-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Header: FGGFCS.h
Author: Jon S. Berndt
Date started: 12/12/98
-
+
------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
-
+
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.
-
+
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
details.
-
+
You should have received a copy of the GNU General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA.
-
+
Further information about the GNU General Public License can also be found on
the world wide web at http://www.gnu.org.
-
+
HISTORY
--------------------------------------------------------------------------------
12/12/98 JSB Created
-
-********************************************************************************
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifndef FGFCS_H
#define FGFCS_H
-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#ifdef FGFS
+# include <simgear/compiler.h>
+# ifdef SG_HAVE_STD_INCLUDES
+# include <vector>
+# else
+# include <vector.h>
+# endif
+#else
+# include <vector>
+#endif
+#include <string>
+#include "filtersjb/FGFCSComponent.h"
#include "FGModel.h"
+#include "FGLGear.h"
+#include "FGConfigFile.h"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DEFINITIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#define ID_FCS "$Id$"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+FORWARD DECLARATIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+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]
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+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 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
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-using namespace std;
+class FGFCS : public FGModel {
-class FGFCS : public FGModel
-{
public:
- FGFCS(FGFDMExec*);
- ~FGFCS(void);
+ /** Constructor
+ @param Executive a pointer to the parent executive object */
+ FGFCS(FGFDMExec*);
+ /// Destructor
+ ~FGFCS();
+
+ /** 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 percent */
+ inline double GetDaCmd(void) const { return DaCmd; }
+
+ /** Gets the elevator command.
+ @return elevator command in percent */
+ inline double GetDeCmd(void) const { return DeCmd; }
+
+ /** Gets the rudder command.
+ @return rudder command in percent */
+ inline double GetDrCmd(void) const { return DrCmd; }
+
+ /** Gets the flaps command.
+ @return flaps command in percent */
+ inline double GetDfCmd(void) const { return DfCmd; }
+
+ /** Gets the speedbrake command.
+ @return speedbrake command in percent */
+ inline double GetDsbCmd(void) const { return DsbCmd; }
+
+ /** Gets the spoiler command.
+ @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 */
+ 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) 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 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 Aerosurface position retrieval
+ //@{
+ /** 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 double GetDaRPos( int form = ofRad )
+ const { return DaRPos[form]; }
+
+ /** Gets the elevator position.
+ @return elevator position in radians */
+ inline double GetDePos( int form = ofRad )
+ const { return DePos[form]; }
+
+ /** Gets the rudder position.
+ @return rudder position in radians */
+ inline double GetDrPos( int form = ofRad )
+ const { return DrPos[form]; }
+
+ /** Gets the speedbrake position.
+ @return speedbrake position in radians */
+ inline double GetDsbPos( int form = ofRad )
+ const { return DsbPos[form]; }
+
+ /** Gets the spoiler position.
+ @return spoiler position in radians */
+ 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)*/
+ double GetThrottlePos(int engine) const;
- bool Run(void);
+ /** 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) const { return MixturePos[engine]; }
- inline float GetDa(void) {return Da;}
- inline float GetDe(void) {return De;}
- inline float GetDr(void) {return Dr;}
- inline float GetDf(void) {return Df;}
- inline float GetDs(void) {return Ds;}
- inline float GetThrottle(int ii) {return Throttle[ii];}
-
- inline void SetDa(float tt) {Da = tt*0.30;}
- inline void SetDe(float tt) {De = tt*0.60;}
- inline void SetDr(float tt) {Dr = -1*tt*0.50;}
- inline void SetDf(float tt) {Df = tt;}
- inline void SetDs(float tt) {Ds = tt;}
- void SetThrottle(int ii, float tt);
-
-protected:
+ /** 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.
+ 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 */
+ double GetComponentOutput(int 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);
+
+ /// @name Pilot input command setting
+ //@{
+ /** Sets the aileron command
+ @param cmd aileron command in percent*/
+ inline void SetDaCmd( double cmd ) { DaCmd = cmd; }
+
+ /** Sets the elevator command
+ @param cmd elevator command in percent*/
+ inline void SetDeCmd(double cmd ) { DeCmd = cmd; }
+
+ /** Sets the rudder command
+ @param cmd rudder command in percent*/
+ inline void SetDrCmd(double cmd) { DrCmd = cmd; }
+
+ /** Sets the flaps command
+ @param cmd flaps command in percent*/
+ inline void SetDfCmd(double cmd) { DfCmd = cmd; }
+
+ /** Sets the speedbrake command
+ @param cmd speedbrake command in percent*/
+ inline void SetDsbCmd(double cmd) { DsbCmd = cmd; }
+
+ /** Sets the spoilers command
+ @param cmd spoilers command in percent*/
+ inline void SetDspCmd(double cmd) { DspCmd = cmd; }
+
+ /** Sets the pitch trim command
+ @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, 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, 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 Aerosurface position setting
+ //@{
+ /** 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( int form , double pos )
+ { DePos[form] = pos; }
+
+ /** Sets the rudder position
+ @param cmd rudder position in radians*/
+ inline void SetDrPos( int form , double pos )
+ { DrPos[form] = pos; }
+
+ /** Sets the flaps position
+ @param cmd flaps position in radians*/
+ inline void SetDfPos( int form , double pos )
+ { DfPos[form] = pos; }
+
+ /** Sets the speedbrake position
+ @param cmd speedbrake position in radians*/
+ inline void SetDsbPos( int form , double pos )
+ { DsbPos[form] = pos; }
+
+ /** Sets the spoiler position
+ @param cmd spoiler position in radians*/
+ 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, 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, 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
+ //@{
+ /** Sets the left brake group
+ @param cmd brake setting in percent (0.0 - 1.0) */
+ void SetLBrake(double cmd) {LeftBrake = cmd;}
+
+ /** Sets the right brake group
+ @param cmd brake setting in percent (0.0 - 1.0) */
+ void SetRBrake(double cmd) {RightBrake = cmd;}
+
+ /** Sets the center brake group
+ @param cmd brake setting in percent (0.0 - 1.0) */
+ 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 */
+ double GetBrake(FGLGear::BrakeGroup 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 Load(FGConfigFile* AC_cfg);
+
+ void AddThrottle(void);
+
+ FGPropertyManager* GetPropertyManager(void) { return PropertyManager; }
+
+ void bind(void);
+ void bindModel(void);
+ void unbind(void);
+
private:
- float Da, De, Dr, Df, Ds;
- float Throttle[MAX_ENGINES];
+ double DaCmd, DeCmd, DrCmd, DfCmd, DsbCmd, DspCmd;
+ 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;
+
+ bool DoNormalize;
+ void Normalize(void);
+
+ vector <FGFCSComponent*> Components;
+ int ToNormalize[NNorm];
+ void Debug(int from);
};
-/******************************************************************************/
+#include "FGState.h"
+
#endif
+
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