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/FGGradient.h>
  50 #include <models/flight_control/FGSwitch.h>
  51 #include <models/flight_control/FGSummer.h>
  52 #include <models/flight_control/FGKinemat.h>
  53 #include <models/flight_control/FGFCSFunction.h>
  54 #include <models/flight_control/FGSensor.h>
  55 #include <models/flight_control/FGActuator.h>
  56
  57 namespace JSBSim {
  58
  59 static const char *IdSrc = "$Id$";
  60 static const char *IdHdr = ID_FCS;
  61
  62 #if defined(WIN32) && !defined(__CYGWIN__)
  63 #define snprintf _snprintf
  64 #endif
  65
  66 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  67 CLASS IMPLEMENTATION
  68 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  69
  70 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
  71 {
  72   int i;
  73   Name = "FGFCS";
  74
  75   DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
  76   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
  77   GearCmd = GearPos = 1; // default to gear down
  78   LeftBrake = RightBrake = CenterBrake = 0.0;
  79
  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   if (PropertyManager->HasNode("fcs")) unbind( PropertyManager->GetNode("fcs") );
  94   if (PropertyManager->HasNode("ap")) unbind( PropertyManager->GetNode("ap") );
  95   PropertyManager->Untie( "gear/gear-cmd-norm" );
  96   PropertyManager->Untie( "gear/gear-pos-norm" );
  97
  98   ThrottleCmd.clear();
  99   ThrottlePos.clear();
 100   MixtureCmd.clear();
 101   MixturePos.clear();
 102   PropAdvanceCmd.clear();
 103   PropAdvance.clear();
 104   SteerPosDeg.clear();
 105   PropFeatherCmd.clear();
 106   PropFeather.clear();
 107
 108   unsigned int i;
 109
 110   for (i=0;i<APComponents.size();i++) delete APComponents[i];
 111   for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
 112   for (i=0;i<sensors.size();i++) delete sensors[i];
 113
 114   APComponents.clear();
 115   FCSComponents.clear();
 116   sensors.clear();
 117   interface_properties.clear();
 118
 119   Debug(1);
 120 }
 121
 122 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 123 // Notes: In this logic the default engine commands are set. This is simply a
 124 // sort of safe-mode method in case the user has not defined control laws for
 125 // throttle, mixture, and prop-advance. The throttle, mixture, and prop advance
 126 // positions are set equal to the respective commands. Any control logic that is
 127 // actually present in the flight_control or autopilot section will override
 128 // these simple assignments.
 129
 130 bool FGFCS::Run(void)
 131 {
 132   unsigned int i;
 133
 134   if (FGModel::Run()) return true; // fast exit if nothing to do
 135   if (FDMExec->Holding()) return false;
 136
 137   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 138   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
 139   for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
 140   for (i=0; i<PropFeather.size(); i++) PropFeather[i] = PropFeatherCmd[i];
 141
 142
 143   // Set the default steering angle
 144   for (i=0; i<SteerPosDeg.size(); i++) {
 145     FGLGear* gear = GroundReactions->GetGearUnit(i);
 146     SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
 147   }
 148
 149   // Cycle through the sensor, autopilot, and flight control components
 150   for (i=0; i<sensors.size(); i++) sensors[i]->Run();
 151   for (i=0; i<APComponents.size(); i++) {
 152     APComponents[i]->Run();
 153   }
 154   for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
 155
 156   return false;
 157 }
 158
 159 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 160
 161 void FGFCS::SetDaLPos( int form , double pos )
 162 {
 163   switch(form) {
 164   case ofRad:
 165     DaLPos[ofRad] = pos;
 166     DaLPos[ofDeg] = pos*radtodeg;
 167     break;
 168   case ofDeg:
 169     DaLPos[ofRad] = pos*degtorad;
 170     DaLPos[ofDeg] = pos;
 171     break;
 172   case ofNorm:
 173     DaLPos[ofNorm] = pos;
 174   }
 175   DaLPos[ofMag] = fabs(DaLPos[ofRad]);
 176 }
 177
 178 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 179
 180 void FGFCS::SetDaRPos( int form , double pos )
 181 {
 182   switch(form) {
 183   case ofRad:
 184     DaRPos[ofRad] = pos;
 185     DaRPos[ofDeg] = pos*radtodeg;
 186     break;
 187   case ofDeg:
 188     DaRPos[ofRad] = pos*degtorad;
 189     DaRPos[ofDeg] = pos;
 190     break;
 191   case ofNorm:
 192     DaRPos[ofNorm] = pos;
 193   }
 194   DaRPos[ofMag] = fabs(DaRPos[ofRad]);
 195 }
 196
 197 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 198
 199 void FGFCS::SetDePos( int form , double pos )
 200 {
 201   switch(form) {
 202   case ofRad:
 203     DePos[ofRad] = pos;
 204     DePos[ofDeg] = pos*radtodeg;
 205     break;
 206   case ofDeg:
 207     DePos[ofRad] = pos*degtorad;
 208     DePos[ofDeg] = pos;
 209     break;
 210   case ofNorm:
 211     DePos[ofNorm] = pos;
 212   }
 213   DePos[ofMag] = fabs(DePos[ofRad]);
 214 }
 215
 216 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 217
 218 void FGFCS::SetDrPos( int form , double pos )
 219 {
 220   switch(form) {
 221   case ofRad:
 222     DrPos[ofRad] = pos;
 223     DrPos[ofDeg] = pos*radtodeg;
 224     break;
 225   case ofDeg:
 226     DrPos[ofRad] = pos*degtorad;
 227     DrPos[ofDeg] = pos;
 228     break;
 229   case ofNorm:
 230     DrPos[ofNorm] = pos;
 231   }
 232   DrPos[ofMag] = fabs(DrPos[ofRad]);
 233 }
 234
 235 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 236
 237 void FGFCS::SetDfPos( int form , double pos )
 238 {
 239   switch(form) {
 240   case ofRad:
 241     DfPos[ofRad] = pos;
 242     DfPos[ofDeg] = pos*radtodeg;
 243     break;
 244   case ofDeg:
 245     DfPos[ofRad] = pos*degtorad;
 246     DfPos[ofDeg] = pos;
 247     break;
 248   case ofNorm:
 249     DfPos[ofNorm] = pos;
 250   }
 251   DfPos[ofMag] = fabs(DfPos[ofRad]);
 252 }
 253
 254 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 255
 256 void FGFCS::SetDsbPos( int form , double pos )
 257 {
 258   switch(form) {
 259   case ofRad:
 260     DsbPos[ofRad] = pos;
 261     DsbPos[ofDeg] = pos*radtodeg;
 262     break;
 263   case ofDeg:
 264     DsbPos[ofRad] = pos*degtorad;
 265     DsbPos[ofDeg] = pos;
 266     break;
 267   case ofNorm:
 268     DsbPos[ofNorm] = pos;
 269   }
 270   DsbPos[ofMag] = fabs(DsbPos[ofRad]);
 271 }
 272
 273 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 274
 275 void FGFCS::SetDspPos( int form , double pos )
 276 {
 277   switch(form) {
 278   case ofRad:
 279     DspPos[ofRad] = pos;
 280     DspPos[ofDeg] = pos*radtodeg;
 281     break;
 282   case ofDeg:
 283     DspPos[ofRad] = pos*degtorad;
 284     DspPos[ofDeg] = pos;
 285     break;
 286   case ofNorm:
 287     DspPos[ofNorm] = pos;
 288   }
 289   DspPos[ofMag] = fabs(DspPos[ofRad]);
 290 }
 291
 292 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 293
 294 void FGFCS::SetThrottleCmd(int engineNum, double setting)
 295 {
 296   unsigned int ctr;
 297
 298   if (engineNum < (int)ThrottlePos.size()) {
 299     if (engineNum < 0) {
 300       for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 301     } else {
 302       ThrottleCmd[engineNum] = setting;
 303     }
 304   } else {
 305     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 306          << " engines exist, but attempted throttle command is for engine "
 307          << engineNum << endl;
 308   }
 309 }
 310
 311 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 312
 313 void FGFCS::SetThrottlePos(int engineNum, double setting)
 314 {
 315   unsigned int ctr;
 316
 317   if (engineNum < (int)ThrottlePos.size()) {
 318     if (engineNum < 0) {
 319       for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
 320     } else {
 321       ThrottlePos[engineNum] = setting;
 322     }
 323   } else {
 324     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 325          << " engines exist, but attempted throttle position setting is for engine "
 326          << engineNum << endl;
 327   }
 328 }
 329
 330 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 331
 332 double FGFCS::GetThrottleCmd(int engineNum) const
 333 {
 334   if (engineNum < (int)ThrottlePos.size()) {
 335     if (engineNum < 0) {
 336        cerr << "Cannot get throttle value for ALL engines" << endl;
 337     } else {
 338       return ThrottleCmd[engineNum];
 339     }
 340   } else {
 341     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 342          << " engines exist, but throttle setting for engine " << engineNum
 343          << " is selected" << endl;
 344   }
 345   return 0.0;
 346 }
 347
 348 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 349
 350 double FGFCS::GetThrottlePos(int engineNum) const
 351 {
 352   if (engineNum < (int)ThrottlePos.size()) {
 353     if (engineNum < 0) {
 354        cerr << "Cannot get throttle value for ALL engines" << endl;
 355     } else {
 356       return ThrottlePos[engineNum];
 357     }
 358   } else {
 359     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 360          << " engines exist, but attempted throttle position setting is for engine "
 361          << engineNum << endl;
 362   }
 363   return 0.0;
 364 }
 365
 366 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 367
 368 void FGFCS::SetMixtureCmd(int engineNum, double setting)
 369 {
 370   unsigned int ctr;
 371
 372   if (engineNum < (int)ThrottlePos.size()) {
 373     if (engineNum < 0) {
 374       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
 375     } else {
 376       MixtureCmd[engineNum] = setting;
 377     }
 378   }
 379 }
 380
 381 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 382
 383 void FGFCS::SetMixturePos(int engineNum, double setting)
 384 {
 385   unsigned int ctr;
 386
 387   if (engineNum < (int)ThrottlePos.size()) {
 388     if (engineNum < 0) {
 389       for (ctr=0;ctr<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
 390     } else {
 391       MixturePos[engineNum] = setting;
 392     }
 393   }
 394 }
 395
 396 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 397
 398 void FGFCS::SetPropAdvanceCmd(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<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
 405     } else {
 406       PropAdvanceCmd[engineNum] = setting;
 407     }
 408   }
 409 }
 410
 411 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 412
 413 void FGFCS::SetPropAdvance(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<=PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
 420     } else {
 421       PropAdvance[engineNum] = setting;
 422     }
 423   }
 424 }
 425
 426 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 427
 428 void FGFCS::SetFeatherCmd(int engineNum, bool setting)
 429 {
 430   unsigned int ctr;
 431
 432   if (engineNum < (int)ThrottlePos.size()) {
 433     if (engineNum < 0) {
 434       for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeatherCmd[ctr] = setting;
 435     } else {
 436       PropFeatherCmd[engineNum] = setting;
 437     }
 438   }
 439 }
 440
 441 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 442
 443 void FGFCS::SetPropFeather(int engineNum, bool setting)
 444 {
 445   unsigned int ctr;
 446
 447   if (engineNum < (int)ThrottlePos.size()) {
 448     if (engineNum < 0) {
 449       for (ctr=0;ctr<=PropFeatherCmd.size();ctr++) PropFeather[ctr] = PropFeatherCmd[ctr];
 450     } else {
 451       PropFeather[engineNum] = setting;
 452     }
 453   }
 454 }
 455
 456 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 457
 458 bool FGFCS::Load(Element* el)
 459 {
 460   string name, file, fname, interface_property_string;
 461   vector <FGFCSComponent*> *Components;
 462   Element *component_element, *property_element, *sensor_element;
 463   Element *channel_element;
 464
 465   Components=0;
 466   // Determine if the FCS/Autopilot is defined inline in the aircraft configuration
 467   // file or in a separate file. Set up the Element pointer as appropriate.
 468
 469   string separator = "/";
 470 #ifdef macintosh
 471   separator = ";";
 472 #endif
 473
 474   name = el->GetAttributeValue("name");
 475
 476   if (name.empty()) {
 477     fname = el->GetAttributeValue("file");
 478     file = FDMExec->GetFullAircraftPath() + separator + fname + ".xml";
 479     if (fname.empty()) {
 480       cerr << "FCS/Autopilot does not appear to be defined inline nor in a file" << endl;
 481       return false;
 482     } else {
 483       document = LoadXMLDocument(file);
 484     }
 485   } else {
 486     document = el;
 487   }
 488
 489   if (document->GetName() == "autopilot") {
 490     Components = &APComponents;
 491     Name = "Autopilot: " + document->GetAttributeValue("name");
 492   } else if (document->GetName() == "flight_control") {
 493     Components = &FCSComponents;
 494     Name = "FCS: " + document->GetAttributeValue("name");
 495   }
 496
 497   Debug(2);
 498
 499   // ToDo: How do these get untied?
 500   // ToDo: Consider having INPUT and OUTPUT interface properties. Would then
 501   //       have to duplicate this block of code after channel read code.
 502   //       Input properties could be write only (nah), and output could be read
 503   //       only.
 504
 505   if (document->GetName() == "flight_control") bindModel();
 506
 507   property_element = document->FindElement("property");
 508   while (property_element) {
 509     interface_properties.push_back(new double(0));
 510     interface_property_string = property_element->GetDataLine();
 511     PropertyManager->Tie(interface_property_string, interface_properties.back());
 512     property_element = document->FindNextElement("property");
 513   }
 514
 515   sensor_element = document->FindElement("sensor");
 516   while (sensor_element) {
 517     try {
 518       sensors.push_back(new FGSensor(this, sensor_element));
 519     } catch (string s) {
 520       cerr << highint << fgred << endl << "  " << s << endl;
 521       return false;
 522     }
 523     sensor_element = document->FindNextElement("sensor");
 524   }
 525
 526   channel_element = document->FindElement("channel");
 527   while (channel_element) {
 528     component_element = channel_element->GetElement();
 529     while (component_element) {
 530       try {
 531         if ((component_element->GetName() == string("lag_filter")) ||
 532             (component_element->GetName() == string("lead_lag_filter")) ||
 533             (component_element->GetName() == string("washout_filter")) ||
 534             (component_element->GetName() == string("second_order_filter")) ||
 535             (component_element->GetName() == string("integrator")) )
 536         {
 537           Components->push_back(new FGFilter(this, component_element));
 538         } else if ((component_element->GetName() == string("pure_gain")) ||
 539                    (component_element->GetName() == string("scheduled_gain")) ||
 540                    (component_element->GetName() == string("aerosurface_scale")))
 541         {
 542           Components->push_back(new FGGain(this, component_element));
 543         } else if (component_element->GetName() == string("summer")) {
 544           Components->push_back(new FGSummer(this, component_element));
 545         } else if (component_element->GetName() == string("deadband")) {
 546           Components->push_back(new FGDeadBand(this, component_element));
 547         } else if (component_element->GetName() == string("switch")) {
 548           Components->push_back(new FGSwitch(this, component_element));
 549         } else if (component_element->GetName() == string("kinematic")) {
 550           Components->push_back(new FGKinemat(this, component_element));
 551         } else if (component_element->GetName() == string("fcs_function")) {
 552           Components->push_back(new FGFCSFunction(this, component_element));
 553         } else if (component_element->GetName() == string("pid")) {
 554           Components->push_back(new FGPID(this, component_element));
 555         } else if (component_element->GetName() == string("actuator")) {
 556           Components->push_back(new FGActuator(this, component_element));
 557         } else {
 558           cerr << "Unknown FCS component: " << component_element->GetName() << endl;
 559         }
 560       } catch(string s) {
 561         cerr << highint << fgred << endl << "  " << s << endl;
 562         cerr << reset << endl;
 563         return false;
 564       }
 565       component_element = channel_element->GetNextElement();
 566     }
 567     channel_element = document->FindNextElement("channel");
 568   }
 569
 570   return true;
 571 }
 572
 573 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 574
 575 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 576 {
 577   switch (bg) {
 578   case FGLGear::bgLeft:
 579     return LeftBrake;
 580   case FGLGear::bgRight:
 581     return RightBrake;
 582   case FGLGear::bgCenter:
 583     return CenterBrake;
 584   default:
 585     cerr << "GetBrake asked to return a bogus brake value" << endl;
 586   }
 587   return 0.0;
 588 }
 589
 590 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 591
 592 string FGFCS::GetComponentStrings(string delimeter)
 593 {
 594   unsigned int comp;
 595   string CompStrings = "";
 596   bool firstime = true;
 597
 598   for (comp = 0; comp < FCSComponents.size(); comp++) {
 599     if (firstime) firstime = false;
 600     else          CompStrings += delimeter;
 601
 602     CompStrings += FCSComponents[comp]->GetName();
 603   }
 604
 605   for (comp = 0; comp < APComponents.size(); comp++)
 606   {
 607     if (firstime) firstime = false;
 608     else          CompStrings += delimeter;
 609
 610     CompStrings += APComponents[comp]->GetName();
 611   }
 612
 613   return CompStrings;
 614 }
 615
 616 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 617
 618 string FGFCS::GetComponentValues(string delimeter)
 619 {
 620   unsigned int comp;
 621   string CompValues = "";
 622   char buffer[17];
 623   bool firstime = true;
 624
 625   for (comp = 0; comp < FCSComponents.size(); comp++) {
 626     if (firstime) firstime = false;
 627     else          CompValues += delimeter;
 628
 629     sprintf(buffer, "%9.6f", FCSComponents[comp]->GetOutput());
 630     CompValues += string(buffer);
 631   }
 632
 633   for (comp = 0; comp < APComponents.size(); comp++) {
 634     if (firstime) firstime = false;
 635     else          CompValues += delimeter;
 636
 637     sprintf(buffer, "%9.6f", APComponents[comp]->GetOutput());
 638     CompValues += string(buffer);
 639   }
 640
 641   CompValues += "\0";
 642   return CompValues;
 643 }
 644
 645 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 646
 647 void FGFCS::AddThrottle(void)
 648 {
 649   ThrottleCmd.push_back(0.0);
 650   ThrottlePos.push_back(0.0);
 651   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 652   MixturePos.push_back(0.0);
 653   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 654   PropAdvance.push_back(0.0);
 655   PropFeatherCmd.push_back(false);
 656   PropFeather.push_back(false);
 657
 658   unsigned int num = (unsigned int)ThrottleCmd.size()-1;
 659   bindThrottle(num);
 660 }
 661
 662 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 663
 664 void FGFCS::AddGear(void)
 665 {
 666   SteerPosDeg.push_back(0.0);
 667 }
 668
 669 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 670
 671 double FGFCS::GetDt(void)
 672 {
 673   return FDMExec->GetDeltaT()*rate;
 674 }
 675
 676 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 677
 678 void FGFCS::bind(void)
 679 {
 680   PropertyManager->Tie("fcs/aileron-cmd-norm", this, &FGFCS::GetDaCmd, &FGFCS::SetDaCmd);
 681   PropertyManager->Tie("fcs/elevator-cmd-norm", this, &FGFCS::GetDeCmd, &FGFCS::SetDeCmd);
 682   PropertyManager->Tie("fcs/rudder-cmd-norm", this, &FGFCS::GetDrCmd, &FGFCS::SetDrCmd);
 683   PropertyManager->Tie("fcs/flap-cmd-norm", this, &FGFCS::GetDfCmd, &FGFCS::SetDfCmd);
 684   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this, &FGFCS::GetDsbCmd, &FGFCS::SetDsbCmd);
 685   PropertyManager->Tie("fcs/spoiler-cmd-norm", this, &FGFCS::GetDspCmd, &FGFCS::SetDspCmd);
 686   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this, &FGFCS::GetPitchTrimCmd, &FGFCS::SetPitchTrimCmd);
 687   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this, &FGFCS::GetRollTrimCmd, &FGFCS::SetRollTrimCmd);
 688   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this, &FGFCS::GetYawTrimCmd, &FGFCS::SetYawTrimCmd);
 689
 690   PropertyManager->Tie("fcs/left-aileron-pos-rad", this, ofRad, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 691   PropertyManager->Tie("fcs/left-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 692   PropertyManager->Tie("fcs/left-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 693   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this, ofMag, &FGFCS::GetDaLPos);
 694
 695   PropertyManager->Tie("fcs/right-aileron-pos-rad", this, ofRad, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 696   PropertyManager->Tie("fcs/right-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 697   PropertyManager->Tie("fcs/right-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 698   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this, ofMag, &FGFCS::GetDaRPos);
 699
 700   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad, &FGFCS::GetDePos, &FGFCS::SetDePos);
 701   PropertyManager->Tie("fcs/elevator-pos-deg", this, ofDeg, &FGFCS::GetDePos, &FGFCS::SetDePos);
 702   PropertyManager->Tie("fcs/elevator-pos-norm", this, ofNorm, &FGFCS::GetDePos, &FGFCS::SetDePos);
 703   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this, ofMag, &FGFCS::GetDePos);
 704
 705   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 706   PropertyManager->Tie("fcs/rudder-pos-deg", this,ofDeg, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 707   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 708   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag, &FGFCS::GetDrPos);
 709
 710   PropertyManager->Tie("fcs/flap-pos-rad", this,ofRad, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 711   PropertyManager->Tie("fcs/flap-pos-deg", this,ofDeg, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 712   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 713
 714   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 715   PropertyManager->Tie("fcs/speedbrake-pos-deg", this,ofDeg, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 716   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 717   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag, &FGFCS::GetDsbPos);
 718
 719   PropertyManager->Tie("fcs/spoiler-pos-rad", this, ofRad, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 720   PropertyManager->Tie("fcs/spoiler-pos-deg", this, ofDeg, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 721   PropertyManager->Tie("fcs/spoiler-pos-norm", this, ofNorm, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 722   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this, ofMag, &FGFCS::GetDspPos);
 723
 724   PropertyManager->Tie("gear/gear-pos-norm", this, &FGFCS::GetGearPos, &FGFCS::SetGearPos);
 725   PropertyManager->Tie("gear/gear-cmd-norm", this, &FGFCS::GetGearCmd, &FGFCS::SetGearCmd);
 726   PropertyManager->Tie("fcs/left-brake-cmd-norm", this, &FGFCS::GetLBrake, &FGFCS::SetLBrake);
 727   PropertyManager->Tie("fcs/right-brake-cmd-norm", this, &FGFCS::GetRBrake, &FGFCS::SetRBrake);
 728   PropertyManager->Tie("fcs/center-brake-cmd-norm", this, &FGFCS::GetCBrake, &FGFCS::SetCBrake);
 729   PropertyManager->Tie("fcs/steer-cmd-norm", this, &FGFCS::GetDsCmd, &FGFCS::SetDsCmd);
 730 }
 731
 732 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 733 // Technically, this function should probably bind propulsion type specific controls
 734 // rather than mixture and prop-advance.
 735 //
 736
 737 void FGFCS::bindThrottle(unsigned int num)
 738 {
 739   char tmp[80];
 740
 741   snprintf(tmp, 80, "fcs/throttle-cmd-norm[%u]",num);
 742   PropertyManager->Tie( tmp, this, num, &FGFCS::GetThrottleCmd,
 743                                         &FGFCS::SetThrottleCmd);
 744   snprintf(tmp, 80, "fcs/throttle-pos-norm[%u]",num);
 745   PropertyManager->Tie( tmp, this, num, &FGFCS::GetThrottlePos,
 746                                         &FGFCS::SetThrottlePos);
 747   snprintf(tmp, 80, "fcs/mixture-cmd-norm[%u]",num);
 748   PropertyManager->Tie( tmp, this, num, &FGFCS::GetMixtureCmd,
 749                                         &FGFCS::SetMixtureCmd);
 750   snprintf(tmp, 80, "fcs/mixture-pos-norm[%u]",num);
 751   PropertyManager->Tie( tmp, this, num, &FGFCS::GetMixturePos,
 752                                         &FGFCS::SetMixturePos);
 753   snprintf(tmp, 80, "fcs/advance-cmd-norm[%u]",num);
 754   PropertyManager->Tie( tmp, this, num, &FGFCS::GetPropAdvanceCmd,
 755                                         &FGFCS::SetPropAdvanceCmd);
 756   snprintf(tmp, 80, "fcs/advance-pos-norm[%u]", num);
 757   PropertyManager->Tie( tmp, this, num, &FGFCS::GetPropAdvance,
 758                                         &FGFCS::SetPropAdvance);
 759   snprintf(tmp, 80, "fcs/feather-cmd-norm[%u]", num);
 760   PropertyManager->Tie( tmp, this, num, &FGFCS::GetFeatherCmd,
 761                                         &FGFCS::SetFeatherCmd);
 762   snprintf(tmp, 80, "fcs/feather-pos-norm[%u]", num);
 763   PropertyManager->Tie( tmp, this, num, &FGFCS::GetPropFeather,
 764                                         &FGFCS::SetPropFeather);
 765 }
 766
 767 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 768
 769 void FGFCS::bindModel(void)
 770 {
 771   unsigned int i;
 772   char tmp[80];
 773
 774   for (i=0; i<SteerPosDeg.size(); i++) {
 775     if (GroundReactions->GetGearUnit(i)->GetSteerable()) {
 776       snprintf(tmp,80,"fcs/steer-pos-deg[%u]",i);
 777       PropertyManager->Tie( tmp, this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
 778     }
 779   }
 780 }
 781
 782 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 783
 784 void FGFCS::unbind(FGPropertyManager *node)
 785 {
 786   int N = node->nChildren();
 787   for (int i=0; i<N; i++) {
 788     if (node->getChild(i)->nChildren() ) {
 789       unbind( (FGPropertyManager*)node->getChild(i) );
 790     } else if ( node->getChild(i)->isTied() ) {
 791       node->getChild(i)->untie();
 792     }
 793   }
 794 }
 795
 796 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 797 //    The bitmasked value choices are as follows:
 798 //    unset: In this case (the default) JSBSim would only print
 799 //       out the normally expected messages, essentially echoing
 800 //       the config files as they are read. If the environment
 801 //       variable is not set, debug_lvl is set to 1 internally
 802 //    0: This requests JSBSim not to output any messages
 803 //       whatsoever.
 804 //    1: This value explicity requests the normal JSBSim
 805 //       startup messages
 806 //    2: This value asks for a message to be printed out when
 807 //       a class is instantiated
 808 //    4: When this value is set, a message is displayed when a
 809 //       FGModel object executes its Run() method
 810 //    8: When this value is set, various runtime state variables
 811 //       are printed out periodically
 812 //    16: When set various parameters are sanity checked and
 813 //       a message is printed out when they go out of bounds
 814
 815 void FGFCS::Debug(int from)
 816 {
 817   if (debug_lvl <= 0) return;
 818
 819   if (debug_lvl & 1) { // Standard console startup message output
 820     if (from == 2) { // Loader
 821       cout << endl << "  Flight Control (" << Name << ")" << endl;
 822     }
 823   }
 824   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 825     if (from == 0) cout << "Instantiated: FGFCS" << endl;
 826     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
 827   }
 828   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 829   }
 830   if (debug_lvl & 8 ) { // Runtime state variables
 831   }
 832   if (debug_lvl & 16) { // Sanity checking
 833   }
 834   if (debug_lvl & 64) {
 835     if (from == 0) { // Constructor
 836       cout << IdSrc << endl;
 837       cout << IdHdr << endl;
 838     }
 839   }
 840 }
 841
 842 }