src/FDM/JSBSim/models/FGFCS.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGFCS.cpp
   4  Author:       Jon Berndt
   5  Date started: 12/12/98
   6  Purpose:      Model the flight controls
   7  Called by:    FDMExec
   8
   9  ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------
  10
  11  This program is free software; you can redistribute it and/or modify it under
  12  the terms of the GNU Lesser General Public License as published by the Free Software
  13  Foundation; either version 2 of the License, or (at your option) any later
  14  version.
  15
  16  This program is distributed in the hope that it will be useful, but WITHOUT
  17  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  18  FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
  19  details.
  20
  21  You should have received a copy of the GNU Lesser General Public License along with
  22  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  23  Place - Suite 330, Boston, MA  02111-1307, USA.
  24
  25  Further information about the GNU Lesser General Public License can also be found on
  26  the world wide web at http://www.gnu.org.
  27
  28 FUNCTIONAL DESCRIPTION
  29 --------------------------------------------------------------------------------
  30 This class models the flight controls for a specific airplane
  31
  32 HISTORY
  33 --------------------------------------------------------------------------------
  34 12/12/98   JSB   Created
  35
  36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  37 INCLUDES
  38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  39
  40 #include "FGFCS.h"
  41 #include <FGFDMExec.h>
  42 #include <input_output/FGPropertyManager.h>
  43 #include <fstream>
  44
  45 #include <models/flight_control/FGFilter.h>
  46 #include <models/flight_control/FGDeadBand.h>
  47 #include <models/flight_control/FGGain.h>
  48 #include <models/flight_control/FGPID.h>
  49 #include <models/flight_control/FGSwitch.h>
  50 #include <models/flight_control/FGSummer.h>
  51 #include <models/flight_control/FGKinemat.h>
  52 #include <models/flight_control/FGFCSFunction.h>
  53 #include <models/flight_control/FGSensor.h>
  54 #include <models/flight_control/FGActuator.h>
  55
  56 namespace JSBSim {
  57
  58 static const char *IdSrc = "$Id$";
  59 static const char *IdHdr = ID_FCS;
  60
  61 #if defined(WIN32) && !defined(__CYGWIN__)
  62 #define snprintf _snprintf
  63 #endif
  64
  65 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  66 CLASS IMPLEMENTATION
  67 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  68
  69 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
  70 {
  71   int i;
  72   Name = "FGFCS";
  73
  74   DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
  75   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
  76   GearCmd = GearPos = 1; // default to gear down
  77   LeftBrake = RightBrake = CenterBrake = 0.0;
  78   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<sensors.size();i++) delete sensors[i];
 106   sensors.clear();
 107   for (i=0;i<APComponents.size();i++) delete APComponents[i];
 108   APComponents.clear();
 109   for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
 110   FCSComponents.clear();
 111   for (i=0;i<Systems.size();i++) delete Systems[i];
 112   Systems.clear();
 113
 114   for (unsigned int i=0; i<interface_properties.size(); i++) delete interface_properties[i];
 115   interface_properties.clear();
 116
 117   Debug(1);
 118 }
 119
 120 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 121
 122 bool FGFCS::InitModel(void)
 123 {
 124   unsigned int i;
 125
 126   if (!FGModel::InitModel()) return false;
 127
 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;
 134
 135   DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
 136   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
 137   TailhookPos = WingFoldPos = 0.0;
 138
 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;
 142   }
 143
 144   return true;
 145 }
 146
 147 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 148 // Notes: In this logic the default engine commands are set. This is simply a
 149 // sort of safe-mode method in case the user has not defined control laws for
 150 // throttle, mixture, and prop-advance. The throttle, mixture, and prop advance
 151 // positions are set equal to the respective commands. Any control logic that is
 152 // actually present in the flight_control or autopilot section will override
 153 // these simple assignments.
 154
 155 bool FGFCS::Run(void)
 156 {
 157   unsigned int i;
 158
 159   if (FGModel::Run()) return true; // fast exit if nothing to do
 160   if (FDMExec->Holding()) return false;
 161
 162   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 163   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
 164   for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
 165   for (i=0; i<PropFeather.size(); i++) PropFeather[i] = PropFeatherCmd[i];
 166
 167   // Set the default steering angle
 168   for (i=0; i<SteerPosDeg.size(); i++) {
 169     FGLGear* gear = GroundReactions->GetGearUnit(i);
 170     SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
 171   }
 172
 173   // Cycle through the sensor, systems, autopilot, and flight control components
 174   // Execute Sensors
 175   for (i=0; i<sensors.size(); i++) sensors[i]->Run();
 176
 177   // Execute Systems in order
 178   for (i=0; i<Systems.size(); i++) Systems[i]->Run();
 179
 180   // Execute Autopilot
 181   for (i=0; i<APComponents.size(); i++) APComponents[i]->Run();
 182
 183   // Execute Flight Control System
 184   for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
 185
 186   return false;
 187 }
 188
 189 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 190
 191 void FGFCS::SetDaLPos( int form , double pos )
 192 {
 193   switch(form) {
 194   case ofRad:
 195     DaLPos[ofRad] = pos;
 196     DaLPos[ofDeg] = pos*radtodeg;
 197     break;
 198   case ofDeg:
 199     DaLPos[ofRad] = pos*degtorad;
 200     DaLPos[ofDeg] = pos;
 201     break;
 202   case ofNorm:
 203     DaLPos[ofNorm] = pos;
 204   }
 205   DaLPos[ofMag] = fabs(DaLPos[ofRad]);
 206 }
 207
 208 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 209
 210 void FGFCS::SetDaRPos( int form , double pos )
 211 {
 212   switch(form) {
 213   case ofRad:
 214     DaRPos[ofRad] = pos;
 215     DaRPos[ofDeg] = pos*radtodeg;
 216     break;
 217   case ofDeg:
 218     DaRPos[ofRad] = pos*degtorad;
 219     DaRPos[ofDeg] = pos;
 220     break;
 221   case ofNorm:
 222     DaRPos[ofNorm] = pos;
 223   }
 224   DaRPos[ofMag] = fabs(DaRPos[ofRad]);
 225 }
 226
 227 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 228
 229 void FGFCS::SetDePos( int form , double pos )
 230 {
 231   switch(form) {
 232   case ofRad:
 233     DePos[ofRad] = pos;
 234     DePos[ofDeg] = pos*radtodeg;
 235     break;
 236   case ofDeg:
 237     DePos[ofRad] = pos*degtorad;
 238     DePos[ofDeg] = pos;
 239     break;
 240   case ofNorm:
 241     DePos[ofNorm] = pos;
 242   }
 243   DePos[ofMag] = fabs(DePos[ofRad]);
 244 }
 245
 246 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 247
 248 void FGFCS::SetDrPos( int form , double pos )
 249 {
 250   switch(form) {
 251   case ofRad:
 252     DrPos[ofRad] = pos;
 253     DrPos[ofDeg] = pos*radtodeg;
 254     break;
 255   case ofDeg:
 256     DrPos[ofRad] = pos*degtorad;
 257     DrPos[ofDeg] = pos;
 258     break;
 259   case ofNorm:
 260     DrPos[ofNorm] = pos;
 261   }
 262   DrPos[ofMag] = fabs(DrPos[ofRad]);
 263 }
 264
 265 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 266
 267 void FGFCS::SetDfPos( int form , double pos )
 268 {
 269   switch(form) {
 270   case ofRad:
 271     DfPos[ofRad] = pos;
 272     DfPos[ofDeg] = pos*radtodeg;
 273     break;
 274   case ofDeg:
 275     DfPos[ofRad] = pos*degtorad;
 276     DfPos[ofDeg] = pos;
 277     break;
 278   case ofNorm:
 279     DfPos[ofNorm] = pos;
 280   }
 281   DfPos[ofMag] = fabs(DfPos[ofRad]);
 282 }
 283
 284 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 285
 286 void FGFCS::SetDsbPos( int form , double pos )
 287 {
 288   switch(form) {
 289   case ofRad:
 290     DsbPos[ofRad] = pos;
 291     DsbPos[ofDeg] = pos*radtodeg;
 292     break;
 293   case ofDeg:
 294     DsbPos[ofRad] = pos*degtorad;
 295     DsbPos[ofDeg] = pos;
 296     break;
 297   case ofNorm:
 298     DsbPos[ofNorm] = pos;
 299   }
 300   DsbPos[ofMag] = fabs(DsbPos[ofRad]);
 301 }
 302
 303 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 304
 305 void FGFCS::SetDspPos( int form , double pos )
 306 {
 307   switch(form) {
 308   case ofRad:
 309     DspPos[ofRad] = pos;
 310     DspPos[ofDeg] = pos*radtodeg;
 311     break;
 312   case ofDeg:
 313     DspPos[ofRad] = pos*degtorad;
 314     DspPos[ofDeg] = pos;
 315     break;
 316   case ofNorm:
 317     DspPos[ofNorm] = pos;
 318   }
 319   DspPos[ofMag] = fabs(DspPos[ofRad]);
 320 }
 321
 322 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 323
 324 void FGFCS::SetThrottleCmd(int engineNum, double setting)
 325 {
 326   unsigned int ctr;
 327
 328   if (engineNum < (int)ThrottlePos.size()) {
 329     if (engineNum < 0) {
 330       for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 331     } else {
 332       ThrottleCmd[engineNum] = setting;
 333     }
 334   } else {
 335     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 336          << " engines exist, but attempted throttle command is for engine "
 337          << engineNum << endl;
 338   }
 339 }
 340
 341 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 342
 343 void FGFCS::SetThrottlePos(int engineNum, double setting)
 344 {
 345   unsigned int ctr;
 346
 347   if (engineNum < (int)ThrottlePos.size()) {
 348     if (engineNum < 0) {
 349       for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
 350     } else {
 351       ThrottlePos[engineNum] = setting;
 352     }
 353   } else {
 354     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 355          << " engines exist, but attempted throttle position setting is for engine "
 356          << engineNum << endl;
 357   }
 358 }
 359
 360 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 361
 362 double FGFCS::GetThrottleCmd(int engineNum) const
 363 {
 364   if (engineNum < (int)ThrottlePos.size()) {
 365     if (engineNum < 0) {
 366        cerr << "Cannot get throttle value for ALL engines" << endl;
 367     } else {
 368       return ThrottleCmd[engineNum];
 369     }
 370   } else {
 371     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 372          << " engines exist, but throttle setting for engine " << engineNum
 373          << " is selected" << endl;
 374   }
 375   return 0.0;
 376 }
 377
 378 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 379
 380 double FGFCS::GetThrottlePos(int engineNum) const
 381 {
 382   if (engineNum < (int)ThrottlePos.size()) {
 383     if (engineNum < 0) {
 384        cerr << "Cannot get throttle value for ALL engines" << endl;
 385     } else {
 386       return ThrottlePos[engineNum];
 387     }
 388   } else {
 389     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 390          << " engines exist, but attempted throttle position setting is for engine "
 391          << engineNum << endl;
 392   }
 393   return 0.0;
 394 }
 395
 396 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 397
 398 void FGFCS::SetMixtureCmd(int engineNum, double setting)
 399 {
 400   unsigned int ctr;
 401
 402   if (engineNum < (int)ThrottlePos.size()) {
 403     if (engineNum < 0) {
 404       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
 405     } else {
 406       MixtureCmd[engineNum] = setting;
 407     }
 408   }
 409 }
 410
 411 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 412
 413 void FGFCS::SetMixturePos(int engineNum, double setting)
 414 {
 415   unsigned int ctr;
 416
 417   if (engineNum < (int)ThrottlePos.size()) {
 418     if (engineNum < 0) {
 419       for (ctr=0;ctr<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
 420     } else {
 421       MixturePos[engineNum] = setting;
 422     }
 423   }
 424 }
 425
 426 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 427
 428 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
 429 {
 430   unsigned int ctr;
 431
 432   if (engineNum < (int)ThrottlePos.size()) {
 433     if (engineNum < 0) {
 434       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
 435     } else {
 436       PropAdvanceCmd[engineNum] = setting;
 437     }
 438   }
 439 }
 440
 441 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 442
 443 void FGFCS::SetPropAdvance(int engineNum, double setting)
 444 {
 445   unsigned int ctr;
 446
 447   if (engineNum < (int)ThrottlePos.size()) {
 448     if (engineNum < 0) {
 449       for (ctr=0;ctr<=PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
 450     } else {
 451       PropAdvance[engineNum] = setting;
 452     }
 453   }
 454 }
 455
 456 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 457
 458 void FGFCS::SetFeatherCmd(int engineNum, bool setting)
 459 {
 460   unsigned int ctr;
 461
 462   if (engineNum < (int)ThrottlePos.size()) {
 463     if (engineNum < 0) {
 464       for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeatherCmd[ctr] = setting;
 465     } else {
 466       PropFeatherCmd[engineNum] = setting;
 467     }
 468   }
 469 }
 470
 471 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 472
 473 void FGFCS::SetPropFeather(int engineNum, bool setting)
 474 {
 475   unsigned int ctr;
 476
 477   if (engineNum < (int)ThrottlePos.size()) {
 478     if (engineNum < 0) {
 479       for (ctr=0;ctr<=PropFeatherCmd.size();ctr++) PropFeather[ctr] = PropFeatherCmd[ctr];
 480     } else {
 481       PropFeather[engineNum] = setting;
 482     }
 483   }
 484 }
 485
 486 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 487
 488 bool FGFCS::Load(Element* el, SystemType systype)
 489 {
 490   string name, file, fname="", interface_property_string, parent_name;
 491   vector <FGFCSComponent*> *Components;
 492   Element *component_element, *property_element, *sensor_element;
 493   Element *channel_element;
 494
 495   Components=0;
 496
 497   string separator = "/";
 498
 499 // ToDo: The handling of name and file attributes could be improved, here,
 500 //       considering that a name can be in the external file, as well.
 501
 502   name = el->GetAttributeValue("name");
 503
 504   if (name.empty()) {
 505     fname = el->GetAttributeValue("file");
 506     if (systype == stSystem) {
 507       file = FindSystemFullPathname(fname);
 508     } else {
 509       file = FDMExec->GetFullAircraftPath() + separator + fname + ".xml";
 510     }
 511     if (fname.empty()) {
 512       cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl;
 513       return false;
 514     } else {
 515       document = LoadXMLDocument(file);
 516       if (!document) {
 517         cerr << "Error loading file " << file << endl;
 518         return false;
 519       }
 520       name = document->GetAttributeValue("name");
 521     }
 522   } else {
 523     document = el;
 524   }
 525
 526   if (document->GetName() == "autopilot") {
 527     Components = &APComponents;
 528     Name = "Autopilot: " + document->GetAttributeValue("name");
 529   } else if (document->GetName() == "flight_control") {
 530     Components = &FCSComponents;
 531     Name = "FCS: " + document->GetAttributeValue("name");
 532   } else if (document->GetName() == "system") {
 533     Components = &Systems;
 534     Name = "System: " + document->GetAttributeValue("name");
 535   }
 536   Debug(2);
 537
 538   if (document->GetName() == "flight_control") bindModel();
 539
 540   // Interface properties from any autopilot, flight control, or other system are
 541   // all stored in the interface properties array.
 542
 543   property_element = document->FindElement("property");
 544   if (property_element) cout << endl << "    Declared properties" << endl << endl;
 545   while (property_element) {
 546     double value=0.0;
 547     if ( ! property_element->GetAttributeValue("value").empty())
 548       value = property_element->GetAttributeValueAsNumber("value");
 549     interface_properties.push_back(new double(value));
 550     interface_property_string = property_element->GetDataLine();
 551     PropertyManager->Tie(interface_property_string, interface_properties.back());
 552     cout << "      " << interface_property_string << " (initial value: " << value << ")" << endl;
 553     property_element = document->FindNextElement("property");
 554   }
 555
 556   // After reading interface properties in a file, read properties in the local
 557   // flight_control, autopilot, or system element. This allows general-purpose
 558   // systems to be defined in a file, with overrides or initial loaded constants
 559   // supplied in the relevant element of the aircraft configuration file.
 560
 561   if (!fname.empty()) {
 562     property_element = el->FindElement("property");
 563     if (property_element && debug_lvl > 0) cout << endl << "    Declared properties" << endl << endl;
 564     while (property_element) {
 565       double value=0.0;
 566       if ( ! property_element->GetAttributeValue("value").empty())
 567         value = property_element->GetAttributeValueAsNumber("value");
 568
 569       interface_property_string = property_element->GetDataLine();
 570
 571       FGPropertyManager* node = PropertyManager->GetNode(interface_property_string);
 572       if (node) {
 573         cout << "      " << "Overriding value for property " << interface_property_string
 574              << " (old value: " << node->getDoubleValue() << "  new value: " << value << ")" << endl;
 575         node->setDoubleValue(value);
 576       } else {
 577         interface_properties.push_back(new double(value));
 578         PropertyManager->Tie(interface_property_string, interface_properties.back());
 579         if (debug_lvl > 0)
 580           cout << "      " << interface_property_string << " (initial value: " << value << ")" << endl;
 581       }
 582
 583
 584       property_element = el->FindNextElement("property");
 585     }
 586   }
 587
 588   // Any sensor elements that are outside of a channel (in either the autopilot
 589   // or the flight_control, or even any possible "system") are placed into the global
 590   // "sensors" array, and are executed prior to any autopilot, flight control, or
 591   // system.
 592
 593   sensor_element = document->FindElement("sensor");
 594   while (sensor_element) {
 595     try {
 596       sensors.push_back(new FGSensor(this, sensor_element));
 597     } catch (string s) {
 598       cerr << highint << fgred << endl << "  " << s << endl;
 599       return false;
 600     }
 601     sensor_element = document->FindNextElement("sensor");
 602   }
 603
 604   channel_element = document->FindElement("channel");
 605   while (channel_element) {
 606
 607     if (debug_lvl > 0)
 608       cout << endl << highint << fgblue << "    Channel "
 609          << normint << channel_element->GetAttributeValue("name") << reset << endl;
 610
 611     component_element = channel_element->GetElement();
 612     while (component_element) {
 613       try {
 614         if ((component_element->GetName() == string("lag_filter")) ||
 615             (component_element->GetName() == string("lead_lag_filter")) ||
 616             (component_element->GetName() == string("washout_filter")) ||
 617             (component_element->GetName() == string("second_order_filter")) ||
 618             (component_element->GetName() == string("integrator")) )
 619         {
 620           Components->push_back(new FGFilter(this, component_element));
 621         } else if ((component_element->GetName() == string("pure_gain")) ||
 622                    (component_element->GetName() == string("scheduled_gain")) ||
 623                    (component_element->GetName() == string("aerosurface_scale")))
 624         {
 625           Components->push_back(new FGGain(this, component_element));
 626         } else if (component_element->GetName() == string("summer")) {
 627           Components->push_back(new FGSummer(this, component_element));
 628         } else if (component_element->GetName() == string("deadband")) {
 629           Components->push_back(new FGDeadBand(this, component_element));
 630         } else if (component_element->GetName() == string("switch")) {
 631           Components->push_back(new FGSwitch(this, component_element));
 632         } else if (component_element->GetName() == string("kinematic")) {
 633           Components->push_back(new FGKinemat(this, component_element));
 634         } else if (component_element->GetName() == string("fcs_function")) {
 635           Components->push_back(new FGFCSFunction(this, component_element));
 636         } else if (component_element->GetName() == string("pid")) {
 637           Components->push_back(new FGPID(this, component_element));
 638         } else if (component_element->GetName() == string("actuator")) {
 639           Components->push_back(new FGActuator(this, component_element));
 640         } else if (component_element->GetName() == string("sensor")) {
 641           Components->push_back(new FGSensor(this, component_element));
 642         } else {
 643           cerr << "Unknown FCS component: " << component_element->GetName() << endl;
 644         }
 645       } catch(string s) {
 646         cerr << highint << fgred << endl << "  " << s << endl;
 647         cerr << reset << endl;
 648         return false;
 649       }
 650       component_element = channel_element->GetNextElement();
 651     }
 652     channel_element = document->FindNextElement("channel");
 653   }
 654
 655   ResetParser();
 656
 657   return true;
 658 }
 659
 660 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 661
 662 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 663 {
 664   switch (bg) {
 665   case FGLGear::bgLeft:
 666     return LeftBrake;
 667   case FGLGear::bgRight:
 668     return RightBrake;
 669   case FGLGear::bgCenter:
 670     return CenterBrake;
 671   default:
 672     cerr << "GetBrake asked to return a bogus brake value" << endl;
 673   }
 674   return 0.0;
 675 }
 676
 677 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 678
 679 string FGFCS::FindSystemFullPathname(string system_filename)
 680 {
 681   string fullpath, localpath;
 682   string systemPath = FDMExec->GetSystemsPath();
 683   string aircraftPath = FDMExec->GetFullAircraftPath();
 684   ifstream system_file;
 685
 686   string separator = "/";
 687
 688   fullpath = systemPath + separator;
 689   localpath = aircraftPath + separator + "Systems" + separator;
 690
 691   system_file.open(string(fullpath + system_filename + ".xml").c_str());
 692   if ( !system_file.is_open()) {
 693     system_file.open(string(localpath + system_filename + ".xml").c_str());
 694       if ( !system_file.is_open()) {
 695         cerr << " Could not open system file: " << system_filename << " in path "
 696              << fullpath << " or " << localpath << endl;
 697         return string("");
 698       } else {
 699         return string(localpath + system_filename + ".xml");
 700       }
 701   }
 702   return string(fullpath + system_filename + ".xml");
 703 }
 704
 705 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 706
 707 ifstream* FGFCS::FindSystemFile(string system_filename)
 708 {
 709   string fullpath, localpath;
 710   string systemPath = FDMExec->GetSystemsPath();
 711   string aircraftPath = FDMExec->GetFullAircraftPath();
 712   ifstream* system_file = new ifstream();
 713
 714   string separator = "/";
 715
 716   fullpath = systemPath + separator;
 717   localpath = aircraftPath + separator + "Systems" + separator;
 718
 719   system_file->open(string(fullpath + system_filename + ".xml").c_str());
 720   if ( !system_file->is_open()) {
 721     system_file->open(string(localpath + system_filename + ".xml").c_str());
 722       if ( !system_file->is_open()) {
 723         cerr << " Could not open system file: " << system_filename << " in path "
 724              << fullpath << " or " << localpath << endl;
 725       }
 726   }
 727   return system_file;
 728 }
 729
 730 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 731
 732 string FGFCS::GetComponentStrings(string delimeter)
 733 {
 734   unsigned int comp;
 735   string CompStrings = "";
 736   bool firstime = true;
 737   int total_count=0;
 738
 739   for (unsigned int i=0; i<Systems.size(); i++) {
 740     if (firstime) firstime = false;
 741     else          CompStrings += delimeter;
 742
 743     CompStrings += Systems[i]->GetName();
 744     total_count++;
 745   }
 746
 747   for (comp = 0; comp < APComponents.size(); comp++)
 748   {
 749     if (firstime) firstime = false;
 750     else          CompStrings += delimeter;
 751
 752     CompStrings += APComponents[comp]->GetName();
 753     total_count++;
 754   }
 755
 756   for (comp = 0; comp < FCSComponents.size(); comp++) {
 757     if (firstime) firstime = false;
 758     else          CompStrings += delimeter;
 759
 760     CompStrings += FCSComponents[comp]->GetName();
 761     total_count++;
 762   }
 763
 764   return CompStrings;
 765 }
 766
 767 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 768
 769 string FGFCS::GetComponentValues(string delimeter)
 770 {
 771   unsigned int comp;
 772   string CompValues = "";
 773   char buffer[100];
 774   bool firstime = true;
 775   int total_count=0;
 776
 777   for (unsigned int i=0; i<Systems.size(); i++) {
 778     if (firstime) firstime = false;
 779     else          CompValues += delimeter;
 780
 781     snprintf(buffer, 100, "%9.6f", Systems[i]->GetOutput());
 782     CompValues += string(buffer);
 783     total_count++;
 784   }
 785
 786   for (comp = 0; comp < APComponents.size(); comp++) {
 787     if (firstime) firstime = false;
 788     else          CompValues += delimeter;
 789
 790     sprintf(buffer, "%9.6f", APComponents[comp]->GetOutput());
 791     CompValues += string(buffer);
 792     total_count++;
 793   }
 794
 795   for (comp = 0; comp < FCSComponents.size(); comp++) {
 796     if (firstime) firstime = false;
 797     else          CompValues += delimeter;
 798
 799     sprintf(buffer, "%9.6f", FCSComponents[comp]->GetOutput());
 800     CompValues += string(buffer);
 801     total_count++;
 802   }
 803
 804   CompValues += "\0";
 805   return CompValues;
 806 }
 807
 808 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 809
 810 void FGFCS::AddThrottle(void)
 811 {
 812   ThrottleCmd.push_back(0.0);
 813   ThrottlePos.push_back(0.0);
 814   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 815   MixturePos.push_back(0.0);
 816   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 817   PropAdvance.push_back(0.0);
 818   PropFeatherCmd.push_back(false);
 819   PropFeather.push_back(false);
 820
 821   unsigned int num = (unsigned int)ThrottleCmd.size()-1;
 822   bindThrottle(num);
 823 }
 824
 825 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 826
 827 void FGFCS::AddGear(void)
 828 {
 829   SteerPosDeg.push_back(0.0);
 830 }
 831
 832 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 833
 834 double FGFCS::GetDt(void)
 835 {
 836   return FDMExec->GetDeltaT()*rate;
 837 }
 838
 839 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 840
 841 void FGFCS::bind(void)
 842 {
 843   PropertyManager->Tie("fcs/aileron-cmd-norm", this, &FGFCS::GetDaCmd, &FGFCS::SetDaCmd);
 844   PropertyManager->Tie("fcs/elevator-cmd-norm", this, &FGFCS::GetDeCmd, &FGFCS::SetDeCmd);
 845   PropertyManager->Tie("fcs/rudder-cmd-norm", this, &FGFCS::GetDrCmd, &FGFCS::SetDrCmd);
 846   PropertyManager->Tie("fcs/flap-cmd-norm", this, &FGFCS::GetDfCmd, &FGFCS::SetDfCmd);
 847   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this, &FGFCS::GetDsbCmd, &FGFCS::SetDsbCmd);
 848   PropertyManager->Tie("fcs/spoiler-cmd-norm", this, &FGFCS::GetDspCmd, &FGFCS::SetDspCmd);
 849   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this, &FGFCS::GetPitchTrimCmd, &FGFCS::SetPitchTrimCmd);
 850   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this, &FGFCS::GetRollTrimCmd, &FGFCS::SetRollTrimCmd);
 851   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this, &FGFCS::GetYawTrimCmd, &FGFCS::SetYawTrimCmd);
 852
 853   PropertyManager->Tie("fcs/left-aileron-pos-rad", this, ofRad, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 854   PropertyManager->Tie("fcs/left-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 855   PropertyManager->Tie("fcs/left-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 856   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this, ofMag, &FGFCS::GetDaLPos);
 857
 858   PropertyManager->Tie("fcs/right-aileron-pos-rad", this, ofRad, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 859   PropertyManager->Tie("fcs/right-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 860   PropertyManager->Tie("fcs/right-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 861   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this, ofMag, &FGFCS::GetDaRPos);
 862
 863   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad, &FGFCS::GetDePos, &FGFCS::SetDePos);
 864   PropertyManager->Tie("fcs/elevator-pos-deg", this, ofDeg, &FGFCS::GetDePos, &FGFCS::SetDePos);
 865   PropertyManager->Tie("fcs/elevator-pos-norm", this, ofNorm, &FGFCS::GetDePos, &FGFCS::SetDePos);
 866   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this, ofMag, &FGFCS::GetDePos);
 867
 868   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 869   PropertyManager->Tie("fcs/rudder-pos-deg", this,ofDeg, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 870   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 871   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag, &FGFCS::GetDrPos);
 872
 873   PropertyManager->Tie("fcs/flap-pos-rad", this,ofRad, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 874   PropertyManager->Tie("fcs/flap-pos-deg", this,ofDeg, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 875   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 876
 877   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 878   PropertyManager->Tie("fcs/speedbrake-pos-deg", this,ofDeg, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 879   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 880   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag, &FGFCS::GetDsbPos);
 881
 882   PropertyManager->Tie("fcs/spoiler-pos-rad", this, ofRad, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 883   PropertyManager->Tie("fcs/spoiler-pos-deg", this, ofDeg, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 884   PropertyManager->Tie("fcs/spoiler-pos-norm", this, ofNorm, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 885   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this, ofMag, &FGFCS::GetDspPos);
 886
 887   PropertyManager->Tie("gear/gear-pos-norm", this, &FGFCS::GetGearPos, &FGFCS::SetGearPos);
 888   PropertyManager->Tie("gear/gear-cmd-norm", this, &FGFCS::GetGearCmd, &FGFCS::SetGearCmd);
 889   PropertyManager->Tie("fcs/left-brake-cmd-norm", this, &FGFCS::GetLBrake, &FGFCS::SetLBrake);
 890   PropertyManager->Tie("fcs/right-brake-cmd-norm", this, &FGFCS::GetRBrake, &FGFCS::SetRBrake);
 891   PropertyManager->Tie("fcs/center-brake-cmd-norm", this, &FGFCS::GetCBrake, &FGFCS::SetCBrake);
 892   PropertyManager->Tie("fcs/steer-cmd-norm", this, &FGFCS::GetDsCmd, &FGFCS::SetDsCmd);
 893
 894   PropertyManager->Tie("gear/tailhook-pos-norm", this, &FGFCS::GetTailhookPos, &FGFCS::SetTailhookPos);
 895   PropertyManager->Tie("fcs/wing-fold-pos-norm", this, &FGFCS::GetWingFoldPos, &FGFCS::SetWingFoldPos);
 896 }
 897
 898 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 899 // Technically, this function should probably bind propulsion type specific controls
 900 // rather than mixture and prop-advance.
 901 //
 902
 903 void FGFCS::bindThrottle(unsigned int num)
 904 {
 905   char tmp[80];
 906
 907   snprintf(tmp, 80, "fcs/throttle-cmd-norm[%u]",num);
 908   PropertyManager->Tie( tmp, this, num, &FGFCS::GetThrottleCmd,
 909                                         &FGFCS::SetThrottleCmd);
 910   snprintf(tmp, 80, "fcs/throttle-pos-norm[%u]",num);
 911   PropertyManager->Tie( tmp, this, num, &FGFCS::GetThrottlePos,
 912                                         &FGFCS::SetThrottlePos);
 913   snprintf(tmp, 80, "fcs/mixture-cmd-norm[%u]",num);
 914   PropertyManager->Tie( tmp, this, num, &FGFCS::GetMixtureCmd,
 915                                         &FGFCS::SetMixtureCmd);
 916   snprintf(tmp, 80, "fcs/mixture-pos-norm[%u]",num);
 917   PropertyManager->Tie( tmp, this, num, &FGFCS::GetMixturePos,
 918                                         &FGFCS::SetMixturePos);
 919   snprintf(tmp, 80, "fcs/advance-cmd-norm[%u]",num);
 920   PropertyManager->Tie( tmp, this, num, &FGFCS::GetPropAdvanceCmd,
 921                                         &FGFCS::SetPropAdvanceCmd);
 922   snprintf(tmp, 80, "fcs/advance-pos-norm[%u]", num);
 923   PropertyManager->Tie( tmp, this, num, &FGFCS::GetPropAdvance,
 924                                         &FGFCS::SetPropAdvance);
 925   snprintf(tmp, 80, "fcs/feather-cmd-norm[%u]", num);
 926   PropertyManager->Tie( tmp, this, num, &FGFCS::GetFeatherCmd,
 927                                         &FGFCS::SetFeatherCmd);
 928   snprintf(tmp, 80, "fcs/feather-pos-norm[%u]", num);
 929   PropertyManager->Tie( tmp, this, num, &FGFCS::GetPropFeather,
 930                                         &FGFCS::SetPropFeather);
 931 }
 932
 933 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 934
 935 void FGFCS::bindModel(void)
 936 {
 937   unsigned int i;
 938   char tmp[80];
 939
 940   for (i=0; i<SteerPosDeg.size(); i++) {
 941     if (GroundReactions->GetGearUnit(i)->GetSteerable()) {
 942       snprintf(tmp,80,"fcs/steer-pos-deg[%u]",i);
 943       PropertyManager->Tie( tmp, this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
 944     }
 945   }
 946 }
 947
 948 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 949 //    The bitmasked value choices are as follows:
 950 //    unset: In this case (the default) JSBSim would only print
 951 //       out the normally expected messages, essentially echoing
 952 //       the config files as they are read. If the environment
 953 //       variable is not set, debug_lvl is set to 1 internally
 954 //    0: This requests JSBSim not to output any messages
 955 //       whatsoever.
 956 //    1: This value explicity requests the normal JSBSim
 957 //       startup messages
 958 //    2: This value asks for a message to be printed out when
 959 //       a class is instantiated
 960 //    4: When this value is set, a message is displayed when a
 961 //       FGModel object executes its Run() method
 962 //    8: When this value is set, various runtime state variables
 963 //       are printed out periodically
 964 //    16: When set various parameters are sanity checked and
 965 //       a message is printed out when they go out of bounds
 966
 967 void FGFCS::Debug(int from)
 968 {
 969   if (debug_lvl <= 0) return;
 970
 971   if (debug_lvl & 1) { // Standard console startup message output
 972     if (from == 2) { // Loader
 973       cout << endl << "  " << Name << endl;
 974     }
 975   }
 976   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 977     if (from == 0) cout << "Instantiated: FGFCS" << endl;
 978     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
 979   }
 980   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 981   }
 982   if (debug_lvl & 8 ) { // Runtime state variables
 983   }
 984   if (debug_lvl & 16) { // Sanity checking
 985   }
 986   if (debug_lvl & 64) {
 987     if (from == 0) { // Constructor
 988       cout << IdSrc << endl;
 989       cout << IdHdr << endl;
 990     }
 991   }
 992 }
 993
 994 }