static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_FCS;
+#if defined(WIN32) && !defined(__CYGWIN__)
+#define snprintf _snprintf
+#endif
+
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
Name = "FGFCS";
DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = 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++) {
+ 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;}
+ 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();
PropAdvanceCmd.clear();
PropAdvance.clear();
+
unsigned int i;
-
- unbind();
- for (i=0;i<Components.size();i++) delete Components[i];
+ for (i=0;i<APComponents.size();i++) delete APComponents[i];
+ for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
+
Debug(1);
}
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<Components.size(); i++) Components[i]->Run();
- if(DoNormalize) Normalize();
+ 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();
+
+ return false;
} else {
+ return true;
}
-
- return false;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-double FGFCS::GetThrottleCmd(int engineNum)
+double FGFCS::GetThrottleCmd(int engineNum) const
{
if (engineNum < (int)ThrottlePos.size()) {
if (engineNum < 0) {
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-double FGFCS::GetThrottlePos(int engineNum)
+double FGFCS::GetThrottlePos(int engineNum) const
{
if (engineNum < (int)ThrottlePos.size()) {
if (engineNum < 0) {
bool FGFCS::Load(FGConfigFile* AC_cfg)
{
- string token;
+ string token, delimiter;
+ string name, file, fname;
unsigned i;
+ 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.
+
+ 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;
+ }
- Name = Name + ":" + AC_cfg->GetValue("NAME");
if (debug_lvl > 0) cout << " Control System Name: " << Name << endl;
- if( AC_cfg->GetValue("NORMALIZE") == "FALSE") {
- DoNormalize=false;
- cout << " Automatic Control Surface Normalization Disabled" << endl;
- }
- AC_cfg->GetNextConfigLine();
- while ((token = AC_cfg->GetValue()) != string("/FLIGHT_CONTROL")) {
+
+ while ((token = AC_cfg->GetValue()) != string("/" + delimiter)) {
if (token == "COMPONENT") {
token = AC_cfg->GetValue("TYPE");
if (debug_lvl > 0) cout << endl << " Loading Component \""
(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));
+ Components->push_back(new FGSwitch(this, AC_cfg));
} else if (token == "KINEMAT") {
- Components.push_back(new FGKinemat(this, AC_cfg));
+ 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
-
- for(i=0;i<Components.size();i++) {
+
+ string nodeName;
+ for (i=0; i<Components->size(); i++) {
- if(Components[i]->GetType() == "AEROSURFACE_SCALE"
- || Components[i]->GetType() == "KINEMAT" ) {
- if( Components[i]->GetOutputIdx() == FG_ELEVATOR_POS ) {
+ 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 ( Components[i]->GetOutputIdx() == FG_LEFT_AILERON_POS
- || Components[i]->GetOutputIdx() == FG_AILERON_POS ) {
+ } else if ( nodeName == "left-aileron-pos-rad"
+ || nodeName == "aileron-pos-rad" ) {
ToNormalize[iDaL]=i;
- } else if ( Components[i]->GetOutputIdx() == FG_RIGHT_AILERON_POS ) {
+ } else if ( nodeName == "right-aileron-pos-rad" ) {
ToNormalize[iDaR]=i;
- } else if ( Components[i]->GetOutputIdx() == FG_RUDDER_POS ) {
+ } else if ( nodeName == "rudder-pos-rad" ) {
ToNormalize[iDr]=i;
- } else if ( Components[i]->GetOutputIdx() == FG_SPDBRAKE_POS ) {
+ } else if ( nodeName == "speedbrake-pos-rad" ) {
ToNormalize[iDsb]=i;
- } else if ( Components[i]->GetOutputIdx() == FG_SPOILERS_POS ) {
+ } else if ( nodeName == "spoiler-pos-rad" ) {
ToNormalize[iDsp]=i;
- } else if ( Components[i]->GetOutputIdx() == FG_FLAPS_POS ) {
+ } else if ( nodeName == "flap-pos-deg" ) {
ToNormalize[iDf]=i;
}
}
}
+ if (delimiter == "FLIGHT_CONTROL") bindModel();
+
+ eMode = mNone;
+
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-double FGFCS::GetComponentOutput(eParam idx) {
- return Components[idx]->GetOutput();
+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) {
- return Components[idx]->GetName();
-}
+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("");
+}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
string CompStrings = "";
bool firstime = true;
- for (comp = 0; comp < Components.size(); comp++) {
+ for (comp = 0; comp < FCSComponents.size(); comp++) {
if (firstime) firstime = false;
else CompStrings += ", ";
- CompStrings += Components[comp]->GetName();
+ CompStrings += FCSComponents[comp]->GetName();
+ }
+
+ for (comp = 0; comp < APComponents.size(); comp++)
+ {
+ CompStrings += ", ";
+ CompStrings += APComponents[comp]->GetName();
}
return CompStrings;
char buffer[10];
bool firstime = true;
- for (comp = 0; comp < Components.size(); comp++) {
+ for (comp = 0; comp < FCSComponents.size(); comp++) {
if (firstime) firstime = false;
else CompValues += ", ";
- sprintf(buffer, "%9.6f", Components[comp]->GetOutput());
+ 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);
}
//those that are have an index >=0 in the ToNormalize array
//ToNormalize is filled in Load()
- if( ToNormalize[iDe] > -1 ) {
- DePos[ofNorm] = Components[ToNormalize[iDe]]->GetOutputPct();
+ if ( ToNormalize[iDe] > -1 ) {
+ DePos[ofNorm] = FCSComponents[ToNormalize[iDe]]->GetOutputPct();
}
- if( ToNormalize[iDaL] > -1 ) {
- DaLPos[ofNorm] = Components[ToNormalize[iDaL]]->GetOutputPct();
+ if ( ToNormalize[iDaL] > -1 ) {
+ DaLPos[ofNorm] = FCSComponents[ToNormalize[iDaL]]->GetOutputPct();
}
- if( ToNormalize[iDaR] > -1 ) {
- DaRPos[ofNorm] = Components[ToNormalize[iDaR]]->GetOutputPct();
+ if ( ToNormalize[iDaR] > -1 ) {
+ DaRPos[ofNorm] = FCSComponents[ToNormalize[iDaR]]->GetOutputPct();
}
- if( ToNormalize[iDr] > -1 ) {
- DrPos[ofNorm] = Components[ToNormalize[iDr]]->GetOutputPct();
+ if ( ToNormalize[iDr] > -1 ) {
+ DrPos[ofNorm] = FCSComponents[ToNormalize[iDr]]->GetOutputPct();
}
- if( ToNormalize[iDsb] > -1 ) {
- DsbPos[ofNorm] = Components[ToNormalize[iDsb]]->GetOutputPct();
+ if ( ToNormalize[iDsb] > -1 ) {
+ DsbPos[ofNorm] = FCSComponents[ToNormalize[iDsb]]->GetOutputPct();
}
- if( ToNormalize[iDsp] > -1 ) {
- DspPos[ofNorm] = Components[ToNormalize[iDsp]]->GetOutputPct();
+ if ( ToNormalize[iDsp] > -1 ) {
+ DspPos[ofNorm] = FCSComponents[ToNormalize[iDsp]]->GetOutputPct();
}
- if( ToNormalize[iDf] > -1 ) {
- DfPos[ofNorm] = Components[ToNormalize[iDf]]->GetOutputPct();
+ if ( ToNormalize[iDf] > -1 ) {
+ DfPos[ofNorm] = FCSComponents[ToNormalize[iDf]]->GetOutputPct();
}
DePos[ofMag] = fabs(DePos[ofRad]);
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGFCS::bind(void){
+void FGFCS::bind(void)
+{
PropertyManager->Tie("fcs/aileron-cmd-norm", this,
&FGFCS::GetDaCmd,
&FGFCS::SetDaCmd,
&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);
-void FGFCS::unbind(void){
- 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->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);
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+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:
projects / flightgear.git / blobdiff