src/FDM/JSBSim/models/FGFCS.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGFCS.cpp
   4  Author:       Jon Berndt
   5  Date started: 12/12/98
   6  Purpose:      Model the flight controls
   7  Called by:    FDMExec
   8
   9  ------------- Copyright (C) 1999  Jon S. Berndt (jon@jsbsim.org) -------------
  10
  11  This program is free software; you can redistribute it and/or modify it under
  12  the terms of the GNU Lesser General Public License as published by the Free Software
  13  Foundation; either version 2 of the License, or (at your option) any later
  14  version.
  15
  16  This program is distributed in the hope that it will be useful, but WITHOUT
  17  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  18  FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
  19  details.
  20
  21  You should have received a copy of the GNU Lesser General Public License along with
  22  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  23  Place - Suite 330, Boston, MA  02111-1307, USA.
  24
  25  Further information about the GNU Lesser General Public License can also be found on
  26  the world wide web at http://www.gnu.org.
  27
  28 FUNCTIONAL DESCRIPTION
  29 --------------------------------------------------------------------------------
  30 This class models the flight controls for a specific airplane
  31
  32 HISTORY
  33 --------------------------------------------------------------------------------
  34 12/12/98   JSB   Created
  35
  36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  37 INCLUDES
  38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  39
  40 #include "FGFCS.h"
  41 #include "FGFDMExec.h"
  42 #include "FGGroundReactions.h"
  43 #include "input_output/FGPropertyManager.h"
  44 #include <fstream>
  45 #include <sstream>
  46 #include <iomanip>
  47
  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"
  61
  62 using namespace std;
  63
  64 namespace JSBSim {
  65
  66 static const char *IdSrc = "$Id$";
  67 static const char *IdHdr = ID_FCS;
  68
  69 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  70 CLASS IMPLEMENTATION
  71 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  72
  73 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
  74 {
  75   int i;
  76   Name = "FGFCS";
  77
  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;
  83
  84   bind();
  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;
  88   }
  89
  90   Debug(0);
  91 }
  92
  93 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  94
  95 FGFCS::~FGFCS()
  96 {
  97   ThrottleCmd.clear();
  98   ThrottlePos.clear();
  99   MixtureCmd.clear();
 100   MixturePos.clear();
 101   PropAdvanceCmd.clear();
 102   PropAdvance.clear();
 103   SteerPosDeg.clear();
 104   PropFeatherCmd.clear();
 105   PropFeather.clear();
 106
 107   unsigned int i;
 108
 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];
 114   Systems.clear();
 115
 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   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")
 150     {
 151       ((FGFilter*)Systems[i])->ResetPastStates();
 152     } else if (Systems[i]->GetType() == "PID" ) {
 153       ((FGPID*)Systems[i])->ResetPastStates();
 154     }
 155   }
 156
 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")
 163     {
 164       ((FGFilter*)FCSComponents[i])->ResetPastStates();
 165     } else if (FCSComponents[i]->GetType() == "PID" ) {
 166       ((FGPID*)FCSComponents[i])->ResetPastStates();
 167     }
 168   }
 169
 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")
 176     {
 177       ((FGFilter*)APComponents[i])->ResetPastStates();
 178     } else if (APComponents[i]->GetType() == "PID" ) {
 179       ((FGPID*)APComponents[i])->ResetPastStates();
 180     }
 181   }
 182
 183   return true;
 184 }
 185
 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.
 193
 194 bool FGFCS::Run(void)
 195 {
 196   unsigned int i;
 197
 198   if (FGModel::Run()) return true; // fast exit if nothing to do
 199   if (FDMExec->Holding()) return false;
 200
 201   RunPreFunctions();
 202
 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];
 207
 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() );
 212   }
 213
 214   // Execute Systems in order
 215   for (i=0; i<Systems.size(); i++) Systems[i]->Run();
 216
 217   // Execute Autopilot
 218   for (i=0; i<APComponents.size(); i++) APComponents[i]->Run();
 219
 220   // Execute Flight Control System
 221   for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
 222
 223   RunPostFunctions();
 224
 225   return false;
 226 }
 227
 228 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 229
 230 void FGFCS::SetDaLPos( int form , double pos )
 231 {
 232   switch(form) {
 233   case ofRad:
 234     DaLPos[ofRad] = pos;
 235     DaLPos[ofDeg] = pos*radtodeg;
 236     break;
 237   case ofDeg:
 238     DaLPos[ofRad] = pos*degtorad;
 239     DaLPos[ofDeg] = pos;
 240     break;
 241   case ofNorm:
 242     DaLPos[ofNorm] = pos;
 243   }
 244   DaLPos[ofMag] = fabs(DaLPos[ofRad]);
 245 }
 246
 247 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 248
 249 void FGFCS::SetDaRPos( int form , double pos )
 250 {
 251   switch(form) {
 252   case ofRad:
 253     DaRPos[ofRad] = pos;
 254     DaRPos[ofDeg] = pos*radtodeg;
 255     break;
 256   case ofDeg:
 257     DaRPos[ofRad] = pos*degtorad;
 258     DaRPos[ofDeg] = pos;
 259     break;
 260   case ofNorm:
 261     DaRPos[ofNorm] = pos;
 262   }
 263   DaRPos[ofMag] = fabs(DaRPos[ofRad]);
 264 }
 265
 266 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 267
 268 void FGFCS::SetDePos( int form , double pos )
 269 {
 270   switch(form) {
 271   case ofRad:
 272     DePos[ofRad] = pos;
 273     DePos[ofDeg] = pos*radtodeg;
 274     break;
 275   case ofDeg:
 276     DePos[ofRad] = pos*degtorad;
 277     DePos[ofDeg] = pos;
 278     break;
 279   case ofNorm:
 280     DePos[ofNorm] = pos;
 281   }
 282   DePos[ofMag] = fabs(DePos[ofRad]);
 283 }
 284
 285 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 286
 287 void FGFCS::SetDrPos( int form , double pos )
 288 {
 289   switch(form) {
 290   case ofRad:
 291     DrPos[ofRad] = pos;
 292     DrPos[ofDeg] = pos*radtodeg;
 293     break;
 294   case ofDeg:
 295     DrPos[ofRad] = pos*degtorad;
 296     DrPos[ofDeg] = pos;
 297     break;
 298   case ofNorm:
 299     DrPos[ofNorm] = pos;
 300   }
 301   DrPos[ofMag] = fabs(DrPos[ofRad]);
 302 }
 303
 304 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 305
 306 void FGFCS::SetDfPos( int form , double pos )
 307 {
 308   switch(form) {
 309   case ofRad:
 310     DfPos[ofRad] = pos;
 311     DfPos[ofDeg] = pos*radtodeg;
 312     break;
 313   case ofDeg:
 314     DfPos[ofRad] = pos*degtorad;
 315     DfPos[ofDeg] = pos;
 316     break;
 317   case ofNorm:
 318     DfPos[ofNorm] = pos;
 319   }
 320   DfPos[ofMag] = fabs(DfPos[ofRad]);
 321 }
 322
 323 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 324
 325 void FGFCS::SetDsbPos( int form , double pos )
 326 {
 327   switch(form) {
 328   case ofRad:
 329     DsbPos[ofRad] = pos;
 330     DsbPos[ofDeg] = pos*radtodeg;
 331     break;
 332   case ofDeg:
 333     DsbPos[ofRad] = pos*degtorad;
 334     DsbPos[ofDeg] = pos;
 335     break;
 336   case ofNorm:
 337     DsbPos[ofNorm] = pos;
 338   }
 339   DsbPos[ofMag] = fabs(DsbPos[ofRad]);
 340 }
 341
 342 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 343
 344 void FGFCS::SetDspPos( int form , double pos )
 345 {
 346   switch(form) {
 347   case ofRad:
 348     DspPos[ofRad] = pos;
 349     DspPos[ofDeg] = pos*radtodeg;
 350     break;
 351   case ofDeg:
 352     DspPos[ofRad] = pos*degtorad;
 353     DspPos[ofDeg] = pos;
 354     break;
 355   case ofNorm:
 356     DspPos[ofNorm] = pos;
 357   }
 358   DspPos[ofMag] = fabs(DspPos[ofRad]);
 359 }
 360
 361 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 362
 363 void FGFCS::SetThrottleCmd(int engineNum, double setting)
 364 {
 365   unsigned int ctr;
 366
 367   if (engineNum < (int)ThrottlePos.size()) {
 368     if (engineNum < 0) {
 369       for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 370     } else {
 371       ThrottleCmd[engineNum] = setting;
 372     }
 373   } else {
 374     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 375          << " engines exist, but attempted throttle command is for engine "
 376          << engineNum << endl;
 377   }
 378 }
 379
 380 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 381
 382 void FGFCS::SetThrottlePos(int engineNum, double setting)
 383 {
 384   unsigned int ctr;
 385
 386   if (engineNum < (int)ThrottlePos.size()) {
 387     if (engineNum < 0) {
 388       for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
 389     } else {
 390       ThrottlePos[engineNum] = setting;
 391     }
 392   } else {
 393     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 394          << " engines exist, but attempted throttle position setting is for engine "
 395          << engineNum << endl;
 396   }
 397 }
 398
 399 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 400
 401 double FGFCS::GetThrottleCmd(int engineNum) const
 402 {
 403   if (engineNum < (int)ThrottlePos.size()) {
 404     if (engineNum < 0) {
 405        cerr << "Cannot get throttle value for ALL engines" << endl;
 406     } else {
 407       return ThrottleCmd[engineNum];
 408     }
 409   } else {
 410     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 411          << " engines exist, but throttle setting for engine " << engineNum
 412          << " is selected" << endl;
 413   }
 414   return 0.0;
 415 }
 416
 417 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 418
 419 double FGFCS::GetThrottlePos(int engineNum) const
 420 {
 421   if (engineNum < (int)ThrottlePos.size()) {
 422     if (engineNum < 0) {
 423        cerr << "Cannot get throttle value for ALL engines" << endl;
 424     } else {
 425       return ThrottlePos[engineNum];
 426     }
 427   } else {
 428     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 429          << " engines exist, but attempted throttle position setting is for engine "
 430          << engineNum << endl;
 431   }
 432   return 0.0;
 433 }
 434
 435 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 436
 437 void FGFCS::SetMixtureCmd(int engineNum, double setting)
 438 {
 439   unsigned int ctr;
 440
 441   if (engineNum < (int)ThrottlePos.size()) {
 442     if (engineNum < 0) {
 443       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
 444     } else {
 445       MixtureCmd[engineNum] = setting;
 446     }
 447   }
 448 }
 449
 450 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 451
 452 void FGFCS::SetMixturePos(int engineNum, double setting)
 453 {
 454   unsigned int ctr;
 455
 456   if (engineNum < (int)ThrottlePos.size()) {
 457     if (engineNum < 0) {
 458       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
 459     } else {
 460       MixturePos[engineNum] = setting;
 461     }
 462   }
 463 }
 464
 465 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 466
 467 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
 468 {
 469   unsigned int ctr;
 470
 471   if (engineNum < (int)ThrottlePos.size()) {
 472     if (engineNum < 0) {
 473       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
 474     } else {
 475       PropAdvanceCmd[engineNum] = setting;
 476     }
 477   }
 478 }
 479
 480 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 481
 482 void FGFCS::SetPropAdvance(int engineNum, double setting)
 483 {
 484   unsigned int ctr;
 485
 486   if (engineNum < (int)ThrottlePos.size()) {
 487     if (engineNum < 0) {
 488       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
 489     } else {
 490       PropAdvance[engineNum] = setting;
 491     }
 492   }
 493 }
 494
 495 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 496
 497 void FGFCS::SetFeatherCmd(int engineNum, bool setting)
 498 {
 499   unsigned int ctr;
 500
 501   if (engineNum < (int)ThrottlePos.size()) {
 502     if (engineNum < 0) {
 503       for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeatherCmd[ctr] = setting;
 504     } else {
 505       PropFeatherCmd[engineNum] = setting;
 506     }
 507   }
 508 }
 509
 510 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 511
 512 void FGFCS::SetPropFeather(int engineNum, bool setting)
 513 {
 514   unsigned int ctr;
 515
 516   if (engineNum < (int)ThrottlePos.size()) {
 517     if (engineNum < 0) {
 518       for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeather[ctr] = PropFeatherCmd[ctr];
 519     } else {
 520       PropFeather[engineNum] = setting;
 521     }
 522   }
 523 }
 524
 525 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 526
 527 bool FGFCS::Load(Element* el, SystemType systype)
 528 {
 529   string name, file, fname="", interface_property_string, parent_name;
 530   vector <FGFCSComponent*> *Components;
 531   Element *component_element;
 532   Element *channel_element;
 533
 534   Components=0;
 535
 536   string separator = "/";
 537
 538 // ToDo: The handling of name and file attributes could be improved, here,
 539 //       considering that a name can be in the external file, as well.
 540
 541   name = el->GetAttributeValue("name");
 542
 543   if (name.empty()) {
 544     fname = el->GetAttributeValue("file");
 545     if (systype == stSystem) {
 546       file = FindSystemFullPathname(fname);
 547     } else {
 548       file = FDMExec->GetFullAircraftPath() + separator + fname + ".xml";
 549     }
 550     if (fname.empty()) {
 551       cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl;
 552       return false;
 553     } else {
 554       document = LoadXMLDocument(file);
 555       if (!document) {
 556         cerr << "Error loading file " << file << endl;
 557         return false;
 558       }
 559       name = document->GetAttributeValue("name");
 560     }
 561   } else {
 562     document = el;
 563   }
 564
 565   if (document->GetName() == "autopilot") {
 566     Components = &APComponents;
 567     Name = "Autopilot: " + document->GetAttributeValue("name");
 568   } else if (document->GetName() == "flight_control") {
 569     Components = &FCSComponents;
 570     Name = "FCS: " + document->GetAttributeValue("name");
 571   } else if (document->GetName() == "system") {
 572     Components = &Systems;
 573     Name = "System: " + document->GetAttributeValue("name");
 574   }
 575   Debug(2);
 576
 577   if (document->GetName() == "flight_control") bindModel();
 578
 579   FGModel::Load(document); // Load interface properties from document
 580
 581   // After reading interface properties in a file, read properties in the local
 582   // flight_control, autopilot, or system element. This allows general-purpose
 583   // systems to be defined in a file, with overrides or initial loaded constants
 584   // supplied in the relevant element of the aircraft configuration file.
 585
 586   Element* property_element = 0;
 587
 588   if (!fname.empty()) {
 589     property_element = el->FindElement("property");
 590     if (property_element && debug_lvl > 0) cout << endl << "    Overriding properties" << endl << endl;
 591     while (property_element) {
 592       double value=0.0;
 593       if ( ! property_element->GetAttributeValue("value").empty())
 594         value = property_element->GetAttributeValueAsNumber("value");
 595
 596       interface_property_string = property_element->GetDataLine();
 597       if (PropertyManager->HasNode(interface_property_string)) {
 598         FGPropertyManager* node = PropertyManager->GetNode(interface_property_string);
 599         if (debug_lvl > 0)
 600           cout << "      " << "Overriding value for property " << interface_property_string
 601                << " (old value: " << node->getDoubleValue() << "  new value: " << value << ")" << endl;
 602         node->setDoubleValue(value);
 603       } else {
 604         interface_properties.push_back(new double(value));
 605         PropertyManager->Tie(interface_property_string, interface_properties.back());
 606         if (debug_lvl > 0)
 607           cout << "      " << interface_property_string << " (initial value: " << value << ")" << endl;
 608       }
 609
 610       property_element = el->FindNextElement("property");
 611     }
 612   }
 613
 614   channel_element = document->FindElement("channel");
 615   while (channel_element) {
 616
 617     if (debug_lvl > 0)
 618       cout << endl << highint << fgblue << "    Channel "
 619          << normint << channel_element->GetAttributeValue("name") << reset << endl;
 620
 621     component_element = channel_element->GetElement();
 622     while (component_element) {
 623       try {
 624         if ((component_element->GetName() == string("lag_filter")) ||
 625             (component_element->GetName() == string("lead_lag_filter")) ||
 626             (component_element->GetName() == string("washout_filter")) ||
 627             (component_element->GetName() == string("second_order_filter")) ||
 628             (component_element->GetName() == string("integrator")) )
 629         {
 630           Components->push_back(new FGFilter(this, component_element));
 631         } else if ((component_element->GetName() == string("pure_gain")) ||
 632                    (component_element->GetName() == string("scheduled_gain")) ||
 633                    (component_element->GetName() == string("aerosurface_scale")))
 634         {
 635           Components->push_back(new FGGain(this, component_element));
 636         } else if (component_element->GetName() == string("summer")) {
 637           Components->push_back(new FGSummer(this, component_element));
 638         } else if (component_element->GetName() == string("deadband")) {
 639           Components->push_back(new FGDeadBand(this, component_element));
 640         } else if (component_element->GetName() == string("switch")) {
 641           Components->push_back(new FGSwitch(this, component_element));
 642         } else if (component_element->GetName() == string("kinematic")) {
 643           Components->push_back(new FGKinemat(this, component_element));
 644         } else if (component_element->GetName() == string("fcs_function")) {
 645           Components->push_back(new FGFCSFunction(this, component_element));
 646         } else if (component_element->GetName() == string("pid")) {
 647           Components->push_back(new FGPID(this, component_element));
 648         } else if (component_element->GetName() == string("actuator")) {
 649           Components->push_back(new FGActuator(this, component_element));
 650         } else if (component_element->GetName() == string("sensor")) {
 651           Components->push_back(new FGSensor(this, component_element));
 652         } else if (component_element->GetName() == string("accelerometer")) {
 653           Components->push_back(new FGAccelerometer(this, component_element));
 654         } else if (component_element->GetName() == string("magnetometer")) {
 655           Components->push_back(new FGMagnetometer(this, component_element));
 656         } else if (component_element->GetName() == string("gyro")) {
 657           Components->push_back(new FGGyro(this, component_element));
 658         } else {
 659           cerr << "Unknown FCS component: " << component_element->GetName() << endl;
 660         }
 661       } catch(string s) {
 662         cerr << highint << fgred << endl << "  " << s << endl;
 663         cerr << reset << endl;
 664         return false;
 665       }
 666       component_element = channel_element->GetNextElement();
 667     }
 668     channel_element = document->FindNextElement("channel");
 669   }
 670
 671   ResetParser();
 672
 673   return true;
 674 }
 675
 676 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 677
 678 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 679 {
 680   switch (bg) {
 681   case FGLGear::bgLeft:
 682     return LeftBrake;
 683   case FGLGear::bgRight:
 684     return RightBrake;
 685   case FGLGear::bgCenter:
 686     return CenterBrake;
 687   default:
 688     cerr << "GetBrake asked to return a bogus brake value" << endl;
 689   }
 690   return 0.0;
 691 }
 692
 693 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 694
 695 string FGFCS::FindSystemFullPathname(const string& system_filename)
 696 {
 697   string fullpath, localpath;
 698   string systemPath = FDMExec->GetSystemsPath();
 699   string aircraftPath = FDMExec->GetFullAircraftPath();
 700   ifstream system_file;
 701
 702   string separator = "/";
 703
 704   fullpath = systemPath + separator;
 705   localpath = aircraftPath + separator + "Systems" + separator;
 706
 707   system_file.open(string(fullpath + system_filename + ".xml").c_str());
 708   if ( !system_file.is_open()) {
 709     system_file.open(string(localpath + system_filename + ".xml").c_str());
 710       if ( !system_file.is_open()) {
 711         cerr << " Could not open system file: " << system_filename << " in path "
 712              << fullpath << " or " << localpath << endl;
 713         return string("");
 714       } else {
 715         return string(localpath + system_filename + ".xml");
 716       }
 717   }
 718   return string(fullpath + system_filename + ".xml");
 719 }
 720
 721 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 722
 723 ifstream* FGFCS::FindSystemFile(const string& system_filename)
 724 {
 725   string fullpath, localpath;
 726   string systemPath = FDMExec->GetSystemsPath();
 727   string aircraftPath = FDMExec->GetFullAircraftPath();
 728   ifstream* system_file = new ifstream();
 729
 730   string separator = "/";
 731
 732   fullpath = systemPath + separator;
 733   localpath = aircraftPath + separator + "Systems" + separator;
 734
 735   system_file->open(string(fullpath + system_filename + ".xml").c_str());
 736   if ( !system_file->is_open()) {
 737     system_file->open(string(localpath + system_filename + ".xml").c_str());
 738       if ( !system_file->is_open()) {
 739         cerr << " Could not open system file: " << system_filename << " in path "
 740              << fullpath << " or " << localpath << endl;
 741       }
 742   }
 743   return system_file;
 744 }
 745
 746 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 747
 748 string FGFCS::GetComponentStrings(const string& delimiter)
 749 {
 750   unsigned int comp;
 751   string CompStrings = "";
 752   bool firstime = true;
 753   int total_count=0;
 754
 755   for (unsigned int i=0; i<Systems.size(); i++) {
 756     if (firstime) firstime = false;
 757     else          CompStrings += delimiter;
 758
 759     CompStrings += Systems[i]->GetName();
 760     total_count++;
 761   }
 762
 763   for (comp = 0; comp < APComponents.size(); comp++)
 764   {
 765     if (firstime) firstime = false;
 766     else          CompStrings += delimiter;
 767
 768     CompStrings += APComponents[comp]->GetName();
 769     total_count++;
 770   }
 771
 772   for (comp = 0; comp < FCSComponents.size(); comp++) {
 773     if (firstime) firstime = false;
 774     else          CompStrings += delimiter;
 775
 776     CompStrings += FCSComponents[comp]->GetName();
 777     total_count++;
 778   }
 779
 780   return CompStrings;
 781 }
 782
 783 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 784
 785 string FGFCS::GetComponentValues(const string& delimiter)
 786 {
 787   std::ostringstream buf;
 788
 789   unsigned int comp;
 790   bool firstime = true;
 791   int total_count=0;
 792
 793   for (unsigned int i=0; i<Systems.size(); i++) {
 794     if (firstime) firstime = false;
 795     else          buf << delimiter;
 796
 797     buf << setprecision(9) << Systems[i]->GetOutput();
 798     total_count++;
 799   }
 800
 801   for (comp = 0; comp < APComponents.size(); comp++) {
 802     if (firstime) firstime = false;
 803     else          buf << delimiter;
 804
 805     buf << setprecision(9) << APComponents[comp]->GetOutput();
 806     total_count++;
 807   }
 808
 809   for (comp = 0; comp < FCSComponents.size(); comp++) {
 810     if (firstime) firstime = false;
 811     else          buf << delimiter;
 812
 813     buf << setprecision(9) << FCSComponents[comp]->GetOutput();
 814     total_count++;
 815   }
 816
 817   return buf.str();
 818 }
 819
 820 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 821
 822 void FGFCS::AddThrottle(void)
 823 {
 824   ThrottleCmd.push_back(0.0);
 825   ThrottlePos.push_back(0.0);
 826   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 827   MixturePos.push_back(0.0);
 828   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 829   PropAdvance.push_back(0.0);
 830   PropFeatherCmd.push_back(false);
 831   PropFeather.push_back(false);
 832
 833   unsigned int num = (unsigned int)ThrottleCmd.size()-1;
 834   bindThrottle(num);
 835 }
 836
 837 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 838
 839 void FGFCS::AddGear(void)
 840 {
 841   SteerPosDeg.push_back(0.0);
 842 }
 843
 844 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 845
 846 double FGFCS::GetDt(void)
 847 {
 848   return FDMExec->GetDeltaT()*rate;
 849 }
 850
 851 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 852
 853 void FGFCS::bind(void)
 854 {
 855   PropertyManager->Tie("fcs/aileron-cmd-norm", this, &FGFCS::GetDaCmd, &FGFCS::SetDaCmd);
 856   PropertyManager->Tie("fcs/elevator-cmd-norm", this, &FGFCS::GetDeCmd, &FGFCS::SetDeCmd);
 857   PropertyManager->Tie("fcs/rudder-cmd-norm", this, &FGFCS::GetDrCmd, &FGFCS::SetDrCmd);
 858   PropertyManager->Tie("fcs/flap-cmd-norm", this, &FGFCS::GetDfCmd, &FGFCS::SetDfCmd);
 859   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this, &FGFCS::GetDsbCmd, &FGFCS::SetDsbCmd);
 860   PropertyManager->Tie("fcs/spoiler-cmd-norm", this, &FGFCS::GetDspCmd, &FGFCS::SetDspCmd);
 861   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this, &FGFCS::GetPitchTrimCmd, &FGFCS::SetPitchTrimCmd);
 862   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this, &FGFCS::GetRollTrimCmd, &FGFCS::SetRollTrimCmd);
 863   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this, &FGFCS::GetYawTrimCmd, &FGFCS::SetYawTrimCmd);
 864
 865   PropertyManager->Tie("fcs/left-aileron-pos-rad", this, ofRad, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 866   PropertyManager->Tie("fcs/left-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 867   PropertyManager->Tie("fcs/left-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 868   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this, ofMag, &FGFCS::GetDaLPos);
 869
 870   PropertyManager->Tie("fcs/right-aileron-pos-rad", this, ofRad, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 871   PropertyManager->Tie("fcs/right-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 872   PropertyManager->Tie("fcs/right-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 873   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this, ofMag, &FGFCS::GetDaRPos);
 874
 875   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad, &FGFCS::GetDePos, &FGFCS::SetDePos);
 876   PropertyManager->Tie("fcs/elevator-pos-deg", this, ofDeg, &FGFCS::GetDePos, &FGFCS::SetDePos);
 877   PropertyManager->Tie("fcs/elevator-pos-norm", this, ofNorm, &FGFCS::GetDePos, &FGFCS::SetDePos);
 878   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this, ofMag, &FGFCS::GetDePos);
 879
 880   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 881   PropertyManager->Tie("fcs/rudder-pos-deg", this,ofDeg, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 882   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 883   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag, &FGFCS::GetDrPos);
 884
 885   PropertyManager->Tie("fcs/flap-pos-rad", this,ofRad, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 886   PropertyManager->Tie("fcs/flap-pos-deg", this,ofDeg, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 887   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 888
 889   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 890   PropertyManager->Tie("fcs/speedbrake-pos-deg", this,ofDeg, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 891   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 892   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag, &FGFCS::GetDsbPos);
 893
 894   PropertyManager->Tie("fcs/spoiler-pos-rad", this, ofRad, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 895   PropertyManager->Tie("fcs/spoiler-pos-deg", this, ofDeg, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 896   PropertyManager->Tie("fcs/spoiler-pos-norm", this, ofNorm, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 897   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this, ofMag, &FGFCS::GetDspPos);
 898
 899   PropertyManager->Tie("gear/gear-pos-norm", this, &FGFCS::GetGearPos, &FGFCS::SetGearPos);
 900   PropertyManager->Tie("gear/gear-cmd-norm", this, &FGFCS::GetGearCmd, &FGFCS::SetGearCmd);
 901   PropertyManager->Tie("fcs/left-brake-cmd-norm", this, &FGFCS::GetLBrake, &FGFCS::SetLBrake);
 902   PropertyManager->Tie("fcs/right-brake-cmd-norm", this, &FGFCS::GetRBrake, &FGFCS::SetRBrake);
 903   PropertyManager->Tie("fcs/center-brake-cmd-norm", this, &FGFCS::GetCBrake, &FGFCS::SetCBrake);
 904   PropertyManager->Tie("fcs/steer-cmd-norm", this, &FGFCS::GetDsCmd, &FGFCS::SetDsCmd);
 905
 906   PropertyManager->Tie("gear/tailhook-pos-norm", this, &FGFCS::GetTailhookPos, &FGFCS::SetTailhookPos);
 907   PropertyManager->Tie("fcs/wing-fold-pos-norm", this, &FGFCS::GetWingFoldPos, &FGFCS::SetWingFoldPos);
 908 }
 909
 910 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 911 // Technically, this function should probably bind propulsion type specific controls
 912 // rather than mixture and prop-advance.
 913
 914 void FGFCS::bindThrottle(unsigned int num)
 915 {
 916   string tmp;
 917
 918   tmp = CreateIndexedPropertyName("fcs/throttle-cmd-norm", num);
 919   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottleCmd,
 920                                         &FGFCS::SetThrottleCmd);
 921   tmp = CreateIndexedPropertyName("fcs/throttle-pos-norm", num);
 922   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottlePos,
 923                                         &FGFCS::SetThrottlePos);
 924   tmp = CreateIndexedPropertyName("fcs/mixture-cmd-norm", num);
 925   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixtureCmd,
 926                                         &FGFCS::SetMixtureCmd);
 927   tmp = CreateIndexedPropertyName("fcs/mixture-pos-norm", num);
 928   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixturePos,
 929                                         &FGFCS::SetMixturePos);
 930   tmp = CreateIndexedPropertyName("fcs/advance-cmd-norm", num);
 931   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvanceCmd,
 932                                         &FGFCS::SetPropAdvanceCmd);
 933   tmp = CreateIndexedPropertyName("fcs/advance-pos-norm", num);
 934   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvance,
 935                                         &FGFCS::SetPropAdvance);
 936   tmp = CreateIndexedPropertyName("fcs/feather-cmd-norm", num);
 937   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetFeatherCmd,
 938                                         &FGFCS::SetFeatherCmd);
 939   tmp = CreateIndexedPropertyName("fcs/feather-pos-norm", num);
 940   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropFeather,
 941                                         &FGFCS::SetPropFeather);
 942 }
 943
 944 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 945
 946 void FGFCS::bindModel(void)
 947 {
 948   unsigned int i;
 949   string tmp;
 950
 951   for (i=0; i<SteerPosDeg.size(); i++) {
 952     if (GroundReactions->GetGearUnit(i)->GetSteerable()) {
 953       tmp = CreateIndexedPropertyName("fcs/steer-pos-deg", i);
 954       PropertyManager->Tie( tmp.c_str(), this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
 955     }
 956   }
 957 }
 958
 959 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 960 //    The bitmasked value choices are as follows:
 961 //    unset: In this case (the default) JSBSim would only print
 962 //       out the normally expected messages, essentially echoing
 963 //       the config files as they are read. If the environment
 964 //       variable is not set, debug_lvl is set to 1 internally
 965 //    0: This requests JSBSim not to output any messages
 966 //       whatsoever.
 967 //    1: This value explicity requests the normal JSBSim
 968 //       startup messages
 969 //    2: This value asks for a message to be printed out when
 970 //       a class is instantiated
 971 //    4: When this value is set, a message is displayed when a
 972 //       FGModel object executes its Run() method
 973 //    8: When this value is set, various runtime state variables
 974 //       are printed out periodically
 975 //    16: When set various parameters are sanity checked and
 976 //       a message is printed out when they go out of bounds
 977
 978 void FGFCS::Debug(int from)
 979 {
 980   if (debug_lvl <= 0) return;
 981
 982   if (debug_lvl & 1) { // Standard console startup message output
 983     if (from == 2) { // Loader
 984       cout << endl << "  " << Name << endl;
 985     }
 986   }
 987   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 988     if (from == 0) cout << "Instantiated: FGFCS" << endl;
 989     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
 990   }
 991   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 992   }
 993   if (debug_lvl & 8 ) { // Runtime state variables
 994   }
 995   if (debug_lvl & 16) { // Sanity checking
 996   }
 997   if (debug_lvl & 64) {
 998     if (from == 0) { // Constructor
 999       cout << IdSrc << endl;
1000       cout << IdHdr << endl;
1001     }
1002   }
1003 }
1004
1005 }