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
  56 namespace JSBSim {
  57
  58 static const char *IdSrc = "$Id$";
  59 static const char *IdHdr = ID_FCS;
  60
  61 #if defined(WIN32) && !defined(__CYGWIN__)
  62 #define snprintf _snprintf
  63 #endif
  64
  65 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  66 CLASS IMPLEMENTATION
  67 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  68
  69 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
  70 {
  71   int i;
  72   Name = "FGFCS";
  73
  74   DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
  75   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
  76   GearCmd = GearPos = 1; // default to gear down
  77   LeftBrake = RightBrake = CenterBrake = 0.0;
  78
  79   bind();
  80   for (i=0;i<=NForms;i++) {
  81     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
  82     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
  83   }
  84
  85   Debug(0);
  86 }
  87
  88 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  89
  90 FGFCS::~FGFCS()
  91 {
  92   if (PropertyManager->HasNode("fcs")) unbind( PropertyManager->GetNode("fcs") );
  93   if (PropertyManager->HasNode("ap")) unbind( PropertyManager->GetNode("ap") );
  94   PropertyManager->Untie( "gear/gear-cmd-norm" );
  95   PropertyManager->Untie( "gear/gear-pos-norm" );
  96
  97   ThrottleCmd.clear();
  98   ThrottlePos.clear();
  99   MixtureCmd.clear();
 100   MixturePos.clear();
 101   PropAdvanceCmd.clear();
 102   PropAdvance.clear();
 103   SteerPosDeg.clear();
 104   PropFeatherCmd.clear();
 105   PropFeather.clear();
 106
 107   unsigned int i;
 108
 109   for (i=0;i<APComponents.size();i++) delete APComponents[i];
 110   for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
 111   for (i=0;i<sensors.size();i++) delete sensors[i];
 112
 113   APComponents.clear();
 114   FCSComponents.clear();
 115   sensors.clear();
 116   interface_properties.clear();
 117
 118   Debug(1);
 119 }
 120
 121 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 122 // Notes: In this logic the default engine commands are set. This is simply a
 123 // sort of safe-mode method in case the user has not defined control laws for
 124 // throttle, mixture, and prop-advance. The throttle, mixture, and prop advance
 125 // positions are set equal to the respective commands. Any control logic that is
 126 // actually present in the flight_control or autopilot section will override
 127 // these simple assignments.
 128
 129 bool FGFCS::Run(void)
 130 {
 131   unsigned int i;
 132
 133   if (FGModel::Run()) return true; // fast exit if nothing to do
 134   if (FDMExec->Holding()) return false;
 135
 136   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 137   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
 138   for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
 139   for (i=0; i<PropFeather.size(); i++) PropFeather[i] = PropFeatherCmd[i];
 140
 141
 142   // Set the default steering angle
 143   for (i=0; i<SteerPosDeg.size(); i++) {
 144     FGLGear* gear = GroundReactions->GetGearUnit(i);
 145     SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
 146   }
 147
 148   // Cycle through the sensor, autopilot, and flight control components
 149   for (i=0; i<sensors.size(); i++) sensors[i]->Run();
 150   for (i=0; i<APComponents.size(); i++) APComponents[i]->Run();
 151   for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
 152
 153   return false;
 154 }
 155
 156 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 157
 158 void FGFCS::SetDaLPos( int form , double pos )
 159 {
 160   switch(form) {
 161   case ofRad:
 162     DaLPos[ofRad] = pos;
 163     DaLPos[ofDeg] = pos*radtodeg;
 164     break;
 165   case ofDeg:
 166     DaLPos[ofRad] = pos*degtorad;
 167     DaLPos[ofDeg] = pos;
 168     break;
 169   case ofNorm:
 170     DaLPos[ofNorm] = pos;
 171   }
 172   DaLPos[ofMag] = fabs(DaLPos[ofRad]);
 173 }
 174
 175 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 176
 177 void FGFCS::SetDaRPos( int form , double pos )
 178 {
 179   switch(form) {
 180   case ofRad:
 181     DaRPos[ofRad] = pos;
 182     DaRPos[ofDeg] = pos*radtodeg;
 183     break;
 184   case ofDeg:
 185     DaRPos[ofRad] = pos*degtorad;
 186     DaRPos[ofDeg] = pos;
 187     break;
 188   case ofNorm:
 189     DaRPos[ofNorm] = pos;
 190   }
 191   DaRPos[ofMag] = fabs(DaRPos[ofRad]);
 192 }
 193
 194 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 195
 196 void FGFCS::SetDePos( int form , double pos )
 197 {
 198   switch(form) {
 199   case ofRad:
 200     DePos[ofRad] = pos;
 201     DePos[ofDeg] = pos*radtodeg;
 202     break;
 203   case ofDeg:
 204     DePos[ofRad] = pos*degtorad;
 205     DePos[ofDeg] = pos;
 206     break;
 207   case ofNorm:
 208     DePos[ofNorm] = pos;
 209   }
 210   DePos[ofMag] = fabs(DePos[ofRad]);
 211 }
 212
 213 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 214
 215 void FGFCS::SetDrPos( int form , double pos )
 216 {
 217   switch(form) {
 218   case ofRad:
 219     DrPos[ofRad] = pos;
 220     DrPos[ofDeg] = pos*radtodeg;
 221     break;
 222   case ofDeg:
 223     DrPos[ofRad] = pos*degtorad;
 224     DrPos[ofDeg] = pos;
 225     break;
 226   case ofNorm:
 227     DrPos[ofNorm] = pos;
 228   }
 229   DrPos[ofMag] = fabs(DrPos[ofRad]);
 230 }
 231
 232 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 233
 234 void FGFCS::SetDfPos( int form , double pos )
 235 {
 236   switch(form) {
 237   case ofRad:
 238     DfPos[ofRad] = pos;
 239     DfPos[ofDeg] = pos*radtodeg;
 240     break;
 241   case ofDeg:
 242     DfPos[ofRad] = pos*degtorad;
 243     DfPos[ofDeg] = pos;
 244     break;
 245   case ofNorm:
 246     DfPos[ofNorm] = pos;
 247   }
 248   DfPos[ofMag] = fabs(DfPos[ofRad]);
 249 }
 250
 251 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 252
 253 void FGFCS::SetDsbPos( int form , double pos )
 254 {
 255   switch(form) {
 256   case ofRad:
 257     DsbPos[ofRad] = pos;
 258     DsbPos[ofDeg] = pos*radtodeg;
 259     break;
 260   case ofDeg:
 261     DsbPos[ofRad] = pos*degtorad;
 262     DsbPos[ofDeg] = pos;
 263     break;
 264   case ofNorm:
 265     DsbPos[ofNorm] = pos;
 266   }
 267   DsbPos[ofMag] = fabs(DsbPos[ofRad]);
 268 }
 269
 270 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 271
 272 void FGFCS::SetDspPos( int form , double pos )
 273 {
 274   switch(form) {
 275   case ofRad:
 276     DspPos[ofRad] = pos;
 277     DspPos[ofDeg] = pos*radtodeg;
 278     break;
 279   case ofDeg:
 280     DspPos[ofRad] = pos*degtorad;
 281     DspPos[ofDeg] = pos;
 282     break;
 283   case ofNorm:
 284     DspPos[ofNorm] = pos;
 285   }
 286   DspPos[ofMag] = fabs(DspPos[ofRad]);
 287 }
 288
 289 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 290
 291 void FGFCS::SetThrottleCmd(int engineNum, double setting)
 292 {
 293   unsigned int ctr;
 294
 295   if (engineNum < (int)ThrottlePos.size()) {
 296     if (engineNum < 0) {
 297       for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 298     } else {
 299       ThrottleCmd[engineNum] = setting;
 300     }
 301   } else {
 302     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 303          << " engines exist, but attempted throttle command is for engine "
 304          << engineNum << endl;
 305   }
 306 }
 307
 308 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 309
 310 void FGFCS::SetThrottlePos(int engineNum, double setting)
 311 {
 312   unsigned int ctr;
 313
 314   if (engineNum < (int)ThrottlePos.size()) {
 315     if (engineNum < 0) {
 316       for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
 317     } else {
 318       ThrottlePos[engineNum] = setting;
 319     }
 320   } else {
 321     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 322          << " engines exist, but attempted throttle position setting is for engine "
 323          << engineNum << endl;
 324   }
 325 }
 326
 327 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 328
 329 double FGFCS::GetThrottleCmd(int engineNum) const
 330 {
 331   if (engineNum < (int)ThrottlePos.size()) {
 332     if (engineNum < 0) {
 333        cerr << "Cannot get throttle value for ALL engines" << endl;
 334     } else {
 335       return ThrottleCmd[engineNum];
 336     }
 337   } else {
 338     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 339          << " engines exist, but throttle setting for engine " << engineNum
 340          << " is selected" << endl;
 341   }
 342   return 0.0;
 343 }
 344
 345 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 346
 347 double FGFCS::GetThrottlePos(int engineNum) const
 348 {
 349   if (engineNum < (int)ThrottlePos.size()) {
 350     if (engineNum < 0) {
 351        cerr << "Cannot get throttle value for ALL engines" << endl;
 352     } else {
 353       return ThrottlePos[engineNum];
 354     }
 355   } else {
 356     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 357          << " engines exist, but attempted throttle position setting is for engine "
 358          << engineNum << endl;
 359   }
 360   return 0.0;
 361 }
 362
 363 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 364
 365 void FGFCS::SetMixtureCmd(int engineNum, double setting)
 366 {
 367   unsigned int ctr;
 368
 369   if (engineNum < (int)ThrottlePos.size()) {
 370     if (engineNum < 0) {
 371       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
 372     } else {
 373       MixtureCmd[engineNum] = setting;
 374     }
 375   }
 376 }
 377
 378 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 379
 380 void FGFCS::SetMixturePos(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<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
 387     } else {
 388       MixturePos[engineNum] = setting;
 389     }
 390   }
 391 }
 392
 393 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 394
 395 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
 396 {
 397   unsigned int ctr;
 398
 399   if (engineNum < (int)ThrottlePos.size()) {
 400     if (engineNum < 0) {
 401       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
 402     } else {
 403       PropAdvanceCmd[engineNum] = setting;
 404     }
 405   }
 406 }
 407
 408 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 409
 410 void FGFCS::SetPropAdvance(int engineNum, double setting)
 411 {
 412   unsigned int ctr;
 413
 414   if (engineNum < (int)ThrottlePos.size()) {
 415     if (engineNum < 0) {
 416       for (ctr=0;ctr<=PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
 417     } else {
 418       PropAdvance[engineNum] = setting;
 419     }
 420   }
 421 }
 422
 423 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 424
 425 void FGFCS::SetFeatherCmd(int engineNum, bool setting)
 426 {
 427   unsigned int ctr;
 428
 429   if (engineNum < (int)ThrottlePos.size()) {
 430     if (engineNum < 0) {
 431       for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeatherCmd[ctr] = setting;
 432     } else {
 433       PropFeatherCmd[engineNum] = setting;
 434     }
 435   }
 436 }
 437
 438 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 439
 440 void FGFCS::SetPropFeather(int engineNum, bool setting)
 441 {
 442   unsigned int ctr;
 443
 444   if (engineNum < (int)ThrottlePos.size()) {
 445     if (engineNum < 0) {
 446       for (ctr=0;ctr<=PropFeatherCmd.size();ctr++) PropFeather[ctr] = PropFeatherCmd[ctr];
 447     } else {
 448       PropFeather[engineNum] = setting;
 449     }
 450   }
 451 }
 452
 453 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 454
 455 bool FGFCS::Load(Element* el)
 456 {
 457   string name, file, fname, interface_property_string;
 458   vector <FGFCSComponent*> *Components;
 459   Element *document, *component_element, *property_element, *sensor_element;
 460   Element *channel_element;
 461   ifstream* controls_file = new ifstream();
 462   FGXMLParse controls_file_parser;
 463
 464   Components=0;
 465   // Determine if the FCS/Autopilot is defined inline in the aircraft configuration
 466   // file or in a separate file. Set up the Element pointer as appropriate.
 467
 468   string separator = "/";
 469 #ifdef macintosh
 470   separator = ";";
 471 #endif
 472
 473   name = el->GetAttributeValue("name");
 474
 475   if (name.empty()) {
 476     fname = el->GetAttributeValue("file");
 477     file = FDMExec->GetFullAircraftPath() + separator + fname + ".xml";
 478     if (fname.empty()) {
 479       cerr << "FCS/Autopilot does not appear to be defined inline nor in a file" << endl;
 480       return false;
 481     } else {
 482       controls_file->open(file.c_str());
 483       readXML(*controls_file, controls_file_parser);
 484       delete controls_file;
 485       document = controls_file_parser.GetDocument();
 486     }
 487   } else {
 488     document = el;
 489   }
 490
 491   if (document->GetName() == "autopilot") {
 492     Components = &APComponents;
 493     Name = "Autopilot: " + document->GetAttributeValue("name");
 494   } else if (document->GetName() == "flight_control") {
 495     Components = &FCSComponents;
 496     Name = "FCS: " + document->GetAttributeValue("name");
 497   }
 498
 499   Debug(2);
 500
 501   // ToDo: How do these get untied?
 502   // ToDo: Consider having INPUT and OUTPUT interface properties. Would then
 503   //       have to duplicate this block of code after channel read code.
 504   //       Input properties could be write only (nah), and output could be read
 505   //       only.
 506
 507   if (document->GetName() == "flight_control") bindModel();
 508
 509   property_element = document->FindElement("property");
 510   while (property_element) {
 511     interface_properties.push_back(new double(0));
 512     interface_property_string = property_element->GetDataLine();
 513     PropertyManager->Tie(interface_property_string, interface_properties.back());
 514     property_element = document->FindNextElement("property");
 515   }
 516
 517   sensor_element = document->FindElement("sensor");
 518   while (sensor_element) {
 519     try {
 520       sensors.push_back(new FGSensor(this, sensor_element));
 521     } catch (string s) {
 522       cerr << highint << fgred << endl << "  " << s << endl;
 523       return false;
 524     }
 525     sensor_element = document->FindNextElement("sensor");
 526   }
 527
 528   channel_element = document->FindElement("channel");
 529   while (channel_element) {
 530     component_element = channel_element->GetElement();
 531     while (component_element) {
 532       try {
 533         if ((component_element->GetName() == string("lag_filter")) ||
 534             (component_element->GetName() == string("lead_lag_filter")) ||
 535             (component_element->GetName() == string("washout_filter")) ||
 536             (component_element->GetName() == string("second_order_filter")) ||
 537             (component_element->GetName() == string("integrator")) )
 538         {
 539           Components->push_back(new FGFilter(this, component_element));
 540         } else if ((component_element->GetName() == string("pure_gain")) ||
 541                    (component_element->GetName() == string("scheduled_gain")) ||
 542                    (component_element->GetName() == string("aerosurface_scale")))
 543         {
 544           Components->push_back(new FGGain(this, component_element));
 545         } else if (component_element->GetName() == string("summer")) {
 546           Components->push_back(new FGSummer(this, component_element));
 547         } else if (component_element->GetName() == string("deadband")) {
 548           Components->push_back(new FGDeadBand(this, component_element));
 549         } else if (component_element->GetName() == string("switch")) {
 550           Components->push_back(new FGSwitch(this, component_element));
 551         } else if (component_element->GetName() == string("kinematic")) {
 552           Components->push_back(new FGKinemat(this, component_element));
 553         } else if (component_element->GetName() == string("fcs_function")) {
 554           Components->push_back(new FGFCSFunction(this, component_element));
 555         } else if (component_element->GetName() == string("pid")) {
 556           Components->push_back(new FGPID(this, component_element));
 557         } else {
 558           cerr << "Unknown FCS component: " << component_element->GetName() << endl;
 559         }
 560       } catch(string s) {
 561         cerr << highint << fgred << endl << "  " << s << endl;
 562         cerr << reset << endl;
 563         return false;
 564       }
 565       component_element = channel_element->GetNextElement();
 566     }
 567     channel_element = document->FindNextElement("channel");
 568   }
 569
 570   return true;
 571 }
 572
 573 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 574
 575 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 576 {
 577   switch (bg) {
 578   case FGLGear::bgLeft:
 579     return LeftBrake;
 580   case FGLGear::bgRight:
 581     return RightBrake;
 582   case FGLGear::bgCenter:
 583     return CenterBrake;
 584   default:
 585     cerr << "GetBrake asked to return a bogus brake value" << endl;
 586   }
 587   return 0.0;
 588 }
 589
 590 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 591
 592 string FGFCS::GetComponentStrings(string delimeter)
 593 {
 594   unsigned int comp;
 595   string CompStrings = "";
 596   bool firstime = true;
 597
 598   for (comp = 0; comp < FCSComponents.size(); comp++) {
 599     if (firstime) firstime = false;
 600     else          CompStrings += delimeter;
 601
 602     CompStrings += FCSComponents[comp]->GetName();
 603   }
 604
 605   for (comp = 0; comp < APComponents.size(); comp++)
 606   {
 607     CompStrings += delimeter;
 608     CompStrings += APComponents[comp]->GetName();
 609   }
 610
 611   return CompStrings;
 612 }
 613
 614 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 615
 616 string FGFCS::GetComponentValues(string delimeter)
 617 {
 618   unsigned int comp;
 619   string CompValues = "";
 620   char buffer[17];
 621   bool firstime = true;
 622
 623   for (comp = 0; comp < FCSComponents.size(); comp++) {
 624     if (firstime) firstime = false;
 625     else          CompValues += delimeter;
 626
 627     sprintf(buffer, "%9.6f", FCSComponents[comp]->GetOutput());
 628     CompValues += string(buffer);
 629   }
 630
 631   for (comp = 0; comp < APComponents.size(); comp++) {
 632     sprintf(buffer, "%s%9.6f", delimeter.c_str(), APComponents[comp]->GetOutput());
 633     CompValues += string(buffer);
 634   }
 635
 636   CompValues += "\0";
 637   return CompValues;
 638 }
 639
 640 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 641
 642 void FGFCS::AddThrottle(void)
 643 {
 644   ThrottleCmd.push_back(0.0);
 645   ThrottlePos.push_back(0.0);
 646   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 647   MixturePos.push_back(0.0);
 648   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 649   PropAdvance.push_back(0.0);
 650   PropFeatherCmd.push_back(false);
 651   PropFeather.push_back(false);
 652
 653   unsigned int num = (unsigned int)ThrottleCmd.size()-1;
 654   bindThrottle(num);
 655 }
 656
 657 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 658
 659 void FGFCS::AddGear(void)
 660 {
 661   SteerPosDeg.push_back(0.0);
 662 }
 663
 664 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 665
 666 void FGFCS::bind(void)
 667 {
 668   PropertyManager->Tie("fcs/aileron-cmd-norm", this, &FGFCS::GetDaCmd, &FGFCS::SetDaCmd);
 669   PropertyManager->Tie("fcs/elevator-cmd-norm", this, &FGFCS::GetDeCmd, &FGFCS::SetDeCmd);
 670   PropertyManager->Tie("fcs/rudder-cmd-norm", this, &FGFCS::GetDrCmd, &FGFCS::SetDrCmd);
 671   PropertyManager->Tie("fcs/flap-cmd-norm", this, &FGFCS::GetDfCmd, &FGFCS::SetDfCmd);
 672   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this, &FGFCS::GetDsbCmd, &FGFCS::SetDsbCmd);
 673   PropertyManager->Tie("fcs/spoiler-cmd-norm", this, &FGFCS::GetDspCmd, &FGFCS::SetDspCmd);
 674   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this, &FGFCS::GetPitchTrimCmd, &FGFCS::SetPitchTrimCmd);
 675   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this, &FGFCS::GetRollTrimCmd, &FGFCS::SetRollTrimCmd);
 676   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this, &FGFCS::GetYawTrimCmd, &FGFCS::SetYawTrimCmd);
 677
 678   PropertyManager->Tie("fcs/left-aileron-pos-rad", this, ofRad, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 679   PropertyManager->Tie("fcs/left-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 680   PropertyManager->Tie("fcs/left-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 681   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this, ofMag, &FGFCS::GetDaLPos);
 682
 683   PropertyManager->Tie("fcs/right-aileron-pos-rad", this, ofRad, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 684   PropertyManager->Tie("fcs/right-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 685   PropertyManager->Tie("fcs/right-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 686   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this, ofMag, &FGFCS::GetDaRPos);
 687
 688   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad, &FGFCS::GetDePos, &FGFCS::SetDePos);
 689   PropertyManager->Tie("fcs/elevator-pos-deg", this, ofDeg, &FGFCS::GetDePos, &FGFCS::SetDePos);
 690   PropertyManager->Tie("fcs/elevator-pos-norm", this, ofNorm, &FGFCS::GetDePos, &FGFCS::SetDePos);
 691   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this, ofMag, &FGFCS::GetDePos);
 692
 693   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 694   PropertyManager->Tie("fcs/rudder-pos-deg", this,ofDeg, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 695   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 696   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag, &FGFCS::GetDrPos);
 697
 698   PropertyManager->Tie("fcs/flap-pos-rad", this,ofRad, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 699   PropertyManager->Tie("fcs/flap-pos-deg", this,ofDeg, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 700   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 701
 702   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 703   PropertyManager->Tie("fcs/speedbrake-pos-deg", this,ofDeg, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 704   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 705   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag, &FGFCS::GetDsbPos);
 706
 707   PropertyManager->Tie("fcs/spoiler-pos-rad", this, ofRad, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 708   PropertyManager->Tie("fcs/spoiler-pos-deg", this, ofDeg, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 709   PropertyManager->Tie("fcs/spoiler-pos-norm", this, ofNorm, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 710   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this, ofMag, &FGFCS::GetDspPos);
 711
 712   PropertyManager->Tie("gear/gear-pos-norm", this, &FGFCS::GetGearPos, &FGFCS::SetGearPos);
 713   PropertyManager->Tie("gear/gear-cmd-norm", this, &FGFCS::GetGearCmd, &FGFCS::SetGearCmd);
 714   PropertyManager->Tie("fcs/left-brake-cmd-norm", this, &FGFCS::GetLBrake, &FGFCS::SetLBrake);
 715   PropertyManager->Tie("fcs/right-brake-cmd-norm", this, &FGFCS::GetRBrake, &FGFCS::SetRBrake);
 716   PropertyManager->Tie("fcs/center-brake-cmd-norm", this, &FGFCS::GetCBrake, &FGFCS::SetCBrake);
 717   PropertyManager->Tie("fcs/steer-cmd-norm", this, &FGFCS::GetDsCmd, &FGFCS::SetDsCmd);
 718 }
 719
 720 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 721 // Technically, this function should probably bind propulsion type specific controls
 722 // rather than mixture and prop-advance.
 723 //
 724
 725 void FGFCS::bindThrottle(unsigned int num)
 726 {
 727   char tmp[80];
 728
 729   snprintf(tmp, 80, "fcs/throttle-cmd-norm[%u]",num);
 730   PropertyManager->Tie( tmp, this, num, &FGFCS::GetThrottleCmd,
 731                                         &FGFCS::SetThrottleCmd);
 732   snprintf(tmp, 80, "fcs/throttle-pos-norm[%u]",num);
 733   PropertyManager->Tie( tmp, this, num, &FGFCS::GetThrottlePos,
 734                                         &FGFCS::SetThrottlePos);
 735   snprintf(tmp, 80, "fcs/mixture-cmd-norm[%u]",num);
 736   PropertyManager->Tie( tmp, this, num, &FGFCS::GetMixtureCmd,
 737                                         &FGFCS::SetMixtureCmd);
 738   snprintf(tmp, 80, "fcs/mixture-pos-norm[%u]",num);
 739   PropertyManager->Tie( tmp, this, num, &FGFCS::GetMixturePos,
 740                                         &FGFCS::SetMixturePos);
 741   snprintf(tmp, 80, "fcs/advance-cmd-norm[%u]",num);
 742   PropertyManager->Tie( tmp, this, num, &FGFCS::GetPropAdvanceCmd,
 743                                         &FGFCS::SetPropAdvanceCmd);
 744   snprintf(tmp, 80, "fcs/advance-pos-norm[%u]", num);
 745   PropertyManager->Tie( tmp, this, num, &FGFCS::GetPropAdvance,
 746                                         &FGFCS::SetPropAdvance);
 747   snprintf(tmp, 80, "fcs/feather-cmd-norm[%u]", num);
 748   PropertyManager->Tie( tmp, this, num, &FGFCS::GetFeatherCmd,
 749                                         &FGFCS::SetFeatherCmd);
 750   snprintf(tmp, 80, "fcs/feather-pos-norm[%u]", num);
 751   PropertyManager->Tie( tmp, this, num, &FGFCS::GetPropFeather,
 752                                         &FGFCS::SetPropFeather);
 753 }
 754
 755 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 756
 757 void FGFCS::bindModel(void)
 758 {
 759   unsigned int i;
 760   char tmp[80];
 761
 762   for (i=0; i<SteerPosDeg.size(); i++) {
 763     if (GroundReactions->GetGearUnit(i)->GetSteerable()) {
 764       snprintf(tmp,80,"fcs/steer-pos-deg[%u]",i);
 765       PropertyManager->Tie( tmp, this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
 766     }
 767   }
 768 }
 769
 770 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 771
 772 void FGFCS::unbind(FGPropertyManager *node)
 773 {
 774   int N = node->nChildren();
 775   for (int i=0; i<N; i++) {
 776     if (node->getChild(i)->nChildren() ) {
 777       unbind( (FGPropertyManager*)node->getChild(i) );
 778     } else if ( node->getChild(i)->isTied() ) {
 779       node->getChild(i)->untie();
 780     }
 781   }
 782 }
 783
 784 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 785 //    The bitmasked value choices are as follows:
 786 //    unset: In this case (the default) JSBSim would only print
 787 //       out the normally expected messages, essentially echoing
 788 //       the config files as they are read. If the environment
 789 //       variable is not set, debug_lvl is set to 1 internally
 790 //    0: This requests JSBSim not to output any messages
 791 //       whatsoever.
 792 //    1: This value explicity requests the normal JSBSim
 793 //       startup messages
 794 //    2: This value asks for a message to be printed out when
 795 //       a class is instantiated
 796 //    4: When this value is set, a message is displayed when a
 797 //       FGModel object executes its Run() method
 798 //    8: When this value is set, various runtime state variables
 799 //       are printed out periodically
 800 //    16: When set various parameters are sanity checked and
 801 //       a message is printed out when they go out of bounds
 802
 803 void FGFCS::Debug(int from)
 804 {
 805   if (debug_lvl <= 0) return;
 806
 807   if (debug_lvl & 1) { // Standard console startup message output
 808     if (from == 2) { // Loader
 809       cout << endl << "  Flight Control (" << Name << ")" << endl;
 810     }
 811   }
 812   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 813     if (from == 0) cout << "Instantiated: FGFCS" << endl;
 814     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
 815   }
 816   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 817   }
 818   if (debug_lvl & 8 ) { // Runtime state variables
 819   }
 820   if (debug_lvl & 16) { // Sanity checking
 821   }
 822   if (debug_lvl & 64) {
 823     if (from == 0) { // Constructor
 824       cout << IdSrc << endl;
 825       cout << IdHdr << endl;
 826     }
 827   }
 828 }
 829
 830 }