1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
7 ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
9 This program is free software; you can redistribute it and/or modify it under
10 the terms of the GNU Lesser General Public License as published by the Free Software
11 Foundation; either version 2 of the License, or (at your option) any later
14 This program is distributed in the hope that it will be useful, but WITHOUT
15 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
19 You should have received a copy of the GNU Lesser General Public License along with
20 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 Place - Suite 330, Boston, MA 02111-1307, USA.
23 Further information about the GNU Lesser General Public License can also be found on
24 the world wide web at http://www.gnu.org.
27 --------------------------------------------------------------------------------
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32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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44 #include <models/flight_control/FGFCSComponent.h>
45 #include <models/FGModel.h>
46 #include <models/FGLGear.h>
47 #include <input_output/FGXMLFileRead.h>
49 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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61 typedef enum { ofRad=0, ofDeg, ofNorm, ofMag , NForms} OutputForm;
63 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
65 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
67 /** Encapsulates the Flight Control System (FCS) functionality.
68 This class also encapsulates the identical "system" and "autopilot" capability.
69 FGFCS owns and contains the list of FGFCSComponents
70 that define a system or systems for the modeled aircraft. The config file
71 for the aircraft contains a description of the control path that starts at
72 an input or command and ends at an effector, e.g. an aerosurface. The FCS
73 components which comprise the control laws for an axis are defined
74 sequentially in the configuration file. For instance, for the X-15:
77 <flight_control name="X-15 SAS">
79 <summer name="Pitch Trim Sum">
80 <input> fcs/elevator-cmd-norm </input>
81 <input> fcs/pitch-trim-cmd-norm </input>
88 <aerosurface_scale name="Pitch Command Scale">
89 <input> fcs/pitch-trim-sum </input>
99 In the above case we can see the first few components of the pitch channel
100 defined. The input to the first component (a summer), as can be seen in the "Pitch trim
101 sum" component, is really the sum of two parameters: elevator command (from
102 the stick - a pilot input), and pitch trim.
103 The next component created is an aerosurface scale component - a type of
104 gain (see the LoadFCS() method for insight on how the various types of
105 components map into the actual component classes). This continues until the
106 final component for an axis when the
107 \<output> element is usually used to specify where the output is supposed to go. See the
108 individual components for more information on how they are mechanized.
110 Another option for the flight controls portion of the config file is that in
111 addition to using the "NAME" attribute in,
114 <flight_control name="X-15 SAS">
117 one can also supply a filename:
120 <flight_control name="X-15 SAS" file="X15.xml">
124 In this case, the FCS would be read in from another file.
127 @property fcs/aileron-cmd-norm normalized aileron command
128 @property fcs/elevator-cmd-norm normalized elevator command
129 @property fcs/rudder-cmd-norm
130 @property fcs/steer-cmd-norm
131 @property fcs/flap-cmd-norm
132 @property fcs/speedbrake-cmd-norm
133 @property fcs/spoiler-cmd-norm
134 @property fcs/pitch-trim-cmd-norm
135 @property fcs/roll-trim-cmd-norm
136 @property fcs/yaw-trim-cmd-norm
137 @property gear/gear-cmd-norm
138 @property fcs/left-aileron-pos-rad
139 @property fcs/left-aileron-pos-deg
140 @property fcs/left-aileron-pos-norm
141 @property fcs/mag-left-aileron-pos-rad
142 @property fcs/right-aileron-pos-rad
143 @property fcs/right-aileron-pos-deg
144 @property fcs/right-aileron-pos-norm
145 @property fcs/mag-right-aileron-pos-rad
146 @property fcs/elevator-pos-rad
147 @property fcs/elevator-pos-deg
148 @property fcs/elevator-pos-norm
149 @property fcs/mag-elevator-pos-rad
150 @property fcs/rudder-pos-rad
151 @property fcs/rudder-pos-deg
152 @property fcs/rudder-pos-norm
153 @property fcs/mag-rudder-pos-rad
154 @property fcs/flap-pos-rad
155 @property fcs/flap-pos-deg
156 @property fcs/flap-pos-norm
157 @property fcs/speedbrake-pos-rad
158 @property fcs/speedbrake-pos-deg
159 @property fcs/speedbrake-pos-norm
160 @property fcs/mag-speedbrake-pos-rad
161 @property fcs/spoiler-pos-rad
162 @property fcs/spoiler-pos-deg
163 @property fcs/spoiler-pos-norm
164 @property fcs/mag-spoiler-pos-rad
165 @property gear/gear-pos-norm
167 @author Jon S. Berndt
183 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
185 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
187 class FGFCS : public FGModel, public FGXMLFileRead
192 @param Executive a pointer to the parent executive object */
197 bool InitModel(void);
199 /** Runs the Flight Controls model; called by the Executive
200 @return false if no error */
203 /// @name Pilot input command retrieval
205 /** Gets the aileron command.
206 @return aileron command in range from -1.0 - 1.0 */
207 inline double GetDaCmd(void) const { return DaCmd; }
209 /** Gets the elevator command.
210 @return elevator command in range from -1.0 - 1.0 */
211 inline double GetDeCmd(void) const { return DeCmd; }
213 /** Gets the rudder command.
214 @return rudder command in range from -1.0 - 1.0 */
215 inline double GetDrCmd(void) const { return DrCmd; }
217 /** Gets the steering command.
218 @return steering command in range from -1.0 - 1.0 */
219 inline double GetDsCmd(void) const { return DsCmd; }
221 /** Gets the flaps command.
222 @return flaps command in range from 0 to 1.0 */
223 inline double GetDfCmd(void) const { return DfCmd; }
225 /** Gets the speedbrake command.
226 @return speedbrake command in range from 0 to 1.0 */
227 inline double GetDsbCmd(void) const { return DsbCmd; }
229 /** Gets the spoiler command.
230 @return spoiler command in range from 0 to 1.0 */
231 inline double GetDspCmd(void) const { return DspCmd; }
233 /** Gets the throttle command.
234 @param engine engine ID number
235 @return throttle command in range from 0 - 1.0 for the given engine */
236 double GetThrottleCmd(int engine) const;
238 /** Gets the mixture command.
239 @param engine engine ID number
240 @return mixture command in range from 0 - 1.0 for the given engine */
241 inline double GetMixtureCmd(int engine) const { return MixtureCmd[engine]; }
243 /** Gets the prop pitch command.
244 @param engine engine ID number
245 @return pitch command in range from 0.0 - 1.0 for the given engine */
246 inline double GetPropAdvanceCmd(int engine) const { return PropAdvanceCmd[engine]; }
248 /** Gets the prop feather command.
249 @param engine engine ID number
250 @return feather command for the given engine (on / off)*/
251 inline bool GetFeatherCmd(int engine) const { return PropFeatherCmd[engine]; }
253 /** Gets the pitch trim command.
254 @return pitch trim command in range from -1.0 to 1.0 */
255 inline double GetPitchTrimCmd(void) const { return PTrimCmd; }
257 /** Gets the rudder trim command.
258 @return rudder trim command in range from -1.0 - 1.0 */
259 inline double GetYawTrimCmd(void) const { return YTrimCmd; }
261 /** Gets the aileron trim command.
262 @return aileron trim command in range from -1.0 - 1.0 */
263 inline double GetRollTrimCmd(void) const { return RTrimCmd; }
265 /** Get the gear extend/retract command. 0 commands gear up, 1 down.
267 @return the current value of the gear extend/retract command*/
268 inline double GetGearCmd(void) const { return GearCmd; }
271 /// @name Aerosurface position retrieval
273 /** Gets the left aileron position.
274 @return aileron position in radians */
275 inline double GetDaLPos( int form = ofRad )
276 const { return DaLPos[form]; }
278 /// @name Aerosurface position retrieval
280 /** Gets the right aileron position.
281 @return aileron position in radians */
282 inline double GetDaRPos( int form = ofRad )
283 const { return DaRPos[form]; }
285 /** Gets the elevator position.
286 @return elevator position in radians */
287 inline double GetDePos( int form = ofRad )
288 const { return DePos[form]; }
290 /** Gets the rudder position.
291 @return rudder position in radians */
292 inline double GetDrPos( int form = ofRad )
293 const { return DrPos[form]; }
295 /** Gets the speedbrake position.
296 @return speedbrake position in radians */
297 inline double GetDsbPos( int form = ofRad )
298 const { return DsbPos[form]; }
300 /** Gets the spoiler position.
301 @return spoiler position in radians */
302 inline double GetDspPos( int form = ofRad )
303 const { return DspPos[form]; }
305 /** Gets the flaps position.
306 @return flaps position in radians */
307 inline double GetDfPos( int form = ofRad )
308 const { return DfPos[form]; }
310 /** Gets the throttle position.
311 @param engine engine ID number
312 @return throttle position for the given engine in range from 0 - 1.0 */
313 double GetThrottlePos(int engine) const;
315 /** Gets the mixture position.
316 @param engine engine ID number
317 @return mixture position for the given engine in range from 0 - 1.0 */
318 inline double GetMixturePos(int engine) const { return MixturePos[engine]; }
320 /** Gets the steering position.
321 @return steering position in degrees */
322 double GetSteerPosDeg(int gear) const { return SteerPosDeg[gear]; }
324 /** Gets the gear position (0 up, 1 down), defaults to down
325 @return gear position (0 up, 1 down) */
326 inline double GetGearPos(void) const { return GearPos; }
328 /** Gets the prop pitch position.
329 @param engine engine ID number
330 @return prop pitch position for the given engine in range from 0 - 1.0 */
331 inline double GetPropAdvance(int engine) const { return PropAdvance[engine]; }
333 /** Gets the prop feather position.
334 @param engine engine ID number
335 @return prop fether for the given engine (on / off)*/
336 inline bool GetPropFeather(int engine) const { return PropFeather[engine]; }
339 /** Retrieves the State object pointer.
340 This is used by the FGFCS-owned components.
341 @return pointer to the State object */
342 inline FGState* GetState(void) { return State; }
344 /** Retrieves all component names for inclusion in output stream
345 @param delimeter either a tab or comma string depending on output type
346 @return a string containing the descriptive names for all components */
347 string GetComponentStrings(string delimeter);
349 /** Retrieves all component outputs for inclusion in output stream
350 @param delimeter either a tab or comma string depending on output type
351 @return a string containing the numeric values for the current set of
353 string GetComponentValues(string delimeter);
355 /// @name Pilot input command setting
357 /** Sets the aileron command
358 @param cmd aileron command */
359 inline void SetDaCmd( double cmd ) { DaCmd = cmd; }
361 /** Sets the elevator command
362 @param cmd elevator command in percent*/
363 inline void SetDeCmd(double cmd ) { DeCmd = cmd; }
365 /** Sets the rudder command
366 @param cmd rudder command in percent*/
367 inline void SetDrCmd(double cmd) { DrCmd = cmd; }
369 /** Sets the steering command
370 @param cmd steering command in percent*/
371 inline void SetDsCmd(double cmd) { DsCmd = cmd; }
373 /** Sets the flaps command
374 @param cmd flaps command in percent*/
375 inline void SetDfCmd(double cmd) { DfCmd = cmd; }
377 /** Sets the speedbrake command
378 @param cmd speedbrake command in percent*/
379 inline void SetDsbCmd(double cmd) { DsbCmd = cmd; }
381 /** Sets the spoilers command
382 @param cmd spoilers command in percent*/
383 inline void SetDspCmd(double cmd) { DspCmd = cmd; }
385 /** Sets the pitch trim command
386 @param cmd pitch trim command in percent*/
387 inline void SetPitchTrimCmd(double cmd) { PTrimCmd = cmd; }
389 /** Sets the rudder trim command
390 @param cmd rudder trim command in percent*/
391 inline void SetYawTrimCmd(double cmd) { YTrimCmd = cmd; }
393 /** Sets the aileron trim command
394 @param cmd aileron trim command in percent*/
395 inline void SetRollTrimCmd(double cmd) { RTrimCmd = cmd; }
397 /** Sets the throttle command for the specified engine
398 @param engine engine ID number
399 @param cmd throttle command in percent (0 - 100)*/
400 void SetThrottleCmd(int engine, double cmd);
402 /** Sets the mixture command for the specified engine
403 @param engine engine ID number
404 @param cmd mixture command in percent (0 - 100)*/
405 void SetMixtureCmd(int engine, double cmd);
407 /** Set the gear extend/retract command, defaults to down
408 @param gear command 0 for up, 1 for down */
409 void SetGearCmd(double gearcmd) { GearCmd = gearcmd; }
411 /** Sets the propeller pitch command for the specified engine
412 @param engine engine ID number
413 @param cmd mixture command in percent (0.0 - 1.0)*/
414 void SetPropAdvanceCmd(int engine, double cmd);
416 /** Sets the propeller feather command for the specified engine
417 @param engine engine ID number
418 @param cmd feather (bool)*/
419 void SetFeatherCmd(int engine, bool cmd);
422 /// @name Aerosurface position setting
424 /** Sets the left aileron position
425 @param cmd left aileron position in radians*/
426 inline void SetDaLPos( int form , double pos );
428 /** Sets the right aileron position
429 @param cmd right aileron position in radians*/
430 inline void SetDaRPos( int form , double pos );
432 /** Sets the elevator position
433 @param cmd elevator position in radians*/
434 inline void SetDePos( int form , double pos );
436 /** Sets the rudder position
437 @param cmd rudder position in radians*/
438 inline void SetDrPos( int form , double pos );
440 /** Sets the flaps position
441 @param cmd flaps position in radians*/
442 inline void SetDfPos( int form , double pos );
444 /** Sets the speedbrake position
445 @param cmd speedbrake position in radians*/
446 inline void SetDsbPos( int form , double pos );
448 /** Sets the spoiler position
449 @param cmd spoiler position in radians*/
450 inline void SetDspPos( int form , double pos );
452 /** Sets the actual throttle setting for the specified engine
453 @param engine engine ID number
454 @param cmd throttle setting in percent (0 - 100)*/
455 void SetThrottlePos(int engine, double cmd);
457 /** Sets the actual mixture setting for the specified engine
458 @param engine engine ID number
459 @param cmd mixture setting in percent (0 - 100)*/
460 void SetMixturePos(int engine, double cmd);
462 /** Sets the steering position
463 @param cmd steering position in degrees*/
464 void SetSteerPosDeg(int gear, double pos) { SteerPosDeg[gear] = pos; }
466 /** Set the gear extend/retract position, defaults to down
467 @param gear position 0 up, 1 down */
468 void SetGearPos(double gearpos) { GearPos = gearpos; }
471 /** Sets the actual prop pitch setting for the specified engine
472 @param engine engine ID number
473 @param cmd prop pitch setting in percent (0.0 - 1.0)*/
474 void SetPropAdvance(int engine, double cmd);
476 /** Sets the actual prop feather setting for the specified engine
477 @param engine engine ID number
478 @param cmd prop fether setting (bool)*/
479 void SetPropFeather(int engine, bool cmd);
482 /// @name Landing Gear brakes
484 /** Sets the left brake group
485 @param cmd brake setting in percent (0.0 - 1.0) */
486 void SetLBrake(double cmd) {LeftBrake = cmd;}
488 /** Sets the right brake group
489 @param cmd brake setting in percent (0.0 - 1.0) */
490 void SetRBrake(double cmd) {RightBrake = cmd;}
492 /** Sets the center brake group
493 @param cmd brake setting in percent (0.0 - 1.0) */
494 void SetCBrake(double cmd) {CenterBrake = cmd;}
496 /** Gets the brake for a specified group.
497 @param bg which brakegroup to retrieve the command for
498 @return the brake setting for the supplied brake group argument */
499 double GetBrake(FGLGear::BrakeGroup bg);
501 /** Gets the left brake.
502 @return the left brake setting. */
503 double GetLBrake(void) const {return LeftBrake;}
505 /** Gets the right brake.
506 @return the right brake setting. */
507 double GetRBrake(void) const {return RightBrake;}
509 /** Gets the center brake.
510 @return the center brake setting. */
511 double GetCBrake(void) const {return CenterBrake;}
514 enum SystemType { stFCS, stSystem, stAutoPilot };
516 /** Loads the Flight Control System.
517 Load() is called from FGFDMExec.
518 @param el pointer to the Element instance
519 @param systype type of system (FCS, Autopilot, System)
520 @return true if succesful */
521 bool Load(Element* el, SystemType systype);
523 ifstream* FindSystemFile(string system_filename);
524 string FindSystemFullPathname(string system_filename);
526 void AddThrottle(void);
530 FGPropertyManager* GetPropertyManager(void) { return PropertyManager; }
533 double DaCmd, DeCmd, DrCmd, DsCmd, DfCmd, DsbCmd, DspCmd;
534 double DePos[NForms], DaLPos[NForms], DaRPos[NForms], DrPos[NForms];
535 double DfPos[NForms], DsbPos[NForms], DspPos[NForms];
536 double PTrimCmd, YTrimCmd, RTrimCmd;
537 vector <double> ThrottleCmd;
538 vector <double> ThrottlePos;
539 vector <double> MixtureCmd;
540 vector <double> MixturePos;
541 vector <double> PropAdvanceCmd;
542 vector <double> PropAdvance;
543 vector <bool> PropFeatherCmd;
544 vector <bool> PropFeather;
545 vector <double> SteerPosDeg;
546 double LeftBrake, RightBrake, CenterBrake; // Brake settings
547 double GearCmd,GearPos;
549 typedef vector <FGFCSComponent*> FCSCompVec;
551 FCSCompVec FCSComponents;
552 FCSCompVec APComponents;
554 vector <double*> interface_properties;
556 void bindModel(void);
557 void bindThrottle(unsigned int);
558 void Debug(int from);