Encapsulate the interpolstion version of FGEnvironment and fix some bugs

[flightgear.git] / src / FDM / JSBSim / FGFCS.cpp

diff --git a/src/FDM/JSBSim/FGFCS.cpp b/src/FDM/JSBSim/FGFCS.cpp
index e75f7df6107b53b731e119269354f1f4bb7dd8ba..bf7778d4d70b98ed897231419e2469a677cef915 100644 (file)
--- a/src/FDM/JSBSim/FGFCS.cpp
+++ b/src/FDM/JSBSim/FGFCS.cpp
@@ -57,6 +57,8 @@ INCLUDES
 #include "filtersjb/FGSummer.h"
 #include "filtersjb/FGKinemat.h"
 
+namespace JSBSim {
+
 static const char *IdSrc = "$Id$";
 static const char *IdHdr = ID_FCS;
 
@@ -78,6 +80,7 @@ FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
   GearCmd = GearPos = 1; // default to gear down
   LeftBrake = RightBrake = CenterBrake = 0.0;
+  APAttitudeSetPt = APAltitudeSetPt = APHeadingSetPt = APAirspeedSetPt = 0.0;
   DoNormalize=true;
   
   eMode = mNone;
@@ -96,6 +99,11 @@ FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
 
 FGFCS::~FGFCS()
 {
+  unbind( PropertyManager->GetNode("fcs") );
+  unbind( PropertyManager->GetNode("ap") );
+  PropertyManager->Untie( "gear/gear-cmd-norm" );
+  PropertyManager->Untie( "gear/gear-pos-norm" );
+
   ThrottleCmd.clear();
   ThrottlePos.clear();
   MixtureCmd.clear();
@@ -103,13 +111,11 @@ FGFCS::~FGFCS()
   PropAdvanceCmd.clear();
   PropAdvance.clear();
 
-  unbind();
-
   unsigned int i;
 
   for (i=0;i<APComponents.size();i++) delete APComponents[i];
   for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
-
+  
   Debug(1);
 }
 
@@ -285,6 +291,7 @@ bool FGFCS::Load(FGConfigFile* AC_cfg)
   vector <FGFCSComponent*> *Components;
   FGConfigFile *FCS_cfg;
 
+  Components=0;
   // Determine if the FCS/Autopilot is defined inline in the aircraft configuration
   // file or in a separate file. Set up the config file class as appropriate.
 
@@ -324,11 +331,11 @@ bool FGFCS::Load(FGConfigFile* AC_cfg)
   if (delimiter == "AUTOPILOT") {
     Components = &APComponents;
     eMode = mAP;
-    Name = "Autopilot:" + name;
+    Name = "Autopilot: " + name;
   } else if (delimiter == "FLIGHT_CONTROL") {
     Components = &FCSComponents;
     eMode = mFCS;
-    Name = "FCS:" + name;
+    Name = "FCS: " + name;
   } else {
     cerr << endl << "Unknown FCS delimiter" << endl << endl;
   }
@@ -379,7 +386,7 @@ bool FGFCS::Load(FGConfigFile* AC_cfg)
     if ( (((*Components)[i])->GetType() == "AEROSURFACE_SCALE" 
           || ((*Components)[i])->GetType() == "KINEMAT")  
                     && ((*Components)[i])->GetOutputNode() ) { 
-      nodeName = ((*Components)[i])->GetOutputNode()->GetName();  
+      nodeName = ((*Components)[i])->GetOutputNode()->GetName();
       if ( nodeName == "elevator-pos-rad" ) {
         ToNormalize[iDe]=i;
       } else if ( nodeName  == "left-aileron-pos-rad" 
@@ -419,6 +426,7 @@ double FGFCS::GetComponentOutput(int idx)
     cerr << "Unknown FCS mode" << endl;
     break;
   }
+  return 0.0;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -434,7 +442,8 @@ string FGFCS::GetComponentName(int idx)
     cerr << "Unknown FCS mode" << endl;
     break;
   }
-}
+  return string("");
+} 
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
@@ -593,13 +602,13 @@ void FGFCS::bind(void)
                        &FGFCS::SetPitchTrimCmd,
                        true);
   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this,
-                       &FGFCS::GetYawTrimCmd,
-                       &FGFCS::SetYawTrimCmd,
-                       true);
-  PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this,
                        &FGFCS::GetRollTrimCmd,
                        &FGFCS::SetRollTrimCmd,
                        true);
+  PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this,
+                       &FGFCS::GetYawTrimCmd,
+                       &FGFCS::SetYawTrimCmd,
+                       true);
   PropertyManager->Tie("gear/gear-cmd-norm", this,
                        &FGFCS::GetGearCmd,
                        &FGFCS::SetGearCmd,
@@ -790,6 +799,7 @@ void FGFCS::bindModel(void)
   unsigned i;
   char tmp[80];
   
+  
   for (i=0; i<ThrottleCmd.size(); i++) {
     snprintf(tmp,80,"fcs/throttle-cmd-norm[%u]",i);
     PropertyManager->Tie( tmp,this,i,
@@ -830,56 +840,16 @@ void FGFCS::bindModel(void)
                           
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-void FGFCS::unbind(void)
+void FGFCS::unbind(FGPropertyManager *node)
 {
-  PropertyManager->Untie("fcs/aileron-cmd-norm");
-  PropertyManager->Untie("fcs/elevator-cmd-norm");
-  PropertyManager->Untie("fcs/rudder-cmd-norm");
-  PropertyManager->Untie("fcs/flap-cmd-norm");
-  PropertyManager->Untie("fcs/speedbrake-cmd-norm");
-  PropertyManager->Untie("fcs/spoiler-cmd-norm");
-  PropertyManager->Untie("fcs/pitch-trim-cmd-norm");
-  PropertyManager->Untie("fcs/roll-trim-cmd-norm");
-  PropertyManager->Untie("fcs/yaw-trim-cmd-norm");
-  PropertyManager->Untie("gear/gear-cmd-norm");
-  PropertyManager->Untie("fcs/left-aileron-pos-rad");
-  PropertyManager->Untie("fcs/mag-left-aileron-pos-rad");
-  PropertyManager->Untie("fcs/left-aileron-pos-norm");
-  PropertyManager->Untie("fcs/right-aileron-pos-rad");
-  PropertyManager->Untie("fcs/mag-right-aileron-pos-rad");
-  PropertyManager->Untie("fcs/right-aileron-pos-norm");
-  PropertyManager->Untie("fcs/elevator-pos-rad");
-  PropertyManager->Untie("fcs/mag-elevator-pos-rad");
-  PropertyManager->Untie("fcs/elevator-pos-norm");
-  PropertyManager->Untie("fcs/rudder-pos-rad");
-  PropertyManager->Untie("fcs/mag-rudder-pos-rad");
-  PropertyManager->Untie("fcs/rudder-pos-norm");
-  PropertyManager->Untie("fcs/flap-pos-deg");
-  PropertyManager->Untie("fcs/flap-pos-norm");
-  PropertyManager->Untie("fcs/speedbrake-pos-rad");
-  PropertyManager->Untie("fcs/mag-speedbrake-pos-rad");
-  PropertyManager->Untie("fcs/speedbrake-pos-norm");
-  PropertyManager->Untie("fcs/spoiler-pos-rad");
-  PropertyManager->Untie("fcs/mag-spoiler-pos-rad");
-  PropertyManager->Untie("fcs/spoiler-pos-norm");
-  PropertyManager->Untie("gear/gear-pos-norm");
-  PropertyManager->Untie("ap/elevator_cmd");
-  PropertyManager->Untie("ap/aileron_cmd");
-  PropertyManager->Untie("ap/rudder_cmd");
-  PropertyManager->Untie("ap/throttle_cmd");
-  PropertyManager->Untie("ap/attitude_setpoint");
-  PropertyManager->Untie("ap/altitude_setpoint");
-  PropertyManager->Untie("ap/heading_setpoint");
-  PropertyManager->Untie("ap/airspeed_setpoint");
-  PropertyManager->Untie("ap/acquire_attitude");
-  PropertyManager->Untie("ap/acquire_altitude");
-  PropertyManager->Untie("ap/acquire_heading");
-  PropertyManager->Untie("ap/acquire_airspeed");
-  PropertyManager->Untie("ap/attitude_hold");
-  PropertyManager->Untie("ap/altitude_hold");
-  PropertyManager->Untie("ap/heading_hold");
-  PropertyManager->Untie("ap/airspeed_hold");
-  PropertyManager->Untie("ap/wingslevel_hold");
+  int N = node->nChildren();
+  for(int i=0;i<N;i++) {
+    if(node->getChild(i)->nChildren() ) {
+      unbind( (FGPropertyManager*)node->getChild(i) );
+    } else if( node->getChild(i)->isTied() ) {
+      node->getChild(i)->untie();
+    } 
+  }        
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -928,3 +898,4 @@ void FGFCS::Debug(int from)
   }
 }
 
+}