-/*******************************************************************************
-
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
Header: FGGFCS.h
Author: Jon S. Berndt
Date started: 12/12/98
--------------------------------------------------------------------------------
12/12/98 JSB Created
-********************************************************************************
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifndef FGFCS_H
#define FGFCS_H
-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifdef FGFS
# include <simgear/compiler.h>
-# ifdef FG_HAVE_STD_INCLUDES
+# ifdef SG_HAVE_STD_INCLUDES
# include <vector>
# else
# include <vector.h>
#include <string>
#include "filtersjb/FGFCSComponent.h"
#include "FGModel.h"
+#include "FGLGear.h"
#include "FGConfigFile.h"
-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DEFINITIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#define ID_FCS "$Header"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+FORWARD DECLARATIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DOCUMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/** Encapsulates the Flight Control System (FCS) functionality.
+ <ul><li>\URL[Source Code]{FGFCS.cpp.html}</li>
+ <li>\URL[Header File]{FGFCS.h.html}</li></ul>
+ This class owns and contains the list of \URL[components]{FGFCSComponent.html}
+ that define the control system for this aircraft. The config file for the
+ aircraft contains a description of the control path that starts at an input
+ or command and ends at an effector, e.g. an aerosurface. The FCS components
+ which comprise the control laws for an axis are defined sequentially in
+ the configuration file. For instance, for the X-15:
+
+ <pre>
+ < FLIGHT_CONTROL NAME="X-15 SAS">
+
+ < COMPONENT NAME="Pitch Trim Sum" TYPE="SUMMER">
+ ID 0
+ INPUT FG_ELEVATOR_CMD
+ INPUT FG_PITCH_TRIM_CMD
+ CLIPTO -1 1
+ </COMPONENT>
+
+ < COMPONENT NAME="Pitch Command Scale" TYPE="AEROSURFACE_SCALE">
+ ID 1
+ INPUT 0
+ MIN -50
+ MAX 50
+ </COMPONENT>
+
+ < COMPONENT NAME="Pitch Gain 1" TYPE="PURE_GAIN">
+ ID 2
+ INPUT 1
+ GAIN -0.36
+ </COMPONENT>
+
+ < COMPONENT NAME="Pitch Scheduled Gain 1" TYPE="SCHEDULED_GAIN">
+ ID 3
+ INPUT 2
+ GAIN 0.017
+ SCHEDULED_BY FG_ELEVATOR_POS
+ -0.35 -6.0
+ -0.17 -3.0
+ 0.00 -2.0
+ 0.09 -3.0
+ 0.17 -5.0
+ 0.60 -12.0
+ </COMPONENT>
+
+ ... etc.
+ </pre>
+
+ In the above case we can see the first few components of the pitch channel
+ defined. The input to the first component, as can be seen in the "Pitch trim
+ sum" component, is really the sum of two parameters: elevator command (from
+ the stick - a pilot input), and pitch trim. The type of this component is
+ "Summer". Its ID is 0 - the ID is used by other components to reference it.
+ The next component created is an aerosurface scale component - a type of
+ gain (see the LoadFCS() method for insight on how the various types of
+ components map into the actual component classes). You can see the input of
+ the "Pitch Command Scale" component takes "0" as input. When a number is
+ specified as an input, it refers to the ID of another FCS component. In this
+ case, ID 0 refers to the previously defined and discussed "Pitch Trim Sum"
+ component. This continues until the final component for an axis when the
+ OUTPUT keyword specifies where the output is supposed to go. See the
+ individual components for more information on how they are mechanized.
+
+ @author Jon S. Berndt
+ @version $Id$
+ @see FGFCSComponent
+ @see FGConfigFile
+ @see FGGain
+ @see FGSummer
+ @see FGSwitch
+ @see FGGradient
+ @see FGFilter
+ @see FGFlaps
+ @see FGDeadBand
+*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGFCS : public FGModel {
-private:
- float DaCmd, DeCmd, DrCmd, DfCmd, DsbCmd, DspCmd;
- float DaPos, DePos, DrPos, DfPos, DsbPos, DspPos;
- float PTrimCmd;
- float ThrottleCmd[MAX_ENGINES]; // Needs to be changed: no limit
- float ThrottlePos[MAX_ENGINES]; // Needs to be changed: no limit
-
- vector <FGFCSComponent*> Components;
public:
+ /** Constructor
+ @param Executive a pointer to the parent executive object */
FGFCS(FGFDMExec*);
+ /// Destructor
~FGFCS(void);
+ /** Runs the Flight Controls model; called by the Executive
+ @return false if no error */
bool Run(void);
+ /// @name Pilot input command retrieval
+ //@{
+ /** Gets the aileron command.
+ @return aileron command in radians */
inline float GetDaCmd(void) { return DaCmd; }
+ /** Gets the elevator command.
+ @return elevator command in radians */
inline float GetDeCmd(void) { return DeCmd; }
+ /** Gets the rudder command.
+ @return rudder command in radians */
inline float GetDrCmd(void) { return DrCmd; }
+ /** Gets the flaps command.
+ @return flaps command in radians */
inline float GetDfCmd(void) { return DfCmd; }
+ /** Gets the speedbrake command.
+ @return speedbrake command in radians */
inline float GetDsbCmd(void) { return DsbCmd; }
+ /** Gets the spoiler command.
+ @return spoiler command in radians */
inline float GetDspCmd(void) { return DspCmd; }
- inline float GetThrottleCmd(int ii) { return ThrottleCmd[ii]; }
+ /** Gets the throttle command.
+ @param engine engine ID number
+ @return throttle command in percent ( 0 - 100) for the given engine */
+ inline float GetThrottleCmd(int engine) { return ThrottleCmd[engine]; }
+ /** Gets the pitch trim command.
+ @return pitch trim command in radians */
inline float GetPitchTrimCmd(void) { return PTrimCmd; }
-
+ //@}
+
+ /// @name Aerosurface position retrieval
+ //@{
+ /** Gets the aileron position.
+ @return aileron position in radians */
inline float GetDaPos(void) { return DaPos; }
+ /** Gets the elevator position.
+ @return elevator position in radians */
inline float GetDePos(void) { return DePos; }
+ /** 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; }
+ /** Gets the speedbrake position.
+ @return speedbrake position in radians */
inline float GetDsbPos(void) { return DsbPos; }
+ /** Gets the spoiler position.
+ @return spoiler position in radians */
inline float GetDspPos(void) { return DspPos; }
+ /** Gets the throttle position.
+ @param engine engine ID number
+ @return throttle position for the given engine in percent ( 0 - 100)*/
+ inline float GetThrottlePos(int engine) { return ThrottlePos[engine]; }
+ //@}
- inline float GetThrottlePos(int ii) { return ThrottlePos[ii]; }
+ /** Retrieves the State object pointer.
+ This is used by the FGFCS-owned components.
+ @return pointer to the State object */
inline FGState* GetState(void) { return State; }
+ /** 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);
+ /** Retrieves the component name
+ @param idx the index of the component (the component ID)
+ @return name of the component */
string GetComponentName(int idx);
+ /** Retrieves all component names for inclusion in output stream */
+ string GetComponentStrings(void);
+ /** Retrieves all component outputs for inclusion in output stream */
+ string GetComponentValues(void);
- inline void SetDaCmd(float tt) { DaCmd = tt; }
- inline void SetDeCmd(float tt) { DeCmd = tt; }
- inline void SetDrCmd(float tt) { DrCmd = tt; }
- inline void SetDfCmd(float tt) { DfCmd = tt; }
- inline void SetDsbCmd(float tt) { DsbCmd = tt; }
- inline void SetDspCmd(float tt) { DspCmd = tt; }
- inline void SetPitchTrimCmd(float tt) { PTrimCmd = tt; }
-
- void SetThrottleCmd(int ii, float tt);
+ /// @name Pilot input command setting
+ //@{
+ /** Sets the aileron command
+ @param cmd aileron command in radians*/
+ inline void SetDaCmd(float cmd) { DaCmd = cmd; }
+ /** Sets the elevator command
+ @param cmd elevator command in radians*/
+ inline void SetDeCmd(float cmd) { DeCmd = cmd; }
+ /** Sets the rudder command
+ @param cmd rudder command in radians*/
+ inline void SetDrCmd(float cmd) { DrCmd = cmd; }
+ /** Sets the flaps command
+ @param cmd flaps command in radians*/
+ inline void SetDfCmd(float cmd) { DfCmd = cmd; }
+ /** Sets the speedbrake command
+ @param cmd speedbrake command in radians*/
+ inline void SetDsbCmd(float cmd) { DsbCmd = cmd; }
+ /** Sets the spoilers command
+ @param cmd spoilers command in radians*/
+ inline void SetDspCmd(float cmd) { DspCmd = cmd; }
+ /** Sets the pitch trim command
+ @param cmd pitch trim command in radians*/
+ inline void SetPitchTrimCmd(float cmd) { PTrimCmd = cmd; }
+ /** Sets the throttle command for the specified engine
+ @param engine engine ID number
+ @param cmd throttle command in percent (0 - 100)*/
+ inline void SetThrottleCmd(int engine, float cmd);
+ //@}
- inline void SetDaPos(float tt) { DaPos = tt; }
- inline void SetDePos(float tt) { DePos = tt; }
- inline void SetDrPos(float tt) { DrPos = tt; }
- inline void SetDfPos(float tt) { DfPos = tt; }
- inline void SetDsbPos(float tt) { DsbPos = tt; }
- inline void SetDspPos(float tt) { DspPos = tt; }
+ /// @name Aerosurface position setting
+ //@{
+ /** Sets the aileron position
+ @param cmd aileron position in radians*/
+ inline void SetDaPos(float cmd) { DaPos = cmd; }
+ /** Sets the elevator position
+ @param cmd elevator position in radians*/
+ inline void SetDePos(float cmd) { DePos = cmd; }
+ /** Sets the rudder position
+ @param cmd rudder position in radians*/
+ inline void SetDrPos(float cmd) { DrPos = cmd; }
+ /** Sets the flaps position
+ @param cmd flaps position in radians*/
+ inline void SetDfPos(float cmd) { DfPos = cmd; }
+ /** Sets the speedbrake position
+ @param cmd speedbrake position in radians*/
+ inline void SetDsbPos(float cmd) { DsbPos = cmd; }
+ /** Sets the spoiler position
+ @param cmd spoiler position in radians*/
+ inline void SetDspPos(float cmd) { DspPos = cmd; }
+ /** Sets the actual throttle setting for the specified engine
+ @param engine engine ID number
+ @param cmd throttle setting in percent (0 - 100)*/
+ inline void SetThrottlePos(int engine, float cmd);
+ //@}
- void SetLBrake(float);
- void SetRBrake(float);
- void SetCBrake(float);
-
- void SetThrottlePos(int ii, float tt);
+ /// @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;}
+ /** Sets the right brake group
+ @param cmd brake setting in percent (0.0 - 1.0) */
+ void SetRBrake(float cmd) {RightBrake = cmd;}
+ /** Sets the center brake group
+ @param cmd brake setting in percent (0.0 - 1.0) */
+ void SetCBrake(float 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::eBrakeGroup bg);
+ //@}
+ /** Loads the Flight Control System.
+ The FGAircraft instance is actually responsible for reading the config file
+ and calling the various Loadxx() methods of the other systems, passing in
+ the config file instance pointer. LoadFCS() is called from FGAircraft.
+ @param AC_cfg pointer to the config file instance
+ @return true if succesful */
bool LoadFCS(FGConfigFile* AC_cfg);
+
+ /** The name of the flight control laws for this aircraft.
+ This is given in the config file, and is not used for anything currently.*/
string FCSName;
+
+private:
+ float DaCmd, DeCmd, DrCmd, DfCmd, DsbCmd, DspCmd;
+ float DaPos, DePos, DrPos, DfPos, DsbPos, DspPos;
+ float PTrimCmd;
+ float ThrottleCmd[MAX_ENGINES]; // Needs to be changed: s/b no limit
+ float ThrottlePos[MAX_ENGINES]; // Needs to be changed: s/b no limit
+ float LeftBrake, RightBrake, CenterBrake; // Brake settings
+
+ vector <FGFCSComponent*> Components;
+
};
#include "FGState.h"
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