src/FDM/JSBSim/models/FGFCS.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGFCS.cpp
   4  Author:       Jon Berndt
   5  Date started: 12/12/98
   6  Purpose:      Model the flight controls
   7  Called by:    FDMExec
   8
   9  ------------- Copyright (C) 1999  Jon S. Berndt (jon@jsbsim.org) -------------
  10
  11  This program is free software; you can redistribute it and/or modify it under
  12  the terms of the GNU Lesser General Public License as published by the Free Software
  13  Foundation; either version 2 of the License, or (at your option) any later
  14  version.
  15
  16  This program is distributed in the hope that it will be useful, but WITHOUT
  17  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  18  FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
  19  details.
  20
  21  You should have received a copy of the GNU Lesser General Public License along with
  22  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  23  Place - Suite 330, Boston, MA  02111-1307, USA.
  24
  25  Further information about the GNU Lesser General Public License can also be found on
  26  the world wide web at http://www.gnu.org.
  27
  28 FUNCTIONAL DESCRIPTION
  29 --------------------------------------------------------------------------------
  30 This class models the flight controls for a specific airplane
  31
  32 HISTORY
  33 --------------------------------------------------------------------------------
  34 12/12/98   JSB   Created
  35
  36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  37 INCLUDES
  38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  39
  40 #include "FGFCS.h"
  41 #include <FGFDMExec.h>
  42 #include <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 #include <models/flight_control/FGAccelerometer.h>
  58 #include <models/flight_control/FGGyro.h>
  59
  60 namespace JSBSim {
  61
  62 static const char *IdSrc = "$Id$";
  63 static const char *IdHdr = ID_FCS;
  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   TailhookPos = WingFoldPos = 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<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
 113   Debug(1);
 114 }
 115
 116 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 117
 118 bool FGFCS::InitModel(void)
 119 {
 120   unsigned int i;
 121
 122   if (!FGModel::InitModel()) return false;
 123
 124   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = 0.0;
 125   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = 0.0;
 126   for (i=0; i<ThrottleCmd.size(); i++) ThrottleCmd[i] = 0.0;
 127   for (i=0; i<MixtureCmd.size(); i++) MixtureCmd[i] = 0.0;
 128   for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = 0.0;
 129   for (i=0; i<PropFeather.size(); i++) PropFeather[i] = 0.0;
 130
 131   DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
 132   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
 133   TailhookPos = WingFoldPos = 0.0;
 134
 135   for (i=0;i<NForms;i++) {
 136     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
 137     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
 138   }
 139
 140   for (unsigned int i=0; i<Systems.size(); i++) {
 141     if (Systems[i]->GetType() == "LAG" ||
 142         Systems[i]->GetType() == "LEAD_LAG" ||
 143         Systems[i]->GetType() == "WASHOUT" ||
 144         Systems[i]->GetType() == "SECOND_ORDER_FILTER" ||
 145         Systems[i]->GetType() == "INTEGRATOR")
 146     {
 147       ((FGFilter*)Systems[i])->ResetPastStates();
 148     } else if (Systems[i]->GetType() == "PID" ) {
 149       ((FGPID*)Systems[i])->ResetPastStates();
 150     }
 151   }
 152
 153   for (unsigned int i=0; i<FCSComponents.size(); i++) {
 154     if (FCSComponents[i]->GetType() == "LAG" ||
 155         FCSComponents[i]->GetType() == "LEAD_LAG" ||
 156         FCSComponents[i]->GetType() == "WASHOUT" ||
 157         FCSComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
 158         FCSComponents[i]->GetType() == "INTEGRATOR")
 159     {
 160       ((FGFilter*)FCSComponents[i])->ResetPastStates();
 161     } else if (FCSComponents[i]->GetType() == "PID" ) {
 162       ((FGPID*)FCSComponents[i])->ResetPastStates();
 163     }
 164   }
 165
 166   for (unsigned int i=0; i<APComponents.size(); i++) {
 167     if (APComponents[i]->GetType() == "LAG" ||
 168         APComponents[i]->GetType() == "LEAD_LAG" ||
 169         APComponents[i]->GetType() == "WASHOUT" ||
 170         APComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
 171         APComponents[i]->GetType() == "INTEGRATOR")
 172     {
 173       ((FGFilter*)APComponents[i])->ResetPastStates();
 174     } else if (APComponents[i]->GetType() == "PID" ) {
 175       ((FGPID*)APComponents[i])->ResetPastStates();
 176     }
 177   }
 178
 179   return true;
 180 }
 181
 182 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 183 // Notes: In this logic the default engine commands are set. This is simply a
 184 // sort of safe-mode method in case the user has not defined control laws for
 185 // throttle, mixture, and prop-advance. The throttle, mixture, and prop advance
 186 // positions are set equal to the respective commands. Any control logic that is
 187 // actually present in the flight_control or autopilot section will override
 188 // these simple assignments.
 189
 190 bool FGFCS::Run(void)
 191 {
 192   unsigned int i;
 193
 194   if (FGModel::Run()) return true; // fast exit if nothing to do
 195   if (FDMExec->Holding()) return false;
 196
 197   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 198   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
 199   for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
 200   for (i=0; i<PropFeather.size(); i++) PropFeather[i] = PropFeatherCmd[i];
 201
 202   // Set the default steering angle
 203   for (i=0; i<SteerPosDeg.size(); i++) {
 204     FGLGear* gear = GroundReactions->GetGearUnit(i);
 205     SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
 206   }
 207
 208   // Execute Systems in order
 209   for (i=0; i<Systems.size(); i++) Systems[i]->Run();
 210
 211   // Execute Autopilot
 212   for (i=0; i<APComponents.size(); i++) APComponents[i]->Run();
 213
 214   // Execute Flight Control System
 215   for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
 216
 217   return false;
 218 }
 219
 220 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 221
 222 void FGFCS::SetDaLPos( int form , double pos )
 223 {
 224   switch(form) {
 225   case ofRad:
 226     DaLPos[ofRad] = pos;
 227     DaLPos[ofDeg] = pos*radtodeg;
 228     break;
 229   case ofDeg:
 230     DaLPos[ofRad] = pos*degtorad;
 231     DaLPos[ofDeg] = pos;
 232     break;
 233   case ofNorm:
 234     DaLPos[ofNorm] = pos;
 235   }
 236   DaLPos[ofMag] = fabs(DaLPos[ofRad]);
 237 }
 238
 239 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 240
 241 void FGFCS::SetDaRPos( int form , double pos )
 242 {
 243   switch(form) {
 244   case ofRad:
 245     DaRPos[ofRad] = pos;
 246     DaRPos[ofDeg] = pos*radtodeg;
 247     break;
 248   case ofDeg:
 249     DaRPos[ofRad] = pos*degtorad;
 250     DaRPos[ofDeg] = pos;
 251     break;
 252   case ofNorm:
 253     DaRPos[ofNorm] = pos;
 254   }
 255   DaRPos[ofMag] = fabs(DaRPos[ofRad]);
 256 }
 257
 258 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 259
 260 void FGFCS::SetDePos( int form , double pos )
 261 {
 262   switch(form) {
 263   case ofRad:
 264     DePos[ofRad] = pos;
 265     DePos[ofDeg] = pos*radtodeg;
 266     break;
 267   case ofDeg:
 268     DePos[ofRad] = pos*degtorad;
 269     DePos[ofDeg] = pos;
 270     break;
 271   case ofNorm:
 272     DePos[ofNorm] = pos;
 273   }
 274   DePos[ofMag] = fabs(DePos[ofRad]);
 275 }
 276
 277 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 278
 279 void FGFCS::SetDrPos( int form , double pos )
 280 {
 281   switch(form) {
 282   case ofRad:
 283     DrPos[ofRad] = pos;
 284     DrPos[ofDeg] = pos*radtodeg;
 285     break;
 286   case ofDeg:
 287     DrPos[ofRad] = pos*degtorad;
 288     DrPos[ofDeg] = pos;
 289     break;
 290   case ofNorm:
 291     DrPos[ofNorm] = pos;
 292   }
 293   DrPos[ofMag] = fabs(DrPos[ofRad]);
 294 }
 295
 296 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 297
 298 void FGFCS::SetDfPos( int form , double pos )
 299 {
 300   switch(form) {
 301   case ofRad:
 302     DfPos[ofRad] = pos;
 303     DfPos[ofDeg] = pos*radtodeg;
 304     break;
 305   case ofDeg:
 306     DfPos[ofRad] = pos*degtorad;
 307     DfPos[ofDeg] = pos;
 308     break;
 309   case ofNorm:
 310     DfPos[ofNorm] = pos;
 311   }
 312   DfPos[ofMag] = fabs(DfPos[ofRad]);
 313 }
 314
 315 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 316
 317 void FGFCS::SetDsbPos( int form , double pos )
 318 {
 319   switch(form) {
 320   case ofRad:
 321     DsbPos[ofRad] = pos;
 322     DsbPos[ofDeg] = pos*radtodeg;
 323     break;
 324   case ofDeg:
 325     DsbPos[ofRad] = pos*degtorad;
 326     DsbPos[ofDeg] = pos;
 327     break;
 328   case ofNorm:
 329     DsbPos[ofNorm] = pos;
 330   }
 331   DsbPos[ofMag] = fabs(DsbPos[ofRad]);
 332 }
 333
 334 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 335
 336 void FGFCS::SetDspPos( int form , double pos )
 337 {
 338   switch(form) {
 339   case ofRad:
 340     DspPos[ofRad] = pos;
 341     DspPos[ofDeg] = pos*radtodeg;
 342     break;
 343   case ofDeg:
 344     DspPos[ofRad] = pos*degtorad;
 345     DspPos[ofDeg] = pos;
 346     break;
 347   case ofNorm:
 348     DspPos[ofNorm] = pos;
 349   }
 350   DspPos[ofMag] = fabs(DspPos[ofRad]);
 351 }
 352
 353 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 354
 355 void FGFCS::SetThrottleCmd(int engineNum, double setting)
 356 {
 357   unsigned int ctr;
 358
 359   if (engineNum < (int)ThrottlePos.size()) {
 360     if (engineNum < 0) {
 361       for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 362     } else {
 363       ThrottleCmd[engineNum] = setting;
 364     }
 365   } else {
 366     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 367          << " engines exist, but attempted throttle command is for engine "
 368          << engineNum << endl;
 369   }
 370 }
 371
 372 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 373
 374 void FGFCS::SetThrottlePos(int engineNum, double setting)
 375 {
 376   unsigned int ctr;
 377
 378   if (engineNum < (int)ThrottlePos.size()) {
 379     if (engineNum < 0) {
 380       for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
 381     } else {
 382       ThrottlePos[engineNum] = setting;
 383     }
 384   } else {
 385     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 386          << " engines exist, but attempted throttle position setting is for engine "
 387          << engineNum << endl;
 388   }
 389 }
 390
 391 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 392
 393 double FGFCS::GetThrottleCmd(int engineNum) const
 394 {
 395   if (engineNum < (int)ThrottlePos.size()) {
 396     if (engineNum < 0) {
 397        cerr << "Cannot get throttle value for ALL engines" << endl;
 398     } else {
 399       return ThrottleCmd[engineNum];
 400     }
 401   } else {
 402     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 403          << " engines exist, but throttle setting for engine " << engineNum
 404          << " is selected" << endl;
 405   }
 406   return 0.0;
 407 }
 408
 409 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 410
 411 double FGFCS::GetThrottlePos(int engineNum) const
 412 {
 413   if (engineNum < (int)ThrottlePos.size()) {
 414     if (engineNum < 0) {
 415        cerr << "Cannot get throttle value for ALL engines" << endl;
 416     } else {
 417       return ThrottlePos[engineNum];
 418     }
 419   } else {
 420     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 421          << " engines exist, but attempted throttle position setting is for engine "
 422          << engineNum << endl;
 423   }
 424   return 0.0;
 425 }
 426
 427 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 428
 429 void FGFCS::SetMixtureCmd(int engineNum, double setting)
 430 {
 431   unsigned int ctr;
 432
 433   if (engineNum < (int)ThrottlePos.size()) {
 434     if (engineNum < 0) {
 435       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
 436     } else {
 437       MixtureCmd[engineNum] = setting;
 438     }
 439   }
 440 }
 441
 442 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 443
 444 void FGFCS::SetMixturePos(int engineNum, double setting)
 445 {
 446   unsigned int ctr;
 447
 448   if (engineNum < (int)ThrottlePos.size()) {
 449     if (engineNum < 0) {
 450       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
 451     } else {
 452       MixturePos[engineNum] = setting;
 453     }
 454   }
 455 }
 456
 457 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 458
 459 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
 460 {
 461   unsigned int ctr;
 462
 463   if (engineNum < (int)ThrottlePos.size()) {
 464     if (engineNum < 0) {
 465       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
 466     } else {
 467       PropAdvanceCmd[engineNum] = setting;
 468     }
 469   }
 470 }
 471
 472 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 473
 474 void FGFCS::SetPropAdvance(int engineNum, double setting)
 475 {
 476   unsigned int ctr;
 477
 478   if (engineNum < (int)ThrottlePos.size()) {
 479     if (engineNum < 0) {
 480       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
 481     } else {
 482       PropAdvance[engineNum] = setting;
 483     }
 484   }
 485 }
 486
 487 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 488
 489 void FGFCS::SetFeatherCmd(int engineNum, bool setting)
 490 {
 491   unsigned int ctr;
 492
 493   if (engineNum < (int)ThrottlePos.size()) {
 494     if (engineNum < 0) {
 495       for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeatherCmd[ctr] = setting;
 496     } else {
 497       PropFeatherCmd[engineNum] = setting;
 498     }
 499   }
 500 }
 501
 502 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 503
 504 void FGFCS::SetPropFeather(int engineNum, bool setting)
 505 {
 506   unsigned int ctr;
 507
 508   if (engineNum < (int)ThrottlePos.size()) {
 509     if (engineNum < 0) {
 510       for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeather[ctr] = PropFeatherCmd[ctr];
 511     } else {
 512       PropFeather[engineNum] = setting;
 513     }
 514   }
 515 }
 516
 517 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 518
 519 bool FGFCS::Load(Element* el, SystemType systype)
 520 {
 521   string name, file, fname="", interface_property_string, parent_name;
 522   vector <FGFCSComponent*> *Components;
 523   Element *component_element;
 524   Element *channel_element;
 525
 526   Components=0;
 527
 528   string separator = "/";
 529
 530 // ToDo: The handling of name and file attributes could be improved, here,
 531 //       considering that a name can be in the external file, as well.
 532
 533   name = el->GetAttributeValue("name");
 534
 535   if (name.empty()) {
 536     fname = el->GetAttributeValue("file");
 537     if (systype == stSystem) {
 538       file = FindSystemFullPathname(fname);
 539     } else {
 540       file = FDMExec->GetFullAircraftPath() + separator + fname + ".xml";
 541     }
 542     if (fname.empty()) {
 543       cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl;
 544       return false;
 545     } else {
 546       document = LoadXMLDocument(file);
 547       if (!document) {
 548         cerr << "Error loading file " << file << endl;
 549         return false;
 550       }
 551       name = document->GetAttributeValue("name");
 552     }
 553   } else {
 554     document = el;
 555   }
 556
 557   if (document->GetName() == "autopilot") {
 558     Components = &APComponents;
 559     Name = "Autopilot: " + document->GetAttributeValue("name");
 560   } else if (document->GetName() == "flight_control") {
 561     Components = &FCSComponents;
 562     Name = "FCS: " + document->GetAttributeValue("name");
 563   } else if (document->GetName() == "system") {
 564     Components = &Systems;
 565     Name = "System: " + document->GetAttributeValue("name");
 566   }
 567   Debug(2);
 568
 569   if (document->GetName() == "flight_control") bindModel();
 570
 571   FGModel::Load(document); // Load interface properties from document
 572
 573   // After reading interface properties in a file, read properties in the local
 574   // flight_control, autopilot, or system element. This allows general-purpose
 575   // systems to be defined in a file, with overrides or initial loaded constants
 576   // supplied in the relevant element of the aircraft configuration file.
 577
 578   Element* property_element = 0;
 579
 580   if (!fname.empty()) {
 581     property_element = el->FindElement("property");
 582     if (property_element && debug_lvl > 0) cout << endl << "    Overriding properties" << endl << endl;
 583     while (property_element) {
 584       double value=0.0;
 585       if ( ! property_element->GetAttributeValue("value").empty())
 586         value = property_element->GetAttributeValueAsNumber("value");
 587
 588       interface_property_string = property_element->GetDataLine();
 589       if (PropertyManager->HasNode(interface_property_string)) {
 590         FGPropertyManager* node = PropertyManager->GetNode(interface_property_string);
 591         if (debug_lvl > 0)
 592           cout << "      " << "Overriding value for property " << interface_property_string
 593                << " (old value: " << node->getDoubleValue() << "  new value: " << value << ")" << endl;
 594         node->setDoubleValue(value);
 595       } else {
 596         interface_properties.push_back(new double(value));
 597         PropertyManager->Tie(interface_property_string, interface_properties.back());
 598         if (debug_lvl > 0)
 599           cout << "      " << interface_property_string << " (initial value: " << value << ")" << endl;
 600       }
 601
 602       property_element = el->FindNextElement("property");
 603     }
 604   }
 605
 606   channel_element = document->FindElement("channel");
 607   while (channel_element) {
 608
 609     if (debug_lvl > 0)
 610       cout << endl << highint << fgblue << "    Channel "
 611          << normint << channel_element->GetAttributeValue("name") << reset << endl;
 612
 613     component_element = channel_element->GetElement();
 614     while (component_element) {
 615       try {
 616         if ((component_element->GetName() == string("lag_filter")) ||
 617             (component_element->GetName() == string("lead_lag_filter")) ||
 618             (component_element->GetName() == string("washout_filter")) ||
 619             (component_element->GetName() == string("second_order_filter")) ||
 620             (component_element->GetName() == string("integrator")) )
 621         {
 622           Components->push_back(new FGFilter(this, component_element));
 623         } else if ((component_element->GetName() == string("pure_gain")) ||
 624                    (component_element->GetName() == string("scheduled_gain")) ||
 625                    (component_element->GetName() == string("aerosurface_scale")))
 626         {
 627           Components->push_back(new FGGain(this, component_element));
 628         } else if (component_element->GetName() == string("summer")) {
 629           Components->push_back(new FGSummer(this, component_element));
 630         } else if (component_element->GetName() == string("deadband")) {
 631           Components->push_back(new FGDeadBand(this, component_element));
 632         } else if (component_element->GetName() == string("switch")) {
 633           Components->push_back(new FGSwitch(this, component_element));
 634         } else if (component_element->GetName() == string("kinematic")) {
 635           Components->push_back(new FGKinemat(this, component_element));
 636         } else if (component_element->GetName() == string("fcs_function")) {
 637           Components->push_back(new FGFCSFunction(this, component_element));
 638         } else if (component_element->GetName() == string("pid")) {
 639           Components->push_back(new FGPID(this, component_element));
 640         } else if (component_element->GetName() == string("actuator")) {
 641           Components->push_back(new FGActuator(this, component_element));
 642         } else if (component_element->GetName() == string("sensor")) {
 643           Components->push_back(new FGSensor(this, component_element));
 644         } else if (component_element->GetName() == string("accelerometer")) {
 645           Components->push_back(new FGAccelerometer(this, component_element));
 646         } else if (component_element->GetName() == string("gyro")) {
 647           Components->push_back(new FGGyro(this, component_element));
 648         } else {
 649           cerr << "Unknown FCS component: " << component_element->GetName() << endl;
 650         }
 651       } catch(string s) {
 652         cerr << highint << fgred << endl << "  " << s << endl;
 653         cerr << reset << endl;
 654         return false;
 655       }
 656       component_element = channel_element->GetNextElement();
 657     }
 658     channel_element = document->FindNextElement("channel");
 659   }
 660
 661   ResetParser();
 662
 663   return true;
 664 }
 665
 666 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 667
 668 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 669 {
 670   switch (bg) {
 671   case FGLGear::bgLeft:
 672     return LeftBrake;
 673   case FGLGear::bgRight:
 674     return RightBrake;
 675   case FGLGear::bgCenter:
 676     return CenterBrake;
 677   default:
 678     cerr << "GetBrake asked to return a bogus brake value" << endl;
 679   }
 680   return 0.0;
 681 }
 682
 683 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 684
 685 string FGFCS::FindSystemFullPathname(string system_filename)
 686 {
 687   string fullpath, localpath;
 688   string systemPath = FDMExec->GetSystemsPath();
 689   string aircraftPath = FDMExec->GetFullAircraftPath();
 690   ifstream system_file;
 691
 692   string separator = "/";
 693
 694   fullpath = systemPath + separator;
 695   localpath = aircraftPath + separator + "Systems" + separator;
 696
 697   system_file.open(string(fullpath + system_filename + ".xml").c_str());
 698   if ( !system_file.is_open()) {
 699     system_file.open(string(localpath + system_filename + ".xml").c_str());
 700       if ( !system_file.is_open()) {
 701         cerr << " Could not open system file: " << system_filename << " in path "
 702              << fullpath << " or " << localpath << endl;
 703         return string("");
 704       } else {
 705         return string(localpath + system_filename + ".xml");
 706       }
 707   }
 708   return string(fullpath + system_filename + ".xml");
 709 }
 710
 711 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 712
 713 ifstream* FGFCS::FindSystemFile(string system_filename)
 714 {
 715   string fullpath, localpath;
 716   string systemPath = FDMExec->GetSystemsPath();
 717   string aircraftPath = FDMExec->GetFullAircraftPath();
 718   ifstream* system_file = new ifstream();
 719
 720   string separator = "/";
 721
 722   fullpath = systemPath + separator;
 723   localpath = aircraftPath + separator + "Systems" + separator;
 724
 725   system_file->open(string(fullpath + system_filename + ".xml").c_str());
 726   if ( !system_file->is_open()) {
 727     system_file->open(string(localpath + system_filename + ".xml").c_str());
 728       if ( !system_file->is_open()) {
 729         cerr << " Could not open system file: " << system_filename << " in path "
 730              << fullpath << " or " << localpath << endl;
 731       }
 732   }
 733   return system_file;
 734 }
 735
 736 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 737
 738 string FGFCS::GetComponentStrings(string delimeter)
 739 {
 740   unsigned int comp;
 741   string CompStrings = "";
 742   bool firstime = true;
 743   int total_count=0;
 744
 745   for (unsigned int i=0; i<Systems.size(); i++) {
 746     if (firstime) firstime = false;
 747     else          CompStrings += delimeter;
 748
 749     CompStrings += Systems[i]->GetName();
 750     total_count++;
 751   }
 752
 753   for (comp = 0; comp < APComponents.size(); comp++)
 754   {
 755     if (firstime) firstime = false;
 756     else          CompStrings += delimeter;
 757
 758     CompStrings += APComponents[comp]->GetName();
 759     total_count++;
 760   }
 761
 762   for (comp = 0; comp < FCSComponents.size(); comp++) {
 763     if (firstime) firstime = false;
 764     else          CompStrings += delimeter;
 765
 766     CompStrings += FCSComponents[comp]->GetName();
 767     total_count++;
 768   }
 769
 770   return CompStrings;
 771 }
 772
 773 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 774
 775 string FGFCS::GetComponentValues(string delimeter)
 776 {
 777   std::ostringstream buf;
 778
 779   unsigned int comp;
 780   bool firstime = true;
 781   int total_count=0;
 782
 783   for (unsigned int i=0; i<Systems.size(); i++) {
 784     if (firstime) firstime = false;
 785     else          buf << delimeter;
 786
 787     buf << setprecision(9) << Systems[i]->GetOutput();
 788     total_count++;
 789   }
 790
 791   for (comp = 0; comp < APComponents.size(); comp++) {
 792     if (firstime) firstime = false;
 793     else          buf << delimeter;
 794
 795     buf << setprecision(9) << APComponents[comp]->GetOutput();
 796     total_count++;
 797   }
 798
 799   for (comp = 0; comp < FCSComponents.size(); comp++) {
 800     if (firstime) firstime = false;
 801     else          buf << delimeter;
 802
 803     buf << setprecision(9) << FCSComponents[comp]->GetOutput();
 804     total_count++;
 805   }
 806
 807   return buf.str();
 808 }
 809
 810 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 811
 812 void FGFCS::AddThrottle(void)
 813 {
 814   ThrottleCmd.push_back(0.0);
 815   ThrottlePos.push_back(0.0);
 816   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 817   MixturePos.push_back(0.0);
 818   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 819   PropAdvance.push_back(0.0);
 820   PropFeatherCmd.push_back(false);
 821   PropFeather.push_back(false);
 822
 823   unsigned int num = (unsigned int)ThrottleCmd.size()-1;
 824   bindThrottle(num);
 825 }
 826
 827 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 828
 829 void FGFCS::AddGear(void)
 830 {
 831   SteerPosDeg.push_back(0.0);
 832 }
 833
 834 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 835
 836 double FGFCS::GetDt(void)
 837 {
 838   return FDMExec->GetDeltaT()*rate;
 839 }
 840
 841 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 842
 843 void FGFCS::bind(void)
 844 {
 845   PropertyManager->Tie("fcs/aileron-cmd-norm", this, &FGFCS::GetDaCmd, &FGFCS::SetDaCmd);
 846   PropertyManager->Tie("fcs/elevator-cmd-norm", this, &FGFCS::GetDeCmd, &FGFCS::SetDeCmd);
 847   PropertyManager->Tie("fcs/rudder-cmd-norm", this, &FGFCS::GetDrCmd, &FGFCS::SetDrCmd);
 848   PropertyManager->Tie("fcs/flap-cmd-norm", this, &FGFCS::GetDfCmd, &FGFCS::SetDfCmd);
 849   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this, &FGFCS::GetDsbCmd, &FGFCS::SetDsbCmd);
 850   PropertyManager->Tie("fcs/spoiler-cmd-norm", this, &FGFCS::GetDspCmd, &FGFCS::SetDspCmd);
 851   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this, &FGFCS::GetPitchTrimCmd, &FGFCS::SetPitchTrimCmd);
 852   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this, &FGFCS::GetRollTrimCmd, &FGFCS::SetRollTrimCmd);
 853   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this, &FGFCS::GetYawTrimCmd, &FGFCS::SetYawTrimCmd);
 854
 855   PropertyManager->Tie("fcs/left-aileron-pos-rad", this, ofRad, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 856   PropertyManager->Tie("fcs/left-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 857   PropertyManager->Tie("fcs/left-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 858   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this, ofMag, &FGFCS::GetDaLPos);
 859
 860   PropertyManager->Tie("fcs/right-aileron-pos-rad", this, ofRad, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 861   PropertyManager->Tie("fcs/right-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 862   PropertyManager->Tie("fcs/right-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 863   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this, ofMag, &FGFCS::GetDaRPos);
 864
 865   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad, &FGFCS::GetDePos, &FGFCS::SetDePos);
 866   PropertyManager->Tie("fcs/elevator-pos-deg", this, ofDeg, &FGFCS::GetDePos, &FGFCS::SetDePos);
 867   PropertyManager->Tie("fcs/elevator-pos-norm", this, ofNorm, &FGFCS::GetDePos, &FGFCS::SetDePos);
 868   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this, ofMag, &FGFCS::GetDePos);
 869
 870   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 871   PropertyManager->Tie("fcs/rudder-pos-deg", this,ofDeg, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 872   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 873   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag, &FGFCS::GetDrPos);
 874
 875   PropertyManager->Tie("fcs/flap-pos-rad", this,ofRad, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 876   PropertyManager->Tie("fcs/flap-pos-deg", this,ofDeg, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 877   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 878
 879   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 880   PropertyManager->Tie("fcs/speedbrake-pos-deg", this,ofDeg, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 881   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 882   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag, &FGFCS::GetDsbPos);
 883
 884   PropertyManager->Tie("fcs/spoiler-pos-rad", this, ofRad, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 885   PropertyManager->Tie("fcs/spoiler-pos-deg", this, ofDeg, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 886   PropertyManager->Tie("fcs/spoiler-pos-norm", this, ofNorm, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 887   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this, ofMag, &FGFCS::GetDspPos);
 888
 889   PropertyManager->Tie("gear/gear-pos-norm", this, &FGFCS::GetGearPos, &FGFCS::SetGearPos);
 890   PropertyManager->Tie("gear/gear-cmd-norm", this, &FGFCS::GetGearCmd, &FGFCS::SetGearCmd);
 891   PropertyManager->Tie("fcs/left-brake-cmd-norm", this, &FGFCS::GetLBrake, &FGFCS::SetLBrake);
 892   PropertyManager->Tie("fcs/right-brake-cmd-norm", this, &FGFCS::GetRBrake, &FGFCS::SetRBrake);
 893   PropertyManager->Tie("fcs/center-brake-cmd-norm", this, &FGFCS::GetCBrake, &FGFCS::SetCBrake);
 894   PropertyManager->Tie("fcs/steer-cmd-norm", this, &FGFCS::GetDsCmd, &FGFCS::SetDsCmd);
 895
 896   PropertyManager->Tie("gear/tailhook-pos-norm", this, &FGFCS::GetTailhookPos, &FGFCS::SetTailhookPos);
 897   PropertyManager->Tie("fcs/wing-fold-pos-norm", this, &FGFCS::GetWingFoldPos, &FGFCS::SetWingFoldPos);
 898 }
 899
 900 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 901 // Technically, this function should probably bind propulsion type specific controls
 902 // rather than mixture and prop-advance.
 903
 904 void FGFCS::bindThrottle(unsigned int num)
 905 {
 906   string tmp;
 907
 908   tmp = CreateIndexedPropertyName("fcs/throttle-cmd-norm", num);
 909   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottleCmd,
 910                                         &FGFCS::SetThrottleCmd);
 911   tmp = CreateIndexedPropertyName("fcs/throttle-pos-norm", num);
 912   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottlePos,
 913                                         &FGFCS::SetThrottlePos);
 914   tmp = CreateIndexedPropertyName("fcs/mixture-cmd-norm", num);
 915   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixtureCmd,
 916                                         &FGFCS::SetMixtureCmd);
 917   tmp = CreateIndexedPropertyName("fcs/mixture-pos-norm", num);
 918   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixturePos,
 919                                         &FGFCS::SetMixturePos);
 920   tmp = CreateIndexedPropertyName("fcs/advance-cmd-norm", num);
 921   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvanceCmd,
 922                                         &FGFCS::SetPropAdvanceCmd);
 923   tmp = CreateIndexedPropertyName("fcs/advance-pos-norm", num);
 924   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvance,
 925                                         &FGFCS::SetPropAdvance);
 926   tmp = CreateIndexedPropertyName("fcs/feather-cmd-norm", num);
 927   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetFeatherCmd,
 928                                         &FGFCS::SetFeatherCmd);
 929   tmp = CreateIndexedPropertyName("fcs/feather-pos-norm", num);
 930   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropFeather,
 931                                         &FGFCS::SetPropFeather);
 932 }
 933
 934 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 935
 936 void FGFCS::bindModel(void)
 937 {
 938   unsigned int i;
 939   string tmp;
 940
 941   for (i=0; i<SteerPosDeg.size(); i++) {
 942     if (GroundReactions->GetGearUnit(i)->GetSteerable()) {
 943       tmp = CreateIndexedPropertyName("fcs/steer-pos-deg", i);
 944       PropertyManager->Tie( tmp.c_str(), this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
 945     }
 946   }
 947 }
 948
 949 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 950 //    The bitmasked value choices are as follows:
 951 //    unset: In this case (the default) JSBSim would only print
 952 //       out the normally expected messages, essentially echoing
 953 //       the config files as they are read. If the environment
 954 //       variable is not set, debug_lvl is set to 1 internally
 955 //    0: This requests JSBSim not to output any messages
 956 //       whatsoever.
 957 //    1: This value explicity requests the normal JSBSim
 958 //       startup messages
 959 //    2: This value asks for a message to be printed out when
 960 //       a class is instantiated
 961 //    4: When this value is set, a message is displayed when a
 962 //       FGModel object executes its Run() method
 963 //    8: When this value is set, various runtime state variables
 964 //       are printed out periodically
 965 //    16: When set various parameters are sanity checked and
 966 //       a message is printed out when they go out of bounds
 967
 968 void FGFCS::Debug(int from)
 969 {
 970   if (debug_lvl <= 0) return;
 971
 972   if (debug_lvl & 1) { // Standard console startup message output
 973     if (from == 2) { // Loader
 974       cout << endl << "  " << Name << endl;
 975     }
 976   }
 977   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 978     if (from == 0) cout << "Instantiated: FGFCS" << endl;
 979     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
 980   }
 981   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 982   }
 983   if (debug_lvl & 8 ) { // Runtime state variables
 984   }
 985   if (debug_lvl & 16) { // Sanity checking
 986   }
 987   if (debug_lvl & 64) {
 988     if (from == 0) { // Constructor
 989       cout << IdSrc << endl;
 990       cout << IdHdr << endl;
 991     }
 992   }
 993 }
 994
 995 }