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 1.36 2011/05/20 03:18:36 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: 1.36 $
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 Can pass in a value indicating if the executive is directing the simulation to Hold.
204 @param Holding if true, the executive has been directed to hold the sim from
205 advancing time. Some models may ignore this flag, such as the Input
206 model, which may need to be active to listen on a socket for the
207 "Resume" command to be given.
208 @return false if no error */
209 bool Run(bool Holding);
211 /// @name Pilot input command retrieval
213 /** Gets the aileron command.
214 @return aileron command in range from -1.0 - 1.0 */
215 double GetDaCmd(void) const { return DaCmd; }
217 /** Gets the elevator command.
218 @return elevator command in range from -1.0 - 1.0 */
219 double GetDeCmd(void) const { return DeCmd; }
221 /** Gets the rudder command.
222 @return rudder command in range from -1.0 - 1.0 */
223 double GetDrCmd(void) const { return DrCmd; }
225 /** Gets the steering command.
226 @return steering command in range from -1.0 - 1.0 */
227 double GetDsCmd(void) const { return DsCmd; }
229 /** Gets the flaps command.
230 @return flaps command in range from 0 to 1.0 */
231 double GetDfCmd(void) const { return DfCmd; }
233 /** Gets the speedbrake command.
234 @return speedbrake command in range from 0 to 1.0 */
235 double GetDsbCmd(void) const { return DsbCmd; }
237 /** Gets the spoiler command.
238 @return spoiler command in range from 0 to 1.0 */
239 double GetDspCmd(void) const { return DspCmd; }
241 /** Gets the throttle command.
242 @param engine engine ID number
243 @return throttle command in range from 0 - 1.0 for the given engine */
244 double GetThrottleCmd(int engine) const;
246 /** Gets the mixture command.
247 @param engine engine ID number
248 @return mixture command in range from 0 - 1.0 for the given engine */
249 double GetMixtureCmd(int engine) const { return MixtureCmd[engine]; }
251 /** Gets the prop pitch command.
252 @param engine engine ID number
253 @return pitch command in range from 0.0 - 1.0 for the given engine */
254 double GetPropAdvanceCmd(int engine) const { return PropAdvanceCmd[engine]; }
256 /** Gets the prop feather command.
257 @param engine engine ID number
258 @return feather command for the given engine (on / off)*/
259 bool GetFeatherCmd(int engine) const { return PropFeatherCmd[engine]; }
261 /** Gets the pitch trim command.
262 @return pitch trim command in range from -1.0 to 1.0 */
263 double GetPitchTrimCmd(void) const { return PTrimCmd; }
265 /** Gets the rudder trim command.
266 @return rudder trim command in range from -1.0 - 1.0 */
267 double GetYawTrimCmd(void) const { return YTrimCmd; }
269 /** Gets the aileron trim command.
270 @return aileron trim command in range from -1.0 - 1.0 */
271 double GetRollTrimCmd(void) const { return RTrimCmd; }
273 /** Get the gear extend/retract command. 0 commands gear up, 1 down.
275 @return the current value of the gear extend/retract command*/
276 double GetGearCmd(void) const { return GearCmd; }
279 /// @name Aerosurface position retrieval
281 /** Gets the left aileron position.
282 @return aileron position in radians */
283 double GetDaLPos( int form = ofRad )
284 const { return DaLPos[form]; }
286 /** Gets the right aileron position.
287 @return aileron position in radians */
288 double GetDaRPos( int form = ofRad )
289 const { return DaRPos[form]; }
291 /** Gets the elevator position.
292 @return elevator position in radians */
293 double GetDePos( int form = ofRad )
294 const { return DePos[form]; }
296 /** Gets the rudder position.
297 @return rudder position in radians */
298 double GetDrPos( int form = ofRad )
299 const { return DrPos[form]; }
301 /** Gets the speedbrake position.
302 @return speedbrake position in radians */
303 double GetDsbPos( int form = ofRad )
304 const { return DsbPos[form]; }
306 /** Gets the spoiler position.
307 @return spoiler position in radians */
308 double GetDspPos( int form = ofRad )
309 const { return DspPos[form]; }
311 /** Gets the flaps position.
312 @return flaps position in radians */
313 double GetDfPos( int form = ofRad )
314 const { return DfPos[form]; }
316 /** Gets the throttle position.
317 @param engine engine ID number
318 @return throttle position for the given engine in range from 0 - 1.0 */
319 double GetThrottlePos(int engine) const;
321 /** Gets the mixture position.
322 @param engine engine ID number
323 @return mixture position for the given engine in range from 0 - 1.0 */
324 double GetMixturePos(int engine) const { return MixturePos[engine]; }
326 /** Gets the steering position.
327 @return steering position in degrees */
328 double GetSteerPosDeg(int gear) const { return SteerPosDeg[gear]; }
330 /** Gets the gear position (0 up, 1 down), defaults to down
331 @return gear position (0 up, 1 down) */
332 double GetGearPos(void) const { return GearPos; }
334 /** Gets the tailhook position (0 up, 1 down)
335 @return tailhook position (0 up, 1 down) */
336 double GetTailhookPos(void) const { return TailhookPos; }
338 /** Gets the wing fold position (0 unfolded, 1 folded)
339 @return wing fold position (0 unfolded, 1 folded) */
340 double GetWingFoldPos(void) const { return WingFoldPos; }
342 /** Gets the prop pitch position.
343 @param engine engine ID number
344 @return prop pitch position for the given engine in range from 0 - 1.0 */
345 double GetPropAdvance(int engine) const { return PropAdvance[engine]; }
347 /** Gets the prop feather position.
348 @param engine engine ID number
349 @return prop fether for the given engine (on / off)*/
350 bool GetPropFeather(int engine) const { return PropFeather[engine]; }
353 /** Retrieves all component names for inclusion in output stream
354 @param delimiter either a tab or comma string depending on output type
355 @return a string containing the descriptive names for all components */
356 std::string GetComponentStrings(const std::string& delimiter) const;
358 /** Retrieves all component outputs for inclusion in output stream
359 @param delimiter either a tab or comma string depending on output type
360 @return a string containing the numeric values for the current set of
362 std::string GetComponentValues(const std::string& delimiter) const;
364 /// @name Pilot input command setting
366 /** Sets the aileron command
367 @param cmd aileron command */
368 void SetDaCmd( double cmd ) { DaCmd = cmd; }
370 /** Sets the elevator command
371 @param cmd elevator command in percent*/
372 void SetDeCmd(double cmd ) { DeCmd = cmd; }
374 /** Sets the rudder command
375 @param cmd rudder command in percent*/
376 void SetDrCmd(double cmd) { DrCmd = cmd; }
378 /** Sets the steering command
379 @param cmd steering command in percent*/
380 void SetDsCmd(double cmd) { DsCmd = cmd; }
382 /** Sets the flaps command
383 @param cmd flaps command in percent*/
384 void SetDfCmd(double cmd) { DfCmd = cmd; }
386 /** Sets the speedbrake command
387 @param cmd speedbrake command in percent*/
388 void SetDsbCmd(double cmd) { DsbCmd = cmd; }
390 /** Sets the spoilers command
391 @param cmd spoilers command in percent*/
392 void SetDspCmd(double cmd) { DspCmd = cmd; }
394 /** Sets the pitch trim command
395 @param cmd pitch trim command in percent*/
396 void SetPitchTrimCmd(double cmd) { PTrimCmd = cmd; }
398 /** Sets the rudder trim command
399 @param cmd rudder trim command in percent*/
400 void SetYawTrimCmd(double cmd) { YTrimCmd = cmd; }
402 /** Sets the aileron trim command
403 @param cmd aileron trim command in percent*/
404 void SetRollTrimCmd(double cmd) { RTrimCmd = cmd; }
406 /** Sets the throttle command for the specified engine
407 @param engine engine ID number
408 @param cmd normalized throttle command (0.0 - 1.0)*/
409 void SetThrottleCmd(int engine, double cmd);
411 /** Sets the mixture command for the specified engine
412 @param engine engine ID number
413 @param cmd normalized mixture command (0.0 - 1.0)*/
414 void SetMixtureCmd(int engine, double cmd);
416 /** Set the gear extend/retract command, defaults to down
417 @param gear command 0 for up, 1 for down */
418 void SetGearCmd(double gearcmd) { GearCmd = gearcmd; }
420 /** Sets the propeller pitch command for the specified engine
421 @param engine engine ID number
422 @param cmd mixture command in percent (0.0 - 1.0)*/
423 void SetPropAdvanceCmd(int engine, double cmd);
425 /** Sets the propeller feather command for the specified engine
426 @param engine engine ID number
427 @param cmd feather (bool)*/
428 void SetFeatherCmd(int engine, bool cmd);
431 /// @name Aerosurface position setting
433 /** Sets the left aileron position
434 @param cmd left aileron position in radians*/
435 void SetDaLPos( int form , double pos );
437 /** Sets the right aileron position
438 @param cmd right aileron position in radians*/
439 void SetDaRPos( int form , double pos );
441 /** Sets the elevator position
442 @param cmd elevator position in radians*/
443 void SetDePos( int form , double pos );
445 /** Sets the rudder position
446 @param cmd rudder position in radians*/
447 void SetDrPos( int form , double pos );
449 /** Sets the flaps position
450 @param cmd flaps position in radians*/
451 void SetDfPos( int form , double pos );
453 /** Sets the speedbrake position
454 @param cmd speedbrake position in radians*/
455 void SetDsbPos( int form , double pos );
457 /** Sets the spoiler position
458 @param cmd spoiler position in radians*/
459 void SetDspPos( int form , double pos );
461 /** Sets the actual throttle setting for the specified engine
462 @param engine engine ID number
463 @param cmd normalized throttle setting (0.0 - 1.0)*/
464 void SetThrottlePos(int engine, double cmd);
466 /** Sets the actual mixture setting for the specified engine
467 @param engine engine ID number
468 @param cmd normalized mixture setting (0.0 - 1.0)*/
469 void SetMixturePos(int engine, double cmd);
471 /** Sets the steering position
472 @param cmd steering position in degrees*/
473 void SetSteerPosDeg(int gear, double pos) { SteerPosDeg[gear] = pos; }
475 /** Set the gear extend/retract position, defaults to down
476 @param gear position 0 up, 1 down */
477 void SetGearPos(double gearpos) { GearPos = gearpos; }
479 /** Set the tailhook position
480 @param tailhook position 0 up, 1 down */
481 void SetTailhookPos(double hookpos) { TailhookPos = hookpos; }
483 /** Set the wing fold position
484 @param wing fold position 0 unfolded, 1 folded */
485 void SetWingFoldPos(double foldpos) { WingFoldPos = foldpos; }
487 /** Sets the actual prop pitch setting for the specified engine
488 @param engine engine ID number
489 @param cmd prop pitch setting in percent (0.0 - 1.0)*/
490 void SetPropAdvance(int engine, double cmd);
492 /** Sets the actual prop feather setting for the specified engine
493 @param engine engine ID number
494 @param cmd prop fether setting (bool)*/
495 void SetPropFeather(int engine, bool cmd);
498 /// @name Landing Gear brakes
500 /** Sets the left brake group
501 @param cmd brake setting in percent (0.0 - 1.0) */
502 void SetLBrake(double cmd) {LeftBrake = cmd;}
504 /** Sets the right brake group
505 @param cmd brake setting in percent (0.0 - 1.0) */
506 void SetRBrake(double cmd) {RightBrake = cmd;}
508 /** Sets the center brake group
509 @param cmd brake setting in percent (0.0 - 1.0) */
510 void SetCBrake(double cmd) {CenterBrake = cmd;}
512 /** Gets the brake for a specified group.
513 @param bg which brakegroup to retrieve the command for
514 @return the brake setting for the supplied brake group argument */
515 double GetBrake(FGLGear::BrakeGroup bg);
517 /** Gets the left brake.
518 @return the left brake setting. */
519 double GetLBrake(void) const {return LeftBrake;}
521 /** Gets the right brake.
522 @return the right brake setting. */
523 double GetRBrake(void) const {return RightBrake;}
525 /** Gets the center brake.
526 @return the center brake setting. */
527 double GetCBrake(void) const {return CenterBrake;}
530 enum SystemType { stFCS, stSystem, stAutoPilot };
532 /** Loads the Flight Control System.
533 Load() is called from FGFDMExec.
534 @param el pointer to the Element instance
535 @param systype type of system (FCS, Autopilot, System)
536 @return true if succesful */
537 bool Load(Element* el, SystemType systype);
539 std::ifstream* FindSystemFile(const std::string& system_filename);
540 std::string FindSystemFullPathname(const std::string& system_filename);
542 void AddThrottle(void);
546 FGPropertyManager* GetPropertyManager(void) { return PropertyManager; }
548 bool GetTrimStatus(void) const { return FDMExec->GetTrimStatus(); }
551 double DaCmd, DeCmd, DrCmd, DsCmd, DfCmd, DsbCmd, DspCmd;
552 double DePos[NForms], DaLPos[NForms], DaRPos[NForms], DrPos[NForms];
553 double DfPos[NForms], DsbPos[NForms], DspPos[NForms];
554 double PTrimCmd, YTrimCmd, RTrimCmd;
555 std::vector <double> ThrottleCmd;
556 std::vector <double> ThrottlePos;
557 std::vector <double> MixtureCmd;
558 std::vector <double> MixturePos;
559 std::vector <double> PropAdvanceCmd;
560 std::vector <double> PropAdvance;
561 std::vector <bool> PropFeatherCmd;
562 std::vector <bool> PropFeather;
563 std::vector <double> SteerPosDeg;
564 double LeftBrake, RightBrake, CenterBrake; // Brake settings
565 double GearCmd,GearPos;
566 double TailhookPos, WingFoldPos;
568 typedef std::vector <FGFCSComponent*> FCSCompVec;
570 FCSCompVec FCSComponents;
571 FCSCompVec APComponents;
573 void bindModel(void);
574 void bindThrottle(unsigned int);
575 void Debug(int from);