-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Module: FGFCS.cpp
Author: Jon Berndt
--------------------------------------------------------------------------------
12/12/98 JSB Created
-********************************************************************************
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGFCS.h"
#include "FGState.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
+#include "FGPropertyManager.h"
#include "filtersjb/FGFilter.h"
#include "filtersjb/FGDeadBand.h"
#include "filtersjb/FGGradient.h"
#include "filtersjb/FGSwitch.h"
#include "filtersjb/FGSummer.h"
-#include "filtersjb/FGFlaps.h"
+#include "filtersjb/FGKinemat.h"
-/*******************************************************************************
-************************************ CODE **************************************
-*******************************************************************************/
+static const char *IdSrc = "$Id$";
+static const char *IdHdr = ID_FCS;
+#if defined(WIN32) && !defined(__CYGWIN__)
+#define snprintf _snprintf
+#endif
-FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex) {
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
+{
+ int i;
Name = "FGFCS";
- for (int i=0; i < MAX_ENGINES; i++) { // needs to be changed: no limit
- ThrottleCmd[i] = 0.0;
- ThrottlePos[i] = 0.0;
- }
+
DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = 0.0;
- DaPos = DePos = DrPos = DfPos = DsbPos = DspPos = 0.0;
+ AP_DaCmd = AP_DeCmd = AP_DrCmd = AP_ThrottleCmd = 0.0;
+ PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
+ GearCmd = GearPos = 1; // default to gear down
+ LeftBrake = RightBrake = CenterBrake = 0.0;
+ DoNormalize=true;
+
+ eMode = mNone;
+
+ bind();
+ for (i=0;i<=NForms;i++) {
+ DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
+ DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
+ }
+
+ for (i=0;i<NNorm;i++) { ToNormalize[i]=-1;}
+ Debug(0);
}
-/******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+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();
+ MixturePos.clear();
+ PropAdvanceCmd.clear();
+ PropAdvance.clear();
+
-FGFCS::~FGFCS(void) {
- for(unsigned int i=0;i<Components.size();i++)
- delete Components[i];
+ 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);
}
-/******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFCS::Run(void)
+{
+ unsigned int i;
-bool FGFCS::Run(void) {
if (!FGModel::Run()) {
+ for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
+ for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
+ for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
+ for (i=0; i<APComponents.size(); i++) {
+ eMode = mAP;
+ APComponents[i]->Run();
+ eMode = mNone;
+ }
+ for (i=0; i<FCSComponents.size(); i++) {
+ eMode = mFCS;
+ FCSComponents[i]->Run();
+ eMode = mNone;
+ }
+ if (DoNormalize) Normalize();
- for (unsigned int i=0; i<Aircraft->GetNumEngines(); i++) ThrottlePos[i]=ThrottleCmd[i];
+ return false;
+ } else {
+ return true;
+ }
+}
- for (unsigned int i=0; i<Components.size(); i++) Components[i]->Run();
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- } else {}
+void FGFCS::SetThrottleCmd(int engineNum, double setting)
+{
+ unsigned int ctr;
+ if (engineNum < (int)ThrottlePos.size()) {
+ if (engineNum < 0) {
+ for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
+ } else {
+ ThrottleCmd[engineNum] = setting;
+ }
+ } else {
+ cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
+ << " engines exist, but attempted throttle command is for engine "
+ << engineNum << endl;
+ }
+}
- return false;
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFCS::SetThrottlePos(int engineNum, double setting)
+{
+ unsigned int ctr;
+
+ if (engineNum < (int)ThrottlePos.size()) {
+ if (engineNum < 0) {
+ for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
+ } else {
+ ThrottlePos[engineNum] = setting;
+ }
+ } else {
+ cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
+ << " engines exist, but attempted throttle position setting is for engine "
+ << engineNum << endl;
+ }
}
-/******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGFCS::SetThrottleCmd(int engineNum, float setting) {
- if (engineNum < 0) {
- for (unsigned int ctr=0;ctr<Aircraft->GetNumEngines();ctr++) ThrottleCmd[ctr] = setting;
+double FGFCS::GetThrottleCmd(int engineNum) const
+{
+ if (engineNum < (int)ThrottlePos.size()) {
+ if (engineNum < 0) {
+ cerr << "Cannot get throttle value for ALL engines" << endl;
+ } else {
+ return ThrottleCmd[engineNum];
+ }
} else {
- ThrottleCmd[engineNum] = setting;
+ cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
+ << " engines exist, but throttle setting for engine " << engineNum
+ << " is selected" << endl;
}
+ return 0.0;
}
-/******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGFCS::SetThrottlePos(int engineNum, float setting) {
- if (engineNum < 0) {
- for (unsigned int ctr=0;ctr<=Aircraft->GetNumEngines();ctr++) ThrottlePos[ctr] = ThrottleCmd[ctr];
+double FGFCS::GetThrottlePos(int engineNum) const
+{
+ if (engineNum < (int)ThrottlePos.size()) {
+ if (engineNum < 0) {
+ cerr << "Cannot get throttle value for ALL engines" << endl;
+ } else {
+ return ThrottlePos[engineNum];
+ }
} else {
- ThrottlePos[engineNum] = setting;
+ cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
+ << " engines exist, but attempted throttle position setting is for engine "
+ << engineNum << endl;
+ }
+ return 0.0;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFCS::SetMixtureCmd(int engineNum, double setting)
+{
+ unsigned int ctr;
+
+ if (engineNum < (int)ThrottlePos.size()) {
+ if (engineNum < 0) {
+ for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
+ } else {
+ MixtureCmd[engineNum] = setting;
+ }
}
}
-/******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGFCS::SetLBrake(float setting) {
+void FGFCS::SetMixturePos(int engineNum, double setting)
+{
+ unsigned int ctr;
+ if (engineNum < (int)ThrottlePos.size()) {
+ if (engineNum < 0) {
+ for (ctr=0;ctr<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
+ } else {
+ MixturePos[engineNum] = setting;
+ }
+ }
}
-/******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
+{
+ unsigned int ctr;
-void FGFCS::SetRBrake(float setting) {
+ if (engineNum < (int)ThrottlePos.size()) {
+ if (engineNum < 0) {
+ for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
+ } else {
+ PropAdvanceCmd[engineNum] = setting;
+ }
+ }
}
-/******************************************************************************/
-void FGFCS::SetCBrake(float setting) {
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFCS::SetPropAdvance(int engineNum, double setting)
+{
+ unsigned int ctr;
+
+ if (engineNum < (int)ThrottlePos.size()) {
+ if (engineNum < 0) {
+ for (ctr=0;ctr<=PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
+ } else {
+ PropAdvance[engineNum] = setting;
+ }
+ }
}
-/******************************************************************************/
-bool FGFCS::LoadFCS(FGConfigFile* AC_cfg) {
- string token;
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFCS::Load(FGConfigFile* AC_cfg)
+{
+ string token, delimiter;
+ string name, file, fname;
+ unsigned i;
+ vector <FGFCSComponent*> *Components;
+ FGConfigFile *FCS_cfg;
- FCSName = AC_cfg->GetValue("NAME");
- cout << " Control System Name: " << FCSName << endl;
- AC_cfg->GetNextConfigLine();
- while ((token = AC_cfg->GetValue()) != "/FLIGHT_CONTROL") {
+ 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.
+
+ delimiter = AC_cfg->GetValue();
+ name = AC_cfg->GetValue("NAME");
+ fname = AC_cfg->GetValue("FILE");
+
+ if ( AC_cfg->GetValue("NORMALIZE") == "FALSE") {
+ DoNormalize = false;
+ cout << " Automatic Control Surface Normalization Disabled" << endl;
+ }
+
+# ifndef macintosh
+ file = "control/" + fname + ".xml";
+# else
+ file = "control;" + fname + ".xml";
+# endif
+
+ if (name.empty()) {
+ name = fname;
+ if (file.empty()) {
+ cerr << "FCS/Autopilot does not appear to be defined inline nor in a file" << endl;
+ } else {
+ FCS_cfg = new FGConfigFile(file);
+ if (!FCS_cfg->IsOpen()) {
+ cerr << "Could not open " << delimiter << " file: " << file << endl;
+ return false;
+ } else {
+ AC_cfg = FCS_cfg; // set local config file object pointer to FCS config
+ // file object pointer
+ }
+ }
+ } else {
+ AC_cfg->GetNextConfigLine();
+ }
+
+ if (delimiter == "AUTOPILOT") {
+ Components = &APComponents;
+ eMode = mAP;
+ Name = "Autopilot: " + name;
+ } else if (delimiter == "FLIGHT_CONTROL") {
+ Components = &FCSComponents;
+ eMode = mFCS;
+ Name = "FCS: " + name;
+ } else {
+ cerr << endl << "Unknown FCS delimiter" << endl << endl;
+ }
+
+ if (debug_lvl > 0) cout << " Control System Name: " << Name << endl;
+
+ while ((token = AC_cfg->GetValue()) != string("/" + delimiter)) {
if (token == "COMPONENT") {
token = AC_cfg->GetValue("TYPE");
- cout << " Loading Component \"" << AC_cfg->GetValue("NAME") << "\" of type: " << token << endl;
+ if (debug_lvl > 0) cout << endl << " Loading Component \""
+ << AC_cfg->GetValue("NAME")
+ << "\" of type: " << token << endl;
if ((token == "LAG_FILTER") ||
- (token == "RECT_LAG_FILTER") ||
(token == "LEAD_LAG_FILTER") ||
(token == "SECOND_ORDER_FILTER") ||
(token == "WASHOUT_FILTER") ||
(token == "INTEGRATOR") ) {
- Components.push_back(new FGFilter(this, AC_cfg));
+ Components->push_back(new FGFilter(this, AC_cfg));
} else if ((token == "PURE_GAIN") ||
(token == "SCHEDULED_GAIN") ||
(token == "AEROSURFACE_SCALE") ) {
- Components.push_back(new FGGain(this, AC_cfg));
+ Components->push_back(new FGGain(this, AC_cfg));
} else if (token == "SUMMER") {
- Components.push_back(new FGSummer(this, AC_cfg));
+ Components->push_back(new FGSummer(this, AC_cfg));
} else if (token == "DEADBAND") {
- Components.push_back(new FGDeadBand(this, AC_cfg));
+ Components->push_back(new FGDeadBand(this, AC_cfg));
} else if (token == "GRADIENT") {
- Components.push_back(new FGGradient(this, AC_cfg));
+ Components->push_back(new FGGradient(this, AC_cfg));
} else if (token == "SWITCH") {
- Components.push_back(new FGSwitch(this, AC_cfg));
- } else if (token == "FLAPS") {
- Components.push_back(new FGFlaps(this, AC_cfg));
+ Components->push_back(new FGSwitch(this, AC_cfg));
+ } else if (token == "KINEMAT") {
+ Components->push_back(new FGKinemat(this, AC_cfg));
+ } else {
+ cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
+ return false;
}
- AC_cfg->GetNextConfigLine();
+ if (AC_cfg->GetNextConfigLine() == "EOF") break;
}
}
+
+ //collect information for normalizing control surfaces
+
+ string nodeName;
+ for (i=0; i<Components->size(); i++) {
+
+ if ( (((*Components)[i])->GetType() == "AEROSURFACE_SCALE"
+ || ((*Components)[i])->GetType() == "KINEMAT")
+ && ((*Components)[i])->GetOutputNode() ) {
+ nodeName = ((*Components)[i])->GetOutputNode()->GetName();
+ if ( nodeName == "elevator-pos-rad" ) {
+ ToNormalize[iDe]=i;
+ } else if ( nodeName == "left-aileron-pos-rad"
+ || nodeName == "aileron-pos-rad" ) {
+ ToNormalize[iDaL]=i;
+ } else if ( nodeName == "right-aileron-pos-rad" ) {
+ ToNormalize[iDaR]=i;
+ } else if ( nodeName == "rudder-pos-rad" ) {
+ ToNormalize[iDr]=i;
+ } else if ( nodeName == "speedbrake-pos-rad" ) {
+ ToNormalize[iDsb]=i;
+ } else if ( nodeName == "spoiler-pos-rad" ) {
+ ToNormalize[iDsp]=i;
+ } else if ( nodeName == "flap-pos-deg" ) {
+ ToNormalize[iDf]=i;
+ }
+ }
+ }
+
+ if (delimiter == "FLIGHT_CONTROL") bindModel();
+
+ eMode = mNone;
+
return true;
}
-/******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+double FGFCS::GetComponentOutput(int idx)
+{
+ switch (eMode) {
+ case mFCS:
+ return FCSComponents[idx]->GetOutput();
+ case mAP:
+ return APComponents[idx]->GetOutput();
+ case mNone:
+ cerr << "Unknown FCS mode" << endl;
+ break;
+ }
+ return 0.0;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+string FGFCS::GetComponentName(int idx)
+{
+ switch (eMode) {
+ case mFCS:
+ return FCSComponents[idx]->GetName();
+ case mAP:
+ return APComponents[idx]->GetName();
+ case mNone:
+ cerr << "Unknown FCS mode" << endl;
+ break;
+ }
+ return string("");
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
+{
+ switch (bg) {
+ case FGLGear::bgLeft:
+ return LeftBrake;
+ case FGLGear::bgRight:
+ return RightBrake;
+ case FGLGear::bgCenter:
+ return CenterBrake;
+ default:
+ cerr << "GetBrake asked to return a bogus brake value" << endl;
+ }
+ return 0.0;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+string FGFCS::GetComponentStrings(void)
+{
+ unsigned int comp;
+ string CompStrings = "";
+ bool firstime = true;
+
+ for (comp = 0; comp < FCSComponents.size(); comp++) {
+ if (firstime) firstime = false;
+ else CompStrings += ", ";
+
+ CompStrings += FCSComponents[comp]->GetName();
+ }
+
+ for (comp = 0; comp < APComponents.size(); comp++)
+ {
+ CompStrings += ", ";
+ CompStrings += APComponents[comp]->GetName();
+ }
+
+ return CompStrings;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+string FGFCS::GetComponentValues(void)
+{
+ unsigned int comp;
+ string CompValues = "";
+ char buffer[10];
+ bool firstime = true;
+
+ for (comp = 0; comp < FCSComponents.size(); comp++) {
+ if (firstime) firstime = false;
+ else CompValues += ", ";
+
+ sprintf(buffer, "%9.6f", FCSComponents[comp]->GetOutput());
+ CompValues += string(buffer);
+ }
+
+ for (comp = 0; comp < APComponents.size(); comp++) {
+ sprintf(buffer, ", %9.6f", APComponents[comp]->GetOutput());
+ CompValues += string(buffer);
+ }
+
+ return CompValues;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-float FGFCS::GetComponentOutput(eParam idx) {
- return Components[idx]->GetOutput();
+void FGFCS::AddThrottle(void)
+{
+ ThrottleCmd.push_back(0.0);
+ ThrottlePos.push_back(0.0);
+ MixtureCmd.push_back(0.0); // assume throttle and mixture are coupled
+ MixturePos.push_back(0.0);
+ PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
+ PropAdvance.push_back(0.0);
}
-/******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFCS::Normalize(void) {
+
+ //not all of these are guaranteed to be defined for every model
+ //those that are have an index >=0 in the ToNormalize array
+ //ToNormalize is filled in Load()
+
+ if ( ToNormalize[iDe] > -1 ) {
+ DePos[ofNorm] = FCSComponents[ToNormalize[iDe]]->GetOutputPct();
+ }
+
+ if ( ToNormalize[iDaL] > -1 ) {
+ DaLPos[ofNorm] = FCSComponents[ToNormalize[iDaL]]->GetOutputPct();
+ }
+
+ if ( ToNormalize[iDaR] > -1 ) {
+ DaRPos[ofNorm] = FCSComponents[ToNormalize[iDaR]]->GetOutputPct();
+ }
+
+ if ( ToNormalize[iDr] > -1 ) {
+ DrPos[ofNorm] = FCSComponents[ToNormalize[iDr]]->GetOutputPct();
+ }
+
+ if ( ToNormalize[iDsb] > -1 ) {
+ DsbPos[ofNorm] = FCSComponents[ToNormalize[iDsb]]->GetOutputPct();
+ }
+
+ if ( ToNormalize[iDsp] > -1 ) {
+ DspPos[ofNorm] = FCSComponents[ToNormalize[iDsp]]->GetOutputPct();
+ }
+
+ if ( ToNormalize[iDf] > -1 ) {
+ DfPos[ofNorm] = FCSComponents[ToNormalize[iDf]]->GetOutputPct();
+ }
+
+ DePos[ofMag] = fabs(DePos[ofRad]);
+ DaLPos[ofMag] = fabs(DaLPos[ofRad]);
+ DaRPos[ofMag] = fabs(DaRPos[ofRad]);
+ DrPos[ofMag] = fabs(DrPos[ofRad]);
+ DsbPos[ofMag] = fabs(DsbPos[ofRad]);
+ DspPos[ofMag] = fabs(DspPos[ofRad]);
+ DfPos[ofMag] = fabs(DfPos[ofRad]);
+
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFCS::bind(void)
+{
+ PropertyManager->Tie("fcs/aileron-cmd-norm", this,
+ &FGFCS::GetDaCmd,
+ &FGFCS::SetDaCmd,
+ true);
+ PropertyManager->Tie("fcs/elevator-cmd-norm", this,
+ &FGFCS::GetDeCmd,
+ &FGFCS::SetDeCmd,
+ true);
+ PropertyManager->Tie("fcs/rudder-cmd-norm", this,
+ &FGFCS::GetDrCmd,
+ &FGFCS::SetDrCmd,
+ true);
+ PropertyManager->Tie("fcs/flap-cmd-norm", this,
+ &FGFCS::GetDfCmd,
+ &FGFCS::SetDfCmd,
+ true);
+ PropertyManager->Tie("fcs/speedbrake-cmd-norm", this,
+ &FGFCS::GetDsbCmd,
+ &FGFCS::SetDsbCmd,
+ true);
+ PropertyManager->Tie("fcs/spoiler-cmd-norm", this,
+ &FGFCS::GetDspCmd,
+ &FGFCS::SetDspCmd,
+ true);
+ PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this,
+ &FGFCS::GetPitchTrimCmd,
+ &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("gear/gear-cmd-norm", this,
+ &FGFCS::GetGearCmd,
+ &FGFCS::SetGearCmd,
+ true);
+
+ PropertyManager->Tie("fcs/left-aileron-pos-rad", this,ofRad,
+ &FGFCS::GetDaLPos,
+ &FGFCS::SetDaLPos,
+ true);
+ PropertyManager->Tie("fcs/left-aileron-pos-norm", this,ofNorm,
+ &FGFCS::GetDaLPos,
+ &FGFCS::SetDaLPos,
+ true);
+ PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this,ofMag,
+ &FGFCS::GetDaLPos,
+ &FGFCS::SetDaLPos,
+ true);
+
+ PropertyManager->Tie("fcs/right-aileron-pos-rad", this,ofRad,
+ &FGFCS::GetDaRPos,
+ &FGFCS::SetDaRPos,
+ true);
+ PropertyManager->Tie("fcs/right-aileron-pos-norm", this,ofNorm,
+ &FGFCS::GetDaRPos,
+ &FGFCS::SetDaRPos,
+ true);
+ PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this,ofMag,
+ &FGFCS::GetDaRPos,
+ &FGFCS::SetDaRPos,
+ true);
+
+ PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad,
+ &FGFCS::GetDePos,
+ &FGFCS::SetDePos,
+ true );
+ PropertyManager->Tie("fcs/elevator-pos-norm", this,ofNorm,
+ &FGFCS::GetDePos,
+ &FGFCS::SetDePos,
+ true );
+ PropertyManager->Tie("fcs/mag-elevator-pos-rad", this,ofMag,
+ &FGFCS::GetDePos,
+ &FGFCS::SetDePos,
+ true );
+
+ PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad,
+ &FGFCS::GetDrPos,
+ &FGFCS::SetDrPos,
+ true);
+ PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm,
+ &FGFCS::GetDrPos,
+ &FGFCS::SetDrPos,
+ true);
+ PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag,
+ &FGFCS::GetDrPos,
+ &FGFCS::SetDrPos,
+ true);
+
+ PropertyManager->Tie("fcs/flap-pos-deg", this,ofRad,
+ &FGFCS::GetDfPos,
+ &FGFCS::SetDfPos,
+ true);
+ PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm,
+ &FGFCS::GetDfPos,
+ &FGFCS::SetDfPos,
+ true);
+
+ PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad,
+ &FGFCS::GetDsbPos,
+ &FGFCS::SetDsbPos,
+ true);
+ PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm,
+ &FGFCS::GetDsbPos,
+ &FGFCS::SetDsbPos,
+ true);
+ PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag,
+ &FGFCS::GetDsbPos,
+ &FGFCS::SetDsbPos,
+ true);
+
+ PropertyManager->Tie("fcs/spoiler-pos-rad", this,ofRad,
+ &FGFCS::GetDspPos,
+ &FGFCS::SetDspPos,
+ true);
+ PropertyManager->Tie("fcs/spoiler-pos-norm", this,ofNorm,
+ &FGFCS::GetDspPos,
+ &FGFCS::SetDspPos,
+ true);
+ PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this,ofMag,
+ &FGFCS::GetDspPos,
+ &FGFCS::SetDspPos,
+ true);
+
+ PropertyManager->Tie("gear/gear-pos-norm", this,
+ &FGFCS::GetGearPos,
+ &FGFCS::SetGearPos,
+ true);
+
+ PropertyManager->Tie("ap/elevator_cmd", this,
+ &FGFCS::GetAPDeCmd,
+ &FGFCS::SetAPDeCmd,
+ true);
+
+ PropertyManager->Tie("ap/aileron_cmd", this,
+ &FGFCS::GetAPDaCmd,
+ &FGFCS::SetAPDaCmd,
+ true);
+
+ PropertyManager->Tie("ap/rudder_cmd", this,
+ &FGFCS::GetAPDrCmd,
+ &FGFCS::SetAPDrCmd,
+ true);
+
+ PropertyManager->Tie("ap/throttle_cmd", this,
+ &FGFCS::GetAPThrottleCmd,
+ &FGFCS::SetAPThrottleCmd,
+ true);
+
+ PropertyManager->Tie("ap/attitude_setpoint", this,
+ &FGFCS::GetAPAttitudeSetPt,
+ &FGFCS::SetAPAttitudeSetPt,
+ true);
+
+ PropertyManager->Tie("ap/altitude_setpoint", this,
+ &FGFCS::GetAPAltitudeSetPt,
+ &FGFCS::SetAPAltitudeSetPt,
+ true);
+
+ PropertyManager->Tie("ap/heading_setpoint", this,
+ &FGFCS::GetAPHeadingSetPt,
+ &FGFCS::SetAPHeadingSetPt,
+ true);
+
+ PropertyManager->Tie("ap/airspeed_setpoint", this,
+ &FGFCS::GetAPAirspeedSetPt,
+ &FGFCS::SetAPAirspeedSetPt,
+ true);
+
+ PropertyManager->Tie("ap/acquire_attitude", this,
+ &FGFCS::GetAPAcquireAttitude,
+ &FGFCS::SetAPAcquireAttitude,
+ true);
+
+ PropertyManager->Tie("ap/acquire_altitude", this,
+ &FGFCS::GetAPAcquireAltitude,
+ &FGFCS::SetAPAcquireAltitude,
+ true);
+
+ PropertyManager->Tie("ap/acquire_heading", this,
+ &FGFCS::GetAPAcquireHeading,
+ &FGFCS::SetAPAcquireHeading,
+ true);
+
+ PropertyManager->Tie("ap/acquire_airspeed", this,
+ &FGFCS::GetAPAcquireAirspeed,
+ &FGFCS::SetAPAcquireAirspeed,
+ true);
+
+ PropertyManager->Tie("ap/attitude_hold", this,
+ &FGFCS::GetAPAttitudeHold,
+ &FGFCS::SetAPAttitudeHold,
+ true);
+
+ PropertyManager->Tie("ap/altitude_hold", this,
+ &FGFCS::GetAPAltitudeHold,
+ &FGFCS::SetAPAltitudeHold,
+ true);
+
+ PropertyManager->Tie("ap/heading_hold", this,
+ &FGFCS::GetAPHeadingHold,
+ &FGFCS::SetAPHeadingHold,
+ true);
+
+ PropertyManager->Tie("ap/airspeed_hold", this,
+ &FGFCS::GetAPAirspeedHold,
+ &FGFCS::SetAPAirspeedHold,
+ true);
+
+ PropertyManager->Tie("ap/wingslevel_hold", this,
+ &FGFCS::GetAPWingsLevelHold,
+ &FGFCS::SetAPWingsLevelHold,
+ true);
+}
-string FGFCS::GetComponentName(int idx) {
- return Components[idx]->GetName();
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+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,
+ &FGFCS::GetThrottleCmd,
+ &FGFCS::SetThrottleCmd,
+ true );
+ snprintf(tmp,80,"fcs/throttle-pos-norm[%u]",i);
+ PropertyManager->Tie( tmp,this,i,
+ &FGFCS::GetThrottlePos,
+ &FGFCS::SetThrottlePos,
+ true );
+ if ( MixtureCmd.size() > i ) {
+ snprintf(tmp,80,"fcs/mixture-cmd-norm[%u]",i);
+ PropertyManager->Tie( tmp,this,i,
+ &FGFCS::GetMixtureCmd,
+ &FGFCS::SetMixtureCmd,
+ true );
+ snprintf(tmp,80,"fcs/mixture-pos-norm[%u]",i);
+ PropertyManager->Tie( tmp,this,i,
+ &FGFCS::GetMixturePos,
+ &FGFCS::SetMixturePos,
+ true );
+ }
+ if ( PropAdvanceCmd.size() > i ) {
+ snprintf(tmp,80,"fcs/advance-cmd-norm[%u]",i);
+ PropertyManager->Tie( tmp,this,i,
+ &FGFCS::GetPropAdvanceCmd,
+ &FGFCS::SetPropAdvanceCmd,
+ true );
+ snprintf(tmp,80,"fcs/advance-pos-norm[%u]",i);
+ PropertyManager->Tie( tmp,this,i,
+ &FGFCS::GetPropAdvance,
+ &FGFCS::SetPropAdvance,
+ true );
+ }
+ }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFCS::unbind(FGPropertyManager *node)
+{
+ 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();
+ }
+ }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// The bitmasked value choices are as follows:
+// unset: In this case (the default) JSBSim would only print
+// out the normally expected messages, essentially echoing
+// the config files as they are read. If the environment
+// variable is not set, debug_lvl is set to 1 internally
+// 0: This requests JSBSim not to output any messages
+// whatsoever.
+// 1: This value explicity requests the normal JSBSim
+// startup messages
+// 2: This value asks for a message to be printed out when
+// a class is instantiated
+// 4: When this value is set, a message is displayed when a
+// FGModel object executes its Run() method
+// 8: When this value is set, various runtime state variables
+// are printed out periodically
+// 16: When set various parameters are sanity checked and
+// a message is printed out when they go out of bounds
+
+void FGFCS::Debug(int from)
+{
+ if (debug_lvl <= 0) return;
+
+ if (debug_lvl & 1) { // Standard console startup message output
+ if (from == 0) { // Constructor
+
+ }
+ }
+ if (debug_lvl & 2 ) { // Instantiation/Destruction notification
+ if (from == 0) cout << "Instantiated: FGFCS" << endl;
+ if (from == 1) cout << "Destroyed: FGFCS" << endl;
+ }
+ if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
+ }
+ if (debug_lvl & 8 ) { // Runtime state variables
+ }
+ if (debug_lvl & 16) { // Sanity checking
+ }
+ if (debug_lvl & 64) {
+ if (from == 0) { // Constructor
+ cout << IdSrc << endl;
+ cout << IdHdr << endl;
+ }
+ }
}
projects / flightgear.git / blobdiff