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 { iDe=0, iDaL, iDaR, iDr, iDsb, iDsp, iDf } FcIdx;
-int const NNorm=7;
-typedef enum { ofRad=0, ofNorm, ofMag } OutputForm;
-int const NForms=3;
-
class FGFCS : public FGModel {
public:
/** 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
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 left aileron position.
/** Gets the flaps position.
@return flaps position in radians */
inline double GetDfPos( int form = ofRad )
- const { return DspPos[form]; }
+ 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
/** 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)
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
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 AddThrottle(void);
+ FGPropertyManager* GetPropertyManager(void) { return PropertyManager; }
+
void bind(void);
- void unbind(void);
-
+ void bindModel(void);
+ void unbind(FGPropertyManager *node);
private:
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> 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;
+ vector <FGFCSComponent*> FCSComponents;
+ vector <FGFCSComponent*> APComponents;
int ToNormalize[NNorm];
void Debug(int from);
};
-
-#include "FGState.h"
+}
#endif
projects / flightgear.git / blobdiff