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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42 # include <simgear/compiler.h>
43 # ifdef SG_HAVE_STD_INCLUDES
53 #include <models/flight_control/FGFCSComponent.h>
54 #include <models/FGModel.h>
55 #include <models/FGLGear.h>
56 #include <input_output/FGXMLFileRead.h>
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64 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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70 typedef enum { ofRad=0, ofDeg, ofNorm, ofMag , NForms} OutputForm;
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76 /** Encapsulates the Flight Control System (FCS) functionality.
77 This class owns and contains the list of FGFCSComponents
78 that define the control system for this aircraft. The config file for the
79 aircraft contains a description of the control path that starts at an input
80 or command and ends at an effector, e.g. an aerosurface. The FCS components
81 which comprise the control laws for an axis are defined sequentially in
82 the configuration file. For instance, for the X-15:
85 <flight_control name="X-15 SAS">
87 <summer name="Pitch Trim Sum">
88 <input> fcs/elevator-cmd-norm </input>
89 <input> fcs/pitch-trim-cmd-norm </input>
96 <aerosurface_scale name="Pitch Command Scale">
97 <input> fcs/pitch-trim-sum </input>
107 In the above case we can see the first few components of the pitch channel
108 defined. The input to the first component (a summer), as can be seen in the "Pitch trim
109 sum" component, is really the sum of two parameters: elevator command (from
110 the stick - a pilot input), and pitch trim.
111 The next component created is an aerosurface scale component - a type of
112 gain (see the LoadFCS() method for insight on how the various types of
113 components map into the actual component classes). This continues until the
114 final component for an axis when the
115 \<output> element is usually used to specify where the output is supposed to go. See the
116 individual components for more information on how they are mechanized.
118 Another option for the flight controls portion of the config file is that in
119 addition to using the "NAME" attribute in,
122 \<flight_control name="X-15 SAS">
125 one can also supply a filename:
128 \<flight_control name="X-15 SAS" file="X15.xml">
132 In this case, the FCS would be read in from another file.
135 @property fcs/aileron-cmd-norm normalized aileron command
136 @property fcs/elevator-cmd-norm normalized elevator command
137 @property fcs/rudder-cmd-norm
138 @property fcs/steer-cmd-norm
139 @property fcs/flap-cmd-norm
140 @property fcs/speedbrake-cmd-norm
141 @property fcs/spoiler-cmd-norm
142 @property fcs/pitch-trim-cmd-norm
143 @property fcs/roll-trim-cmd-norm
144 @property fcs/yaw-trim-cmd-norm
145 @property gear/gear-cmd-norm
146 @property fcs/left-aileron-pos-rad
147 @property fcs/left-aileron-pos-deg
148 @property fcs/left-aileron-pos-norm
149 @property fcs/mag-left-aileron-pos-rad
150 @property fcs/right-aileron-pos-rad
151 @property fcs/right-aileron-pos-deg
152 @property fcs/right-aileron-pos-norm
153 @property fcs/mag-right-aileron-pos-rad
154 @property fcs/elevator-pos-rad
155 @property fcs/elevator-pos-deg
156 @property fcs/elevator-pos-norm
157 @property fcs/mag-elevator-pos-rad
158 @property fcs/rudder-pos-rad
159 @property fcs/rudder-pos-deg
160 @property fcs/rudder-pos-norm
161 @property fcs/mag-rudder-pos-rad
162 @property fcs/flap-pos-rad
163 @property fcs/flap-pos-deg
164 @property fcs/flap-pos-norm
165 @property fcs/speedbrake-pos-rad
166 @property fcs/speedbrake-pos-deg
167 @property fcs/speedbrake-pos-norm
168 @property fcs/mag-speedbrake-pos-rad
169 @property fcs/spoiler-pos-rad
170 @property fcs/spoiler-pos-deg
171 @property fcs/spoiler-pos-norm
172 @property fcs/mag-spoiler-pos-rad
173 @property gear/gear-pos-norm
175 @author Jon S. Berndt
190 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
192 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
194 class FGFCS : public FGModel, public FGXMLFileRead
199 @param Executive a pointer to the parent executive object */
204 /** Runs the Flight Controls model; called by the Executive
205 @return false if no error */
208 /// @name Pilot input command retrieval
210 /** Gets the aileron command.
211 @return aileron command in range from -1.0 - 1.0 */
212 inline double GetDaCmd(void) const { return DaCmd; }
214 /** Gets the elevator command.
215 @return elevator command in range from -1.0 - 1.0 */
216 inline double GetDeCmd(void) const { return DeCmd; }
218 /** Gets the rudder command.
219 @return rudder command in range from -1.0 - 1.0 */
220 inline double GetDrCmd(void) const { return DrCmd; }
222 /** Gets the steering command.
223 @return steering command in range from -1.0 - 1.0 */
224 inline double GetDsCmd(void) const { return DsCmd; }
226 /** Gets the flaps command.
227 @return flaps command in range from 0 to 1.0 */
228 inline double GetDfCmd(void) const { return DfCmd; }
230 /** Gets the speedbrake command.
231 @return speedbrake command in range from 0 to 1.0 */
232 inline double GetDsbCmd(void) const { return DsbCmd; }
234 /** Gets the spoiler command.
235 @return spoiler command in range from 0 to 1.0 */
236 inline double GetDspCmd(void) const { return DspCmd; }
238 /** Gets the throttle command.
239 @param engine engine ID number
240 @return throttle command in range from 0 - 1.0 for the given engine */
241 double GetThrottleCmd(int engine) const;
243 /** Gets the mixture command.
244 @param engine engine ID number
245 @return mixture command in range from 0 - 1.0 for the given engine */
246 inline double GetMixtureCmd(int engine) const { return MixtureCmd[engine]; }
248 /** Gets the prop pitch command.
249 @param engine engine ID number
250 @return pitch command in range from 0.0 - 1.0 for the given engine */
251 inline double GetPropAdvanceCmd(int engine) const { return PropAdvanceCmd[engine]; }
253 /** Gets the prop feather command.
254 @param engine engine ID number
255 @return feather command for the given engine (on / off)*/
256 inline bool GetFeatherCmd(int engine) const { return PropFeatherCmd[engine]; }
258 /** Gets the pitch trim command.
259 @return pitch trim command in range from -1.0 to 1.0 */
260 inline double GetPitchTrimCmd(void) const { return PTrimCmd; }
262 /** Gets the rudder trim command.
263 @return rudder trim command in range from -1.0 - 1.0 */
264 inline double GetYawTrimCmd(void) const { return YTrimCmd; }
266 /** Gets the aileron trim command.
267 @return aileron trim command in range from -1.0 - 1.0 */
268 inline double GetRollTrimCmd(void) const { return RTrimCmd; }
270 /** Get the gear extend/retract command. 0 commands gear up, 1 down.
272 @return the current value of the gear extend/retract command*/
273 inline double GetGearCmd(void) const { return GearCmd; }
276 /// @name Aerosurface position retrieval
278 /** Gets the left aileron position.
279 @return aileron position in radians */
280 inline double GetDaLPos( int form = ofRad )
281 const { return DaLPos[form]; }
283 /// @name Aerosurface position retrieval
285 /** Gets the right aileron position.
286 @return aileron position in radians */
287 inline double GetDaRPos( int form = ofRad )
288 const { return DaRPos[form]; }
290 /** Gets the elevator position.
291 @return elevator position in radians */
292 inline double GetDePos( int form = ofRad )
293 const { return DePos[form]; }
295 /** Gets the rudder position.
296 @return rudder position in radians */
297 inline double GetDrPos( int form = ofRad )
298 const { return DrPos[form]; }
300 /** Gets the speedbrake position.
301 @return speedbrake position in radians */
302 inline double GetDsbPos( int form = ofRad )
303 const { return DsbPos[form]; }
305 /** Gets the spoiler position.
306 @return spoiler position in radians */
307 inline double GetDspPos( int form = ofRad )
308 const { return DspPos[form]; }
310 /** Gets the flaps position.
311 @return flaps position in radians */
312 inline double GetDfPos( int form = ofRad )
313 const { return DfPos[form]; }
315 /** Gets the throttle position.
316 @param engine engine ID number
317 @return throttle position for the given engine in range from 0 - 1.0 */
318 double GetThrottlePos(int engine) const;
320 /** Gets the mixture position.
321 @param engine engine ID number
322 @return mixture position for the given engine in range from 0 - 1.0 */
323 inline double GetMixturePos(int engine) const { return MixturePos[engine]; }
325 /** Gets the steering position.
326 @return steering position in degrees */
327 double GetSteerPosDeg(int gear) const { return SteerPosDeg[gear]; }
329 /** Gets the gear position (0 up, 1 down), defaults to down
330 @return gear position (0 up, 1 down) */
331 inline double GetGearPos(void) const { return GearPos; }
333 /** Gets the prop pitch position.
334 @param engine engine ID number
335 @return prop pitch position for the given engine in range from 0 - 1.0 */
336 inline double GetPropAdvance(int engine) const { return PropAdvance[engine]; }
338 /** Gets the prop feather position.
339 @param engine engine ID number
340 @return prop fether for the given engine (on / off)*/
341 inline bool GetPropFeather(int engine) const { return PropFeather[engine]; }
344 /** Retrieves the State object pointer.
345 This is used by the FGFCS-owned components.
346 @return pointer to the State object */
347 inline FGState* GetState(void) { return State; }
349 /** Retrieves all component names for inclusion in output stream
350 @param delimeter either a tab or comma string depending on output type
351 @return a string containing the descriptive names for all components */
352 string GetComponentStrings(string delimeter);
354 /** Retrieves all component outputs for inclusion in output stream
355 @param delimeter either a tab or comma string depending on output type
356 @return a string containing the numeric values for the current set of
358 string GetComponentValues(string delimeter);
360 /// @name Pilot input command setting
362 /** Sets the aileron command
363 @param cmd aileron command */
364 inline void SetDaCmd( double cmd ) { DaCmd = cmd; }
366 /** Sets the elevator command
367 @param cmd elevator command in percent*/
368 inline void SetDeCmd(double cmd ) { DeCmd = cmd; }
370 /** Sets the rudder command
371 @param cmd rudder command in percent*/
372 inline void SetDrCmd(double cmd) { DrCmd = cmd; }
374 /** Sets the steering command
375 @param cmd steering command in percent*/
376 inline void SetDsCmd(double cmd) { DsCmd = cmd; }
378 /** Sets the flaps command
379 @param cmd flaps command in percent*/
380 inline void SetDfCmd(double cmd) { DfCmd = cmd; }
382 /** Sets the speedbrake command
383 @param cmd speedbrake command in percent*/
384 inline void SetDsbCmd(double cmd) { DsbCmd = cmd; }
386 /** Sets the spoilers command
387 @param cmd spoilers command in percent*/
388 inline void SetDspCmd(double cmd) { DspCmd = cmd; }
390 /** Sets the pitch trim command
391 @param cmd pitch trim command in percent*/
392 inline void SetPitchTrimCmd(double cmd) { PTrimCmd = cmd; }
394 /** Sets the rudder trim command
395 @param cmd rudder trim command in percent*/
396 inline void SetYawTrimCmd(double cmd) { YTrimCmd = cmd; }
398 /** Sets the aileron trim command
399 @param cmd aileron trim command in percent*/
400 inline void SetRollTrimCmd(double cmd) { RTrimCmd = cmd; }
402 /** Sets the throttle command for the specified engine
403 @param engine engine ID number
404 @param cmd throttle command in percent (0 - 100)*/
405 void SetThrottleCmd(int engine, double cmd);
407 /** Sets the mixture command for the specified engine
408 @param engine engine ID number
409 @param cmd mixture command in percent (0 - 100)*/
410 void SetMixtureCmd(int engine, double cmd);
412 /** Set the gear extend/retract command, defaults to down
413 @param gear command 0 for up, 1 for down */
414 void SetGearCmd(double gearcmd) { GearCmd = gearcmd; }
416 /** Sets the propeller pitch command for the specified engine
417 @param engine engine ID number
418 @param cmd mixture command in percent (0.0 - 1.0)*/
419 void SetPropAdvanceCmd(int engine, double cmd);
421 /** Sets the propeller feather command for the specified engine
422 @param engine engine ID number
423 @param cmd feather (bool)*/
424 void SetFeatherCmd(int engine, bool cmd);
427 /// @name Aerosurface position setting
429 /** Sets the left aileron position
430 @param cmd left aileron position in radians*/
431 inline void SetDaLPos( int form , double pos );
433 /** Sets the right aileron position
434 @param cmd right aileron position in radians*/
435 inline void SetDaRPos( int form , double pos );
437 /** Sets the elevator position
438 @param cmd elevator position in radians*/
439 inline void SetDePos( int form , double pos );
441 /** Sets the rudder position
442 @param cmd rudder position in radians*/
443 inline void SetDrPos( int form , double pos );
445 /** Sets the flaps position
446 @param cmd flaps position in radians*/
447 inline void SetDfPos( int form , double pos );
449 /** Sets the speedbrake position
450 @param cmd speedbrake position in radians*/
451 inline void SetDsbPos( int form , double pos );
453 /** Sets the spoiler position
454 @param cmd spoiler position in radians*/
455 inline void SetDspPos( int form , double pos );
457 /** Sets the actual throttle setting for the specified engine
458 @param engine engine ID number
459 @param cmd throttle setting in percent (0 - 100)*/
460 void SetThrottlePos(int engine, double cmd);
462 /** Sets the actual mixture setting for the specified engine
463 @param engine engine ID number
464 @param cmd mixture setting in percent (0 - 100)*/
465 void SetMixturePos(int engine, double cmd);
467 /** Sets the steering position
468 @param cmd steering position in degrees*/
469 void SetSteerPosDeg(int gear, double pos) { SteerPosDeg[gear] = pos; }
471 /** Set the gear extend/retract position, defaults to down
472 @param gear position 0 up, 1 down */
473 void SetGearPos(double gearpos) { GearPos = gearpos; }
476 /** Sets the actual prop pitch setting for the specified engine
477 @param engine engine ID number
478 @param cmd prop pitch setting in percent (0.0 - 1.0)*/
479 void SetPropAdvance(int engine, double cmd);
481 /** Sets the actual prop feather setting for the specified engine
482 @param engine engine ID number
483 @param cmd prop fether setting (bool)*/
484 void SetPropFeather(int engine, bool cmd);
487 /// @name Landing Gear brakes
489 /** Sets the left brake group
490 @param cmd brake setting in percent (0.0 - 1.0) */
491 void SetLBrake(double cmd) {LeftBrake = cmd;}
493 /** Sets the right brake group
494 @param cmd brake setting in percent (0.0 - 1.0) */
495 void SetRBrake(double cmd) {RightBrake = cmd;}
497 /** Sets the center brake group
498 @param cmd brake setting in percent (0.0 - 1.0) */
499 void SetCBrake(double cmd) {CenterBrake = cmd;}
501 /** Gets the brake for a specified group.
502 @param bg which brakegroup to retrieve the command for
503 @return the brake setting for the supplied brake group argument */
504 double GetBrake(FGLGear::BrakeGroup bg);
506 /** Gets the left brake.
507 @return the left brake setting. */
508 double GetLBrake(void) const {return LeftBrake;}
510 /** Gets the right brake.
511 @return the right brake setting. */
512 double GetRBrake(void) const {return RightBrake;}
514 /** Gets the center brake.
515 @return the center brake setting. */
516 double GetCBrake(void) const {return CenterBrake;}
519 /** Loads the Flight Control System.
520 Load() is called from FGFDMExec.
521 @param el pointer to the Element instance
522 @return true if succesful */
523 bool Load(Element* el);
525 void AddThrottle(void);
529 FGPropertyManager* GetPropertyManager(void) { return PropertyManager; }
532 double DaCmd, DeCmd, DrCmd, DsCmd, DfCmd, DsbCmd, DspCmd;
533 double DePos[NForms], DaLPos[NForms], DaRPos[NForms], DrPos[NForms];
534 double DfPos[NForms], DsbPos[NForms], DspPos[NForms];
535 double PTrimCmd, YTrimCmd, RTrimCmd;
536 vector <double> ThrottleCmd;
537 vector <double> ThrottlePos;
538 vector <double> MixtureCmd;
539 vector <double> MixturePos;
540 vector <double> PropAdvanceCmd;
541 vector <double> PropAdvance;
542 vector <bool> PropFeatherCmd;
543 vector <bool> PropFeather;
544 vector <double> SteerPosDeg;
545 double LeftBrake, RightBrake, CenterBrake; // Brake settings
546 double GearCmd,GearPos;
548 vector <FGFCSComponent*> FCSComponents;
549 vector <FGFCSComponent*> APComponents;
550 vector <double*> interface_properties;
551 vector <FGFCSComponent*> sensors;
553 void bindModel(void);
554 void bindThrottle(unsigned int);
555 void unbind(FGPropertyManager *node);
556 void Debug(int from);