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;
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];
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() );
212 // Execute Systems in order
213 for (i=0; i<Systems.size(); i++) Systems[i]->Run();
216 for (i=0; i<APComponents.size(); i++) APComponents[i]->Run();
218 // Execute Flight Control System
219 for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
224 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
226 void FGFCS::SetDaLPos( int form , double pos )
231 DaLPos[ofDeg] = pos*radtodeg;
234 DaLPos[ofRad] = pos*degtorad;
238 DaLPos[ofNorm] = pos;
240 DaLPos[ofMag] = fabs(DaLPos[ofRad]);
243 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
245 void FGFCS::SetDaRPos( int form , double pos )
250 DaRPos[ofDeg] = pos*radtodeg;
253 DaRPos[ofRad] = pos*degtorad;
257 DaRPos[ofNorm] = pos;
259 DaRPos[ofMag] = fabs(DaRPos[ofRad]);
262 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
264 void FGFCS::SetDePos( int form , double pos )
269 DePos[ofDeg] = pos*radtodeg;
272 DePos[ofRad] = pos*degtorad;
278 DePos[ofMag] = fabs(DePos[ofRad]);
281 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
283 void FGFCS::SetDrPos( int form , double pos )
288 DrPos[ofDeg] = pos*radtodeg;
291 DrPos[ofRad] = pos*degtorad;
297 DrPos[ofMag] = fabs(DrPos[ofRad]);
300 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
302 void FGFCS::SetDfPos( int form , double pos )
307 DfPos[ofDeg] = pos*radtodeg;
310 DfPos[ofRad] = pos*degtorad;
316 DfPos[ofMag] = fabs(DfPos[ofRad]);
319 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
321 void FGFCS::SetDsbPos( int form , double pos )
326 DsbPos[ofDeg] = pos*radtodeg;
329 DsbPos[ofRad] = pos*degtorad;
333 DsbPos[ofNorm] = pos;
335 DsbPos[ofMag] = fabs(DsbPos[ofRad]);
338 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
340 void FGFCS::SetDspPos( int form , double pos )
345 DspPos[ofDeg] = pos*radtodeg;
348 DspPos[ofRad] = pos*degtorad;
352 DspPos[ofNorm] = pos;
354 DspPos[ofMag] = fabs(DspPos[ofRad]);
357 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
359 void FGFCS::SetThrottleCmd(int engineNum, double setting)
363 if (engineNum < (int)ThrottlePos.size()) {
365 for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
367 ThrottleCmd[engineNum] = setting;
370 cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
371 << " engines exist, but attempted throttle command is for engine "
372 << engineNum << endl;
376 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
378 void FGFCS::SetThrottlePos(int engineNum, double setting)
382 if (engineNum < (int)ThrottlePos.size()) {
384 for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
386 ThrottlePos[engineNum] = setting;
389 cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
390 << " engines exist, but attempted throttle position setting is for engine "
391 << engineNum << endl;
395 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
397 double FGFCS::GetThrottleCmd(int engineNum) const
399 if (engineNum < (int)ThrottlePos.size()) {
401 cerr << "Cannot get throttle value for ALL engines" << endl;
403 return ThrottleCmd[engineNum];
406 cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
407 << " engines exist, but throttle setting for engine " << engineNum
408 << " is selected" << endl;
413 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
415 double FGFCS::GetThrottlePos(int engineNum) const
417 if (engineNum < (int)ThrottlePos.size()) {
419 cerr << "Cannot get throttle value for ALL engines" << endl;
421 return ThrottlePos[engineNum];
424 cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
425 << " engines exist, but attempted throttle position setting is for engine "
426 << engineNum << endl;
431 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
433 void FGFCS::SetMixtureCmd(int engineNum, double setting)
437 if (engineNum < (int)ThrottlePos.size()) {
439 for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
441 MixtureCmd[engineNum] = setting;
446 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
448 void FGFCS::SetMixturePos(int engineNum, double setting)
452 if (engineNum < (int)ThrottlePos.size()) {
454 for (ctr=0;ctr<MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
456 MixturePos[engineNum] = setting;
461 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
463 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
467 if (engineNum < (int)ThrottlePos.size()) {
469 for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
471 PropAdvanceCmd[engineNum] = setting;
476 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
478 void FGFCS::SetPropAdvance(int engineNum, double setting)
482 if (engineNum < (int)ThrottlePos.size()) {
484 for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
486 PropAdvance[engineNum] = setting;
491 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
493 void FGFCS::SetFeatherCmd(int engineNum, bool setting)
497 if (engineNum < (int)ThrottlePos.size()) {
499 for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeatherCmd[ctr] = setting;
501 PropFeatherCmd[engineNum] = setting;
506 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
508 void FGFCS::SetPropFeather(int engineNum, bool setting)
512 if (engineNum < (int)ThrottlePos.size()) {
514 for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeather[ctr] = PropFeatherCmd[ctr];
516 PropFeather[engineNum] = setting;
521 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
523 bool FGFCS::Load(Element* el, SystemType systype)
525 string name, file, fname="", interface_property_string, parent_name;
526 vector <FGFCSComponent*> *Components;
527 Element *component_element;
528 Element *channel_element;
532 string separator = "/";
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.
537 name = el->GetAttributeValue("name");
540 fname = el->GetAttributeValue("file");
541 if (systype == stSystem) {
542 file = FindSystemFullPathname(fname);
544 file = FDMExec->GetFullAircraftPath() + separator + fname + ".xml";
547 cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl;
550 document = LoadXMLDocument(file);
552 cerr << "Error loading file " << file << endl;
555 name = document->GetAttributeValue("name");
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");
573 if (document->GetName() == "flight_control") bindModel();
575 FGModel::Load(document); // Load interface properties from document
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.
582 Element* property_element = 0;
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) {
589 if ( ! property_element->GetAttributeValue("value").empty())
590 value = property_element->GetAttributeValueAsNumber("value");
592 interface_property_string = property_element->GetDataLine();
593 if (PropertyManager->HasNode(interface_property_string)) {
594 FGPropertyManager* node = PropertyManager->GetNode(interface_property_string);
596 cout << " " << "Overriding value for property " << interface_property_string
597 << " (old value: " << node->getDoubleValue() << " new value: " << value << ")" << endl;
598 node->setDoubleValue(value);
600 interface_properties.push_back(new double(value));
601 PropertyManager->Tie(interface_property_string, interface_properties.back());
603 cout << " " << interface_property_string << " (initial value: " << value << ")" << endl;
606 property_element = el->FindNextElement("property");
610 channel_element = document->FindElement("channel");
611 while (channel_element) {
614 cout << endl << highint << fgblue << " Channel "
615 << normint << channel_element->GetAttributeValue("name") << reset << endl;
617 component_element = channel_element->GetElement();
618 while (component_element) {
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")) )
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")))
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));
655 cerr << "Unknown FCS component: " << component_element->GetName() << endl;
658 cerr << highint << fgred << endl << " " << s << endl;
659 cerr << reset << endl;
662 component_element = channel_element->GetNextElement();
664 channel_element = document->FindNextElement("channel");
672 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
674 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
677 case FGLGear::bgLeft:
679 case FGLGear::bgRight:
681 case FGLGear::bgCenter:
684 cerr << "GetBrake asked to return a bogus brake value" << endl;
689 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
691 string FGFCS::FindSystemFullPathname(const string& system_filename)
693 string fullpath, localpath;
694 string systemPath = FDMExec->GetSystemsPath();
695 string aircraftPath = FDMExec->GetFullAircraftPath();
696 ifstream system_file;
698 string separator = "/";
700 fullpath = systemPath + separator;
701 localpath = aircraftPath + separator + "Systems" + separator;
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;
711 return string(localpath + system_filename + ".xml");
714 return string(fullpath + system_filename + ".xml");
717 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
719 ifstream* FGFCS::FindSystemFile(const string& system_filename)
721 string fullpath, localpath;
722 string systemPath = FDMExec->GetSystemsPath();
723 string aircraftPath = FDMExec->GetFullAircraftPath();
724 ifstream* system_file = new ifstream();
726 string separator = "/";
728 fullpath = systemPath + separator;
729 localpath = aircraftPath + separator + "Systems" + separator;
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;
742 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
744 string FGFCS::GetComponentStrings(const string& delimiter)
747 string CompStrings = "";
748 bool firstime = true;
751 for (unsigned int i=0; i<Systems.size(); i++) {
752 if (firstime) firstime = false;
753 else CompStrings += delimiter;
755 CompStrings += Systems[i]->GetName();
759 for (comp = 0; comp < APComponents.size(); comp++)
761 if (firstime) firstime = false;
762 else CompStrings += delimiter;
764 CompStrings += APComponents[comp]->GetName();
768 for (comp = 0; comp < FCSComponents.size(); comp++) {
769 if (firstime) firstime = false;
770 else CompStrings += delimiter;
772 CompStrings += FCSComponents[comp]->GetName();
779 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
781 string FGFCS::GetComponentValues(const string& delimiter)
783 std::ostringstream buf;
786 bool firstime = true;
789 for (unsigned int i=0; i<Systems.size(); i++) {
790 if (firstime) firstime = false;
791 else buf << delimiter;
793 buf << setprecision(9) << Systems[i]->GetOutput();
797 for (comp = 0; comp < APComponents.size(); comp++) {
798 if (firstime) firstime = false;
799 else buf << delimiter;
801 buf << setprecision(9) << APComponents[comp]->GetOutput();
805 for (comp = 0; comp < FCSComponents.size(); comp++) {
806 if (firstime) firstime = false;
807 else buf << delimiter;
809 buf << setprecision(9) << FCSComponents[comp]->GetOutput();
816 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
818 void FGFCS::AddThrottle(void)
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);
829 unsigned int num = (unsigned int)ThrottleCmd.size()-1;
833 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
835 void FGFCS::AddGear(void)
837 SteerPosDeg.push_back(0.0);
840 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
842 double FGFCS::GetDt(void)
844 return FDMExec->GetDeltaT()*rate;
847 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
849 void FGFCS::bind(void)
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
906 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
907 // Technically, this function should probably bind propulsion type specific controls
908 // rather than mixture and prop-advance.
910 void FGFCS::bindThrottle(unsigned int num)
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);
940 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
942 void FGFCS::bindModel(void)
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);
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
963 // 1: This value explicity requests the normal JSBSim
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
974 void FGFCS::Debug(int from)
976 if (debug_lvl <= 0) return;
978 if (debug_lvl & 1) { // Standard console startup message output
979 if (from == 2) { // Loader
980 cout << endl << " " << Name << endl;
983 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
984 if (from == 0) cout << "Instantiated: FGFCS" << endl;
985 if (from == 1) cout << "Destroyed: FGFCS" << endl;
987 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
989 if (debug_lvl & 8 ) { // Runtime state variables
991 if (debug_lvl & 16) { // Sanity checking
993 if (debug_lvl & 64) {
994 if (from == 0) { // Constructor
995 cout << IdSrc << endl;
996 cout << IdHdr << endl;