1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
7 ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.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 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
45 #include "models/flight_control/FGFCSComponent.h"
46 #include "models/FGModel.h"
47 #include "models/FGLGear.h"
48 #include "input_output/FGXMLFileRead.h"
50 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
52 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
54 #define ID_FCS "$Id: FGFCS.h,v 1.31 2010/09/22 11:33:40 jberndt Exp $"
56 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
58 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
62 typedef enum { ofRad=0, ofDeg, ofNorm, ofMag , NForms} OutputForm;
64 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
66 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
68 /** Encapsulates the Flight Control System (FCS) functionality.
69 This class also encapsulates the identical "system" and "autopilot" capability.
70 FGFCS owns and contains the list of FGFCSComponents
71 that define a system or systems for the modeled aircraft. The config file
72 for the aircraft contains a description of the control path that starts at
73 an input or command and ends at an effector, e.g. an aerosurface. The FCS
74 components which comprise the control laws for an axis are defined
75 sequentially in the configuration file. For instance, for the X-15:
78 <flight_control name="X-15 SAS">
80 <summer name="Pitch Trim Sum">
81 <input> fcs/elevator-cmd-norm </input>
82 <input> fcs/pitch-trim-cmd-norm </input>
89 <aerosurface_scale name="Pitch Command Scale">
90 <input> fcs/pitch-trim-sum </input>
100 In the above case we can see the first few components of the pitch channel
101 defined. The input to the first component (a summer), as can be seen in the "Pitch trim
102 sum" component, is really the sum of two parameters: elevator command (from
103 the stick - a pilot input), and pitch trim.
104 The next component created is an aerosurface scale component - a type of
105 gain (see the LoadFCS() method for insight on how the various types of
106 components map into the actual component classes). This continues until the
107 final component for an axis when the
108 \<output> element is usually used to specify where the output is supposed to go. See the
109 individual components for more information on how they are mechanized.
111 Another option for the flight controls portion of the config file is that in
112 addition to using the "NAME" attribute in,
115 <flight_control name="X-15 SAS">
118 one can also supply a filename:
121 <flight_control name="X-15 SAS" file="X15.xml">
125 In this case, the FCS would be read in from another file.
128 @property fcs/aileron-cmd-norm normalized aileron command
129 @property fcs/elevator-cmd-norm normalized elevator command
130 @property fcs/rudder-cmd-norm
131 @property fcs/steer-cmd-norm
132 @property fcs/flap-cmd-norm
133 @property fcs/speedbrake-cmd-norm
134 @property fcs/spoiler-cmd-norm
135 @property fcs/pitch-trim-cmd-norm
136 @property fcs/roll-trim-cmd-norm
137 @property fcs/yaw-trim-cmd-norm
138 @property gear/gear-cmd-norm
139 @property fcs/left-aileron-pos-rad
140 @property fcs/left-aileron-pos-deg
141 @property fcs/left-aileron-pos-norm
142 @property fcs/mag-left-aileron-pos-rad
143 @property fcs/right-aileron-pos-rad
144 @property fcs/right-aileron-pos-deg
145 @property fcs/right-aileron-pos-norm
146 @property fcs/mag-right-aileron-pos-rad
147 @property fcs/elevator-pos-rad
148 @property fcs/elevator-pos-deg
149 @property fcs/elevator-pos-norm
150 @property fcs/mag-elevator-pos-rad
151 @property fcs/rudder-pos-rad
152 @property fcs/rudder-pos-deg
153 @property fcs/rudder-pos-norm
154 @property fcs/mag-rudder-pos-rad
155 @property fcs/flap-pos-rad
156 @property fcs/flap-pos-deg
157 @property fcs/flap-pos-norm
158 @property fcs/speedbrake-pos-rad
159 @property fcs/speedbrake-pos-deg
160 @property fcs/speedbrake-pos-norm
161 @property fcs/mag-speedbrake-pos-rad
162 @property fcs/spoiler-pos-rad
163 @property fcs/spoiler-pos-deg
164 @property fcs/spoiler-pos-norm
165 @property fcs/mag-spoiler-pos-rad
166 @property fcs/wing-fold-pos-norm
167 @property gear/gear-pos-norm
168 @property gear/tailhook-pos-norm
170 @author Jon S. Berndt
171 @version $Revision: 1.31 $
186 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
188 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
190 class FGFCS : public FGModel, public FGXMLFileRead
195 @param Executive a pointer to the parent executive object */
200 bool InitModel(void);
202 /** Runs the Flight Controls model; called by the Executive
203 @return false if no error */
206 /// @name Pilot input command retrieval
208 /** Gets the aileron command.
209 @return aileron command in range from -1.0 - 1.0 */
210 double GetDaCmd(void) const { return DaCmd; }
212 /** Gets the elevator command.
213 @return elevator command in range from -1.0 - 1.0 */
214 double GetDeCmd(void) const { return DeCmd; }
216 /** Gets the rudder command.
217 @return rudder command in range from -1.0 - 1.0 */
218 double GetDrCmd(void) const { return DrCmd; }
220 /** Gets the steering command.
221 @return steering command in range from -1.0 - 1.0 */
222 double GetDsCmd(void) const { return DsCmd; }
224 /** Gets the flaps command.
225 @return flaps command in range from 0 to 1.0 */
226 double GetDfCmd(void) const { return DfCmd; }
228 /** Gets the speedbrake command.
229 @return speedbrake command in range from 0 to 1.0 */
230 double GetDsbCmd(void) const { return DsbCmd; }
232 /** Gets the spoiler command.
233 @return spoiler command in range from 0 to 1.0 */
234 double GetDspCmd(void) const { return DspCmd; }
236 /** Gets the throttle command.
237 @param engine engine ID number
238 @return throttle command in range from 0 - 1.0 for the given engine */
239 double GetThrottleCmd(int engine) const;
241 /** Gets the mixture command.
242 @param engine engine ID number
243 @return mixture command in range from 0 - 1.0 for the given engine */
244 double GetMixtureCmd(int engine) const { return MixtureCmd[engine]; }
246 /** Gets the prop pitch command.
247 @param engine engine ID number
248 @return pitch command in range from 0.0 - 1.0 for the given engine */
249 double GetPropAdvanceCmd(int engine) const { return PropAdvanceCmd[engine]; }
251 /** Gets the prop feather command.
252 @param engine engine ID number
253 @return feather command for the given engine (on / off)*/
254 bool GetFeatherCmd(int engine) const { return PropFeatherCmd[engine]; }
256 /** Gets the pitch trim command.
257 @return pitch trim command in range from -1.0 to 1.0 */
258 double GetPitchTrimCmd(void) const { return PTrimCmd; }
260 /** Gets the rudder trim command.
261 @return rudder trim command in range from -1.0 - 1.0 */
262 double GetYawTrimCmd(void) const { return YTrimCmd; }
264 /** Gets the aileron trim command.
265 @return aileron trim command in range from -1.0 - 1.0 */
266 double GetRollTrimCmd(void) const { return RTrimCmd; }
268 /** Get the gear extend/retract command. 0 commands gear up, 1 down.
270 @return the current value of the gear extend/retract command*/
271 double GetGearCmd(void) const { return GearCmd; }
274 /// @name Aerosurface position retrieval
276 /** Gets the left aileron position.
277 @return aileron position in radians */
278 double GetDaLPos( int form = ofRad )
279 const { return DaLPos[form]; }
281 /** Gets the right aileron position.
282 @return aileron position in radians */
283 double GetDaRPos( int form = ofRad )
284 const { return DaRPos[form]; }
286 /** Gets the elevator position.
287 @return elevator position in radians */
288 double GetDePos( int form = ofRad )
289 const { return DePos[form]; }
291 /** Gets the rudder position.
292 @return rudder position in radians */
293 double GetDrPos( int form = ofRad )
294 const { return DrPos[form]; }
296 /** Gets the speedbrake position.
297 @return speedbrake position in radians */
298 double GetDsbPos( int form = ofRad )
299 const { return DsbPos[form]; }
301 /** Gets the spoiler position.
302 @return spoiler position in radians */
303 double GetDspPos( int form = ofRad )
304 const { return DspPos[form]; }
306 /** Gets the flaps position.
307 @return flaps position in radians */
308 double GetDfPos( int form = ofRad )
309 const { return DfPos[form]; }
311 /** Gets the throttle position.
312 @param engine engine ID number
313 @return throttle position for the given engine in range from 0 - 1.0 */
314 double GetThrottlePos(int engine) const;
316 /** Gets the mixture position.
317 @param engine engine ID number
318 @return mixture position for the given engine in range from 0 - 1.0 */
319 double GetMixturePos(int engine) const { return MixturePos[engine]; }
321 /** Gets the steering position.
322 @return steering position in degrees */
323 double GetSteerPosDeg(int gear) const { return SteerPosDeg[gear]; }
325 /** Gets the gear position (0 up, 1 down), defaults to down
326 @return gear position (0 up, 1 down) */
327 double GetGearPos(void) const { return GearPos; }
329 /** Gets the tailhook position (0 up, 1 down)
330 @return tailhook position (0 up, 1 down) */
331 double GetTailhookPos(void) const { return TailhookPos; }
333 /** Gets the wing fold position (0 unfolded, 1 folded)
334 @return wing fold position (0 unfolded, 1 folded) */
335 double GetWingFoldPos(void) const { return WingFoldPos; }
337 /** Gets the prop pitch position.
338 @param engine engine ID number
339 @return prop pitch position for the given engine in range from 0 - 1.0 */
340 double GetPropAdvance(int engine) const { return PropAdvance[engine]; }
342 /** Gets the prop feather position.
343 @param engine engine ID number
344 @return prop fether for the given engine (on / off)*/
345 bool GetPropFeather(int engine) const { return PropFeather[engine]; }
348 /** Retrieves all component names for inclusion in output stream
349 @param delimiter either a tab or comma string depending on output type
350 @return a string containing the descriptive names for all components */
351 std::string GetComponentStrings(const std::string& delimiter) const;
353 /** Retrieves all component outputs for inclusion in output stream
354 @param delimiter either a tab or comma string depending on output type
355 @return a string containing the numeric values for the current set of
357 std::string GetComponentValues(const std::string& delimiter) const;
359 /// @name Pilot input command setting
361 /** Sets the aileron command
362 @param cmd aileron command */
363 void SetDaCmd( double cmd ) { DaCmd = cmd; }
365 /** Sets the elevator command
366 @param cmd elevator command in percent*/
367 void SetDeCmd(double cmd ) { DeCmd = cmd; }
369 /** Sets the rudder command
370 @param cmd rudder command in percent*/
371 void SetDrCmd(double cmd) { DrCmd = cmd; }
373 /** Sets the steering command
374 @param cmd steering command in percent*/
375 void SetDsCmd(double cmd) { DsCmd = cmd; }
377 /** Sets the flaps command
378 @param cmd flaps command in percent*/
379 void SetDfCmd(double cmd) { DfCmd = cmd; }
381 /** Sets the speedbrake command
382 @param cmd speedbrake command in percent*/
383 void SetDsbCmd(double cmd) { DsbCmd = cmd; }
385 /** Sets the spoilers command
386 @param cmd spoilers command in percent*/
387 void SetDspCmd(double cmd) { DspCmd = cmd; }
389 /** Sets the pitch trim command
390 @param cmd pitch trim command in percent*/
391 void SetPitchTrimCmd(double cmd) { PTrimCmd = cmd; }
393 /** Sets the rudder trim command
394 @param cmd rudder trim command in percent*/
395 void SetYawTrimCmd(double cmd) { YTrimCmd = cmd; }
397 /** Sets the aileron trim command
398 @param cmd aileron trim command in percent*/
399 void SetRollTrimCmd(double cmd) { RTrimCmd = cmd; }
401 /** Sets the throttle command for the specified engine
402 @param engine engine ID number
403 @param cmd normalized throttle command (0.0 - 1.0)*/
404 void SetThrottleCmd(int engine, double cmd);
406 /** Sets the mixture command for the specified engine
407 @param engine engine ID number
408 @param cmd normalized mixture command (0.0 - 1.0)*/
409 void SetMixtureCmd(int engine, double cmd);
411 /** Set the gear extend/retract command, defaults to down
412 @param gear command 0 for up, 1 for down */
413 void SetGearCmd(double gearcmd) { GearCmd = gearcmd; }
415 /** Sets the propeller pitch command for the specified engine
416 @param engine engine ID number
417 @param cmd mixture command in percent (0.0 - 1.0)*/
418 void SetPropAdvanceCmd(int engine, double cmd);
420 /** Sets the propeller feather command for the specified engine
421 @param engine engine ID number
422 @param cmd feather (bool)*/
423 void SetFeatherCmd(int engine, bool cmd);
426 /// @name Aerosurface position setting
428 /** Sets the left aileron position
429 @param cmd left aileron position in radians*/
430 void SetDaLPos( int form , double pos );
432 /** Sets the right aileron position
433 @param cmd right aileron position in radians*/
434 void SetDaRPos( int form , double pos );
436 /** Sets the elevator position
437 @param cmd elevator position in radians*/
438 void SetDePos( int form , double pos );
440 /** Sets the rudder position
441 @param cmd rudder position in radians*/
442 void SetDrPos( int form , double pos );
444 /** Sets the flaps position
445 @param cmd flaps position in radians*/
446 void SetDfPos( int form , double pos );
448 /** Sets the speedbrake position
449 @param cmd speedbrake position in radians*/
450 void SetDsbPos( int form , double pos );
452 /** Sets the spoiler position
453 @param cmd spoiler position in radians*/
454 void SetDspPos( int form , double pos );
456 /** Sets the actual throttle setting for the specified engine
457 @param engine engine ID number
458 @param cmd normalized throttle setting (0.0 - 1.0)*/
459 void SetThrottlePos(int engine, double cmd);
461 /** Sets the actual mixture setting for the specified engine
462 @param engine engine ID number
463 @param cmd normalized mixture setting (0.0 - 1.0)*/
464 void SetMixturePos(int engine, double cmd);
466 /** Sets the steering position
467 @param cmd steering position in degrees*/
468 void SetSteerPosDeg(int gear, double pos) { SteerPosDeg[gear] = pos; }
470 /** Set the gear extend/retract position, defaults to down
471 @param gear position 0 up, 1 down */
472 void SetGearPos(double gearpos) { GearPos = gearpos; }
474 /** Set the tailhook position
475 @param tailhook position 0 up, 1 down */
476 void SetTailhookPos(double hookpos) { TailhookPos = hookpos; }
478 /** Set the wing fold position
479 @param wing fold position 0 unfolded, 1 folded */
480 void SetWingFoldPos(double foldpos) { WingFoldPos = foldpos; }
482 /** Sets the actual prop pitch setting for the specified engine
483 @param engine engine ID number
484 @param cmd prop pitch setting in percent (0.0 - 1.0)*/
485 void SetPropAdvance(int engine, double cmd);
487 /** Sets the actual prop feather setting for the specified engine
488 @param engine engine ID number
489 @param cmd prop fether setting (bool)*/
490 void SetPropFeather(int engine, bool cmd);
493 /// @name Landing Gear brakes
495 /** Sets the left brake group
496 @param cmd brake setting in percent (0.0 - 1.0) */
497 void SetLBrake(double cmd) {LeftBrake = cmd;}
499 /** Sets the right brake group
500 @param cmd brake setting in percent (0.0 - 1.0) */
501 void SetRBrake(double cmd) {RightBrake = cmd;}
503 /** Sets the center brake group
504 @param cmd brake setting in percent (0.0 - 1.0) */
505 void SetCBrake(double cmd) {CenterBrake = cmd;}
507 /** Gets the brake for a specified group.
508 @param bg which brakegroup to retrieve the command for
509 @return the brake setting for the supplied brake group argument */
510 double GetBrake(FGLGear::BrakeGroup bg);
512 /** Gets the left brake.
513 @return the left brake setting. */
514 double GetLBrake(void) const {return LeftBrake;}
516 /** Gets the right brake.
517 @return the right brake setting. */
518 double GetRBrake(void) const {return RightBrake;}
520 /** Gets the center brake.
521 @return the center brake setting. */
522 double GetCBrake(void) const {return CenterBrake;}
525 enum SystemType { stFCS, stSystem, stAutoPilot };
527 /** Loads the Flight Control System.
528 Load() is called from FGFDMExec.
529 @param el pointer to the Element instance
530 @param systype type of system (FCS, Autopilot, System)
531 @return true if succesful */
532 bool Load(Element* el, SystemType systype);
534 std::ifstream* FindSystemFile(const std::string& system_filename);
535 std::string FindSystemFullPathname(const std::string& system_filename);
537 void AddThrottle(void);
541 FGPropertyManager* GetPropertyManager(void) { return PropertyManager; }
546 double DaCmd, DeCmd, DrCmd, DsCmd, DfCmd, DsbCmd, DspCmd;
547 double DePos[NForms], DaLPos[NForms], DaRPos[NForms], DrPos[NForms];
548 double DfPos[NForms], DsbPos[NForms], DspPos[NForms];
549 double PTrimCmd, YTrimCmd, RTrimCmd;
550 std::vector <double> ThrottleCmd;
551 std::vector <double> ThrottlePos;
552 std::vector <double> MixtureCmd;
553 std::vector <double> MixturePos;
554 std::vector <double> PropAdvanceCmd;
555 std::vector <double> PropAdvance;
556 std::vector <bool> PropFeatherCmd;
557 std::vector <bool> PropFeather;
558 std::vector <double> SteerPosDeg;
559 double LeftBrake, RightBrake, CenterBrake; // Brake settings
560 double GearCmd,GearPos;
561 double TailhookPos, WingFoldPos;
563 typedef std::vector <FGFCSComponent*> FCSCompVec;
565 FCSCompVec FCSComponents;
566 FCSCompVec APComponents;
568 void bindModel(void);
569 void bindThrottle(unsigned int);
570 void Debug(int from);