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 #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
  58 namespace JSBSim {
  59
  60 static const char *IdSrc = "$Id$";
  61 static const char *IdHdr = ID_FCS;
  62
  63 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  64 CLASS IMPLEMENTATION
  65 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  66
  67 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
  68 {
  69   int i;
  70   Name = "FGFCS";
  71
  72   DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
  73   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
  74   GearCmd = GearPos = 1; // default to gear down
  75   LeftBrake = RightBrake = CenterBrake = 0.0;
  76   TailhookPos = WingFoldPos = 0.0;
  77
  78   bind();
  79   for (i=0;i<NForms;i++) {
  80     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
  81     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
  82   }
  83
  84   Debug(0);
  85 }
  86
  87 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  88
  89 FGFCS::~FGFCS()
  90 {
  91   ThrottleCmd.clear();
  92   ThrottlePos.clear();
  93   MixtureCmd.clear();
  94   MixturePos.clear();
  95   PropAdvanceCmd.clear();
  96   PropAdvance.clear();
  97   SteerPosDeg.clear();
  98   PropFeatherCmd.clear();
  99   PropFeather.clear();
 100
 101   unsigned int i;
 102
 103   for (i=0;i<sensors.size();i++) delete sensors[i];
 104   sensors.clear();
 105   for (i=0;i<APComponents.size();i++) delete APComponents[i];
 106   APComponents.clear();
 107   for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
 108   FCSComponents.clear();
 109   for (i=0;i<Systems.size();i++) delete Systems[i];
 110   Systems.clear();
 111
 112   for (unsigned int i=0; i<interface_properties.size(); i++) delete interface_properties[i];
 113   interface_properties.clear();
 114
 115   Debug(1);
 116 }
 117
 118 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 119
 120 bool FGFCS::InitModel(void)
 121 {
 122   unsigned int i;
 123
 124   if (!FGModel::InitModel()) return false;
 125
 126   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = 0.0;
 127   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = 0.0;
 128   for (i=0; i<ThrottleCmd.size(); i++) ThrottleCmd[i] = 0.0;
 129   for (i=0; i<MixtureCmd.size(); i++) MixtureCmd[i] = 0.0;
 130   for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = 0.0;
 131   for (i=0; i<PropFeather.size(); i++) PropFeather[i] = 0.0;
 132
 133   DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
 134   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
 135   TailhookPos = WingFoldPos = 0.0;
 136
 137   for (i=0;i<NForms;i++) {
 138     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
 139     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
 140   }
 141
 142   for (int i=0; i<Systems.size(); i++) {
 143     if (Systems[i]->GetType() == "LAG" ||
 144         Systems[i]->GetType() == "LEAD_LAG" ||
 145         Systems[i]->GetType() == "WASHOUT" ||
 146         Systems[i]->GetType() == "SECOND_ORDER_FILTER" ||
 147         Systems[i]->GetType() == "INTEGRATOR")
 148     {
 149       ((FGFilter*)Systems[i])->ResetPastStates();
 150     } else if (Systems[i]->GetType() == "PID" ) {
 151       ((FGPID*)Systems[i])->ResetPastStates();
 152     }
 153
 154   }
 155
 156   for (int i=0; i<FCSComponents.size(); i++) {
 157     if (FCSComponents[i]->GetType() == "LAG" ||
 158         FCSComponents[i]->GetType() == "LEAD_LAG" ||
 159         FCSComponents[i]->GetType() == "WASHOUT" ||
 160         FCSComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
 161         FCSComponents[i]->GetType() == "INTEGRATOR")
 162     {
 163       ((FGFilter*)FCSComponents[i])->ResetPastStates();
 164     } else if (FCSComponents[i]->GetType() == "PID" ) {
 165       ((FGPID*)FCSComponents[i])->ResetPastStates();
 166     }
 167   }
 168
 169   for (int i=0; i<APComponents.size(); i++) {
 170     if (APComponents[i]->GetType() == "LAG" ||
 171         APComponents[i]->GetType() == "LEAD_LAG" ||
 172         APComponents[i]->GetType() == "WASHOUT" ||
 173         APComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
 174         APComponents[i]->GetType() == "INTEGRATOR")
 175     {
 176       ((FGFilter*)APComponents[i])->ResetPastStates();
 177     } else if (APComponents[i]->GetType() == "PID" ) {
 178       ((FGPID*)APComponents[i])->ResetPastStates();
 179     }
 180   }
 181
 182   return true;
 183 }
 184
 185 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 186 // Notes: In this logic the default engine commands are set. This is simply a
 187 // sort of safe-mode method in case the user has not defined control laws for
 188 // throttle, mixture, and prop-advance. The throttle, mixture, and prop advance
 189 // positions are set equal to the respective commands. Any control logic that is
 190 // actually present in the flight_control or autopilot section will override
 191 // these simple assignments.
 192
 193 bool FGFCS::Run(void)
 194 {
 195   unsigned int i;
 196
 197   if (FGModel::Run()) return true; // fast exit if nothing to do
 198   if (FDMExec->Holding()) return false;
 199
 200   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 201   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
 202   for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
 203   for (i=0; i<PropFeather.size(); i++) PropFeather[i] = PropFeatherCmd[i];
 204
 205   // Set the default steering angle
 206   for (i=0; i<SteerPosDeg.size(); i++) {
 207     FGLGear* gear = GroundReactions->GetGearUnit(i);
 208     SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
 209   }
 210
 211   // Cycle through the sensor, systems, autopilot, and flight control components
 212   // Execute Sensors
 213   for (i=0; i<sensors.size(); i++) sensors[i]->Run();
 214
 215   // Execute Systems in order
 216   for (i=0; i<Systems.size(); i++) Systems[i]->Run();
 217
 218   // Execute Autopilot
 219   for (i=0; i<APComponents.size(); i++) APComponents[i]->Run();
 220
 221   // Execute Flight Control System
 222   for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
 223
 224   return false;
 225 }
 226
 227 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 228
 229 void FGFCS::SetDaLPos( int form , double pos )
 230 {
 231   switch(form) {
 232   case ofRad:
 233     DaLPos[ofRad] = pos;
 234     DaLPos[ofDeg] = pos*radtodeg;
 235     break;
 236   case ofDeg:
 237     DaLPos[ofRad] = pos*degtorad;
 238     DaLPos[ofDeg] = pos;
 239     break;
 240   case ofNorm:
 241     DaLPos[ofNorm] = pos;
 242   }
 243   DaLPos[ofMag] = fabs(DaLPos[ofRad]);
 244 }
 245
 246 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 247
 248 void FGFCS::SetDaRPos( int form , double pos )
 249 {
 250   switch(form) {
 251   case ofRad:
 252     DaRPos[ofRad] = pos;
 253     DaRPos[ofDeg] = pos*radtodeg;
 254     break;
 255   case ofDeg:
 256     DaRPos[ofRad] = pos*degtorad;
 257     DaRPos[ofDeg] = pos;
 258     break;
 259   case ofNorm:
 260     DaRPos[ofNorm] = pos;
 261   }
 262   DaRPos[ofMag] = fabs(DaRPos[ofRad]);
 263 }
 264
 265 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 266
 267 void FGFCS::SetDePos( int form , double pos )
 268 {
 269   switch(form) {
 270   case ofRad:
 271     DePos[ofRad] = pos;
 272     DePos[ofDeg] = pos*radtodeg;
 273     break;
 274   case ofDeg:
 275     DePos[ofRad] = pos*degtorad;
 276     DePos[ofDeg] = pos;
 277     break;
 278   case ofNorm:
 279     DePos[ofNorm] = pos;
 280   }
 281   DePos[ofMag] = fabs(DePos[ofRad]);
 282 }
 283
 284 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 285
 286 void FGFCS::SetDrPos( int form , double pos )
 287 {
 288   switch(form) {
 289   case ofRad:
 290     DrPos[ofRad] = pos;
 291     DrPos[ofDeg] = pos*radtodeg;
 292     break;
 293   case ofDeg:
 294     DrPos[ofRad] = pos*degtorad;
 295     DrPos[ofDeg] = pos;
 296     break;
 297   case ofNorm:
 298     DrPos[ofNorm] = pos;
 299   }
 300   DrPos[ofMag] = fabs(DrPos[ofRad]);
 301 }
 302
 303 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 304
 305 void FGFCS::SetDfPos( int form , double pos )
 306 {
 307   switch(form) {
 308   case ofRad:
 309     DfPos[ofRad] = pos;
 310     DfPos[ofDeg] = pos*radtodeg;
 311     break;
 312   case ofDeg:
 313     DfPos[ofRad] = pos*degtorad;
 314     DfPos[ofDeg] = pos;
 315     break;
 316   case ofNorm:
 317     DfPos[ofNorm] = pos;
 318   }
 319   DfPos[ofMag] = fabs(DfPos[ofRad]);
 320 }
 321
 322 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 323
 324 void FGFCS::SetDsbPos( int form , double pos )
 325 {
 326   switch(form) {
 327   case ofRad:
 328     DsbPos[ofRad] = pos;
 329     DsbPos[ofDeg] = pos*radtodeg;
 330     break;
 331   case ofDeg:
 332     DsbPos[ofRad] = pos*degtorad;
 333     DsbPos[ofDeg] = pos;
 334     break;
 335   case ofNorm:
 336     DsbPos[ofNorm] = pos;
 337   }
 338   DsbPos[ofMag] = fabs(DsbPos[ofRad]);
 339 }
 340
 341 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 342
 343 void FGFCS::SetDspPos( int form , double pos )
 344 {
 345   switch(form) {
 346   case ofRad:
 347     DspPos[ofRad] = pos;
 348     DspPos[ofDeg] = pos*radtodeg;
 349     break;
 350   case ofDeg:
 351     DspPos[ofRad] = pos*degtorad;
 352     DspPos[ofDeg] = pos;
 353     break;
 354   case ofNorm:
 355     DspPos[ofNorm] = pos;
 356   }
 357   DspPos[ofMag] = fabs(DspPos[ofRad]);
 358 }
 359
 360 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 361
 362 void FGFCS::SetThrottleCmd(int engineNum, double setting)
 363 {
 364   unsigned int ctr;
 365
 366   if (engineNum < (int)ThrottlePos.size()) {
 367     if (engineNum < 0) {
 368       for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 369     } else {
 370       ThrottleCmd[engineNum] = setting;
 371     }
 372   } else {
 373     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 374          << " engines exist, but attempted throttle command is for engine "
 375          << engineNum << endl;
 376   }
 377 }
 378
 379 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 380
 381 void FGFCS::SetThrottlePos(int engineNum, double setting)
 382 {
 383   unsigned int ctr;
 384
 385   if (engineNum < (int)ThrottlePos.size()) {
 386     if (engineNum < 0) {
 387       for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
 388     } else {
 389       ThrottlePos[engineNum] = setting;
 390     }
 391   } else {
 392     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 393          << " engines exist, but attempted throttle position setting is for engine "
 394          << engineNum << endl;
 395   }
 396 }
 397
 398 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 399
 400 double FGFCS::GetThrottleCmd(int engineNum) const
 401 {
 402   if (engineNum < (int)ThrottlePos.size()) {
 403     if (engineNum < 0) {
 404        cerr << "Cannot get throttle value for ALL engines" << endl;
 405     } else {
 406       return ThrottleCmd[engineNum];
 407     }
 408   } else {
 409     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 410          << " engines exist, but throttle setting for engine " << engineNum
 411          << " is selected" << endl;
 412   }
 413   return 0.0;
 414 }
 415
 416 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 417
 418 double FGFCS::GetThrottlePos(int engineNum) const
 419 {
 420   if (engineNum < (int)ThrottlePos.size()) {
 421     if (engineNum < 0) {
 422        cerr << "Cannot get throttle value for ALL engines" << endl;
 423     } else {
 424       return ThrottlePos[engineNum];
 425     }
 426   } else {
 427     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 428          << " engines exist, but attempted throttle position setting is for engine "
 429          << engineNum << endl;
 430   }
 431   return 0.0;
 432 }
 433
 434 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 435
 436 void FGFCS::SetMixtureCmd(int engineNum, double setting)
 437 {
 438   unsigned int ctr;
 439
 440   if (engineNum < (int)ThrottlePos.size()) {
 441     if (engineNum < 0) {
 442       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
 443     } else {
 444       MixtureCmd[engineNum] = setting;
 445     }
 446   }
 447 }
 448
 449 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 450
 451 void FGFCS::SetMixturePos(int engineNum, double setting)
 452 {
 453   unsigned int ctr;
 454
 455   if (engineNum < (int)ThrottlePos.size()) {
 456     if (engineNum < 0) {
 457       for (ctr=0;ctr<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
 458     } else {
 459       MixturePos[engineNum] = setting;
 460     }
 461   }
 462 }
 463
 464 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 465
 466 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
 467 {
 468   unsigned int ctr;
 469
 470   if (engineNum < (int)ThrottlePos.size()) {
 471     if (engineNum < 0) {
 472       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
 473     } else {
 474       PropAdvanceCmd[engineNum] = setting;
 475     }
 476   }
 477 }
 478
 479 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 480
 481 void FGFCS::SetPropAdvance(int engineNum, double setting)
 482 {
 483   unsigned int ctr;
 484
 485   if (engineNum < (int)ThrottlePos.size()) {
 486     if (engineNum < 0) {
 487       for (ctr=0;ctr<=PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
 488     } else {
 489       PropAdvance[engineNum] = setting;
 490     }
 491   }
 492 }
 493
 494 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 495
 496 void FGFCS::SetFeatherCmd(int engineNum, bool setting)
 497 {
 498   unsigned int ctr;
 499
 500   if (engineNum < (int)ThrottlePos.size()) {
 501     if (engineNum < 0) {
 502       for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeatherCmd[ctr] = setting;
 503     } else {
 504       PropFeatherCmd[engineNum] = setting;
 505     }
 506   }
 507 }
 508
 509 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 510
 511 void FGFCS::SetPropFeather(int engineNum, bool setting)
 512 {
 513   unsigned int ctr;
 514
 515   if (engineNum < (int)ThrottlePos.size()) {
 516     if (engineNum < 0) {
 517       for (ctr=0;ctr<=PropFeatherCmd.size();ctr++) PropFeather[ctr] = PropFeatherCmd[ctr];
 518     } else {
 519       PropFeather[engineNum] = setting;
 520     }
 521   }
 522 }
 523
 524 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 525
 526 bool FGFCS::Load(Element* el, SystemType systype)
 527 {
 528   string name, file, fname="", interface_property_string, parent_name;
 529   vector <FGFCSComponent*> *Components;
 530   Element *component_element, *property_element, *sensor_element;
 531   Element *channel_element;
 532
 533   Components=0;
 534
 535   string separator = "/";
 536
 537 // ToDo: The handling of name and file attributes could be improved, here,
 538 //       considering that a name can be in the external file, as well.
 539
 540   name = el->GetAttributeValue("name");
 541
 542   if (name.empty()) {
 543     fname = el->GetAttributeValue("file");
 544     if (systype == stSystem) {
 545       file = FindSystemFullPathname(fname);
 546     } else {
 547       file = FDMExec->GetFullAircraftPath() + separator + fname + ".xml";
 548     }
 549     if (fname.empty()) {
 550       cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl;
 551       return false;
 552     } else {
 553       document = LoadXMLDocument(file);
 554       if (!document) {
 555         cerr << "Error loading file " << file << endl;
 556         return false;
 557       }
 558       name = document->GetAttributeValue("name");
 559     }
 560   } else {
 561     document = el;
 562   }
 563
 564   if (document->GetName() == "autopilot") {
 565     Components = &APComponents;
 566     Name = "Autopilot: " + document->GetAttributeValue("name");
 567   } else if (document->GetName() == "flight_control") {
 568     Components = &FCSComponents;
 569     Name = "FCS: " + document->GetAttributeValue("name");
 570   } else if (document->GetName() == "system") {
 571     Components = &Systems;
 572     Name = "System: " + document->GetAttributeValue("name");
 573   }
 574   Debug(2);
 575
 576   if (document->GetName() == "flight_control") bindModel();
 577
 578   // Interface properties from any autopilot, flight control, or other system are
 579   // all stored in the interface properties array.
 580
 581   property_element = document->FindElement("property");
 582   if (property_element) cout << endl << "    Declared properties" << endl << endl;
 583   while (property_element) {
 584     interface_property_string = property_element->GetDataLine();
 585     if (PropertyManager->HasNode(interface_property_string)) {
 586       cout << "      Property " << interface_property_string << " is already defined." << endl;
 587     } else {
 588       double value=0.0;
 589       if ( ! property_element->GetAttributeValue("value").empty())
 590         value = property_element->GetAttributeValueAsNumber("value");
 591       interface_properties.push_back(new double(value));
 592       interface_property_string = property_element->GetDataLine();
 593       PropertyManager->Tie(interface_property_string, interface_properties.back());
 594       cout << "      " << interface_property_string << " (initial value: " << value << ")" << endl;
 595     }
 596     property_element = document->FindNextElement("property");
 597   }
 598
 599   // After reading interface properties in a file, read properties in the local
 600   // flight_control, autopilot, or system element. This allows general-purpose
 601   // systems to be defined in a file, with overrides or initial loaded constants
 602   // supplied in the relevant element of the aircraft configuration file.
 603
 604   if (!fname.empty()) {
 605     property_element = el->FindElement("property");
 606     if (property_element && debug_lvl > 0) cout << endl << "    Overriding properties" << endl << endl;
 607     while (property_element) {
 608       double value=0.0;
 609       if ( ! property_element->GetAttributeValue("value").empty())
 610         value = property_element->GetAttributeValueAsNumber("value");
 611
 612       interface_property_string = property_element->GetDataLine();
 613       if (PropertyManager->HasNode(interface_property_string)) {
 614         FGPropertyManager* node = PropertyManager->GetNode(interface_property_string);
 615         cout << "      " << "Overriding value for property " << interface_property_string
 616              << " (old value: " << node->getDoubleValue() << "  new value: " << value << ")" << endl;
 617         node->setDoubleValue(value);
 618       } else {
 619         interface_properties.push_back(new double(value));
 620         PropertyManager->Tie(interface_property_string, interface_properties.back());
 621         if (debug_lvl > 0)
 622           cout << "      " << interface_property_string << " (initial value: " << value << ")" << endl;
 623       }
 624
 625       property_element = el->FindNextElement("property");
 626     }
 627   }
 628
 629   // Any sensor elements that are outside of a channel (in either the autopilot
 630   // or the flight_control, or even any possible "system") are placed into the global
 631   // "sensors" array, and are executed prior to any autopilot, flight control, or
 632   // system.
 633
 634   sensor_element = document->FindElement("sensor");
 635   while (sensor_element) {
 636     try {
 637       sensors.push_back(new FGSensor(this, sensor_element));
 638     } catch (string s) {
 639       cerr << highint << fgred << endl << "  " << s << endl;
 640       return false;
 641     }
 642     sensor_element = document->FindNextElement("sensor");
 643   }
 644
 645   channel_element = document->FindElement("channel");
 646   while (channel_element) {
 647
 648     if (debug_lvl > 0)
 649       cout << endl << highint << fgblue << "    Channel "
 650          << normint << channel_element->GetAttributeValue("name") << reset << endl;
 651
 652     component_element = channel_element->GetElement();
 653     while (component_element) {
 654       try {
 655         if ((component_element->GetName() == string("lag_filter")) ||
 656             (component_element->GetName() == string("lead_lag_filter")) ||
 657             (component_element->GetName() == string("washout_filter")) ||
 658             (component_element->GetName() == string("second_order_filter")) ||
 659             (component_element->GetName() == string("integrator")) )
 660         {
 661           Components->push_back(new FGFilter(this, component_element));
 662         } else if ((component_element->GetName() == string("pure_gain")) ||
 663                    (component_element->GetName() == string("scheduled_gain")) ||
 664                    (component_element->GetName() == string("aerosurface_scale")))
 665         {
 666           Components->push_back(new FGGain(this, component_element));
 667         } else if (component_element->GetName() == string("summer")) {
 668           Components->push_back(new FGSummer(this, component_element));
 669         } else if (component_element->GetName() == string("deadband")) {
 670           Components->push_back(new FGDeadBand(this, component_element));
 671         } else if (component_element->GetName() == string("switch")) {
 672           Components->push_back(new FGSwitch(this, component_element));
 673         } else if (component_element->GetName() == string("kinematic")) {
 674           Components->push_back(new FGKinemat(this, component_element));
 675         } else if (component_element->GetName() == string("fcs_function")) {
 676           Components->push_back(new FGFCSFunction(this, component_element));
 677         } else if (component_element->GetName() == string("pid")) {
 678           Components->push_back(new FGPID(this, component_element));
 679         } else if (component_element->GetName() == string("actuator")) {
 680           Components->push_back(new FGActuator(this, component_element));
 681         } else if (component_element->GetName() == string("sensor")) {
 682           Components->push_back(new FGSensor(this, component_element));
 683         } else {
 684           cerr << "Unknown FCS component: " << component_element->GetName() << endl;
 685         }
 686       } catch(string s) {
 687         cerr << highint << fgred << endl << "  " << s << endl;
 688         cerr << reset << endl;
 689         return false;
 690       }
 691       component_element = channel_element->GetNextElement();
 692     }
 693     channel_element = document->FindNextElement("channel");
 694   }
 695
 696   ResetParser();
 697
 698   return true;
 699 }
 700
 701 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 702
 703 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 704 {
 705   switch (bg) {
 706   case FGLGear::bgLeft:
 707     return LeftBrake;
 708   case FGLGear::bgRight:
 709     return RightBrake;
 710   case FGLGear::bgCenter:
 711     return CenterBrake;
 712   default:
 713     cerr << "GetBrake asked to return a bogus brake value" << endl;
 714   }
 715   return 0.0;
 716 }
 717
 718 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 719
 720 string FGFCS::FindSystemFullPathname(string system_filename)
 721 {
 722   string fullpath, localpath;
 723   string systemPath = FDMExec->GetSystemsPath();
 724   string aircraftPath = FDMExec->GetFullAircraftPath();
 725   ifstream system_file;
 726
 727   string separator = "/";
 728
 729   fullpath = systemPath + separator;
 730   localpath = aircraftPath + separator + "Systems" + separator;
 731
 732   system_file.open(string(fullpath + system_filename + ".xml").c_str());
 733   if ( !system_file.is_open()) {
 734     system_file.open(string(localpath + system_filename + ".xml").c_str());
 735       if ( !system_file.is_open()) {
 736         cerr << " Could not open system file: " << system_filename << " in path "
 737              << fullpath << " or " << localpath << endl;
 738         return string("");
 739       } else {
 740         return string(localpath + system_filename + ".xml");
 741       }
 742   }
 743   return string(fullpath + system_filename + ".xml");
 744 }
 745
 746 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 747
 748 ifstream* FGFCS::FindSystemFile(string system_filename)
 749 {
 750   string fullpath, localpath;
 751   string systemPath = FDMExec->GetSystemsPath();
 752   string aircraftPath = FDMExec->GetFullAircraftPath();
 753   ifstream* system_file = new ifstream();
 754
 755   string separator = "/";
 756
 757   fullpath = systemPath + separator;
 758   localpath = aircraftPath + separator + "Systems" + separator;
 759
 760   system_file->open(string(fullpath + system_filename + ".xml").c_str());
 761   if ( !system_file->is_open()) {
 762     system_file->open(string(localpath + system_filename + ".xml").c_str());
 763       if ( !system_file->is_open()) {
 764         cerr << " Could not open system file: " << system_filename << " in path "
 765              << fullpath << " or " << localpath << endl;
 766       }
 767   }
 768   return system_file;
 769 }
 770
 771 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 772
 773 string FGFCS::GetComponentStrings(string delimeter)
 774 {
 775   unsigned int comp;
 776   string CompStrings = "";
 777   bool firstime = true;
 778   int total_count=0;
 779
 780   for (unsigned int i=0; i<Systems.size(); i++) {
 781     if (firstime) firstime = false;
 782     else          CompStrings += delimeter;
 783
 784     CompStrings += Systems[i]->GetName();
 785     total_count++;
 786   }
 787
 788   for (comp = 0; comp < APComponents.size(); comp++)
 789   {
 790     if (firstime) firstime = false;
 791     else          CompStrings += delimeter;
 792
 793     CompStrings += APComponents[comp]->GetName();
 794     total_count++;
 795   }
 796
 797   for (comp = 0; comp < FCSComponents.size(); comp++) {
 798     if (firstime) firstime = false;
 799     else          CompStrings += delimeter;
 800
 801     CompStrings += FCSComponents[comp]->GetName();
 802     total_count++;
 803   }
 804
 805   return CompStrings;
 806 }
 807
 808 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 809
 810 string FGFCS::GetComponentValues(string delimeter)
 811 {
 812   std::ostringstream buf;
 813
 814   unsigned int comp;
 815   bool firstime = true;
 816   int total_count=0;
 817
 818   for (unsigned int i=0; i<Systems.size(); i++) {
 819     if (firstime) firstime = false;
 820     else          buf << delimeter;
 821
 822     buf << setprecision(9) << Systems[i]->GetOutput();
 823     total_count++;
 824   }
 825
 826   for (comp = 0; comp < APComponents.size(); comp++) {
 827     if (firstime) firstime = false;
 828     else          buf << delimeter;
 829
 830     buf << setprecision(9) << APComponents[comp]->GetOutput();
 831     total_count++;
 832   }
 833
 834   for (comp = 0; comp < FCSComponents.size(); comp++) {
 835     if (firstime) firstime = false;
 836     else          buf << delimeter;
 837
 838     buf << setprecision(9) << FCSComponents[comp]->GetOutput();
 839     total_count++;
 840   }
 841
 842   return buf.str();
 843 }
 844
 845 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 846
 847 void FGFCS::AddThrottle(void)
 848 {
 849   ThrottleCmd.push_back(0.0);
 850   ThrottlePos.push_back(0.0);
 851   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 852   MixturePos.push_back(0.0);
 853   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 854   PropAdvance.push_back(0.0);
 855   PropFeatherCmd.push_back(false);
 856   PropFeather.push_back(false);
 857
 858   unsigned int num = (unsigned int)ThrottleCmd.size()-1;
 859   bindThrottle(num);
 860 }
 861
 862 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 863
 864 void FGFCS::AddGear(void)
 865 {
 866   SteerPosDeg.push_back(0.0);
 867 }
 868
 869 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 870
 871 double FGFCS::GetDt(void)
 872 {
 873   return FDMExec->GetDeltaT()*rate;
 874 }
 875
 876 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 877
 878 void FGFCS::bind(void)
 879 {
 880   PropertyManager->Tie("fcs/aileron-cmd-norm", this, &FGFCS::GetDaCmd, &FGFCS::SetDaCmd);
 881   PropertyManager->Tie("fcs/elevator-cmd-norm", this, &FGFCS::GetDeCmd, &FGFCS::SetDeCmd);
 882   PropertyManager->Tie("fcs/rudder-cmd-norm", this, &FGFCS::GetDrCmd, &FGFCS::SetDrCmd);
 883   PropertyManager->Tie("fcs/flap-cmd-norm", this, &FGFCS::GetDfCmd, &FGFCS::SetDfCmd);
 884   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this, &FGFCS::GetDsbCmd, &FGFCS::SetDsbCmd);
 885   PropertyManager->Tie("fcs/spoiler-cmd-norm", this, &FGFCS::GetDspCmd, &FGFCS::SetDspCmd);
 886   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this, &FGFCS::GetPitchTrimCmd, &FGFCS::SetPitchTrimCmd);
 887   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this, &FGFCS::GetRollTrimCmd, &FGFCS::SetRollTrimCmd);
 888   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this, &FGFCS::GetYawTrimCmd, &FGFCS::SetYawTrimCmd);
 889
 890   PropertyManager->Tie("fcs/left-aileron-pos-rad", this, ofRad, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 891   PropertyManager->Tie("fcs/left-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 892   PropertyManager->Tie("fcs/left-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 893   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this, ofMag, &FGFCS::GetDaLPos);
 894
 895   PropertyManager->Tie("fcs/right-aileron-pos-rad", this, ofRad, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 896   PropertyManager->Tie("fcs/right-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 897   PropertyManager->Tie("fcs/right-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 898   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this, ofMag, &FGFCS::GetDaRPos);
 899
 900   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad, &FGFCS::GetDePos, &FGFCS::SetDePos);
 901   PropertyManager->Tie("fcs/elevator-pos-deg", this, ofDeg, &FGFCS::GetDePos, &FGFCS::SetDePos);
 902   PropertyManager->Tie("fcs/elevator-pos-norm", this, ofNorm, &FGFCS::GetDePos, &FGFCS::SetDePos);
 903   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this, ofMag, &FGFCS::GetDePos);
 904
 905   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 906   PropertyManager->Tie("fcs/rudder-pos-deg", this,ofDeg, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 907   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 908   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag, &FGFCS::GetDrPos);
 909
 910   PropertyManager->Tie("fcs/flap-pos-rad", this,ofRad, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 911   PropertyManager->Tie("fcs/flap-pos-deg", this,ofDeg, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 912   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 913
 914   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 915   PropertyManager->Tie("fcs/speedbrake-pos-deg", this,ofDeg, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 916   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 917   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag, &FGFCS::GetDsbPos);
 918
 919   PropertyManager->Tie("fcs/spoiler-pos-rad", this, ofRad, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 920   PropertyManager->Tie("fcs/spoiler-pos-deg", this, ofDeg, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 921   PropertyManager->Tie("fcs/spoiler-pos-norm", this, ofNorm, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 922   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this, ofMag, &FGFCS::GetDspPos);
 923
 924   PropertyManager->Tie("gear/gear-pos-norm", this, &FGFCS::GetGearPos, &FGFCS::SetGearPos);
 925   PropertyManager->Tie("gear/gear-cmd-norm", this, &FGFCS::GetGearCmd, &FGFCS::SetGearCmd);
 926   PropertyManager->Tie("fcs/left-brake-cmd-norm", this, &FGFCS::GetLBrake, &FGFCS::SetLBrake);
 927   PropertyManager->Tie("fcs/right-brake-cmd-norm", this, &FGFCS::GetRBrake, &FGFCS::SetRBrake);
 928   PropertyManager->Tie("fcs/center-brake-cmd-norm", this, &FGFCS::GetCBrake, &FGFCS::SetCBrake);
 929   PropertyManager->Tie("fcs/steer-cmd-norm", this, &FGFCS::GetDsCmd, &FGFCS::SetDsCmd);
 930
 931   PropertyManager->Tie("gear/tailhook-pos-norm", this, &FGFCS::GetTailhookPos, &FGFCS::SetTailhookPos);
 932   PropertyManager->Tie("fcs/wing-fold-pos-norm", this, &FGFCS::GetWingFoldPos, &FGFCS::SetWingFoldPos);
 933 }
 934
 935 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 936 // Technically, this function should probably bind propulsion type specific controls
 937 // rather than mixture and prop-advance.
 938
 939 void FGFCS::bindThrottle(unsigned int num)
 940 {
 941   string tmp;
 942
 943   tmp = CreateIndexedPropertyName("fcs/throttle-cmd-norm", num);
 944   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottleCmd,
 945                                         &FGFCS::SetThrottleCmd);
 946   tmp = CreateIndexedPropertyName("fcs/throttle-pos-norm", num);
 947   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottlePos,
 948                                         &FGFCS::SetThrottlePos);
 949   tmp = CreateIndexedPropertyName("fcs/mixture-cmd-norm", num);
 950   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixtureCmd,
 951                                         &FGFCS::SetMixtureCmd);
 952   tmp = CreateIndexedPropertyName("fcs/mixture-pos-norm", num);
 953   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixturePos,
 954                                         &FGFCS::SetMixturePos);
 955   tmp = CreateIndexedPropertyName("fcs/advance-cmd-norm", num);
 956   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvanceCmd,
 957                                         &FGFCS::SetPropAdvanceCmd);
 958   tmp = CreateIndexedPropertyName("fcs/advance-pos-norm", num);
 959   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvance,
 960                                         &FGFCS::SetPropAdvance);
 961   tmp = CreateIndexedPropertyName("fcs/feather-cmd-norm", num);
 962   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetFeatherCmd,
 963                                         &FGFCS::SetFeatherCmd);
 964   tmp = CreateIndexedPropertyName("fcs/feather-pos-norm", num);
 965   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropFeather,
 966                                         &FGFCS::SetPropFeather);
 967 }
 968
 969 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 970
 971 void FGFCS::bindModel(void)
 972 {
 973   unsigned int i;
 974   string tmp;
 975
 976   for (i=0; i<SteerPosDeg.size(); i++) {
 977     if (GroundReactions->GetGearUnit(i)->GetSteerable()) {
 978       tmp = CreateIndexedPropertyName("fcs/steer-pos-deg", i);
 979       PropertyManager->Tie( tmp.c_str(), this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
 980     }
 981   }
 982 }
 983
 984 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 985 //    The bitmasked value choices are as follows:
 986 //    unset: In this case (the default) JSBSim would only print
 987 //       out the normally expected messages, essentially echoing
 988 //       the config files as they are read. If the environment
 989 //       variable is not set, debug_lvl is set to 1 internally
 990 //    0: This requests JSBSim not to output any messages
 991 //       whatsoever.
 992 //    1: This value explicity requests the normal JSBSim
 993 //       startup messages
 994 //    2: This value asks for a message to be printed out when
 995 //       a class is instantiated
 996 //    4: When this value is set, a message is displayed when a
 997 //       FGModel object executes its Run() method
 998 //    8: When this value is set, various runtime state variables
 999 //       are printed out periodically
1000 //    16: When set various parameters are sanity checked and
1001 //       a message is printed out when they go out of bounds
1002
1003 void FGFCS::Debug(int from)
1004 {
1005   if (debug_lvl <= 0) return;
1006
1007   if (debug_lvl & 1) { // Standard console startup message output
1008     if (from == 2) { // Loader
1009       cout << endl << "  " << Name << endl;
1010     }
1011   }
1012   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
1013     if (from == 0) cout << "Instantiated: FGFCS" << endl;
1014     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
1015   }
1016   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
1017   }
1018   if (debug_lvl & 8 ) { // Runtime state variables
1019   }
1020   if (debug_lvl & 16) { // Sanity checking
1021   }
1022   if (debug_lvl & 64) {
1023     if (from == 0) { // Constructor
1024       cout << IdSrc << endl;
1025       cout << IdHdr << endl;
1026     }
1027   }
1028 }
1029
1030 }