager->Tie("fcs/steer-cmd-norm", this, &FGFCS::GetDsCmd, &FGFCS::SetDsCmd);
 864 }
 865
 866 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 867 // Technically, this function should probably bind propulsion type specific controls
 868 // rather than mixture and prop-advance.
 869 //
 870
 871 void FGFCS::bindThrottle(unsigned int num)
 872 {
 873   char tmp[80];
 874
 875   snprintf(tmp, 80, "fcs/throttle-cmd-norm[%u]",num);
 876   PropertyManager->Tie( tmp, this, num, &FGFCS::GetThrottleCmd,
 877                                         &FGFCS::SetThrottleCmd);
 878   snprintf(tmp, 80, "fcs/throttle-pos-norm[%u]",num);
 879   PropertyManager->Tie( tmp, this, num, &FGFCS::GetThrottlePos,
 880                                         &FGFCS::SetThrottlePos);
 881   snprintf(tmp, 80, "fcs/mixture-cmd-norm[%u]",num);
 882   PropertyManager->Tie( tmp, this, num, &FGFCS::GetMixtureCmd,
 883                                         &FGFCS::SetMixtureCmd);
 884   snprintf(tmp, 80, "fcs/mixture-pos-norm[%u]",num);
 885   PropertyManager->Tie( tmp, this, num, &FGFCS::GetMixturePos,
 886                                         &FGFCS::SetMixturePos);
 887   snprintf(tmp, 80, "fcs/advance-cmd-norm[%u]",num);
 888   PropertyManager->Tie( tmp, this, num, &FGFCS::GetPropAdvanceCmd,
 889                                         &FGFCS::SetPropAdvanceCmd);
 890   snprintf(tmp, 80, "fcs/advance-pos-norm[%u]", num);
 891   PropertyManager->Tie( tmp, this, num, &FGFCS::GetPropAdvance,
 892                                         &FGFCS::SetPropAdvance);
 893   snprintf(tmp, 80, "fcs/feather-cmd-norm[%u]", num);
 894   PropertyManager->Tie( tmp, this, num, &FGFCS::GetFeatherCmd,
 895                                         &FGFCS::SetFeatherCmd);
 896   snprintf(tmp, 80, "fcs/feather-pos-norm[%u]", num);
 897   PropertyManager->Tie( tmp, this, num, &FGFCS::GetPropFeather,
 898                                         &FGFCS::SetPropFeather);
 899 }
 900
 901 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 902
 903 void FGFCS::bindModel(void)
 904 {
 905   unsigned int i;
 906   char tmp[80];
 907
 908   for (i=0; i<SteerPosDeg.size(); i++) {
 909     if (GroundReactions->GetGearUnit(i)->GetSteerable()) {
 910       snprintf(tmp,80,"fcs/steer-pos-deg[%u]",i);
 911       PropertyManager->Tie( tmp, this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
 912     }
 913   }
 914 }
 915
 916 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 917 //    The bitmasked value choices are as follows:
 918 //    unset: In this case (the default) JSBSim would only print
 919 //       out the normally expected messages, essentially echoing
 920 //       the config files as they are read. If the environment
 921 //       variable is not set, debug_lvl is set to 1 internally
 922 //    0: This requests JSBSim not to output any messages
 923 //       whatsoever.
 924 //    1: This value explicity requests the normal JSBSim
 925 //       startup messages
 926 //    2: This value asks for a message to be printed out when
 927 //       a class is instantiated
 928 //    4: When this value is set, a message is displayed when a
 929 //       FGModel object executes its Run() method
 930 //    8: When this value is set, various runtime state variables
 931 //       are printed out periodically
 932 //    16: When set various parameters are sanity checked and
 933 //       a message is printed out when they go out of bounds
 934
 935 void FGFCS::Debug(int from)
 936 {
 937   if (debug_lvl <= 0) return;
 938
 939   if (debug_lvl & 1) { // Standard console startup message output
 940     if (from == 2) { // Loader
 941       cout << endl << "  Flight Control (" << Name << ")" << endl;
 942     }
 943   }
 944   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 945     if (from == 0) cout << "Instantiated: FGFCS" << endl;
 946     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
 947   }
 948   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 949   }
 950   if (debug_lvl & 8 ) { // Runtime state variables
 951   }
 952   if (debug_lvl & 16) { // Sanity checking
 953   }
 954   if (debug_lvl & 64) {
 955     if (from == 0) { // Constructor
 956       cout << IdSrc << endl;
 957       cout << IdHdr << endl;
 958     }
 959   }
 960 }
 961
 962 }