/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
+
Module: FGFCS.cpp
Author: Jon Berndt
Date started: 12/12/98
Purpose: Model the flight controls
Called by: FDMExec
-
+
------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
-
+
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.
-
+
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
details.
-
+
You should have received a copy of the GNU General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA.
-
+
Further information about the GNU General Public License can also be found on
the world wide web at http://www.gnu.org.
-
+
FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
This class models the flight controls for a specific airplane
-
+
HISTORY
--------------------------------------------------------------------------------
12/12/98 JSB Created
-
+
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGFCS.h"
-#include "FGState.h"
#include "FGFDMExec.h"
-#include "FGAtmosphere.h"
-#include "FGAircraft.h"
-#include "FGTranslation.h"
-#include "FGRotation.h"
-#include "FGPosition.h"
-#include "FGAuxiliary.h"
-#include "FGOutput.h"
#include "FGPropertyManager.h"
#include "filtersjb/FGFilter.h"
LeftBrake = RightBrake = CenterBrake = 0.0;
APAttitudeSetPt = APAltitudeSetPt = APHeadingSetPt = APAirspeedSetPt = 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);
}
MixturePos.clear();
PropAdvanceCmd.clear();
PropAdvance.clear();
-
+ SteerPosDeg.clear();
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);
}
{
unsigned int i;
- 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();
+ if (FGModel::Run()) return true; // fast exit if nothing to do
- return false;
- } else {
- return true;
+ // Set the default engine commands
+ 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];
+
+ // Set the default steering angle
+ for (i=0; i<SteerPosDeg.size(); i++) {
+ FGLGear* gear = GroundReactions->GetGearUnit(i);
+ SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
}
+
+ for (i=0; i<APComponents.size(); i++) APComponents[i]->Run(); // cycle AP components
+ for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run(); // cycle FCS components
+
+ if (DoNormalize) Normalize();
+
+ return false;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
<< " engines exist, but attempted throttle position setting is for engine "
<< engineNum << endl;
}
- return 0.0;
+ return 0.0;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
}
# ifndef macintosh
- file = "control/" + fname + ".xml";
+// file = "control/" + fname + ".xml";
+ file = FDMExec->GetAircraftPath() + "/" + FDMExec->GetModelName() + "/" + fname + ".xml";
# else
- file = "control;" + fname + ".xml";
+// file = "control;" + fname + ".xml";
+ file = FDMExec->GetAircraftPath() + ";" + FDMExec->GetModelName() + ";" + fname + ".xml";
# endif
if (name.empty()) {
return false;
} else {
AC_cfg = FCS_cfg; // set local config file object pointer to FCS config
- // file object pointer
+ // file object pointer
}
}
} else {
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)) {
string nodeName;
for (i=0; i<Components->size(); i++) {
-
- if ( (((*Components)[i])->GetType() == "AEROSURFACE_SCALE"
- || ((*Components)[i])->GetType() == "KINEMAT")
- && ((*Components)[i])->GetOutputNode() ) {
+
+ 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"
+ } else if ( nodeName == "left-aileron-pos-rad"
|| nodeName == "aileron-pos-rad" ) {
ToNormalize[iDaL]=i;
} else if ( nodeName == "right-aileron-pos-rad" ) {
ToNormalize[iDf]=i;
}
}
- }
-
- if (delimiter == "FLIGHT_CONTROL") bindModel();
+ }
- eMode = mNone;
+ if (delimiter == "FLIGHT_CONTROL") bindModel();
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) {
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-string FGFCS::GetComponentStrings(void)
+string FGFCS::GetComponentStrings(string delimeter)
{
unsigned int comp;
string CompStrings = "";
for (comp = 0; comp < FCSComponents.size(); comp++) {
if (firstime) firstime = false;
- else CompStrings += ", ";
+ else CompStrings += delimeter;
CompStrings += FCSComponents[comp]->GetName();
}
for (comp = 0; comp < APComponents.size(); comp++)
{
- CompStrings += ", ";
+ CompStrings += delimeter;
CompStrings += APComponents[comp]->GetName();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-string FGFCS::GetComponentValues(void)
+string FGFCS::GetComponentValues(string delimeter)
{
unsigned int comp;
string CompValues = "";
- char buffer[10];
+ char buffer[12];
bool firstime = true;
for (comp = 0; comp < FCSComponents.size(); comp++) {
if (firstime) firstime = false;
- else CompValues += ", ";
+ else CompValues += delimeter;
sprintf(buffer, "%9.6f", FCSComponents[comp]->GetOutput());
CompValues += string(buffer);
}
for (comp = 0; comp < APComponents.size(); comp++) {
- sprintf(buffer, ", %9.6f", APComponents[comp]->GetOutput());
+ sprintf(buffer, "%s%9.6f", delimeter.c_str(), APComponents[comp]->GetOutput());
CompValues += string(buffer);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+void FGFCS::AddGear(void)
+{
+ SteerPosDeg.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 ) {
+
+ 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]);
DsbPos[ofMag] = fabs(DsbPos[ofRad]);
DspPos[ofMag] = fabs(DspPos[ofRad]);
DfPos[ofMag] = fabs(DfPos[ofRad]);
-
-}
-
+
+}
+
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGFCS::bind(void)
&FGFCS::GetDrCmd,
&FGFCS::SetDrCmd,
true);
+ PropertyManager->Tie("fcs/steer-cmd-norm", this,
+ &FGFCS::GetDsCmd,
+ &FGFCS::SetDsCmd,
+ true);
PropertyManager->Tie("fcs/flap-cmd-norm", this,
&FGFCS::GetDfCmd,
&FGFCS::SetDfCmd,
&FGFCS::GetGearCmd,
&FGFCS::SetGearCmd,
true);
-
+
PropertyManager->Tie("fcs/left-aileron-pos-rad", this,ofRad,
&FGFCS::GetDaLPos,
&FGFCS::SetDaLPos,
&FGFCS::GetDaLPos,
&FGFCS::SetDaLPos,
true);
-
+
PropertyManager->Tie("fcs/right-aileron-pos-rad", this,ofRad,
&FGFCS::GetDaRPos,
&FGFCS::SetDaRPos,
&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::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,
&FGFCS::GetDrPos,
&FGFCS::SetDrPos,
true);
-
+
PropertyManager->Tie("fcs/flap-pos-deg", this,ofRad,
&FGFCS::GetDfPos,
&FGFCS::SetDfPos,
&FGFCS::GetDfPos,
&FGFCS::SetDfPos,
true);
-
+
PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad,
&FGFCS::GetDsbPos,
&FGFCS::SetDsbPos,
&FGFCS::GetDsbPos,
&FGFCS::SetDsbPos,
true);
-
+
PropertyManager->Tie("fcs/spoiler-pos-rad", this,ofRad,
&FGFCS::GetDspPos,
&FGFCS::SetDspPos,
&FGFCS::GetDspPos,
&FGFCS::SetDspPos,
true);
-
+
PropertyManager->Tie("gear/gear-pos-norm", this,
&FGFCS::GetGearPos,
&FGFCS::SetGearPos,
{
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);
+ 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);
+ 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);
+ 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);
+ 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);
+ snprintf(tmp,80,"fcs/advance-pos-norm[%u]",i);
PropertyManager->Tie( tmp,this,i,
&FGFCS::GetPropAdvance,
&FGFCS::SetPropAdvance,
true );
}
}
-}
-
+
+ for (i=0; i<SteerPosDeg.size(); i++) {
+ if (GroundReactions->GetGearUnit(i)->GetSteerable()) {
+ snprintf(tmp,80,"fcs/steer-pos-deg[%u]",i);
+ PropertyManager->Tie( tmp, this, i,
+ &FGFCS::GetSteerPosDeg,
+ &FGFCS::SetSteerPosDeg,
+ true );
+ }
+ }
+}
+
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGFCS::unbind(FGPropertyManager *node)
unbind( (FGPropertyManager*)node->getChild(i) );
} else if( node->getChild(i)->isTied() ) {
node->getChild(i)->untie();
- }
- }
+ }
+ }
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
projects / flightgear.git / blobdiff