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 #include <sstream>
  45 #include <iomanip>
  46
  47 #include <models/flight_control/FGFilter.h>
  48 #include <models/flight_control/FGDeadBand.h>
  49 #include <models/flight_control/FGGain.h>
  50 #include <models/flight_control/FGPID.h>
  51 #include <models/flight_control/FGSwitch.h>
  52 #include <models/flight_control/FGSummer.h>
  53 #include <models/flight_control/FGKinemat.h>
  54 #include <models/flight_control/FGFCSFunction.h>
  55 #include <models/flight_control/FGSensor.h>
  56 #include <models/flight_control/FGActuator.h>
  57
  58 namespace JSBSim {
  59
  60 static const char *IdSrc = "$Id$";
  61 static const char *IdHdr = ID_FCS;
  62
  63 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  64 CLASS IMPLEMENTATION
  65 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  66
  67 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
  68 {
  69   int i;
  70   Name = "FGFCS";
  71
  72   DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
  73   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
  74   GearCmd = GearPos = 1; // default to gear down
  75   LeftBrake = RightBrake = CenterBrake = 0.0;
  76   TailhookPos = WingFoldPos = 0.0;
  77
  78   bind();
  79   for (i=0;i<NForms;i++) {
  80     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
  81     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
  82   }
  83
  84   Debug(0);
  85 }
  86
  87 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  88
  89 FGFCS::~FGFCS()
  90 {
  91   ThrottleCmd.clear();
  92   ThrottlePos.clear();
  93   MixtureCmd.clear();
  94   MixturePos.clear();
  95   PropAdvanceCmd.clear();
  96   PropAdvance.clear();
  97   SteerPosDeg.clear();
  98   PropFeatherCmd.clear();
  99   PropFeather.clear();
 100
 101   unsigned int i;
 102
 103   for (i=0;i<sensors.size();i++) delete sensors[i];
 104   sensors.clear();
 105   for (i=0;i<APComponents.size();i++) delete APComponents[i];
 106   APComponents.clear();
 107   for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
 108   FCSComponents.clear();
 109   for (i=0;i<Systems.size();i++) delete Systems[i];
 110   Systems.clear();
 111
 112   for (unsigned int i=0; i<interface_properties.size(); i++) delete interface_properties[i];
 113   interface_properties.clear();
 114
 115   Debug(1);
 116 }
 117
 118 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 119
 120 bool FGFCS::InitModel(void)
 121 {
 122   unsigned int i;
 123
 124   if (!FGModel::InitModel()) return false;
 125
 126   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = 0.0;
 127   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = 0.0;
 128   for (i=0; i<ThrottleCmd.size(); i++) ThrottleCmd[i] = 0.0;
 129   for (i=0; i<MixtureCmd.size(); i++) MixtureCmd[i] = 0.0;
 130   for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = 0.0;
 131   for (i=0; i<PropFeather.size(); i++) PropFeather[i] = 0.0;
 132
 133   DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
 134   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
 135   TailhookPos = WingFoldPos = 0.0;
 136
 137   for (i=0;i<NForms;i++) {
 138     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
 139     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
 140   }
 141
 142   for (unsigned int i=0; i<Systems.size(); i++) {
 143     if (Systems[i]->GetType() == "LAG" ||
 144         Systems[i]->GetType() == "LEAD_LAG" ||
 145         Systems[i]->GetType() == "WASHOUT" ||
 146         Systems[i]->GetType() == "SECOND_ORDER_FILTER" ||
 147         Systems[i]->GetType() == "INTEGRATOR")
 148     {
 149       ((FGFilter*)Systems[i])->ResetPastStates();
 150     } else if (Systems[i]->GetType() == "PID" ) {
 151       ((FGPID*)Systems[i])->ResetPastStates();
 152     }
 153   }
 154
 155   for (unsigned int i=0; i<FCSComponents.size(); i++) {
 156     if (FCSComponents[i]->GetType() == "LAG" ||
 157         FCSComponents[i]->GetType() == "LEAD_LAG" ||
 158         FCSComponents[i]->GetType() == "WASHOUT" ||
 159         FCSComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
 160         FCSComponents[i]->GetType() == "INTEGRATOR")
 161     {
 162       ((FGFilter*)FCSComponents[i])->ResetPastStates();
 163     } else if (FCSComponents[i]->GetType() == "PID" ) {
 164       ((FGPID*)FCSComponents[i])->ResetPastStates();
 165     }
 166   }
 167
 168   for (unsigned int i=0; i<APComponents.size(); i++) {
 169     if (APComponents[i]->GetType() == "LAG" ||
 170         APComponents[i]->GetType() == "LEAD_LAG" ||
 171         APComponents[i]->GetType() == "WASHOUT" ||
 172         APComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
 173         APComponents[i]->GetType() == "INTEGRATOR")
 174     {
 175       ((FGFilter*)APComponents[i])->ResetPastStates();
 176     } else if (APComponents[i]->GetType() == "PID" ) {
 177       ((FGPID*)APComponents[i])->ResetPastStates();
 178     }
 179   }
 180
 181   return true;
 182 }
 183
 184 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 185 // Notes: In this logic the default engine commands are set. This is simply a
 186 // sort of safe-mode method in case the user has not defined control laws for
 187 // throttle, mixture, and prop-advance. The throttle, mixture, and prop advance
 188 // positions are set equal to the respective commands. Any control logic that is
 189 // actually present in the flight_control or autopilot section will override
 190 // these simple assignments.
 191
 192 bool FGFCS::Run(void)
 193 {
 194   unsigned int i;
 195
 196   if (FGModel::Run()) return true; // fast exit if nothing to do
 197   if (FDMExec->Holding()) return false;
 198
 199   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 200   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
 201   for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
 202   for (i=0; i<PropFeather.size(); i++) PropFeather[i] = PropFeatherCmd[i];
 203
 204   // Set the default steering angle
 205   for (i=0; i<SteerPosDeg.size(); i++) {
 206     FGLGear* gear = GroundReactions->GetGearUnit(i);
 207     SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
 208   }
 209
 210   // Cycle through the sensor, systems, autopilot, and flight control components
 211   // Execute Sensors
 212   for (i=0; i<sensors.size(); i++) sensors[i]->Run();
 213
 214   // Execute Systems in order
 215   for (i=0; i<Systems.size(); i++) Systems[i]->Run();
 216
 217   // Execute Autopilot
 218   for (i=0; i<APComponents.size(); i++) APComponents[i]->Run();
 219
 220   // Execute Flight Control System
 221   for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
 222
 223   return false;
 224 }
 225
 226 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 227
 228 void FGFCS::SetDaLPos( int form , double pos )
 229 {
 230   switch(form) {
 231   case ofRad:
 232     DaLPos[ofRad] = pos;
 233     DaLPos[ofDeg] = pos*radtodeg;
 234     break;
 235   case ofDeg:
 236     DaLPos[ofRad] = pos*degtorad;
 237     DaLPos[ofDeg] = pos;
 238     break;
 239   case ofNorm:
 240     DaLPos[ofNorm] = pos;
 241   }
 242   DaLPos[ofMag] = fabs(DaLPos[ofRad]);
 243 }
 244
 245 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 246
 247 void FGFCS::SetDaRPos( int form , double pos )
 248 {
 249   switch(form) {
 250   case ofRad:
 251     DaRPos[ofRad] = pos;
 252     DaRPos[ofDeg] = pos*radtodeg;
 253     break;
 254   case ofDeg:
 255     DaRPos[ofRad] = pos*degtorad;
 256     DaRPos[ofDeg] = pos;
 257     break;
 258   case ofNorm:
 259     DaRPos[ofNorm] = pos;
 260   }
 261   DaRPos[ofMag] = fabs(DaRPos[ofRad]);
 262 }
 263
 264 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 265
 266 void FGFCS::SetDePos( int form , double pos )
 267 {
 268   switch(form) {
 269   case ofRad:
 270     DePos[ofRad] = pos;
 271     DePos[ofDeg] = pos*radtodeg;
 272     break;
 273   case ofDeg:
 274     DePos[ofRad] = pos*degtorad;
 275     DePos[ofDeg] = pos;
 276     break;
 277   case ofNorm:
 278     DePos[ofNorm] = pos;
 279   }
 280   DePos[ofMag] = fabs(DePos[ofRad]);
 281 }
 282
 283 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 284
 285 void FGFCS::SetDrPos( int form , double pos )
 286 {
 287   switch(form) {
 288   case ofRad:
 289     DrPos[ofRad] = pos;
 290     DrPos[ofDeg] = pos*radtodeg;
 291     break;
 292   case ofDeg:
 293     DrPos[ofRad] = pos*degtorad;
 294     DrPos[ofDeg] = pos;
 295     break;
 296   case ofNorm:
 297     DrPos[ofNorm] = pos;
 298   }
 299   DrPos[ofMag] = fabs(DrPos[ofRad]);
 300 }
 301
 302 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 303
 304 void FGFCS::SetDfPos( int form , double pos )
 305 {
 306   switch(form) {
 307   case ofRad:
 308     DfPos[ofRad] = pos;
 309     DfPos[ofDeg] = pos*radtodeg;
 310     break;
 311   case ofDeg:
 312     DfPos[ofRad] = pos*degtorad;
 313     DfPos[ofDeg] = pos;
 314     break;
 315   case ofNorm:
 316     DfPos[ofNorm] = pos;
 317   }
 318   DfPos[ofMag] = fabs(DfPos[ofRad]);
 319 }
 320
 321 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 322
 323 void FGFCS::SetDsbPos( int form , double pos )
 324 {
 325   switch(form) {
 326   case ofRad:
 327     DsbPos[ofRad] = pos;
 328     DsbPos[ofDeg] = pos*radtodeg;
 329     break;
 330   case ofDeg:
 331     DsbPos[ofRad] = pos*degtorad;
 332     DsbPos[ofDeg] = pos;
 333     break;
 334   case ofNorm:
 335     DsbPos[ofNorm] = pos;
 336   }
 337   DsbPos[ofMag] = fabs(DsbPos[ofRad]);
 338 }
 339
 340 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 341
 342 void FGFCS::SetDspPos( int form , double pos )
 343 {
 344   switch(form) {
 345   case ofRad:
 346     DspPos[ofRad] = pos;
 347     DspPos[ofDeg] = pos*radtodeg;
 348     break;
 349   case ofDeg:
 350     DspPos[ofRad] = pos*degtorad;
 351     DspPos[ofDeg] = pos;
 352     break;
 353   case ofNorm:
 354     DspPos[ofNorm] = pos;
 355   }
 356   DspPos[ofMag] = fabs(DspPos[ofRad]);
 357 }
 358
 359 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 360
 361 void FGFCS::SetThrottleCmd(int engineNum, double setting)
 362 {
 363   unsigned int ctr;
 364
 365   if (engineNum < (int)ThrottlePos.size()) {
 366     if (engineNum < 0) {
 367       for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 368     } else {
 369       ThrottleCmd[engineNum] = setting;
 370     }
 371   } else {
 372     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 373          << " engines exist, but attempted throttle command is for engine "
 374          << engineNum << endl;
 375   }
 376 }
 377
 378 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 379
 380 void FGFCS::SetThrottlePos(int engineNum, double setting)
 381 {
 382   unsigned int ctr;
 383
 384   if (engineNum < (int)ThrottlePos.size()) {
 385     if (engineNum < 0) {
 386       for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
 387     } else {
 388       ThrottlePos[engineNum] = setting;
 389     }
 390   } else {
 391     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 392          << " engines exist, but attempted throttle position setting is for engine "
 393          << engineNum << endl;
 394   }
 395 }
 396
 397 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 398
 399 double FGFCS::GetThrottleCmd(int engineNum) const
 400 {
 401   if (engineNum < (int)ThrottlePos.size()) {
 402     if (engineNum < 0) {
 403        cerr << "Cannot get throttle value for ALL engines" << endl;
 404     } else {
 405       return ThrottleCmd[engineNum];
 406     }
 407   } else {
 408     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 409          << " engines exist, but throttle setting for engine " << engineNum
 410          << " is selected" << endl;
 411   }
 412   return 0.0;
 413 }
 414
 415 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 416
 417 double FGFCS::GetThrottlePos(int engineNum) const
 418 {
 419   if (engineNum < (int)ThrottlePos.size()) {
 420     if (engineNum < 0) {
 421        cerr << "Cannot get throttle value for ALL engines" << endl;
 422     } else {
 423       return ThrottlePos[engineNum];
 424     }
 425   } else {
 426     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 427          << " engines exist, but attempted throttle position setting is for engine "
 428          << engineNum << endl;
 429   }
 430   return 0.0;
 431 }
 432
 433 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 434
 435 void FGFCS::SetMixtureCmd(int engineNum, double setting)
 436 {
 437   unsigned int ctr;
 438
 439   if (engineNum < (int)ThrottlePos.size()) {
 440     if (engineNum < 0) {
 441       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
 442     } else {
 443       MixtureCmd[engineNum] = setting;
 444     }
 445   }
 446 }
 447
 448 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 449
 450 void FGFCS::SetMixturePos(int engineNum, double setting)
 451 {
 452   unsigned int ctr;
 453
 454   if (engineNum < (int)ThrottlePos.size()) {
 455     if (engineNum < 0) {
 456       for (ctr=0;ctr<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
 457     } else {
 458       MixturePos[engineNum] = setting;
 459     }
 460   }
 461 }
 462
 463 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 464
 465 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
 466 {
 467   unsigned int ctr;
 468
 469   if (engineNum < (int)ThrottlePos.size()) {
 470     if (engineNum < 0) {
 471       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
 472     } else {
 473       PropAdvanceCmd[engineNum] = setting;
 474     }
 475   }
 476 }
 477
 478 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 479
 480 void FGFCS::SetPropAdvance(int engineNum, double setting)
 481 {
 482   unsigned int ctr;
 483
 484   if (engineNum < (int)ThrottlePos.size()) {
 485     if (engineNum < 0) {
 486       for (ctr=0;ctr<=PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
 487     } else {
 488       PropAdvance[engineNum] = setting;
 489     }
 490   }
 491 }
 492
 493 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 494
 495 void FGFCS::SetFeatherCmd(int engineNum, bool setting)
 496 {
 497   unsigned int ctr;
 498
 499   if (engineNum < (int)ThrottlePos.size()) {
 500     if (engineNum < 0) {
 501       for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeatherCmd[ctr] = setting;
 502     } else {
 503       PropFeatherCmd[engineNum] = setting;
 504     }
 505   }
 506 }
 507
 508 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 509
 510 void FGFCS::SetPropFeather(int engineNum, bool setting)
 511 {
 512   unsigned int ctr;
 513
 514   if (engineNum < (int)ThrottlePos.size()) {
 515     if (engineNum < 0) {
 516       for (ctr=0;ctr<=PropFeatherCmd.size();ctr++) PropFeather[ctr] = PropFeatherCmd[ctr];
 517     } else {
 518       PropFeather[engineNum] = setting;
 519     }
 520   }
 521 }
 522
 523 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 524
 525 bool FGFCS::Load(Element* el, SystemType systype)
 526 {
 527   string name, file, fname="", interface_property_string, parent_name;
 528   vector <FGFCSComponent*> *Components;
 529   Element *component_element, *property_element, *sensor_element;
 530   Element *channel_element;
 531
 532   Components=0;
 533
 534   string separator = "/";
 535
 536 // ToDo: The handling of name and file attributes could be improved, here,
 537 //       considering that a name can be in the external file, as well.
 538
 539   name = el->GetAttributeValue("name");
 540
 541   if (name.empty()) {
 542     fname = el->GetAttributeValue("file");
 543     if (systype == stSystem) {
 544       file = FindSystemFullPathname(fname);
 545     } else {
 546       file = FDMExec->GetFullAircraftPath() + separator + fname + ".xml";
 547     }
 548     if (fname.empty()) {
 549       cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl;
 550       return false;
 551     } else {
 552       document = LoadXMLDocument(file);
 553       if (!document) {
 554         cerr << "Error loading file " << file << endl;
 555         return false;
 556       }
 557       name = document->GetAttributeValue("name");
 558     }
 559   } else {
 560     document = el;
 561   }
 562
 563   if (document->GetName() == "autopilot") {
 564     Components = &APComponents;
 565     Name = "Autopilot: " + document->GetAttributeValue("name");
 566   } else if (document->GetName() == "flight_control") {
 567     Components = &FCSComponents;
 568     Name = "FCS: " + document->GetAttributeValue("name");
 569   } else if (document->GetName() == "system") {
 570     Components = &Systems;
 571     Name = "System: " + document->GetAttributeValue("name");
 572   }
 573   Debug(2);
 574
 575   if (document->GetName() == "flight_control") bindModel();
 576
 577   // Interface properties from any autopilot, flight control, or other system are
 578   // all stored in the interface properties array.
 579
 580   property_element = document->FindElement("property");
 581   if (property_element) cout << endl << "    Declared properties" << endl << endl;
 582   while (property_element) {
 583     interface_property_string = property_element->GetDataLine();
 584     if (PropertyManager->HasNode(interface_property_string)) {
 585       cout << "      Property " << interface_property_string << " is already defined." << endl;
 586     } else {
 587       double value=0.0;
 588       if ( ! property_element->GetAttributeValue("value").empty())
 589         value = property_element->GetAttributeValueAsNumber("value");
 590       interface_properties.push_back(new double(value));
 591       interface_property_string = property_element->GetDataLine();
 592       PropertyManager->Tie(interface_property_string, interface_properties.back());
 593       cout << "      " << interface_property_string << " (initial value: " << value << ")" << endl;
 594     }
 595     property_element = document->FindNextElement("property");
 596   }
 597
 598   // After reading interface properties in a file, read properties in the local
 599   // flight_control, autopilot, or system element. This allows general-purpose
 600   // systems to be defined in a file, with overrides or initial loaded constants
 601   // supplied in the relevant element of the aircraft configuration file.
 602
 603   if (!fname.empty()) {
 604     property_element = el->FindElement("property");
 605     if (property_element && debug_lvl > 0) cout << endl << "    Overriding properties" << endl << endl;
 606     while (property_element) {
 607       double value=0.0;
 608       if ( ! property_element->GetAttributeValue("value").empty())
 609         value = property_element->GetAttributeValueAsNumber("value");
 610
 611       interface_property_string = property_element->GetDataLine();
 612       if (PropertyManager->HasNode(interface_property_string)) {
 613         FGPropertyManager* node = PropertyManager->GetNode(interface_property_string);
 614         cout << "      " << "Overriding value for property " << interface_property_string
 615              << " (old value: " << node->getDoubleValue() << "  new value: " << value << ")" << endl;
 616         node->setDoubleValue(value);
 617       } else {
 618         interface_properties.push_back(new double(value));
 619         PropertyManager->Tie(interface_property_string, interface_properties.back());
 620         if (debug_lvl > 0)
 621           cout << "      " << interface_property_string << " (initial value: " << value << ")" << endl;
 622       }
 623
 624       property_element = el->FindNextElement("property");
 625     }
 626   }
 627
 628   // Any sensor elements that are outside of a channel (in either the autopilot
 629   // or the flight_control, or even any possible "system") are placed into the global
 630   // "sensors" array, and are executed prior to any autopilot, flight control, or
 631   // system.
 632
 633   sensor_element = document->FindElement("sensor");
 634   while (sensor_element) {
 635     try {
 636       sensors.push_back(new FGSensor(this, sensor_element));
 637     } catch (string s) {
 638       cerr << highint << fgred << endl << "  " << s << endl;
 639       return false;
 640     }
 641     sensor_element = document->FindNextElement("sensor");
 642   }
 643
 644   channel_element = document->FindElement("channel");
 645   while (channel_element) {
 646
 647     if (debug_lvl > 0)
 648       cout << endl << highint << fgblue << "    Channel "
 649          << normint << channel_element->GetAttributeValue("name") << reset << endl;
 650
 651     component_element = channel_element->GetElement();
 652     while (component_element) {
 653       try {
 654         if ((component_element->GetName() == string("lag_filter")) ||
 655             (component_element->GetName() == string("lead_lag_filter")) ||
 656             (component_element->GetName() == string("washout_filter")) ||
 657             (component_element->GetName() == string("second_order_filter")) ||
 658             (component_element->GetName() == string("integrator")) )
 659         {
 660           Components->push_back(new FGFilter(this, component_element));
 661         } else if ((component_element->GetName() == string("pure_gain")) ||
 662                    (component_element->GetName() == string("scheduled_gain")) ||
 663                    (component_element->GetName() == string("aerosurface_scale")))
 664         {
 665           Components->push_back(new FGGain(this, component_element));
 666         } else if (component_element->GetName() == string("summer")) {
 667           Components->push_back(new FGSummer(this, component_element));
 668         } else if (component_element->GetName() == string("deadband")) {
 669           Components->push_back(new FGDeadBand(this, component_element));
 670         } else if (component_element->GetName() == string("switch")) {
 671           Components->push_back(new FGSwitch(this, component_element));
 672         } else if (component_element->GetName() == string("kinematic")) {
 673           Components->push_back(new FGKinemat(this, component_element));
 674         } else if (component_element->GetName() == string("fcs_function")) {
 675           Components->push_back(new FGFCSFunction(this, component_element));
 676         } else if (component_element->GetName() == string("pid")) {
 677           Components->push_back(new FGPID(this, component_element));
 678         } else if (component_element->GetName() == string("actuator")) {
 679           Components->push_back(new FGActuator(this, component_element));
 680         } else if (component_element->GetName() == string("sensor")) {
 681           Components->push_back(new FGSensor(this, component_element));
 682         } else {
 683           cerr << "Unknown FCS component: " << component_element->GetName() << endl;
 684         }
 685       } catch(string s) {
 686         cerr << highint << fgred << endl << "  " << s << endl;
 687         cerr << reset << endl;
 688         return false;
 689       }
 690       component_element = channel_element->GetNextElement();
 691     }
 692     channel_element = document->FindNextElement("channel");
 693   }
 694
 695   ResetParser();
 696
 697   return true;
 698 }
 699
 700 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 701
 702 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 703 {
 704   switch (bg) {
 705   case FGLGear::bgLeft:
 706     return LeftBrake;
 707   case FGLGear::bgRight:
 708     return RightBrake;
 709   case FGLGear::bgCenter:
 710     return CenterBrake;
 711   default:
 712     cerr << "GetBrake asked to return a bogus brake value" << endl;
 713   }
 714   return 0.0;
 715 }
 716
 717 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 718
 719 string FGFCS::FindSystemFullPathname(string system_filename)
 720 {
 721   string fullpath, localpath;
 722   string systemPath = FDMExec->GetSystemsPath();
 723   string aircraftPath = FDMExec->GetFullAircraftPath();
 724   ifstream system_file;
 725
 726   string separator = "/";
 727
 728   fullpath = systemPath + separator;
 729   localpath = aircraftPath + separator + "Systems" + separator;
 730
 731   system_file.open(string(fullpath + system_filename + ".xml").c_str());
 732   if ( !system_file.is_open()) {
 733     system_file.open(string(localpath + system_filename + ".xml").c_str());
 734       if ( !system_file.is_open()) {
 735         cerr << " Could not open system file: " << system_filename << " in path "
 736              << fullpath << " or " << localpath << endl;
 737         return string("");
 738       } else {
 739         return string(localpath + system_filename + ".xml");
 740       }
 741   }
 742   return string(fullpath + system_filename + ".xml");
 743 }
 744
 745 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 746
 747 ifstream* FGFCS::FindSystemFile(string system_filename)
 748 {
 749   string fullpath, localpath;
 750   string systemPath = FDMExec->GetSystemsPath();
 751   string aircraftPath = FDMExec->GetFullAircraftPath();
 752   ifstream* system_file = new ifstream();
 753
 754   string separator = "/";
 755
 756   fullpath = systemPath + separator;
 757   localpath = aircraftPath + separator + "Systems" + separator;
 758
 759   system_file->open(string(fullpath + system_filename + ".xml").c_str());
 760   if ( !system_file->is_open()) {
 761     system_file->open(string(localpath + system_filename + ".xml").c_str());
 762       if ( !system_file->is_open()) {
 763         cerr << " Could not open system file: " << system_filename << " in path "
 764              << fullpath << " or " << localpath << endl;
 765       }
 766   }
 767   return system_file;
 768 }
 769
 770 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 771
 772 string FGFCS::GetComponentStrings(string delimeter)
 773 {
 774   unsigned int comp;
 775   string CompStrings = "";
 776   bool firstime = true;
 777   int total_count=0;
 778
 779   for (unsigned int i=0; i<Systems.size(); i++) {
 780     if (firstime) firstime = false;
 781     else          CompStrings += delimeter;
 782
 783     CompStrings += Systems[i]->GetName();
 784     total_count++;
 785   }
 786
 787   for (comp = 0; comp < APComponents.size(); comp++)
 788   {
 789     if (firstime) firstime = false;
 790     else          CompStrings += delimeter;
 791
 792     CompStrings += APComponents[comp]->GetName();
 793     total_count++;
 794   }
 795
 796   for (comp = 0; comp < FCSComponents.size(); comp++) {
 797     if (firstime) firstime = false;
 798     else          CompStrings += delimeter;
 799
 800     CompStrings += FCSComponents[comp]->GetName();
 801     total_count++;
 802   }
 803
 804   return CompStrings;
 805 }
 806
 807 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 808
 809 string FGFCS::GetComponentValues(string delimeter)
 810 {
 811   std::ostringstream buf;
 812
 813   unsigned int comp;
 814   bool firstime = true;
 815   int total_count=0;
 816
 817   for (unsigned int i=0; i<Systems.size(); i++) {
 818     if (firstime) firstime = false;
 819     else          buf << delimeter;
 820
 821     buf << setprecision(9) << Systems[i]->GetOutput();
 822     total_count++;
 823   }
 824
 825   for (comp = 0; comp < APComponents.size(); comp++) {
 826     if (firstime) firstime = false;
 827     else          buf << delimeter;
 828
 829     buf << setprecision(9) << APComponents[comp]->GetOutput();
 830     total_count++;
 831   }
 832
 833   for (comp = 0; comp < FCSComponents.size(); comp++) {
 834     if (firstime) firstime = false;
 835     else          buf << delimeter;
 836
 837     buf << setprecision(9) << FCSComponents[comp]->GetOutput();
 838     total_count++;
 839   }
 840
 841   return buf.str();
 842 }
 843
 844 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 845
 846 void FGFCS::AddThrottle(void)
 847 {
 848   ThrottleCmd.push_back(0.0);
 849   ThrottlePos.push_back(0.0);
 850   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 851   MixturePos.push_back(0.0);
 852   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 853   PropAdvance.push_back(0.0);
 854   PropFeatherCmd.push_back(false);
 855   PropFeather.push_back(false);
 856
 857   unsigned int num = (unsigned int)ThrottleCmd.size()-1;
 858   bindThrottle(num);
 859 }
 860
 861 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 862
 863 void FGFCS::AddGear(void)
 864 {
 865   SteerPosDeg.push_back(0.0);
 866 }
 867
 868 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 869
 870 double FGFCS::GetDt(void)
 871 {
 872   return FDMExec->GetDeltaT()*rate;
 873 }
 874
 875 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 876
 877 void FGFCS::bind(void)
 878 {
 879   PropertyManager->Tie("fcs/aileron-cmd-norm", this, &FGFCS::GetDaCmd, &FGFCS::SetDaCmd);
 880   PropertyManager->Tie("fcs/elevator-cmd-norm", this, &FGFCS::GetDeCmd, &FGFCS::SetDeCmd);
 881   PropertyManager->Tie("fcs/rudder-cmd-norm", this, &FGFCS::GetDrCmd, &FGFCS::SetDrCmd);
 882   PropertyManager->Tie("fcs/flap-cmd-norm", this, &FGFCS::GetDfCmd, &FGFCS::SetDfCmd);
 883   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this, &FGFCS::GetDsbCmd, &FGFCS::SetDsbCmd);
 884   PropertyManager->Tie("fcs/spoiler-cmd-norm", this, &FGFCS::GetDspCmd, &FGFCS::SetDspCmd);
 885   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this, &FGFCS::GetPitchTrimCmd, &FGFCS::SetPitchTrimCmd);
 886   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this, &FGFCS::GetRollTrimCmd, &FGFCS::SetRollTrimCmd);
 887   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this, &FGFCS::GetYawTrimCmd, &FGFCS::SetYawTrimCmd);
 888
 889   PropertyManager->Tie("fcs/left-aileron-pos-rad", this, ofRad, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 890   PropertyManager->Tie("fcs/left-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 891   PropertyManager->Tie("fcs/left-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 892   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this, ofMag, &FGFCS::GetDaLPos);
 893
 894   PropertyManager->Tie("fcs/right-aileron-pos-rad", this, ofRad, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 895   PropertyManager->Tie("fcs/right-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 896   PropertyManager->Tie("fcs/right-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 897   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this, ofMag, &FGFCS::GetDaRPos);
 898
 899   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad, &FGFCS::GetDePos, &FGFCS::SetDePos);
 900   PropertyManager->Tie("fcs/elevator-pos-deg", this, ofDeg, &FGFCS::GetDePos, &FGFCS::SetDePos);
 901   PropertyManager->Tie("fcs/elevator-pos-norm", this, ofNorm, &FGFCS::GetDePos, &FGFCS::SetDePos);
 902   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this, ofMag, &FGFCS::GetDePos);
 903
 904   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 905   PropertyManager->Tie("fcs/rudder-pos-deg", this,ofDeg, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 906   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 907   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag, &FGFCS::GetDrPos);
 908
 909   PropertyManager->Tie("fcs/flap-pos-rad", this,ofRad, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 910   PropertyManager->Tie("fcs/flap-pos-deg", this,ofDeg, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 911   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 912
 913   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 914   PropertyManager->Tie("fcs/speedbrake-pos-deg", this,ofDeg, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 915   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 916   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag, &FGFCS::GetDsbPos);
 917
 918   PropertyManager->Tie("fcs/spoiler-pos-rad", this, ofRad, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 919   PropertyManager->Tie("fcs/spoiler-pos-deg", this, ofDeg, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 920   PropertyManager->Tie("fcs/spoiler-pos-norm", this, ofNorm, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 921   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this, ofMag, &FGFCS::GetDspPos);
 922
 923   PropertyManager->Tie("gear/gear-pos-norm", this, &FGFCS::GetGearPos, &FGFCS::SetGearPos);
 924   PropertyManager->Tie("gear/gear-cmd-norm", this, &FGFCS::GetGearCmd, &FGFCS::SetGearCmd);
 925   PropertyManager->Tie("fcs/left-brake-cmd-norm", this, &FGFCS::GetLBrake, &FGFCS::SetLBrake);
 926   PropertyManager->Tie("fcs/right-brake-cmd-norm", this, &FGFCS::GetRBrake, &FGFCS::SetRBrake);
 927   PropertyManager->Tie("fcs/center-brake-cmd-norm", this, &FGFCS::GetCBrake, &FGFCS::SetCBrake);
 928   PropertyManager->Tie("fcs/steer-cmd-norm", this, &FGFCS::GetDsCmd, &FGFCS::SetDsCmd);
 929
 930   PropertyManager->Tie("gear/tailhook-pos-norm", this, &FGFCS::GetTailhookPos, &FGFCS::SetTailhookPos);
 931   PropertyManager->Tie("fcs/wing-fold-pos-norm", this, &FGFCS::GetWingFoldPos, &FGFCS::SetWingFoldPos);
 932 }
 933
 934 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 935 // Technically, this function should probably bind propulsion type specific controls
 936 // rather than mixture and prop-advance.
 937
 938 void FGFCS::bindThrottle(unsigned int num)
 939 {
 940   string tmp;
 941
 942   tmp = CreateIndexedPropertyName("fcs/throttle-cmd-norm", num);
 943   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottleCmd,
 944                                         &FGFCS::SetThrottleCmd);
 945   tmp = CreateIndexedPropertyName("fcs/throttle-pos-norm", num);
 946   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottlePos,
 947                                         &FGFCS::SetThrottlePos);
 948   tmp = CreateIndexedPropertyName("fcs/mixture-cmd-norm", num);
 949   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixtureCmd,
 950                                         &FGFCS::SetMixtureCmd);
 951   tmp = CreateIndexedPropertyName("fcs/mixture-pos-norm", num);
 952   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixturePos,
 953                                         &FGFCS::SetMixturePos);
 954   tmp = CreateIndexedPropertyName("fcs/advance-cmd-norm", num);
 955   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvanceCmd,
 956                                         &FGFCS::SetPropAdvanceCmd);
 957   tmp = CreateIndexedPropertyName("fcs/advance-pos-norm", num);
 958   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvance,
 959                                         &FGFCS::SetPropAdvance);
 960   tmp = CreateIndexedPropertyName("fcs/feather-cmd-norm", num);
 961   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetFeatherCmd,
 962                                         &FGFCS::SetFeatherCmd);
 963   tmp = CreateIndexedPropertyName("fcs/feather-pos-norm", num);
 964   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropFeather,
 965                                         &FGFCS::SetPropFeather);
 966 }
 967
 968 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 969
 970 void FGFCS::bindModel(void)
 971 {
 972   unsigned int i;
 973   string tmp;
 974
 975   for (i=0; i<SteerPosDeg.size(); i++) {
 976     if (GroundReactions->GetGearUnit(i)->GetSteerable()) {
 977       tmp = CreateIndexedPropertyName("fcs/steer-pos-deg", i);
 978       PropertyManager->Tie( tmp.c_str(), this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
 979     }
 980   }
 981 }
 982
 983 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 984 //    The bitmasked value choices are as follows:
 985 //    unset: In this case (the default) JSBSim would only print
 986 //       out the normally expected messages, essentially echoing
 987 //       the config files as they are read. If the environment
 988 //       variable is not set, debug_lvl is set to 1 internally
 989 //    0: This requests JSBSim not to output any messages
 990 //       whatsoever.
 991 //    1: This value explicity requests the normal JSBSim
 992 //       startup messages
 993 //    2: This value asks for a message to be printed out when
 994 //       a class is instantiated
 995 //    4: When this value is set, a message is displayed when a
 996 //       FGModel object executes its Run() method
 997 //    8: When this value is set, various runtime state variables
 998 //       are printed out periodically
 999 //    16: When set various parameters are sanity checked and
1000 //       a message is printed out when they go out of bounds
1001
1002 void FGFCS::Debug(int from)
1003 {
1004   if (debug_lvl <= 0) return;
1005
1006   if (debug_lvl & 1) { // Standard console startup message output
1007     if (from == 2) { // Loader
1008       cout << endl << "  " << Name << endl;
1009     }
1010   }
1011   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
1012     if (from == 0) cout << "Instantiated: FGFCS" << endl;
1013     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
1014   }
1015   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
1016   }
1017   if (debug_lvl & 8 ) { // Runtime state variables
1018   }
1019   if (debug_lvl & 16) { // Sanity checking
1020   }
1021   if (debug_lvl & 64) {
1022     if (from == 0) { // Constructor
1023       cout << IdSrc << endl;
1024       cout << IdHdr << endl;
1025     }
1026   }
1027 }
1028
1029 }