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