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 "FGGroundReactions.h"
43 #include "input_output/FGPropertyManager.h"
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"
66 static const char *IdSrc = "$Id$";
67 static const char *IdHdr = ID_FCS;
69 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
71 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
73 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
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;
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;
93 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
101 PropAdvanceCmd.clear();
104 PropFeatherCmd.clear();
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];
120 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
122 bool FGFCS::InitModel(void)
126 if (!FGModel::InitModel()) return false;
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;
135 DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
136 PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
137 TailhookPos = WingFoldPos = 0.0;
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;
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")
151 ((FGFilter*)Systems[i])->ResetPastStates();
152 } else if (Systems[i]->GetType() == "PID" ) {
153 ((FGPID*)Systems[i])->ResetPastStates();
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")
164 ((FGFilter*)FCSComponents[i])->ResetPastStates();
165 } else if (FCSComponents[i]->GetType() == "PID" ) {
166 ((FGPID*)FCSComponents[i])->ResetPastStates();
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")
177 ((FGFilter*)APComponents[i])->ResetPastStates();
178 } else if (APComponents[i]->GetType() == "PID" ) {
179 ((FGPID*)APComponents[i])->ResetPastStates();
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.
194 bool FGFCS::Run(void)
198 if (FGModel::Run()) return true; // fast exit if nothing to do
199 if (FDMExec->Holding()) return false;
203 for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
204 for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
205 for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
206 for (i=0; i<PropFeather.size(); i++) PropFeather[i] = PropFeatherCmd[i];
208 // Set the default steering angle
209 for (i=0; i<SteerPosDeg.size(); i++) {
210 FGLGear* gear = GroundReactions->GetGearUnit(i);
211 SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
214 // Execute Systems in order
215 for (i=0; i<Systems.size(); i++) Systems[i]->Run();
218 for (i=0; i<APComponents.size(); i++) APComponents[i]->Run();
220 // Execute Flight Control System
221 for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
228 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
230 void FGFCS::SetDaLPos( int form , double pos )
235 DaLPos[ofDeg] = pos*radtodeg;
238 DaLPos[ofRad] = pos*degtorad;
242 DaLPos[ofNorm] = pos;
244 DaLPos[ofMag] = fabs(DaLPos[ofRad]);
247 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
249 void FGFCS::SetDaRPos( int form , double pos )
254 DaRPos[ofDeg] = pos*radtodeg;
257 DaRPos[ofRad] = pos*degtorad;
261 DaRPos[ofNorm] = pos;
263 DaRPos[ofMag] = fabs(DaRPos[ofRad]);
266 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
268 void FGFCS::SetDePos( int form , double pos )
273 DePos[ofDeg] = pos*radtodeg;
276 DePos[ofRad] = pos*degtorad;
282 DePos[ofMag] = fabs(DePos[ofRad]);
285 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
287 void FGFCS::SetDrPos( int form , double pos )
292 DrPos[ofDeg] = pos*radtodeg;
295 DrPos[ofRad] = pos*degtorad;
301 DrPos[ofMag] = fabs(DrPos[ofRad]);
304 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
306 void FGFCS::SetDfPos( int form , double pos )
311 DfPos[ofDeg] = pos*radtodeg;
314 DfPos[ofRad] = pos*degtorad;
320 DfPos[ofMag] = fabs(DfPos[ofRad]);
323 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
325 void FGFCS::SetDsbPos( int form , double pos )
330 DsbPos[ofDeg] = pos*radtodeg;
333 DsbPos[ofRad] = pos*degtorad;
337 DsbPos[ofNorm] = pos;
339 DsbPos[ofMag] = fabs(DsbPos[ofRad]);
342 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
344 void FGFCS::SetDspPos( int form , double pos )
349 DspPos[ofDeg] = pos*radtodeg;
352 DspPos[ofRad] = pos*degtorad;
356 DspPos[ofNorm] = pos;
358 DspPos[ofMag] = fabs(DspPos[ofRad]);
361 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
363 void FGFCS::SetThrottleCmd(int engineNum, double setting)
367 if (engineNum < (int)ThrottlePos.size()) {
369 for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
371 ThrottleCmd[engineNum] = setting;
374 cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
375 << " engines exist, but attempted throttle command is for engine "
376 << engineNum << endl;
380 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
382 void FGFCS::SetThrottlePos(int engineNum, double setting)
386 if (engineNum < (int)ThrottlePos.size()) {
388 for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
390 ThrottlePos[engineNum] = setting;
393 cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
394 << " engines exist, but attempted throttle position setting is for engine "
395 << engineNum << endl;
399 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
401 double FGFCS::GetThrottleCmd(int engineNum) const
403 if (engineNum < (int)ThrottlePos.size()) {
405 cerr << "Cannot get throttle value for ALL engines" << endl;
407 return ThrottleCmd[engineNum];
410 cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
411 << " engines exist, but throttle setting for engine " << engineNum
412 << " is selected" << endl;
417 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
419 double FGFCS::GetThrottlePos(int engineNum) const
421 if (engineNum < (int)ThrottlePos.size()) {
423 cerr << "Cannot get throttle value for ALL engines" << endl;
425 return ThrottlePos[engineNum];
428 cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
429 << " engines exist, but attempted throttle position setting is for engine "
430 << engineNum << endl;
435 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
437 void FGFCS::SetMixtureCmd(int engineNum, double setting)
441 if (engineNum < (int)ThrottlePos.size()) {
443 for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
445 MixtureCmd[engineNum] = setting;
450 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
452 void FGFCS::SetMixturePos(int engineNum, double setting)
456 if (engineNum < (int)ThrottlePos.size()) {
458 for (ctr=0;ctr<MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
460 MixturePos[engineNum] = setting;
465 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
467 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
471 if (engineNum < (int)ThrottlePos.size()) {
473 for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
475 PropAdvanceCmd[engineNum] = setting;
480 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
482 void FGFCS::SetPropAdvance(int engineNum, double setting)
486 if (engineNum < (int)ThrottlePos.size()) {
488 for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
490 PropAdvance[engineNum] = setting;
495 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
497 void FGFCS::SetFeatherCmd(int engineNum, bool setting)
501 if (engineNum < (int)ThrottlePos.size()) {
503 for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeatherCmd[ctr] = setting;
505 PropFeatherCmd[engineNum] = setting;
510 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
512 void FGFCS::SetPropFeather(int engineNum, bool setting)
516 if (engineNum < (int)ThrottlePos.size()) {
518 for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeather[ctr] = PropFeatherCmd[ctr];
520 PropFeather[engineNum] = setting;
525 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
527 bool FGFCS::Load(Element* el, SystemType systype)
529 string name, file, fname="", interface_property_string, parent_name;
530 vector <FGFCSComponent*> *Components;
531 Element *component_element;
532 Element *channel_element;
536 string separator = "/";
538 // ToDo: The handling of name and file attributes could be improved, here,
539 // considering that a name can be in the external file, as well.
541 name = el->GetAttributeValue("name");
544 fname = el->GetAttributeValue("file");
545 if (systype == stSystem) {
546 file = FindSystemFullPathname(fname);
548 file = FDMExec->GetFullAircraftPath() + separator + fname + ".xml";
551 cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl;
554 document = LoadXMLDocument(file);
556 cerr << "Error loading file " << file << endl;
559 name = document->GetAttributeValue("name");
565 if (document->GetName() == "autopilot") {
566 Components = &APComponents;
567 Name = "Autopilot: " + document->GetAttributeValue("name");
568 } else if (document->GetName() == "flight_control") {
569 Components = &FCSComponents;
570 Name = "FCS: " + document->GetAttributeValue("name");
571 } else if (document->GetName() == "system") {
572 Components = &Systems;
573 Name = "System: " + document->GetAttributeValue("name");
577 if (document->GetName() == "flight_control") bindModel();
579 FGModel::Load(document); // Load interface properties from document
581 // After reading interface properties in a file, read properties in the local
582 // flight_control, autopilot, or system element. This allows general-purpose
583 // systems to be defined in a file, with overrides or initial loaded constants
584 // supplied in the relevant element of the aircraft configuration file.
586 Element* property_element = 0;
588 if (!fname.empty()) {
589 property_element = el->FindElement("property");
590 if (property_element && debug_lvl > 0) cout << endl << " Overriding properties" << endl << endl;
591 while (property_element) {
593 if ( ! property_element->GetAttributeValue("value").empty())
594 value = property_element->GetAttributeValueAsNumber("value");
596 interface_property_string = property_element->GetDataLine();
597 if (PropertyManager->HasNode(interface_property_string)) {
598 FGPropertyManager* node = PropertyManager->GetNode(interface_property_string);
600 cout << " " << "Overriding value for property " << interface_property_string
601 << " (old value: " << node->getDoubleValue() << " new value: " << value << ")" << endl;
602 node->setDoubleValue(value);
604 interface_properties.push_back(new double(value));
605 PropertyManager->Tie(interface_property_string, interface_properties.back());
607 cout << " " << interface_property_string << " (initial value: " << value << ")" << endl;
610 property_element = el->FindNextElement("property");
614 channel_element = document->FindElement("channel");
615 while (channel_element) {
618 cout << endl << highint << fgblue << " Channel "
619 << normint << channel_element->GetAttributeValue("name") << reset << endl;
621 component_element = channel_element->GetElement();
622 while (component_element) {
624 if ((component_element->GetName() == string("lag_filter")) ||
625 (component_element->GetName() == string("lead_lag_filter")) ||
626 (component_element->GetName() == string("washout_filter")) ||
627 (component_element->GetName() == string("second_order_filter")) ||
628 (component_element->GetName() == string("integrator")) )
630 Components->push_back(new FGFilter(this, component_element));
631 } else if ((component_element->GetName() == string("pure_gain")) ||
632 (component_element->GetName() == string("scheduled_gain")) ||
633 (component_element->GetName() == string("aerosurface_scale")))
635 Components->push_back(new FGGain(this, component_element));
636 } else if (component_element->GetName() == string("summer")) {
637 Components->push_back(new FGSummer(this, component_element));
638 } else if (component_element->GetName() == string("deadband")) {
639 Components->push_back(new FGDeadBand(this, component_element));
640 } else if (component_element->GetName() == string("switch")) {
641 Components->push_back(new FGSwitch(this, component_element));
642 } else if (component_element->GetName() == string("kinematic")) {
643 Components->push_back(new FGKinemat(this, component_element));
644 } else if (component_element->GetName() == string("fcs_function")) {
645 Components->push_back(new FGFCSFunction(this, component_element));
646 } else if (component_element->GetName() == string("pid")) {
647 Components->push_back(new FGPID(this, component_element));
648 } else if (component_element->GetName() == string("actuator")) {
649 Components->push_back(new FGActuator(this, component_element));
650 } else if (component_element->GetName() == string("sensor")) {
651 Components->push_back(new FGSensor(this, component_element));
652 } else if (component_element->GetName() == string("accelerometer")) {
653 Components->push_back(new FGAccelerometer(this, component_element));
654 } else if (component_element->GetName() == string("magnetometer")) {
655 Components->push_back(new FGMagnetometer(this, component_element));
656 } else if (component_element->GetName() == string("gyro")) {
657 Components->push_back(new FGGyro(this, component_element));
659 cerr << "Unknown FCS component: " << component_element->GetName() << endl;
662 cerr << highint << fgred << endl << " " << s << endl;
663 cerr << reset << endl;
666 component_element = channel_element->GetNextElement();
668 channel_element = document->FindNextElement("channel");
676 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
678 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
681 case FGLGear::bgLeft:
683 case FGLGear::bgRight:
685 case FGLGear::bgCenter:
688 cerr << "GetBrake asked to return a bogus brake value" << endl;
693 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
695 string FGFCS::FindSystemFullPathname(const string& system_filename)
697 string fullpath, localpath;
698 string systemPath = FDMExec->GetSystemsPath();
699 string aircraftPath = FDMExec->GetFullAircraftPath();
700 ifstream system_file;
702 string separator = "/";
704 fullpath = systemPath + separator;
705 localpath = aircraftPath + separator + "Systems" + separator;
707 system_file.open(string(fullpath + system_filename + ".xml").c_str());
708 if ( !system_file.is_open()) {
709 system_file.open(string(localpath + system_filename + ".xml").c_str());
710 if ( !system_file.is_open()) {
711 cerr << " Could not open system file: " << system_filename << " in path "
712 << fullpath << " or " << localpath << endl;
715 return string(localpath + system_filename + ".xml");
718 return string(fullpath + system_filename + ".xml");
721 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
723 ifstream* FGFCS::FindSystemFile(const string& system_filename)
725 string fullpath, localpath;
726 string systemPath = FDMExec->GetSystemsPath();
727 string aircraftPath = FDMExec->GetFullAircraftPath();
728 ifstream* system_file = new ifstream();
730 string separator = "/";
732 fullpath = systemPath + separator;
733 localpath = aircraftPath + separator + "Systems" + separator;
735 system_file->open(string(fullpath + system_filename + ".xml").c_str());
736 if ( !system_file->is_open()) {
737 system_file->open(string(localpath + system_filename + ".xml").c_str());
738 if ( !system_file->is_open()) {
739 cerr << " Could not open system file: " << system_filename << " in path "
740 << fullpath << " or " << localpath << endl;
746 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
748 string FGFCS::GetComponentStrings(const string& delimiter)
751 string CompStrings = "";
752 bool firstime = true;
755 for (unsigned int i=0; i<Systems.size(); i++) {
756 if (firstime) firstime = false;
757 else CompStrings += delimiter;
759 CompStrings += Systems[i]->GetName();
763 for (comp = 0; comp < APComponents.size(); comp++)
765 if (firstime) firstime = false;
766 else CompStrings += delimiter;
768 CompStrings += APComponents[comp]->GetName();
772 for (comp = 0; comp < FCSComponents.size(); comp++) {
773 if (firstime) firstime = false;
774 else CompStrings += delimiter;
776 CompStrings += FCSComponents[comp]->GetName();
783 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
785 string FGFCS::GetComponentValues(const string& delimiter)
787 std::ostringstream buf;
790 bool firstime = true;
793 for (unsigned int i=0; i<Systems.size(); i++) {
794 if (firstime) firstime = false;
795 else buf << delimiter;
797 buf << setprecision(9) << Systems[i]->GetOutput();
801 for (comp = 0; comp < APComponents.size(); comp++) {
802 if (firstime) firstime = false;
803 else buf << delimiter;
805 buf << setprecision(9) << APComponents[comp]->GetOutput();
809 for (comp = 0; comp < FCSComponents.size(); comp++) {
810 if (firstime) firstime = false;
811 else buf << delimiter;
813 buf << setprecision(9) << FCSComponents[comp]->GetOutput();
820 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
822 void FGFCS::AddThrottle(void)
824 ThrottleCmd.push_back(0.0);
825 ThrottlePos.push_back(0.0);
826 MixtureCmd.push_back(0.0); // assume throttle and mixture are coupled
827 MixturePos.push_back(0.0);
828 PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
829 PropAdvance.push_back(0.0);
830 PropFeatherCmd.push_back(false);
831 PropFeather.push_back(false);
833 unsigned int num = (unsigned int)ThrottleCmd.size()-1;
837 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
839 void FGFCS::AddGear(void)
841 SteerPosDeg.push_back(0.0);
844 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
846 double FGFCS::GetDt(void)
848 return FDMExec->GetDeltaT()*rate;
851 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
853 void FGFCS::bind(void)
855 PropertyManager->Tie("fcs/aileron-cmd-norm", this, &FGFCS::GetDaCmd, &FGFCS::SetDaCmd);
856 PropertyManager->Tie("fcs/elevator-cmd-norm", this, &FGFCS::GetDeCmd, &FGFCS::SetDeCmd);
857 PropertyManager->Tie("fcs/rudder-cmd-norm", this, &FGFCS::GetDrCmd, &FGFCS::SetDrCmd);
858 PropertyManager->Tie("fcs/flap-cmd-norm", this, &FGFCS::GetDfCmd, &FGFCS::SetDfCmd);
859 PropertyManager->Tie("fcs/speedbrake-cmd-norm", this, &FGFCS::GetDsbCmd, &FGFCS::SetDsbCmd);
860 PropertyManager->Tie("fcs/spoiler-cmd-norm", this, &FGFCS::GetDspCmd, &FGFCS::SetDspCmd);
861 PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this, &FGFCS::GetPitchTrimCmd, &FGFCS::SetPitchTrimCmd);
862 PropertyManager->Tie("fcs/roll-trim-cmd-norm", this, &FGFCS::GetRollTrimCmd, &FGFCS::SetRollTrimCmd);
863 PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this, &FGFCS::GetYawTrimCmd, &FGFCS::SetYawTrimCmd);
865 PropertyManager->Tie("fcs/left-aileron-pos-rad", this, ofRad, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
866 PropertyManager->Tie("fcs/left-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
867 PropertyManager->Tie("fcs/left-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
868 PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this, ofMag, &FGFCS::GetDaLPos);
870 PropertyManager->Tie("fcs/right-aileron-pos-rad", this, ofRad, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
871 PropertyManager->Tie("fcs/right-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
872 PropertyManager->Tie("fcs/right-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
873 PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this, ofMag, &FGFCS::GetDaRPos);
875 PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad, &FGFCS::GetDePos, &FGFCS::SetDePos);
876 PropertyManager->Tie("fcs/elevator-pos-deg", this, ofDeg, &FGFCS::GetDePos, &FGFCS::SetDePos);
877 PropertyManager->Tie("fcs/elevator-pos-norm", this, ofNorm, &FGFCS::GetDePos, &FGFCS::SetDePos);
878 PropertyManager->Tie("fcs/mag-elevator-pos-rad", this, ofMag, &FGFCS::GetDePos);
880 PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
881 PropertyManager->Tie("fcs/rudder-pos-deg", this,ofDeg, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
882 PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
883 PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag, &FGFCS::GetDrPos);
885 PropertyManager->Tie("fcs/flap-pos-rad", this,ofRad, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
886 PropertyManager->Tie("fcs/flap-pos-deg", this,ofDeg, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
887 PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
889 PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
890 PropertyManager->Tie("fcs/speedbrake-pos-deg", this,ofDeg, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
891 PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
892 PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag, &FGFCS::GetDsbPos);
894 PropertyManager->Tie("fcs/spoiler-pos-rad", this, ofRad, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
895 PropertyManager->Tie("fcs/spoiler-pos-deg", this, ofDeg, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
896 PropertyManager->Tie("fcs/spoiler-pos-norm", this, ofNorm, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
897 PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this, ofMag, &FGFCS::GetDspPos);
899 PropertyManager->Tie("gear/gear-pos-norm", this, &FGFCS::GetGearPos, &FGFCS::SetGearPos);
900 PropertyManager->Tie("gear/gear-cmd-norm", this, &FGFCS::GetGearCmd, &FGFCS::SetGearCmd);
901 PropertyManager->Tie("fcs/left-brake-cmd-norm", this, &FGFCS::GetLBrake, &FGFCS::SetLBrake);
902 PropertyManager->Tie("fcs/right-brake-cmd-norm", this, &FGFCS::GetRBrake, &FGFCS::SetRBrake);
903 PropertyManager->Tie("fcs/center-brake-cmd-norm", this, &FGFCS::GetCBrake, &FGFCS::SetCBrake);
904 PropertyManager->Tie("fcs/steer-cmd-norm", this, &FGFCS::GetDsCmd, &FGFCS::SetDsCmd);
906 PropertyManager->Tie("gear/tailhook-pos-norm", this, &FGFCS::GetTailhookPos, &FGFCS::SetTailhookPos);
907 PropertyManager->Tie("fcs/wing-fold-pos-norm", this, &FGFCS::GetWingFoldPos, &FGFCS::SetWingFoldPos);
910 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
911 // Technically, this function should probably bind propulsion type specific controls
912 // rather than mixture and prop-advance.
914 void FGFCS::bindThrottle(unsigned int num)
918 tmp = CreateIndexedPropertyName("fcs/throttle-cmd-norm", num);
919 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottleCmd,
920 &FGFCS::SetThrottleCmd);
921 tmp = CreateIndexedPropertyName("fcs/throttle-pos-norm", num);
922 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottlePos,
923 &FGFCS::SetThrottlePos);
924 tmp = CreateIndexedPropertyName("fcs/mixture-cmd-norm", num);
925 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixtureCmd,
926 &FGFCS::SetMixtureCmd);
927 tmp = CreateIndexedPropertyName("fcs/mixture-pos-norm", num);
928 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixturePos,
929 &FGFCS::SetMixturePos);
930 tmp = CreateIndexedPropertyName("fcs/advance-cmd-norm", num);
931 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvanceCmd,
932 &FGFCS::SetPropAdvanceCmd);
933 tmp = CreateIndexedPropertyName("fcs/advance-pos-norm", num);
934 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvance,
935 &FGFCS::SetPropAdvance);
936 tmp = CreateIndexedPropertyName("fcs/feather-cmd-norm", num);
937 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetFeatherCmd,
938 &FGFCS::SetFeatherCmd);
939 tmp = CreateIndexedPropertyName("fcs/feather-pos-norm", num);
940 PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropFeather,
941 &FGFCS::SetPropFeather);
944 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
946 void FGFCS::bindModel(void)
951 for (i=0; i<SteerPosDeg.size(); i++) {
952 if (GroundReactions->GetGearUnit(i)->GetSteerable()) {
953 tmp = CreateIndexedPropertyName("fcs/steer-pos-deg", i);
954 PropertyManager->Tie( tmp.c_str(), this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
959 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
960 // The bitmasked value choices are as follows:
961 // unset: In this case (the default) JSBSim would only print
962 // out the normally expected messages, essentially echoing
963 // the config files as they are read. If the environment
964 // variable is not set, debug_lvl is set to 1 internally
965 // 0: This requests JSBSim not to output any messages
967 // 1: This value explicity requests the normal JSBSim
969 // 2: This value asks for a message to be printed out when
970 // a class is instantiated
971 // 4: When this value is set, a message is displayed when a
972 // FGModel object executes its Run() method
973 // 8: When this value is set, various runtime state variables
974 // are printed out periodically
975 // 16: When set various parameters are sanity checked and
976 // a message is printed out when they go out of bounds
978 void FGFCS::Debug(int from)
980 if (debug_lvl <= 0) return;
982 if (debug_lvl & 1) { // Standard console startup message output
983 if (from == 2) { // Loader
984 cout << endl << " " << Name << endl;
987 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
988 if (from == 0) cout << "Instantiated: FGFCS" << endl;
989 if (from == 1) cout << "Destroyed: FGFCS" << endl;
991 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
993 if (debug_lvl & 8 ) { // Runtime state variables
995 if (debug_lvl & 16) { // Sanity checking
997 if (debug_lvl & 64) {
998 if (from == 0) { // Constructor
999 cout << IdSrc << endl;
1000 cout << IdHdr << endl;