Make yasim accept the launchbar and hook properties. They are not tied to anything...

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

diff --git a/src/FDM/JSBSim/FGFCS.cpp b/src/FDM/JSBSim/FGFCS.cpp
index 9cb89f909a5f1d41a5ef7674d584c3020907d3d4..daa900a6827e9c77c20a165376180b663791b17a 100644 (file)
--- a/src/FDM/JSBSim/FGFCS.cpp
+++ b/src/FDM/JSBSim/FGFCS.cpp
@@ -75,8 +75,6 @@ FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
   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;
@@ -102,6 +100,7 @@ FGFCS::~FGFCS()
   MixturePos.clear();
   PropAdvanceCmd.clear();
   PropAdvance.clear();
+  SteerPosDeg.clear();
 
   unsigned int i;
 
@@ -117,26 +116,25 @@ bool FGFCS::Run(void)
 {
   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;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -297,9 +295,11 @@ bool FGFCS::Load(FGConfigFile* AC_cfg)
   }
 
 # 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()) {
@@ -322,11 +322,9 @@ bool FGFCS::Load(FGConfigFile* AC_cfg)
 
   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;
@@ -400,45 +398,11 @@ bool FGFCS::Load(FGConfigFile* AC_cfg)
 
   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) {
@@ -456,7 +420,7 @@ double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGFCS::GetComponentStrings(void)
+string FGFCS::GetComponentStrings(string delimeter)
 {
   unsigned int comp;
   string CompStrings = "";
@@ -464,14 +428,14 @@ string FGFCS::GetComponentStrings(void)
 
   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();
   }
 
@@ -480,23 +444,23 @@ string FGFCS::GetComponentStrings(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-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);
   }
 
@@ -517,6 +481,13 @@ void FGFCS::AddThrottle(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+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
@@ -577,6 +548,10 @@ 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,
@@ -791,7 +766,6 @@ 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,
@@ -828,6 +802,16 @@ void FGFCS::bindModel(void)
                             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 );
+    }
+  }
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%