1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
6 Purpose: Model the flight controls
9 ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
11 This program is free software; you can redistribute it and/or modify it under
12 the terms of the GNU Lesser General Public License as published by the Free Software
13 Foundation; either version 2 of the License, or (at your option) any later
16 This program is distributed in the hope that it will be useful, but WITHOUT
17 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
18 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
21 You should have received a copy of the GNU Lesser General Public License along with
22 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
23 Place - Suite 330, Boston, MA 02111-1307, USA.
25 Further information about the GNU Lesser General Public License can also be found on
26 the world wide web at http://www.gnu.org.
28 FUNCTIONAL DESCRIPTION
29 --------------------------------------------------------------------------------
30 This class models the flight controls for a specific airplane
33 --------------------------------------------------------------------------------
36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
41 #include <FGFDMExec.h>
42 #include <input_output/FGPropertyManager.h>
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 #include <models/flight_control/FGAccelerometer.h>
58 #include <models/flight_control/FGGyro.h>
62 static const char *IdSrc = "$Id$";
63 static const char *IdHdr = ID_FCS;
65 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
67 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
69 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
74 DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
75 PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
76 GearCmd = GearPos = 1; // default to gear down
77 LeftBrake = RightBrake = CenterBrake = 0.0;
78 TailhookPos = WingFoldPos = 0.0;
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;
89 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
97 PropAdvanceCmd.clear();
100 PropFeatherCmd.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];
116 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
118 bool FGFCS::InitModel(void)
122 if (!FGModel::InitModel()) return false;
124 for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = 0.0;
125 for (i=0; i<MixturePos.size(); i++) MixturePos[i] = 0.0;
126 for (i=0; i<ThrottleCmd.size(); i++) ThrottleCmd[i] = 0.0;
127 for (i=0; i<MixtureCmd.size(); i++) MixtureCmd[i] = 0.0;
128 for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = 0.0;
129 for (i=0; i<PropFeather.size(); i++) PropFeather[i] = 0.0;
131 DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
132 PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
133 TailhookPos = WingFoldPos = 0.0;
135 for (i=0;i<NForms;i++) {
136 DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
137 DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
140 for (unsigned int i=0; i<Systems.size(); i++) {
141 if (Systems[i]->GetType() == "LAG" ||
142 Systems[i]->GetType() == "LEAD_LAG" ||
143 Systems[i]->GetType() == "WASHOUT" ||
144 Systems[i]->GetType() == "SECOND_ORDER_FILTER" ||
145 Systems[i]->GetType() == "INTEGRATOR")
147 ((FGFilter*)Systems[i])->ResetPastStates();
148 } else if (Systems[i]->GetType() == "PID" ) {
149 ((FGPID*)Systems[i])->ResetPastStates();
153 for (unsigned int i=0; i<FCSComponents.size(); i++) {
154 if (FCSComponents[i]->GetType() == "LAG" ||
155 FCSComponents[i]->GetType() == "LEAD_LAG" ||
156 FCSComponents[i]->GetType() == "WASHOUT" ||
157 FCSComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
158 FCSComponents[i]->GetType() == "INTEGRATOR")
160 ((FGFilter*)FCSComponents[i])->ResetPastStates();
161 } else if (FCSComponents[i]->GetType() == "PID" ) {
162 ((FGPID*)FCSComponents[i])->ResetPastStates();
166 for (unsigned int i=0; i<APComponents.size(); i++) {
167 if (APComponents[i]->GetType() == "LAG" ||
168 APComponents[i]->GetType() == "LEAD_LAG" ||
169 APComponents[i]->GetType() == "WASHOUT" ||
170 APComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
171 APComponents[i]->GetType() == "INTEGRATOR")
173 ((FGFilter*)APComponents[i])->ResetPastStates();
174 } else if (APComponents[i]->GetType() == "PID" ) {
175 ((FGPID*)APComponents[i])->ResetPastStates();
182 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
183 // Notes: In this logic the default engine commands are set. This is simply a
184 // sort of safe-mode method in case the user has not defined control laws for
185 // throttle, mixture, and prop-advance. The throttle, mixture, and prop advance
186 // positions are set equal to the respective commands. Any control logic that is
187 // actually present in the flight_control or autopilot section will override
188 // these simple assignments.
190 bool FGFCS::Run(void)
194 if (FGModel::Run()) return true; // fast exit if nothing to do
195 if (FDMExec->Holding()) return false;
197 for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
198 for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
199 for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
200 for (i=0; i<PropFeather.size(); i++) PropFeather[i] = PropFeatherCmd[i];
202 // Set the default steering angle
203 for (i=0; i<SteerPosDeg.size(); i++) {
204 FGLGear* gear = GroundReactions->GetGearUnit(i);
205 SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
208 // Execute Systems in order
209 for (i=0; i<Systems.size(); i++) Systems[i]->Run();
212 for (i=0; i<APComponents.size(); i++) APComponents[i]->Run();
214 // Execute Flight Control System
215 for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
220 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
222 void FGFCS::SetDaLPos( int form , double pos )
227 DaLPos[ofDeg] = pos*radtodeg;
230 DaLPos[ofRad] = pos*degtorad;
234 DaLPos[ofNorm] = pos;
236 DaLPos[ofMag] = fabs(DaLPos[ofRad]);
239 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
241 void FGFCS::SetDaRPos( int form , double pos )
246 DaRPos[ofDeg] = pos*radtodeg;
249 DaRPos[ofRad] = pos*degtorad;
253 DaRPos[ofNorm] = pos;
255 DaRPos[ofMag] = fabs(DaRPos[ofRad]);
258 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
260 void FGFCS::SetDePos( int form , double pos )
265 DePos[ofDeg] = pos*radtodeg;
268 DePos[ofRad] = pos*degtorad;
274 DePos[ofMag] = fabs(DePos[ofRad]);
277 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
279 void FGFCS::SetDrPos( int form , double pos )
284 DrPos[ofDeg] = pos*radtodeg;
287 DrPos[ofRad] = pos*degtorad;
293 DrPos[ofMag] = fabs(DrPos[ofRad]);
296 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
298 void FGFCS::SetDfPos( int form , double pos )
303 DfPos[ofDeg] = pos*radtodeg;
306 DfPos[ofRad] = pos*degtorad;
312 DfPos[ofMag] = fabs(DfPos[ofRad]);
315 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
317 void FGFCS::SetDsbPos( int form , double pos )
322 DsbPos[ofDeg] = pos*radtodeg;
325 DsbPos[ofRad] = pos*degtorad;
329 DsbPos[ofNorm] = pos;
331 DsbPos[ofMag] = fabs(DsbPos[ofRad]);
334 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
336 void FGFCS::SetDspPos( int form , double pos )
341 DspPos[ofDeg] = pos*radtodeg;
344 DspPos[ofRad] = pos*degtorad;
348 DspPos[ofNorm] = pos;
350 DspPos[ofMag] = fabs(DspPos[ofRad]);
353 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
355 void FGFCS::SetThrottleCmd(int engineNum, double setting)
359 if (engineNum < (int)ThrottlePos.size()) {
361 for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
363 ThrottleCmd[engineNum] = setting;
366 cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
367 << " engines exist, but attempted throttle command is for engine "
368 << engineNum << endl;
372 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
374 void FGFCS::SetThrottlePos(int engineNum, double setting)
378 if (engineNum < (int)ThrottlePos.size()) {
380 for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
382 ThrottlePos[engineNum] = setting;
385 cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
386 << " engines exist, but attempted throttle position setting is for engine "
387 << engineNum << endl;
391 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
393 double FGFCS::GetThrottleCmd(int engineNum) const
395 if (engineNum < (int)ThrottlePos.size()) {
397 cerr << "Cannot get throttle value for ALL engines" << endl;
399 return ThrottleCmd[engineNum];
402 cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
403 << " engines exist, but throttle setting for engine " << engineNum
404 << " is selected" << endl;
409 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
411 double FGFCS::GetThrottlePos(int engineNum) const
413 if (engineNum < (int)ThrottlePos.size()) {
415 cerr << "Cannot get throttle value for ALL engines" << endl;
417 return ThrottlePos[engineNum];
420 cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
421 << " engines exist, but attempted throttle position setting is for engine "
422 << engineNum << endl;
427 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
429 void FGFCS::SetMixtureCmd(int engineNum, double setting)
433 if (engineNum < (int)ThrottlePos.size()) {
435 for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
437 MixtureCmd[engineNum] = setting;
442 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
444 void FGFCS::SetMixturePos(int engineNum, double setting)
448 if (engineNum < (int)ThrottlePos.size()) {
450 for (ctr=0;ctr<MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
452 MixturePos[engineNum] = setting;
457 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
459 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
463 if (engineNum < (int)ThrottlePos.size()) {
465 for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
467 PropAdvanceCmd[engineNum] = setting;
472 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
474 void FGFCS::SetPropAdvance(int engineNum, double setting)
478 if (engineNum < (int)ThrottlePos.size()) {
480 for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
482 PropAdvance[engineNum] = setting;
487 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
489 void FGFCS::SetFeatherCmd(int engineNum, bool setting)
493 if (engineNum < (int)ThrottlePos.size()) {
495 for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeatherCmd[ctr] = setting;
497 PropFeatherCmd[engineNum] = setting;
502 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
504 void FGFCS::SetPropFeather(int engineNum, bool setting)
508 if (engineNum < (int)ThrottlePos.size()) {
510 for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeather[ctr] = PropFeatherCmd[ctr];
512 PropFeather[engineNum] = setting;
517 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
519 bool FGFCS::Load(Element* el, SystemType systype)
521 string name, file, fname="", interface_property_string, parent_name;
522 vector <FGFCSComponent*> *Components;
523 Element *component_element;
524 Element *channel_element;
528 string separator = "/";
530 // ToDo: The handling of name and file attributes could be improved, here,
531 // considering that a name can be in the external file, as well.
533 name = el->GetAttributeValue("name");
536 fname = el->GetAttributeValue("file");
537 if (systype == stSystem) {
538 file = FindSystemFullPathname(fname);
540 file = FDMExec->GetFullAircraftPath() + separator + fname + ".xml";
543 cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl;
546 document = LoadXMLDocument(file);
548 cerr << "Error loading file " << file << endl;
551 name = document->GetAttributeValue("name");
557 if (document->GetName() == "autopilot") {
558 Components = &APComponents;
559 Name = "Autopilot: " + document->GetAttributeValue("name");
560 } else if (document->GetName() == "flight_control") {
561 Components = &FCSComponents;
562 Name = "FCS: " + document->GetAttributeValue("name");
563 } else if (document->GetName() == "system") {
564 Components = &Systems;
565 Name = "System: " + document->GetAttributeValue("name");
569 if (document->GetName() == "flight_control") bindModel();
571 FGModel::Load(document); // Load interface properties from document
573 // After reading interface properties in a file, read properties in the local
574 // flight_control, autopilot, or system element. This allows general-purpose
575 // systems to be defined in a file, with overrides or initial loaded constants
576 // supplied in the relevant element of the aircraft configuration file.
578 Element* property_element = 0;
580 if (!fname.empty()) {
581 property_element = el->FindElement("property");
582 if (property_element && debug_lvl > 0) cout << endl << " Overriding properties" << endl << endl;
583 while (property_element) {
585 if ( ! property_element->GetAttributeValue("value").empty())
586 value = property_element->GetAttributeValueAsNumber("value");
588 interface_property_string = property_element->GetDataLine();
589 if (PropertyManager->HasNode(interface_property_string)) {
590 FGPropertyManager* node = PropertyManager->GetNode(interface_property_string);
592 cout << " " << "Overriding value for property " << interface_property_string
593 << " (old value: " << node->getDoubleValue() << " new value: " << value << ")" << endl;
594 node->setDoubleValue(value);
596 interface_properties.push_back(new double(value));
597 PropertyManager->Tie(interface_property_string, interface_properties.back());
599 cout << " " << interface_property_string << " (initial value: " << value << ")" << endl;
602 property_element = el->FindNextElement("property");
606 channel_element = document->FindElement("channel");
607 while (channel_element) {
610 cout << endl << highint << fgblue << " Channel "
611 << normint << channel_element->GetAttributeValue("name") << reset << endl;
613 component_element = channel_element->GetElement();
614 while (component_element) {
616 if ((component_element->GetName() == string("lag_filter")) ||
617 (component_element->GetName() == string("lead_lag_filter")) ||
618 (component_element->GetName() == string("washout_filter")) ||
619 (component_element->GetName() == string("second_order_filter")) ||
620 (component_element->GetName() == string("integrator")) )
622 Components->push_back(new FGFilter(this, component_element));
623 } else if ((component_element->GetName() == string("pure_gain")) ||
624 (component_element->GetName() == string("scheduled_gain")) ||
625 (component_element->GetName() == string("aerosurface_scale")))
627 Components->push_back(new FGGain(this, component_element));
628 } else if (component_element->GetName() == string("summer")) {
629 Components->push_back(new FGSummer(this, component_element));
630 } else if (component_element->GetName() == string("deadband")) {
631 Components->push_back(new FGDeadBand(this, component_element));
632 } else if (component_element->GetName() == string("switch")) {
633 Components->push_back(new FGSwitch(this, component_element));
634 } else if (component_element->GetName() == string("kinematic")) {
635 Components->push_back(new FGKinemat(this, component_element));
636 } else if (component_element->GetName() == string("fcs_function")) {
637 Components->push_back(new FGFCSFunction(this, component_element));
638 } else if (component_element->GetName() == string("pid")) {
639 Components->push_back(new FGPID(this, component_element));
640 } else if (component_element->GetName() == string("actuator")) {
641 Components->push_back(new FGActuator(this, component_element));
642 } else if (component_element->GetName() == string("sensor")) {
643 Components->push_back(new FGSensor(this, component_element));
644 } else if (component_element->GetName() == string("accelerometer")) {
645 Components->push_back(new FGAccelerometer(this, component_element));
646 } else if (component_element->GetName() == string("gyro")) {
647 Components->push_back(new FGGyro(this, component_element));
649 cerr << "Unknown FCS component: " << component_element->GetName() << endl;
652 cerr << highint << fgred << endl << " " << s << endl;
653 cerr << reset << endl;
656 component_element = channel_element->GetNextElement();
658 channel_element = document->FindNextElement("channel");
666 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
668 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
671 case FGLGear::bgLeft:
673 case FGLGear::bgRight:
675 case FGLGear::bgCenter:
678 cerr << "GetBrake asked to return a bogus brake value" << endl;
683 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
685 string FGFCS::FindSystemFullPathname(string system_filename)
687 string fullpath, localpath;
688 string systemPath = FDMExec->GetSystemsPath();
689 string aircraftPath = FDMExec->GetFullAircraftPath();
690 ifstream system_file;
692 string separator = "/";
694 fullpath = systemPath + separator;
695 localpath = aircraftPath + separator + "Systems" + separator;
697 system_file.open(string(fullpath + system_filename + ".xml").c_str());
698 if ( !system_file.is_open()) {
699 system_file.open(string(localpath + system_filename + ".xml").c_str());
700 if ( !system_file.is_open()) {
701 cerr << " Could not open system file: " << system_filename << " in path "
702 << fullpath << " or " << localpath << endl;
705 return string(localpath + system_filename + ".xml");
708 return string(fullpath + system_filename + ".xml");
711 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
713 ifstream* FGFCS::FindSystemFile(string system_filename)
715 string fullpath, localpath;
716 string systemPath = FDMExec->GetSystemsPath();
717 string aircraftPath = FDMExec->GetFullAircraftPath();
718 ifstream* system_file = new ifstream();
720 string separator = "/";
722 fullpath = systemPath + separator;
723 localpath = aircraftPath + separator + "Systems" + separator;
725 system_file->open(string(fullpath + system_filename + ".xml").c_str());
726 if ( !system_file->is_open()) {
727 system_file->open(string(localpath + system_filename + ".xml").c_str());
728 if ( !system_file->is_open()) {
729 cerr << " Could not open system file: " << system_filename << " in path "
730 << fullpath << " or " << localpath << endl;
736 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
738 string FGFCS::GetComponentStrings(string delimeter)
741 string CompStrings = "";
742 bool firstime = true;
745 for (unsigned int i=0; i<Systems.size(); i++) {
746 if (firstime) firstime = false;
747 else CompStrings += delimeter;
749 CompStrings += Systems[i]->GetName();
753 for (comp = 0; comp < APComponents.size(); comp++)
755 if (firstime) firstime = false;
756 else CompStrings += delimeter;
758 CompStrings += APComponents[comp]->GetName();
762 for (comp = 0; comp < FCSComponents.size(); comp++) {
763 if (firstime) firstime = false;
764 else CompStrings += delimeter;
766 CompStrings += FCSComponents[comp]->GetName();
773 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
775 string FGFCS::GetComponentValues(string delimeter)
777 std::ostringstream buf;
780 bool firstime = true;
783 for (unsigned int i=0; i<Systems.size(); i++) {
784 if (firstime) firstime = false;
785 else buf << delimeter;
787 buf << setprecision(9) << Systems[i]->GetOutput();
791 for (comp = 0; comp < APComponents.size(); comp++) {
792 if (firstime) firstime = false;
793 else buf << delimeter;
795 buf << setprecision(9) << APComponents[comp]->GetOutput();
799 for (comp = 0; comp < FCSComponents.size(); comp++) {
800 if (firstime) firstime = false;
801 else buf << delimeter;
803 buf << setprecision(9) << FCSComponents[comp]->GetOutput();
810 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
812 void FGFCS::AddThrottle(void)
814 ThrottleCmd.push_back(0.0);
815 ThrottlePos.push_back(0.0);
816 MixtureCmd.push_back(0.0); // assume throttle and mixture are coupled
817 MixturePos.push_back(0.0);
818 PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
819 PropAdvance.push_back(0.0);
820 PropFeatherCmd.push_back(false);
821 PropFeather.push_back(false);
823 unsigned int num = (unsigned int)ThrottleCmd.size()-1;
827 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
829 void FGFCS::AddGear(void)
831 SteerPosDeg.push_back(0.0);
834 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
836 double FGFCS::GetDt(void)
838 return FDMExec->GetDeltaT()*rate;
841 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
843 void FGFCS::bind(void)
845 PropertyManager->Tie("fcs/aileron-cmd-norm", this, &FGFCS::GetDaCmd, &FGFCS::SetDaCmd);
846 PropertyManager->Tie("fcs/elevator-cmd-norm", this, &FGFCS::GetDeCmd, &FGFCS::SetDeCmd);
847 PropertyManager->Tie("fcs/rudder-cmd-norm", this, &FGFCS::GetDrCmd, &FGFCS::SetDrCmd);
848 PropertyManager->Tie("fcs/flap-cmd-norm", this, &FGFCS::GetDfCmd, &FGFCS::SetDfCmd);
849 PropertyManager->Tie("fcs/speedbrake-cmd-norm", this, &FGFCS::GetDsbCmd, &FGFCS::SetDsbCmd);
850 PropertyManager->Tie("fcs/spoiler-cmd-norm", this, &FGFCS::GetDspCmd, &FGFCS::SetDspCmd);
851 PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this, &FGFCS::GetPitchTrimCmd, &FGFCS::SetPitchTrimCmd);
852 PropertyManager->Tie("fcs/roll-trim-cmd-norm", this, &FGFCS::GetRollTrimCmd, &FGFCS::SetRollTrimCmd);
853 PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this, &FGFCS::GetYawTrimCmd, &FGFCS::SetYawTrimCmd);
855 PropertyManager->Tie("fcs/left-aileron-pos-rad", this, ofRad, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
856 PropertyManager->Tie("fcs/left-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
857 PropertyManager->Tie("fcs/left-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
858 PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this, ofMag, &FGFCS::GetDaLPos);
860 PropertyManager->Tie("fcs/right-aileron-pos-rad", this, ofRad, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
861 PropertyManager->Tie("fcs/right-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
862 PropertyManager->Tie("fcs/right-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
863 PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this, ofMag, &FGFCS::GetDaRPos);
865 PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad, &FGFCS::GetDePos, &FGFCS::SetDePos);
866 PropertyManager->Tie("fcs/elevator-pos-deg", this, ofDeg, &FGFCS::GetDePos, &FGFCS::SetDePos);
867 PropertyManager->Tie("fcs/elevator-pos-norm", this, ofNorm, &FGFCS::GetDePos, &FGFCS::SetDePos);
868 PropertyManager->Tie("fcs/mag-elevator-pos-rad", this, ofMag, &FGFCS::GetDePos);
870 PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
871 PropertyManager->Tie("fcs/rudder-pos-deg", this,ofDeg, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
872 PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
873 PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag, &FGFCS::GetDrPos);
875 PropertyManager->Tie("fcs/flap-pos-rad", this,ofRad, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
876 PropertyManager->Tie("fcs/flap-pos-deg", this,ofDeg, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
877 PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
879 PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
880 PropertyManager->Tie("fcs/speedbrake-pos-deg", this,ofDeg, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
881 PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
882 PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag, &FGFCS::GetDsbPos);
884 PropertyManager->Tie("fcs/spoiler-pos-rad", this, ofRad, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
885 PropertyManager->Tie("fcs/spoiler-pos-deg", this, ofDeg, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
886 PropertyManager->Tie("fcs/spoiler-pos-norm", this, ofNorm, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
887 PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this, ofMag, &FGFCS::GetDspPos);
889 PropertyManager->Tie("gear/gear-pos-norm", this, &FGFCS::GetGearPos, &FGFCS::SetGearPos);
890 PropertyManager->Tie("gear/gear-cmd-norm", this, &FGFCS::GetGearCmd, &FGFCS::SetGearCmd);
891 PropertyManager->Tie("fcs/left-brake-cmd-norm", this, &FGFCS::GetLBrake, &FGFCS::SetLBrake);
892 PropertyManager->Tie("fcs/right-brake-cmd-norm", this, &FGFCS::GetRBrake, &FGFCS::SetRBrake);
893 PropertyManager->Tie("fcs/center-brake-cmd-norm", this, &FGFCS::GetCBrake, &FGFCS::SetCBrake);
894 PropertyManager->Tie("fcs/steer-cmd-norm", this, &FGFCS::GetDsCmd, &FGFCS::SetDsCmd);
896 PropertyManager->Tie("gear/tailhook-pos-norm", this, &FGFCS::GetTailhookPos, &FGFCS::SetTailhookPos);
897 PropertyManager->Tie("fcs/wing-fold-pos-norm", this, &FGFCS::GetWingFoldPos, &FGFCS::SetWingFoldPos);
900 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
901 // Technically, this function should probably bind propulsion type specific controls
902 // rather than mixture and prop-advance.
904 void FGFCS::bindThrottle(unsigned int num)
908 tmp = CreateIndexedPropertyName("fcs/throttle-cmd-norm", num);
909 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottleCmd,
910 &FGFCS::SetThrottleCmd);
911 tmp = CreateIndexedPropertyName("fcs/throttle-pos-norm", num);
912 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottlePos,
913 &FGFCS::SetThrottlePos);
914 tmp = CreateIndexedPropertyName("fcs/mixture-cmd-norm", num);
915 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixtureCmd,
916 &FGFCS::SetMixtureCmd);
917 tmp = CreateIndexedPropertyName("fcs/mixture-pos-norm", num);
918 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixturePos,
919 &FGFCS::SetMixturePos);
920 tmp = CreateIndexedPropertyName("fcs/advance-cmd-norm", num);
921 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvanceCmd,
922 &FGFCS::SetPropAdvanceCmd);
923 tmp = CreateIndexedPropertyName("fcs/advance-pos-norm", num);
924 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvance,
925 &FGFCS::SetPropAdvance);
926 tmp = CreateIndexedPropertyName("fcs/feather-cmd-norm", num);
927 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetFeatherCmd,
928 &FGFCS::SetFeatherCmd);
929 tmp = CreateIndexedPropertyName("fcs/feather-pos-norm", num);
930 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropFeather,
931 &FGFCS::SetPropFeather);
934 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
936 void FGFCS::bindModel(void)
941 for (i=0; i<SteerPosDeg.size(); i++) {
942 if (GroundReactions->GetGearUnit(i)->GetSteerable()) {
943 tmp = CreateIndexedPropertyName("fcs/steer-pos-deg", i);
944 PropertyManager->Tie( tmp.c_str(), this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
949 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
950 // The bitmasked value choices are as follows:
951 // unset: In this case (the default) JSBSim would only print
952 // out the normally expected messages, essentially echoing
953 // the config files as they are read. If the environment
954 // variable is not set, debug_lvl is set to 1 internally
955 // 0: This requests JSBSim not to output any messages
957 // 1: This value explicity requests the normal JSBSim
959 // 2: This value asks for a message to be printed out when
960 // a class is instantiated
961 // 4: When this value is set, a message is displayed when a
962 // FGModel object executes its Run() method
963 // 8: When this value is set, various runtime state variables
964 // are printed out periodically
965 // 16: When set various parameters are sanity checked and
966 // a message is printed out when they go out of bounds
968 void FGFCS::Debug(int from)
970 if (debug_lvl <= 0) return;
972 if (debug_lvl & 1) { // Standard console startup message output
973 if (from == 2) { // Loader
974 cout << endl << " " << Name << endl;
977 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
978 if (from == 0) cout << "Instantiated: FGFCS" << endl;
979 if (from == 1) cout << "Destroyed: FGFCS" << endl;
981 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
983 if (debug_lvl & 8 ) { // Runtime state variables
985 if (debug_lvl & 16) { // Sanity checking
987 if (debug_lvl & 64) {
988 if (from == 0) { // Constructor
989 cout << IdSrc << endl;
990 cout << IdHdr << endl;