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