FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+namespace JSBSim {
+
+typedef enum { iDe=0, iDaL, iDaR, iDr, iDsb, iDsp, iDf, NNorm } FcIdx;
+typedef enum { ofRad=0, ofNorm, ofMag , NForms} OutputForm;
+
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@see FGGradient
@see FGFilter
@see FGDeadBand
+ @see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/FGFCS.h?rev=HEAD&content-type=text/vnd.viewcvs-markup">
+ Header File </a>
+ @see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/FGFCS.cpp?rev=HEAD&content-type=text/vnd.viewcvs-markup">
+ Source File </a>
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-typedef enum { iNDe=0, iNDaL, iNDaR, iNDr, iNDsb, iNDsp, iNDf } NormalizeIdx;
-
class FGFCS : public FGModel {
public:
//@{
/** Gets the aileron command.
@return aileron command in percent */
- inline double GetDaCmd(void) { return DaCmd; }
+ inline double GetDaCmd(void) const { return DaCmd; }
/** Gets the elevator command.
@return elevator command in percent */
- inline double GetDeCmd(void) { return DeCmd; }
+ inline double GetDeCmd(void) const { return DeCmd; }
/** Gets the rudder command.
@return rudder command in percent */
- inline double GetDrCmd(void) { return DrCmd; }
+ inline double GetDrCmd(void) const { return DrCmd; }
/** Gets the flaps command.
@return flaps command in percent */
- inline double GetDfCmd(void) { return DfCmd; }
+ inline double GetDfCmd(void) const { return DfCmd; }
/** Gets the speedbrake command.
@return speedbrake command in percent */
- inline double GetDsbCmd(void) { return DsbCmd; }
+ inline double GetDsbCmd(void) const { return DsbCmd; }
/** Gets the spoiler command.
@return spoiler command in percent */
- inline double GetDspCmd(void) { return DspCmd; }
+ inline double GetDspCmd(void) const { return DspCmd; }
/** Gets the throttle command.
@param engine engine ID number
@return throttle command in percent ( 0 - 100) for the given engine */
- double GetThrottleCmd(int engine);
+ double GetThrottleCmd(int engine) const;
/** Gets the mixture command.
@param engine engine ID number
@return mixture command in percent ( 0 - 100) for the given engine */
- inline double GetMixtureCmd(int engine) { return MixtureCmd[engine]; }
+ inline double GetMixtureCmd(int engine) const { return MixtureCmd[engine]; }
/** Gets the prop pitch command.
@param engine engine ID number
@return pitch command in percent ( 0.0 - 1.0) for the given engine */
- inline double GetPropAdvanceCmd(int engine) { return PropAdvanceCmd[engine]; }
+ inline double GetPropAdvanceCmd(int engine) const { return PropAdvanceCmd[engine]; }
/** Gets the pitch trim command.
@return pitch trim command in percent */
- inline double GetPitchTrimCmd(void) { return PTrimCmd; }
+ inline double GetPitchTrimCmd(void) const { return PTrimCmd; }
/** Gets the rudder trim command.
@return rudder trim command in percent */
- inline double GetYawTrimCmd(void) { return YTrimCmd; }
+ inline double GetYawTrimCmd(void) const { return YTrimCmd; }
/** Gets the aileron trim command.
@return aileron trim command in percent */
- inline double GetRollTrimCmd(void) { return RTrimCmd; }
+ inline double GetRollTrimCmd(void) const { return RTrimCmd; }
/** Get the gear extend/retract command. 0 commands gear up, 1 down.
defaults to down.
@return the current value of the gear extend/retract command*/
- inline double GetGearCmd(void) { return GearCmd; }
+ inline double GetGearCmd(void) const { return GearCmd; }
//@}
- /// @name Aerosurface position retrieval
+ /// @name AUTOPilot -> FCS effectors command retrieval
//@{
- /** Gets the left aileron position.
- @return aileron position in radians */
- inline double GetDaLPos(void) { return DaLPos; }
+ /** Gets the AUTOPilot aileron command.
+ @return aileron command in radians */
+ inline double GetAPDaCmd(void) const { return AP_DaCmd; }
+
+ /** Gets the AUTOPilot elevator command.
+ @return elevator command in radians */
+ inline double GetAPDeCmd(void) const { return AP_DeCmd; }
- /// @name Aerosurface position retrieval
+ /** Gets the AUTOPilot rudder command.
+ @return rudder command in radians */
+ inline double GetAPDrCmd(void) const { return AP_DrCmd; }
+
+ /** Gets the AUTOPilot throttle (all engines) command.
+ @return throttle command in percent */
+ inline double GetAPThrottleCmd(void) const { return AP_ThrottleCmd; }
+ //@}
+
+ /// @name AUTOPilot setpoint retrieval
//@{
- /** Gets the normalized left aileron position.
- @return aileron position in radians */
- inline double GetDaLPosN(void) { return DaLPosN; }
+ /** Gets the autopilot pitch attitude setpoint
+ @return Pitch attitude setpoint in radians */
+ inline double GetAPAttitudeSetPt(void) const {return APAttitudeSetPt;}
+
+ /** Gets the autopilot altitude setpoint
+ @return Altitude setpoint in feet */
+ inline double GetAPAltitudeSetPt(void) const {return APAltitudeSetPt;}
+
+ /** Gets the autopilot heading setpoint
+ @return Heading setpoint in radians */
+ inline double GetAPHeadingSetPt(void) const {return APHeadingSetPt;}
+
+ /** Gets the autopilot airspeed setpoint
+ @return Airspeed setpoint in fps */
+ inline double GetAPAirspeedSetPt(void) const {return APAirspeedSetPt;}
+ //@}
+
+ /// @name AUTOPilot setpoint setting
+ //@{
+ /// Sets the autopilot pitch attitude setpoint
+ inline void SetAPAttitudeSetPt(double set) {APAttitudeSetPt = set;}
+
+ /// Sets the autopilot altitude setpoint
+ inline void SetAPAltitudeSetPt(double set) {APAltitudeSetPt = set;}
+
+ /// Sets the autopilot heading setpoint
+ inline void SetAPHeadingSetPt(double set) {APHeadingSetPt = set;}
+
+ /// Sets the autopilot airspeed setpoint
+ inline void SetAPAirspeedSetPt(double set) {APAirspeedSetPt = set;}
+ //@}
+
+
+ /// @name AUTOPilot mode setting
+ //@{
+ /** Turns on/off the attitude-seeking autopilot.
+ @param set true turns the mode on, false turns it off **/
+ inline void SetAPAcquireAttitude(bool set) {APAcquireAttitude = set;}
+
+ /** Turns on/off the altitude-seeking autopilot.
+ @param set true turns the mode on, false turns it off **/
+ inline void SetAPAcquireAltitude(bool set) {APAcquireAltitude = set;}
+
+ /** Turns on/off the heading-seeking autopilot.
+ @param set true turns the mode on, false turns it off **/
+ inline void SetAPAcquireHeading(bool set) {APAcquireHeading = set;}
+
+ /** Turns on/off the airspeed-seeking autopilot.
+ @param set true turns the mode on, false turns it off **/
+ inline void SetAPAcquireAirspeed(bool set) {APAcquireAirspeed = set;}
+
+ /** Turns on/off the attitude-holding autopilot.
+ @param set true turns the mode on, false turns it off **/
+ inline void SetAPAttitudeHold(bool set) {APAttitudeHold = set;}
+
+ /** Turns on/off the altitude-holding autopilot.
+ @param set true turns the mode on, false turns it off **/
+ inline void SetAPAltitudeHold(bool set) {APAltitudeHold = set;}
+
+ /** Turns on/off the heading-holding autopilot.
+ @param set true turns the mode on, false turns it off **/
+ inline void SetAPHeadingHold(bool set) {APHeadingHold = set;}
+
+ /** Turns on/off the airspeed-holding autopilot.
+ @param set true turns the mode on, false turns it off **/
+ inline void SetAPAirspeedHold(bool set) {APAirspeedHold = set;}
+
+ /** Turns on/off the wing-leveler autopilot.
+ @param set true turns the mode on, false turns it off **/
+ inline void SetAPWingsLevelHold(bool set) {APWingsLevelHold = set;}
+ //@}
+
+ /// @name AUTOPilot mode retrieval
+ //@{
+ /** Retrieves the on/off mode of the autopilot AcquireAttitude mode
+ @return true if on, false if off */
+ inline bool GetAPAcquireAttitude(void) const {return APAcquireAttitude;}
+
+ /** Retrieves the on/off mode of the autopilot AcquireAltitude mode
+ @return true if on, false if off */
+ inline bool GetAPAcquireAltitude(void) const {return APAcquireAltitude;}
+
+ /** Retrieves the on/off mode of the autopilot AcquireHeading mode
+ @return true if on, false if off */
+ inline bool GetAPAcquireHeading(void) const {return APAcquireHeading;}
+
+ /** Retrieves the on/off mode of the autopilot AcquireAirspeed mode
+ @return true if on, false if off */
+ inline bool GetAPAcquireAirspeed(void) const {return APAcquireAirspeed;}
+
+ /** Retrieves the on/off mode of the autopilot AttitudeHold mode
+ @return true if on, false if off */
+ inline bool GetAPAttitudeHold(void) const {return APAttitudeHold;}
+
+ /** Retrieves the on/off mode of the autopilot AltitudeHold mode
+ @return true if on, false if off */
+ inline bool GetAPAltitudeHold(void) const {return APAltitudeHold;}
+
+ /** Retrieves the on/off mode of the autopilot HeadingHold mode
+ @return true if on, false if off */
+ inline bool GetAPHeadingHold(void) const {return APHeadingHold;}
+
+ /** Retrieves the on/off mode of the autopilot AirspeedHold mode
+ @return true if on, false if off */
+ inline bool GetAPAirspeedHold(void) const {return APAirspeedHold;}
+
+ /** Retrieves the on/off mode of the autopilot WingsLevelHold mode
+ @return true if on, false if off */
+ inline bool GetAPWingsLevelHold(void) const {return APWingsLevelHold;}
+ //@}
/// @name Aerosurface position retrieval
//@{
- /** Gets the right aileron position.
+ /** Gets the left aileron position.
@return aileron position in radians */
- inline double GetDaRPos(void) { return DaRPos; }
+ inline double GetDaLPos( int form = ofRad )
+ const { return DaLPos[form]; }
/// @name Aerosurface position retrieval
//@{
- /** Gets the normalized right aileron position.
- @return right aileron position in percent (-1..1) */
- inline double GetDaRPosN(void) { return DaRPosN; }
+ /** Gets the right aileron position.
+ @return aileron position in radians */
+ inline double GetDaRPos( int form = ofRad )
+ const { return DaRPos[form]; }
/** Gets the elevator position.
@return elevator position in radians */
- inline double GetDePos(void) { return DePos; }
+ inline double GetDePos( int form = ofRad )
+ const { return DePos[form]; }
- /** Gets the normalized elevator position.
- @return elevator position in percent (-1..1) */
- inline double GetDePosN(void) { return DePosN; }
-
/** Gets the rudder position.
@return rudder position in radians */
- inline double GetDrPos(void) { return DrPos; }
-
- /** Gets the normalized rudder position.
- @return rudder position in percent (-1..1) */
- inline double GetDrPosN(void) { return DrPosN; }
-
- /** Gets the flaps position.
- @return flaps position in radians */
- inline double GetDfPos(void) { return DfPos; }
-
- /** Gets the normalized flaps position.
- @return flaps position in percent (-1..1) */
- inline double GetDfPosN(void) { return DfPosN; }
+ inline double GetDrPos( int form = ofRad )
+ const { return DrPos[form]; }
/** Gets the speedbrake position.
@return speedbrake position in radians */
- inline double GetDsbPos(void) { return DsbPos; }
-
- /** Gets the normalized speedbrake position.
- @return speedbrake position in percent (-1..1) */
- inline double GetDsbPosN(void) { return DsbPosN; }
+ inline double GetDsbPos( int form = ofRad )
+ const { return DsbPos[form]; }
/** Gets the spoiler position.
@return spoiler position in radians */
- inline double GetDspPos(void) { return DspPos; }
+ inline double GetDspPos( int form = ofRad )
+ const { return DspPos[form]; }
- /** Gets the normalized spoiler position.
- @return spoiler position in percent (-1..1) */
- inline double GetDspPosN(void) { return DspPosN; }
-
+ /** Gets the flaps position.
+ @return flaps position in radians */
+ inline double GetDfPos( int form = ofRad )
+ const { return DfPos[form]; }
+
/** Gets the throttle position.
@param engine engine ID number
@return throttle position for the given engine in percent ( 0 - 100)*/
- double GetThrottlePos(int engine);
+ double GetThrottlePos(int engine) const;
/** Gets the mixture position.
@param engine engine ID number
@return mixture position for the given engine in percent ( 0 - 100)*/
- inline double GetMixturePos(int engine) { return MixturePos[engine]; }
+ inline double GetMixturePos(int engine) const { return MixturePos[engine]; }
/** Gets the gear position (0 up, 1 down), defaults to down
@return gear position (0 up, 1 down) */
- inline double GetGearPos(void) { return GearPos; }
+ inline double GetGearPos(void) const { return GearPos; }
/** Gets the prop pitch position.
@param engine engine ID number
@return prop pitch position for the given engine in percent ( 0.0-1.0)*/
- inline double GetPropAdvance(int engine) { return PropAdvance[engine]; }
+ inline double GetPropAdvance(int engine) const { return PropAdvance[engine]; }
//@}
/** Retrieves the State object pointer.
/** Retrieves a components output value
@param idx the index of the component (the component ID)
@return output value from the component */
- double GetComponentOutput(eParam idx);
+ double GetComponentOutput(int idx);
/** Retrieves the component name
@param idx the index of the component (the component ID)
//@{
/** Sets the aileron command
@param cmd aileron command in percent*/
- inline void SetDaCmd(double cmd) { DaCmd = cmd; }
+ inline void SetDaCmd( double cmd ) { DaCmd = cmd; }
/** Sets the elevator command
@param cmd elevator command in percent*/
- inline void SetDeCmd(double cmd) { DeCmd = cmd; }
+ inline void SetDeCmd(double cmd ) { DeCmd = cmd; }
/** Sets the rudder command
@param cmd rudder command in percent*/
void SetPropAdvanceCmd(int engine, double cmd);
//@}
+ /// @name AUTOPilot -> FCS effector command setting
+ //@{
+ /** Sets the AUTOPilot aileron command
+ @param cmd AUTOPilot aileron command in radians*/
+ inline void SetAPDaCmd( double cmd ) { AP_DaCmd = cmd; }
+
+ /** Sets the AUTOPilot elevator command
+ @param cmd AUTOPilot elevator command in radians*/
+ inline void SetAPDeCmd(double cmd ) { AP_DeCmd = cmd; }
+
+ /** Sets the AUTOPilot rudder command
+ @param cmd AUTOPilot rudder command in radians*/
+ inline void SetAPDrCmd(double cmd) { AP_DrCmd = cmd; }
+
+ /** Sets the AUTOPilot throttle command
+ @param cmd AUTOPilot throttle command in percent*/
+ inline void SetAPThrottleCmd(double cmd) { AP_ThrottleCmd = cmd; }
+ //@}
+
/// @name Aerosurface position setting
//@{
/** Sets the left aileron position
@param cmd left aileron position in radians*/
- inline void SetDaLPos(double cmd) { DaLPos = cmd; }
-
- /** Sets the normalized left aileron position
- @param cmd left aileron position in percent (-1..1)*/
- inline void SetDaLPosN(double cmd) { DaLPosN = cmd; }
+ inline void SetDaLPos( int form , double pos )
+ { DaLPos[form] = pos; }
/** Sets the right aileron position
@param cmd right aileron position in radians*/
- inline void SetDaRPos(double cmd) { DaRPos = cmd; }
-
- /** Sets the normalized right aileron position
- @param cmd right aileron position in percent (-1..1)*/
- inline void SetDaRPosN(double cmd) { DaRPosN = cmd; }
+ inline void SetDaRPos( int form , double pos )
+ { DaRPos[form] = pos; }
/** Sets the elevator position
@param cmd elevator position in radians*/
- inline void SetDePos(double cmd) { DePos = cmd; }
-
- /** Sets the normalized elevator position
- @param cmd elevator position in percent (-1..1) */
- inline void SetDePosN(double cmd) { DePosN = cmd; }
+ inline void SetDePos( int form , double pos )
+ { DePos[form] = pos; }
/** Sets the rudder position
@param cmd rudder position in radians*/
- inline void SetDrPos(double cmd) { DrPos = cmd; }
+ inline void SetDrPos( int form , double pos )
+ { DrPos[form] = pos; }
- /** Sets the normalized rudder position
- @param cmd rudder position in percent (-1..1)*/
- inline void SetDrPosN(double cmd) { DrPosN = cmd; }
-
- /** Sets the flaps position
+ /** Sets the flaps position
@param cmd flaps position in radians*/
- inline void SetDfPos(double cmd) { DfPos = cmd; }
+ inline void SetDfPos( int form , double pos )
+ { DfPos[form] = pos; }
- /** Sets the flaps position
- @param cmd flaps position in radians*/
- inline void SetDfPosN(double cmd) { DfPosN = cmd; }
-
/** Sets the speedbrake position
@param cmd speedbrake position in radians*/
- inline void SetDsbPos(double cmd) { DsbPos = cmd; }
-
- /** Sets the normalized speedbrake position
- @param cmd normalized speedbrake position in percent (-1..1)*/
- inline void SetDsbPosN(double cmd) { DsbPosN = cmd; }
+ inline void SetDsbPos( int form , double pos )
+ { DsbPos[form] = pos; }
/** Sets the spoiler position
@param cmd spoiler position in radians*/
- inline void SetDspPos(double cmd) { DspPos = cmd; }
+ inline void SetDspPos( int form , double pos )
+ { DspPos[form] = pos; }
- /** Sets the normalized spoiler position
- @param cmd normalized spoiler position in percent (-1..1)*/
- inline void SetDspPosN(double cmd) { DspPosN = cmd; }
-
/** Sets the actual throttle setting for the specified engine
@param engine engine ID number
@param cmd throttle setting in percent (0 - 100)*/
void SetPropAdvance(int engine, double cmd);
//@}
- /// @name Landing Gear brakes
+ /// @name Landing Gear brakes
//@{
/** Sets the left brake group
@param cmd brake setting in percent (0.0 - 1.0) */
bool Load(FGConfigFile* AC_cfg);
void AddThrottle(void);
-
+
+ FGPropertyManager* GetPropertyManager(void) { return PropertyManager; }
+
+ void bind(void);
+ void bindModel(void);
+ void unbind(FGPropertyManager *node);
+
private:
- double DaCmd, DeCmd, DrCmd, DfCmd, DsbCmd, DspCmd;
- double DaLPos, DaRPos, DePos, DrPos, DfPos, DsbPos, DspPos;
- double DaLPosN, DaRPosN, DePosN, DrPosN, DfPosN, DsbPosN, DspPosN;
+ double DaCmd, DeCmd, DrCmd, DfCmd, DsbCmd, DspCmd;
+ double AP_DaCmd, AP_DeCmd, AP_DrCmd, AP_ThrottleCmd;
+ double DePos[NForms], DaLPos[NForms], DaRPos[NForms], DrPos[NForms];
+ double DfPos[NForms], DsbPos[NForms], DspPos[NForms];
double PTrimCmd, YTrimCmd, RTrimCmd;
vector <double> ThrottleCmd;
vector <double> ThrottlePos;
vector <double> PropAdvance;
double LeftBrake, RightBrake, CenterBrake; // Brake settings
double GearCmd,GearPos;
-
+
+ enum Mode {mAP, mFCS, mNone} eMode;
+
+ double APAttitudeSetPt, APAltitudeSetPt, APHeadingSetPt, APAirspeedSetPt;
+ bool APAcquireAttitude, APAcquireAltitude, APAcquireHeading, APAcquireAirspeed;
+ bool APAttitudeHold, APAltitudeHold, APHeadingHold, APAirspeedHold, APWingsLevelHold;
+
bool DoNormalize;
void Normalize(void);
- vector <FGFCSComponent*> Components;
- int ToNormalize[7];
+ vector <FGFCSComponent*> FCSComponents;
+ vector <FGFCSComponent*> APComponents;
+ int ToNormalize[NNorm];
void Debug(int from);
};
-
-#include "FGState.h"
+}
#endif
projects / flightgear.git / blobdiff