1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
6 Purpose: Model the flight controls
9 ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
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
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
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.
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.
28 FUNCTIONAL DESCRIPTION
29 --------------------------------------------------------------------------------
30 This class models the flight controls for a specific airplane
33 --------------------------------------------------------------------------------
36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
41 #include "FGFDMExec.h"
42 #include "FGGroundReactions.h"
43 #include "input_output/FGPropertyManager.h"
48 #include "models/flight_control/FGFilter.h"
49 #include "models/flight_control/FGDeadBand.h"
50 #include "models/flight_control/FGGain.h"
51 #include "models/flight_control/FGPID.h"
52 #include "models/flight_control/FGSwitch.h"
53 #include "models/flight_control/FGSummer.h"
54 #include "models/flight_control/FGKinemat.h"
55 #include "models/flight_control/FGFCSFunction.h"
56 #include "models/flight_control/FGSensor.h"
57 #include "models/flight_control/FGActuator.h"
58 #include "models/flight_control/FGAccelerometer.h"
59 #include "models/flight_control/FGMagnetometer.h"
60 #include "models/flight_control/FGGyro.h"
66 static const char *IdSrc = "$Id: FGFCS.cpp,v 1.68 2010/03/18 13:21:24 jberndt Exp $";
67 static const char *IdHdr = ID_FCS;
69 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
71 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
73 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
78 DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
79 PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
80 GearCmd = GearPos = 1; // default to gear down
81 LeftBrake = RightBrake = CenterBrake = 0.0;
82 TailhookPos = WingFoldPos = 0.0;
85 for (i=0;i<NForms;i++) {
86 DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
87 DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
93 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
101 PropAdvanceCmd.clear();
104 PropFeatherCmd.clear();
109 for (i=0;i<APComponents.size();i++) delete APComponents[i];
110 APComponents.clear();
111 for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
112 FCSComponents.clear();
113 for (i=0;i<Systems.size();i++) delete Systems[i];
120 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
122 bool FGFCS::InitModel(void)
126 if (!FGModel::InitModel()) return false;
128 for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = 0.0;
129 for (i=0; i<MixturePos.size(); i++) MixturePos[i] = 0.0;
130 for (i=0; i<ThrottleCmd.size(); i++) ThrottleCmd[i] = 0.0;
131 for (i=0; i<MixtureCmd.size(); i++) MixtureCmd[i] = 0.0;
132 for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = 0.0;
133 for (i=0; i<PropFeather.size(); i++) PropFeather[i] = 0.0;
135 DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
136 PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
137 TailhookPos = WingFoldPos = 0.0;
139 for (i=0;i<NForms;i++) {
140 DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
141 DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
144 for (unsigned int i=0; i<Systems.size(); i++) {
145 if (Systems[i]->GetType() == "LAG" ||
146 Systems[i]->GetType() == "LEAD_LAG" ||
147 Systems[i]->GetType() == "WASHOUT" ||
148 Systems[i]->GetType() == "SECOND_ORDER_FILTER" ||
149 Systems[i]->GetType() == "INTEGRATOR")
151 ((FGFilter*)Systems[i])->ResetPastStates();
152 } else if (Systems[i]->GetType() == "PID" ) {
153 ((FGPID*)Systems[i])->ResetPastStates();
157 for (unsigned int i=0; i<FCSComponents.size(); i++) {
158 if (FCSComponents[i]->GetType() == "LAG" ||
159 FCSComponents[i]->GetType() == "LEAD_LAG" ||
160 FCSComponents[i]->GetType() == "WASHOUT" ||
161 FCSComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
162 FCSComponents[i]->GetType() == "INTEGRATOR")
164 ((FGFilter*)FCSComponents[i])->ResetPastStates();
165 } else if (FCSComponents[i]->GetType() == "PID" ) {
166 ((FGPID*)FCSComponents[i])->ResetPastStates();
170 for (unsigned int i=0; i<APComponents.size(); i++) {
171 if (APComponents[i]->GetType() == "LAG" ||
172 APComponents[i]->GetType() == "LEAD_LAG" ||
173 APComponents[i]->GetType() == "WASHOUT" ||
174 APComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
175 APComponents[i]->GetType() == "INTEGRATOR")
177 ((FGFilter*)APComponents[i])->ResetPastStates();
178 } else if (APComponents[i]->GetType() == "PID" ) {
179 ((FGPID*)APComponents[i])->ResetPastStates();
186 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
187 // Notes: In this logic the default engine commands are set. This is simply a
188 // sort of safe-mode method in case the user has not defined control laws for
189 // throttle, mixture, and prop-advance. The throttle, mixture, and prop advance
190 // positions are set equal to the respective commands. Any control logic that is
191 // actually present in the flight_control or autopilot section will override
192 // these simple assignments.
194 bool FGFCS::Run(void)
198 if (FGModel::Run()) return true; // fast exit if nothing to do
199 if (FDMExec->Holding()) return false;
203 for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
204 for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
205 for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
206 for (i=0; i<PropFeather.size(); i++) PropFeather[i] = PropFeatherCmd[i];
208 // Set the default steering angle
209 for (i=0; i<SteerPosDeg.size(); i++) {
210 FGLGear* gear = GroundReactions->GetGearUnit(i);
211 SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
214 // Execute Systems in order
215 for (i=0; i<Systems.size(); i++) Systems[i]->Run();
218 for (i=0; i<APComponents.size(); i++) APComponents[i]->Run();
220 // Execute Flight Control System
221 for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
228 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
230 void FGFCS::SetDaLPos( int form , double pos )
235 DaLPos[ofDeg] = pos*radtodeg;
238 DaLPos[ofRad] = pos*degtorad;
242 DaLPos[ofNorm] = pos;
244 DaLPos[ofMag] = fabs(DaLPos[ofRad]);
247 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
249 void FGFCS::SetDaRPos( int form , double pos )
254 DaRPos[ofDeg] = pos*radtodeg;
257 DaRPos[ofRad] = pos*degtorad;
261 DaRPos[ofNorm] = pos;
263 DaRPos[ofMag] = fabs(DaRPos[ofRad]);
266 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
268 void FGFCS::SetDePos( int form , double pos )
273 DePos[ofDeg] = pos*radtodeg;
276 DePos[ofRad] = pos*degtorad;
282 DePos[ofMag] = fabs(DePos[ofRad]);
285 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
287 void FGFCS::SetDrPos( int form , double pos )
292 DrPos[ofDeg] = pos*radtodeg;
295 DrPos[ofRad] = pos*degtorad;
301 DrPos[ofMag] = fabs(DrPos[ofRad]);
304 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
306 void FGFCS::SetDfPos( int form , double pos )
311 DfPos[ofDeg] = pos*radtodeg;
314 DfPos[ofRad] = pos*degtorad;
320 DfPos[ofMag] = fabs(DfPos[ofRad]);
323 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
325 void FGFCS::SetDsbPos( int form , double pos )
330 DsbPos[ofDeg] = pos*radtodeg;
333 DsbPos[ofRad] = pos*degtorad;
337 DsbPos[ofNorm] = pos;
339 DsbPos[ofMag] = fabs(DsbPos[ofRad]);
342 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
344 void FGFCS::SetDspPos( int form , double pos )
349 DspPos[ofDeg] = pos*radtodeg;
352 DspPos[ofRad] = pos*degtorad;
356 DspPos[ofNorm] = pos;
358 DspPos[ofMag] = fabs(DspPos[ofRad]);
361 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
363 void FGFCS::SetThrottleCmd(int engineNum, double setting)
367 if (engineNum < (int)ThrottlePos.size()) {
369 for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
371 ThrottleCmd[engineNum] = setting;
374 cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
375 << " engines exist, but attempted throttle command is for engine "
376 << engineNum << endl;
380 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
382 void FGFCS::SetThrottlePos(int engineNum, double setting)
386 if (engineNum < (int)ThrottlePos.size()) {
388 for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
390 ThrottlePos[engineNum] = setting;
393 cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
394 << " engines exist, but attempted throttle position setting is for engine "
395 << engineNum << endl;
399 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
401 double FGFCS::GetThrottleCmd(int engineNum) const
403 if (engineNum < (int)ThrottlePos.size()) {
405 cerr << "Cannot get throttle value for ALL engines" << endl;
407 return ThrottleCmd[engineNum];
410 cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
411 << " engines exist, but throttle setting for engine " << engineNum
412 << " is selected" << endl;
417 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
419 double FGFCS::GetThrottlePos(int engineNum) const
421 if (engineNum < (int)ThrottlePos.size()) {
423 cerr << "Cannot get throttle value for ALL engines" << endl;
425 return ThrottlePos[engineNum];
428 cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
429 << " engines exist, but attempted throttle position setting is for engine "
430 << engineNum << endl;
435 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
437 void FGFCS::SetMixtureCmd(int engineNum, double setting)
441 if (engineNum < (int)ThrottlePos.size()) {
443 for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
445 MixtureCmd[engineNum] = setting;
450 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
452 void FGFCS::SetMixturePos(int engineNum, double setting)
456 if (engineNum < (int)ThrottlePos.size()) {
458 for (ctr=0;ctr<MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
460 MixturePos[engineNum] = setting;
465 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
467 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
471 if (engineNum < (int)ThrottlePos.size()) {
473 for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
475 PropAdvanceCmd[engineNum] = setting;
480 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
482 void FGFCS::SetPropAdvance(int engineNum, double setting)
486 if (engineNum < (int)ThrottlePos.size()) {
488 for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
490 PropAdvance[engineNum] = setting;
495 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
497 void FGFCS::SetFeatherCmd(int engineNum, bool setting)
501 if (engineNum < (int)ThrottlePos.size()) {
503 for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeatherCmd[ctr] = setting;
505 PropFeatherCmd[engineNum] = setting;
510 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
512 void FGFCS::SetPropFeather(int engineNum, bool setting)
516 if (engineNum < (int)ThrottlePos.size()) {
518 for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeather[ctr] = PropFeatherCmd[ctr];
520 PropFeather[engineNum] = setting;
525 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
527 bool FGFCS::Load(Element* el, SystemType systype)
529 string name, file, fname="", interface_property_string, parent_name;
530 vector <FGFCSComponent*> *Components;
531 Element *component_element;
532 Element *channel_element;
536 // ToDo: The handling of name and file attributes could be improved, here,
537 // considering that a name can be in the external file, as well.
539 name = el->GetAttributeValue("name");
541 if (name.empty() || !el->GetAttributeValue("file").empty()) {
542 fname = el->GetAttributeValue("file");
543 if (systype == stSystem) {
544 file = FindSystemFullPathname(fname);
546 file = FDMExec->GetFullAircraftPath() + "/" + fname + ".xml";
549 cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl;
552 document = LoadXMLDocument(file);
554 cerr << "Error loading file " << file << endl;
557 name = document->GetAttributeValue("name");
563 if (document->GetName() == "autopilot") {
564 Components = &APComponents;
565 Name = "Autopilot: " + document->GetAttributeValue("name");
566 } else if (document->GetName() == "flight_control") {
567 Components = &FCSComponents;
568 Name = "FCS: " + document->GetAttributeValue("name");
569 } else if (document->GetName() == "system") {
570 Components = &Systems;
571 Name = "System: " + document->GetAttributeValue("name");
575 if (document->GetName() == "flight_control") bindModel();
577 FGModel::Load(document); // Load interface properties from document
579 // After reading interface properties in a file, read properties in the local
580 // flight_control, autopilot, or system element. This allows general-purpose
581 // systems to be defined in a file, with overrides or initial loaded constants
582 // supplied in the relevant element of the aircraft configuration file.
584 Element* property_element = 0;
586 if (!fname.empty()) {
587 property_element = el->FindElement("property");
588 if (property_element && debug_lvl > 0) cout << endl << " Overriding properties" << endl << endl;
589 while (property_element) {
591 if ( ! property_element->GetAttributeValue("value").empty())
592 value = property_element->GetAttributeValueAsNumber("value");
594 interface_property_string = property_element->GetDataLine();
595 if (PropertyManager->HasNode(interface_property_string)) {
596 FGPropertyManager* node = PropertyManager->GetNode(interface_property_string);
598 cout << " " << "Overriding value for property " << interface_property_string
599 << " (old value: " << node->getDoubleValue() << " new value: " << value << ")" << endl;
600 node->setDoubleValue(value);
602 interface_properties.push_back(new double(value));
603 PropertyManager->Tie(interface_property_string, interface_properties.back());
605 cout << " " << interface_property_string << " (initial value: " << value << ")" << endl;
608 property_element = el->FindNextElement("property");
612 channel_element = document->FindElement("channel");
613 while (channel_element) {
616 cout << endl << highint << fgblue << " Channel "
617 << normint << channel_element->GetAttributeValue("name") << reset << endl;
619 component_element = channel_element->GetElement();
620 while (component_element) {
622 if ((component_element->GetName() == string("lag_filter")) ||
623 (component_element->GetName() == string("lead_lag_filter")) ||
624 (component_element->GetName() == string("washout_filter")) ||
625 (component_element->GetName() == string("second_order_filter")) ||
626 (component_element->GetName() == string("integrator")) )
628 Components->push_back(new FGFilter(this, component_element));
629 } else if ((component_element->GetName() == string("pure_gain")) ||
630 (component_element->GetName() == string("scheduled_gain")) ||
631 (component_element->GetName() == string("aerosurface_scale")))
633 Components->push_back(new FGGain(this, component_element));
634 } else if (component_element->GetName() == string("summer")) {
635 Components->push_back(new FGSummer(this, component_element));
636 } else if (component_element->GetName() == string("deadband")) {
637 Components->push_back(new FGDeadBand(this, component_element));
638 } else if (component_element->GetName() == string("switch")) {
639 Components->push_back(new FGSwitch(this, component_element));
640 } else if (component_element->GetName() == string("kinematic")) {
641 Components->push_back(new FGKinemat(this, component_element));
642 } else if (component_element->GetName() == string("fcs_function")) {
643 Components->push_back(new FGFCSFunction(this, component_element));
644 } else if (component_element->GetName() == string("pid")) {
645 Components->push_back(new FGPID(this, component_element));
646 } else if (component_element->GetName() == string("actuator")) {
647 Components->push_back(new FGActuator(this, component_element));
648 } else if (component_element->GetName() == string("sensor")) {
649 Components->push_back(new FGSensor(this, component_element));
650 } else if (component_element->GetName() == string("accelerometer")) {
651 Components->push_back(new FGAccelerometer(this, component_element));
652 } else if (component_element->GetName() == string("magnetometer")) {
653 Components->push_back(new FGMagnetometer(this, component_element));
654 } else if (component_element->GetName() == string("gyro")) {
655 Components->push_back(new FGGyro(this, component_element));
657 cerr << "Unknown FCS component: " << component_element->GetName() << endl;
660 cerr << highint << fgred << endl << " " << s << endl;
661 cerr << reset << endl;
664 component_element = channel_element->GetNextElement();
666 channel_element = document->FindNextElement("channel");
674 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
676 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
679 case FGLGear::bgLeft:
681 case FGLGear::bgRight:
683 case FGLGear::bgCenter:
686 cerr << "GetBrake asked to return a bogus brake value" << endl;
691 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
693 string FGFCS::FindSystemFullPathname(const string& sysfilename)
695 string fullpath, localpath;
696 string system_filename = sysfilename;
697 string systemPath = FDMExec->GetSystemsPath();
698 string aircraftPath = FDMExec->GetFullAircraftPath();
699 ifstream system_file;
701 fullpath = systemPath + "/";
702 localpath = aircraftPath + "/Systems/";
704 if (system_filename.length() <=4 || system_filename.substr(system_filename.length()-4, 4) != ".xml") {
705 system_filename.append(".xml");
708 system_file.open(string(fullpath + system_filename).c_str());
709 if ( !system_file.is_open()) {
710 system_file.open(string(localpath + system_filename).c_str());
711 if ( !system_file.is_open()) {
712 cerr << " Could not open system file: " << system_filename << " in path "
713 << fullpath << " or " << localpath << endl;
716 return string(localpath + system_filename);
719 return string(fullpath + system_filename);
722 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
724 ifstream* FGFCS::FindSystemFile(const string& sysfilename)
726 string fullpath, localpath;
727 string system_filename = sysfilename;
728 string systemPath = FDMExec->GetSystemsPath();
729 string aircraftPath = FDMExec->GetFullAircraftPath();
730 ifstream* system_file = new ifstream();
732 fullpath = systemPath + "/";
733 localpath = aircraftPath + "/Systems/";
735 if (system_filename.substr(system_filename.length()-4, 4) != ".xml") {
736 system_filename.append(".xml");
739 system_file->open(string(fullpath + system_filename).c_str());
740 if ( !system_file->is_open()) {
741 system_file->open(string(localpath + system_filename).c_str());
742 if ( !system_file->is_open()) {
743 cerr << " Could not open system file: " << system_filename << " in path "
744 << fullpath << " or " << localpath << endl;
750 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
752 string FGFCS::GetComponentStrings(const string& delimiter)
755 string CompStrings = "";
756 bool firstime = true;
759 for (unsigned int i=0; i<Systems.size(); i++) {
760 if (firstime) firstime = false;
761 else CompStrings += delimiter;
763 CompStrings += Systems[i]->GetName();
767 for (comp = 0; comp < APComponents.size(); comp++)
769 if (firstime) firstime = false;
770 else CompStrings += delimiter;
772 CompStrings += APComponents[comp]->GetName();
776 for (comp = 0; comp < FCSComponents.size(); comp++) {
777 if (firstime) firstime = false;
778 else CompStrings += delimiter;
780 CompStrings += FCSComponents[comp]->GetName();
787 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
789 string FGFCS::GetComponentValues(const string& delimiter)
791 std::ostringstream buf;
794 bool firstime = true;
797 for (unsigned int i=0; i<Systems.size(); i++) {
798 if (firstime) firstime = false;
799 else buf << delimiter;
801 buf << setprecision(9) << Systems[i]->GetOutput();
805 for (comp = 0; comp < APComponents.size(); comp++) {
806 if (firstime) firstime = false;
807 else buf << delimiter;
809 buf << setprecision(9) << APComponents[comp]->GetOutput();
813 for (comp = 0; comp < FCSComponents.size(); comp++) {
814 if (firstime) firstime = false;
815 else buf << delimiter;
817 buf << setprecision(9) << FCSComponents[comp]->GetOutput();
824 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
826 void FGFCS::AddThrottle(void)
828 ThrottleCmd.push_back(0.0);
829 ThrottlePos.push_back(0.0);
830 MixtureCmd.push_back(0.0); // assume throttle and mixture are coupled
831 MixturePos.push_back(0.0);
832 PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
833 PropAdvance.push_back(0.0);
834 PropFeatherCmd.push_back(false);
835 PropFeather.push_back(false);
837 unsigned int num = (unsigned int)ThrottleCmd.size()-1;
841 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
843 void FGFCS::AddGear(void)
845 SteerPosDeg.push_back(0.0);
848 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
850 double FGFCS::GetDt(void)
852 return FDMExec->GetDeltaT()*rate;
855 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
857 void FGFCS::bind(void)
859 PropertyManager->Tie("fcs/aileron-cmd-norm", this, &FGFCS::GetDaCmd, &FGFCS::SetDaCmd);
860 PropertyManager->Tie("fcs/elevator-cmd-norm", this, &FGFCS::GetDeCmd, &FGFCS::SetDeCmd);
861 PropertyManager->Tie("fcs/rudder-cmd-norm", this, &FGFCS::GetDrCmd, &FGFCS::SetDrCmd);
862 PropertyManager->Tie("fcs/flap-cmd-norm", this, &FGFCS::GetDfCmd, &FGFCS::SetDfCmd);
863 PropertyManager->Tie("fcs/speedbrake-cmd-norm", this, &FGFCS::GetDsbCmd, &FGFCS::SetDsbCmd);
864 PropertyManager->Tie("fcs/spoiler-cmd-norm", this, &FGFCS::GetDspCmd, &FGFCS::SetDspCmd);
865 PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this, &FGFCS::GetPitchTrimCmd, &FGFCS::SetPitchTrimCmd);
866 PropertyManager->Tie("fcs/roll-trim-cmd-norm", this, &FGFCS::GetRollTrimCmd, &FGFCS::SetRollTrimCmd);
867 PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this, &FGFCS::GetYawTrimCmd, &FGFCS::SetYawTrimCmd);
869 PropertyManager->Tie("fcs/left-aileron-pos-rad", this, ofRad, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
870 PropertyManager->Tie("fcs/left-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
871 PropertyManager->Tie("fcs/left-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
872 PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this, ofMag, &FGFCS::GetDaLPos);
874 PropertyManager->Tie("fcs/right-aileron-pos-rad", this, ofRad, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
875 PropertyManager->Tie("fcs/right-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
876 PropertyManager->Tie("fcs/right-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
877 PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this, ofMag, &FGFCS::GetDaRPos);
879 PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad, &FGFCS::GetDePos, &FGFCS::SetDePos);
880 PropertyManager->Tie("fcs/elevator-pos-deg", this, ofDeg, &FGFCS::GetDePos, &FGFCS::SetDePos);
881 PropertyManager->Tie("fcs/elevator-pos-norm", this, ofNorm, &FGFCS::GetDePos, &FGFCS::SetDePos);
882 PropertyManager->Tie("fcs/mag-elevator-pos-rad", this, ofMag, &FGFCS::GetDePos);
884 PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
885 PropertyManager->Tie("fcs/rudder-pos-deg", this,ofDeg, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
886 PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
887 PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag, &FGFCS::GetDrPos);
889 PropertyManager->Tie("fcs/flap-pos-rad", this,ofRad, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
890 PropertyManager->Tie("fcs/flap-pos-deg", this,ofDeg, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
891 PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
893 PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
894 PropertyManager->Tie("fcs/speedbrake-pos-deg", this,ofDeg, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
895 PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
896 PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag, &FGFCS::GetDsbPos);
898 PropertyManager->Tie("fcs/spoiler-pos-rad", this, ofRad, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
899 PropertyManager->Tie("fcs/spoiler-pos-deg", this, ofDeg, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
900 PropertyManager->Tie("fcs/spoiler-pos-norm", this, ofNorm, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
901 PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this, ofMag, &FGFCS::GetDspPos);
903 PropertyManager->Tie("gear/gear-pos-norm", this, &FGFCS::GetGearPos, &FGFCS::SetGearPos);
904 PropertyManager->Tie("gear/gear-cmd-norm", this, &FGFCS::GetGearCmd, &FGFCS::SetGearCmd);
905 PropertyManager->Tie("fcs/left-brake-cmd-norm", this, &FGFCS::GetLBrake, &FGFCS::SetLBrake);
906 PropertyManager->Tie("fcs/right-brake-cmd-norm", this, &FGFCS::GetRBrake, &FGFCS::SetRBrake);
907 PropertyManager->Tie("fcs/center-brake-cmd-norm", this, &FGFCS::GetCBrake, &FGFCS::SetCBrake);
908 PropertyManager->Tie("fcs/steer-cmd-norm", this, &FGFCS::GetDsCmd, &FGFCS::SetDsCmd);
910 PropertyManager->Tie("gear/tailhook-pos-norm", this, &FGFCS::GetTailhookPos, &FGFCS::SetTailhookPos);
911 PropertyManager->Tie("fcs/wing-fold-pos-norm", this, &FGFCS::GetWingFoldPos, &FGFCS::SetWingFoldPos);
914 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
915 // Technically, this function should probably bind propulsion type specific controls
916 // rather than mixture and prop-advance.
918 void FGFCS::bindThrottle(unsigned int num)
922 tmp = CreateIndexedPropertyName("fcs/throttle-cmd-norm", num);
923 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottleCmd,
924 &FGFCS::SetThrottleCmd);
925 tmp = CreateIndexedPropertyName("fcs/throttle-pos-norm", num);
926 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottlePos,
927 &FGFCS::SetThrottlePos);
928 tmp = CreateIndexedPropertyName("fcs/mixture-cmd-norm", num);
929 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixtureCmd,
930 &FGFCS::SetMixtureCmd);
931 tmp = CreateIndexedPropertyName("fcs/mixture-pos-norm", num);
932 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixturePos,
933 &FGFCS::SetMixturePos);
934 tmp = CreateIndexedPropertyName("fcs/advance-cmd-norm", num);
935 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvanceCmd,
936 &FGFCS::SetPropAdvanceCmd);
937 tmp = CreateIndexedPropertyName("fcs/advance-pos-norm", num);
938 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvance,
939 &FGFCS::SetPropAdvance);
940 tmp = CreateIndexedPropertyName("fcs/feather-cmd-norm", num);
941 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetFeatherCmd,
942 &FGFCS::SetFeatherCmd);
943 tmp = CreateIndexedPropertyName("fcs/feather-pos-norm", num);
944 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropFeather,
945 &FGFCS::SetPropFeather);
948 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
950 void FGFCS::bindModel(void)
955 for (i=0; i<SteerPosDeg.size(); i++) {
956 if (GroundReactions->GetGearUnit(i)->GetSteerable()) {
957 tmp = CreateIndexedPropertyName("fcs/steer-pos-deg", i);
958 PropertyManager->Tie( tmp.c_str(), this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
963 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
964 // The bitmasked value choices are as follows:
965 // unset: In this case (the default) JSBSim would only print
966 // out the normally expected messages, essentially echoing
967 // the config files as they are read. If the environment
968 // variable is not set, debug_lvl is set to 1 internally
969 // 0: This requests JSBSim not to output any messages
971 // 1: This value explicity requests the normal JSBSim
973 // 2: This value asks for a message to be printed out when
974 // a class is instantiated
975 // 4: When this value is set, a message is displayed when a
976 // FGModel object executes its Run() method
977 // 8: When this value is set, various runtime state variables
978 // are printed out periodically
979 // 16: When set various parameters are sanity checked and
980 // a message is printed out when they go out of bounds
982 void FGFCS::Debug(int from)
984 if (debug_lvl <= 0) return;
986 if (debug_lvl & 1) { // Standard console startup message output
987 if (from == 2) { // Loader
988 cout << endl << " " << Name << endl;
991 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
992 if (from == 0) cout << "Instantiated: FGFCS" << endl;
993 if (from == 1) cout << "Destroyed: FGFCS" << endl;
995 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
997 if (debug_lvl & 8 ) { // Runtime state variables
999 if (debug_lvl & 16) { // Sanity checking
1001 if (debug_lvl & 64) {
1002 if (from == 0) { // Constructor
1003 cout << IdSrc << endl;
1004 cout << IdHdr << endl;