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 FGSwitch
@see FGGradient
@see FGFilter
- @see FGFlaps
@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>
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
/// @name Pilot input command retrieval
//@{
/** Gets the aileron command.
- @return aileron command in radians */
- inline float GetDaCmd(void) { return DaCmd; }
-
+ @return aileron command in percent */
+ inline double GetDaCmd(void) const { return DaCmd; }
+
/** Gets the elevator command.
- @return elevator command in radians */
- inline float GetDeCmd(void) { return DeCmd; }
+ @return elevator command in percent */
+ inline double GetDeCmd(void) const { return DeCmd; }
/** Gets the rudder command.
- @return rudder command in radians */
- inline float GetDrCmd(void) { return DrCmd; }
+ @return rudder command in percent */
+ inline double GetDrCmd(void) const { return DrCmd; }
/** Gets the flaps command.
- @return flaps command in radians */
- inline float GetDfCmd(void) { return DfCmd; }
+ @return flaps command in percent */
+ inline double GetDfCmd(void) const { return DfCmd; }
/** Gets the speedbrake command.
- @return speedbrake command in radians */
- inline float GetDsbCmd(void) { return DsbCmd; }
+ @return speedbrake command in percent */
+ inline double GetDsbCmd(void) const { return DsbCmd; }
/** Gets the spoiler command.
- @return spoiler command in radians */
- inline float GetDspCmd(void) { return DspCmd; }
+ @return spoiler command in percent */
+ 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 */
- float 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 float 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) const { return PropAdvanceCmd[engine]; }
/** Gets the pitch trim command.
- @return pitch trim command in radians */
- inline float GetPitchTrimCmd(void) { return PTrimCmd; }
+ @return pitch trim command in percent */
+ inline double GetPitchTrimCmd(void) const { return PTrimCmd; }
+
+ /** Gets the rudder trim command.
+ @return rudder trim command in percent */
+ inline double GetYawTrimCmd(void) const { return YTrimCmd; }
+
+ /** Gets the aileron trim command.
+ @return aileron trim command in percent */
+ 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) const { return GearCmd; }
+ //@}
+
+ /// @name AUTOPilot -> FCS effectors command retrieval
+ //@{
+ /** 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; }
+
+ /** 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 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 aileron position.
+ /** Gets the left aileron position.
+ @return aileron position in radians */
+ inline double GetDaLPos( int form = ofRad )
+ const { return DaLPos[form]; }
+
+ /// @name Aerosurface position retrieval
+ //@{
+ /** Gets the right aileron position.
@return aileron position in radians */
- inline float GetDaPos(void) { return DaPos; }
+ inline double GetDaRPos( int form = ofRad )
+ const { return DaRPos[form]; }
/** Gets the elevator position.
@return elevator position in radians */
- inline float GetDePos(void) { return DePos; }
-
+ inline double GetDePos( int form = ofRad )
+ const { return DePos[form]; }
+
/** Gets the rudder position.
@return rudder position in radians */
- inline float GetDrPos(void) { return DrPos; }
-
- /** Gets the flaps position.
- @return flaps position in radians */
- inline float GetDfPos(void) { return DfPos; }
+ inline double GetDrPos( int form = ofRad )
+ const { return DrPos[form]; }
/** Gets the speedbrake position.
@return speedbrake position in radians */
- inline float GetDsbPos(void) { return DsbPos; }
+ inline double GetDsbPos( int form = ofRad )
+ const { return DsbPos[form]; }
/** Gets the spoiler position.
@return spoiler position in radians */
- inline float GetDspPos(void) { return DspPos; }
-
+ inline double GetDspPos( int form = ofRad )
+ const { return DspPos[form]; }
+
+ /** 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)*/
- float 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 float 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) 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) 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 */
- float GetComponentOutput(eParam idx);
+ double GetComponentOutput(int idx);
/** Retrieves the component name
@param idx the index of the component (the component ID)
/// @name Pilot input command setting
//@{
/** Sets the aileron command
- @param cmd aileron command in radians*/
- inline void SetDaCmd(float cmd) { DaCmd = cmd; }
+ @param cmd aileron command in percent*/
+ inline void SetDaCmd( double cmd ) { DaCmd = cmd; }
/** Sets the elevator command
- @param cmd elevator command in radians*/
- inline void SetDeCmd(float cmd) { DeCmd = cmd; }
+ @param cmd elevator command in percent*/
+ inline void SetDeCmd(double cmd ) { DeCmd = cmd; }
/** Sets the rudder command
- @param cmd rudder command in radians*/
- inline void SetDrCmd(float cmd) { DrCmd = cmd; }
+ @param cmd rudder command in percent*/
+ inline void SetDrCmd(double cmd) { DrCmd = cmd; }
/** Sets the flaps command
- @param cmd flaps command in radians*/
- inline void SetDfCmd(float cmd) { DfCmd = cmd; }
+ @param cmd flaps command in percent*/
+ inline void SetDfCmd(double cmd) { DfCmd = cmd; }
/** Sets the speedbrake command
- @param cmd speedbrake command in radians*/
- inline void SetDsbCmd(float cmd) { DsbCmd = cmd; }
+ @param cmd speedbrake command in percent*/
+ inline void SetDsbCmd(double cmd) { DsbCmd = cmd; }
/** Sets the spoilers command
- @param cmd spoilers command in radians*/
- inline void SetDspCmd(float cmd) { DspCmd = cmd; }
+ @param cmd spoilers command in percent*/
+ inline void SetDspCmd(double cmd) { DspCmd = cmd; }
/** Sets the pitch trim command
- @param cmd pitch trim command in radians*/
- inline void SetPitchTrimCmd(float cmd) { PTrimCmd = cmd; }
+ @param cmd pitch trim command in percent*/
+ inline void SetPitchTrimCmd(double cmd) { PTrimCmd = cmd; }
+
+ /** Sets the rudder trim command
+ @param cmd rudder trim command in percent*/
+ inline void SetYawTrimCmd(double cmd) { YTrimCmd = cmd; }
+
+ /** Sets the aileron trim command
+ @param cmd aileron trim command in percent*/
+ inline void SetRollTrimCmd(double cmd) { RTrimCmd = cmd; }
/** Sets the throttle command for the specified engine
@param engine engine ID number
@param cmd throttle command in percent (0 - 100)*/
- void SetThrottleCmd(int engine, float cmd);
+ void SetThrottleCmd(int engine, double cmd);
/** Sets the mixture command for the specified engine
@param engine engine ID number
@param cmd mixture command in percent (0 - 100)*/
- void SetMixtureCmd(int engine, float cmd);
+ void SetMixtureCmd(int engine, double cmd);
+
+ /** Set the gear extend/retract command, defaults to down
+ @param gear command 0 for up, 1 for down */
+ void SetGearCmd(double gearcmd) { GearCmd = gearcmd; }
+
+ /** Sets the propeller pitch command for the specified engine
+ @param engine engine ID number
+ @param cmd mixture command in percent (0.0 - 1.0)*/
+ 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 aileron position
- @param cmd aileron position in radians*/
- inline void SetDaPos(float cmd) { DaPos = cmd; }
+ /** Sets the left aileron position
+ @param cmd left aileron position in radians*/
+ 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( int form , double pos )
+ { DaRPos[form] = pos; }
/** Sets the elevator position
@param cmd elevator position in radians*/
- inline void SetDePos(float cmd) { DePos = cmd; }
+ inline void SetDePos( int form , double pos )
+ { DePos[form] = pos; }
/** Sets the rudder position
@param cmd rudder position in radians*/
- inline void SetDrPos(float cmd) { DrPos = cmd; }
-
- /** Sets the flaps position
+ inline void SetDrPos( int form , double pos )
+ { DrPos[form] = pos; }
+
+ /** Sets the flaps position
@param cmd flaps position in radians*/
- inline void SetDfPos(float cmd) { DfPos = cmd; }
-
+ inline void SetDfPos( int form , double pos )
+ { DfPos[form] = pos; }
+
/** Sets the speedbrake position
@param cmd speedbrake position in radians*/
- inline void SetDsbPos(float cmd) { DsbPos = cmd; }
+ inline void SetDsbPos( int form , double pos )
+ { DsbPos[form] = pos; }
/** Sets the spoiler position
@param cmd spoiler position in radians*/
- inline void SetDspPos(float cmd) { DspPos = cmd; }
-
+ inline void SetDspPos( int form , double pos )
+ { DspPos[form] = pos; }
+
/** Sets the actual throttle setting for the specified engine
@param engine engine ID number
@param cmd throttle setting in percent (0 - 100)*/
- void SetThrottlePos(int engine, float cmd);
+ void SetThrottlePos(int engine, double cmd);
/** Sets the actual mixture setting for the specified engine
@param engine engine ID number
@param cmd mixture setting in percent (0 - 100)*/
- void SetMixturePos(int engine, float cmd);
+ void SetMixturePos(int engine, double cmd);
+
+ /** Set the gear extend/retract position, defaults to down
+ @param gear position 0 up, 1 down */
+ void SetGearPos(double gearpos) { GearPos = gearpos; }
+
+
+ /** Sets the actual prop pitch setting for the specified engine
+ @param engine engine ID number
+ @param cmd prop pitch setting in percent (0.0 - 1.0)*/
+ 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) */
- void SetLBrake(float cmd) {LeftBrake = cmd;}
+ void SetLBrake(double cmd) {LeftBrake = cmd;}
/** Sets the right brake group
@param cmd brake setting in percent (0.0 - 1.0) */
- void SetRBrake(float cmd) {RightBrake = cmd;}
+ void SetRBrake(double cmd) {RightBrake = cmd;}
/** Sets the center brake group
@param cmd brake setting in percent (0.0 - 1.0) */
- void SetCBrake(float cmd) {CenterBrake = cmd;}
+ void SetCBrake(double cmd) {CenterBrake = cmd;}
/** Gets the brake for a specified group.
@param bg which brakegroup to retrieve the command for
@return the brake setting for the supplied brake group argument */
- float GetBrake(FGLGear::BrakeGroup bg);
+ double GetBrake(FGLGear::BrakeGroup bg);
//@}
/** Loads the Flight Control System.
bool Load(FGConfigFile* AC_cfg);
void AddThrottle(void);
-
+
+ FGPropertyManager* GetPropertyManager(void) { return PropertyManager; }
+
+ void bind(void);
+ void bindModel(void);
+ void unbind(FGPropertyManager *node);
+
private:
- float DaCmd, DeCmd, DrCmd, DfCmd, DsbCmd, DspCmd;
- float DaPos, DePos, DrPos, DfPos, DsbPos, DspPos;
- float PTrimCmd;
- vector <float> ThrottleCmd;
- vector <float> ThrottlePos;
- vector <float> MixtureCmd;
- vector <float> MixturePos;
- float LeftBrake, RightBrake, CenterBrake; // Brake settings
-
- vector <FGFCSComponent*> Components;
- void Debug(void);
+ 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> MixtureCmd;
+ vector <double> MixturePos;
+ vector <double> PropAdvanceCmd;
+ 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*> FCSComponents;
+ vector <FGFCSComponent*> APComponents;
+ int ToNormalize[NNorm];
+ void Debug(int from);
};
-
-#include "FGState.h"
+}
#endif
projects / flightgear.git / blobdiff