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]
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@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 double 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 double 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 double 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 double 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 double 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 double 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 */
- 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 radians */
- inline double 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) { return GearCmd; }
+ inline double GetGearCmd(void) const { return GearCmd; }
//@}
/// @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 double GetDaPos(void) { return DaPos; }
+ 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 rudder position.
@return rudder position in radians */
- inline double GetDrPos(void) { return DrPos; }
-
- /** Gets the flaps position.
- @return flaps position in radians */
- inline double GetDfPos(void) { return DfPos; }
+ 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; }
+ 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 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)
/// @name Pilot input command setting
//@{
/** Sets the aileron command
- @param cmd aileron command in radians*/
- inline void SetDaCmd(double 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(double 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*/
+ @param cmd rudder command in percent*/
inline void SetDrCmd(double cmd) { DrCmd = cmd; }
/** Sets the flaps command
- @param cmd flaps command in radians*/
+ @param cmd flaps command in percent*/
inline void SetDfCmd(double cmd) { DfCmd = cmd; }
/** Sets the speedbrake command
- @param cmd speedbrake command in radians*/
+ @param cmd speedbrake command in percent*/
inline void SetDsbCmd(double cmd) { DsbCmd = cmd; }
/** Sets the spoilers command
- @param cmd spoilers command in radians*/
+ @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*/
+ @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)*/
/// @name Aerosurface position setting
//@{
- /** Sets the aileron position
- @param cmd aileron position in radians*/
- inline void SetDaPos(double 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(double 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(double 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(double 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(double 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(double 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)*/
bool Load(FGConfigFile* AC_cfg);
void AddThrottle(void);
-
+
+ FGPropertyManager* GetPropertyManager(void) { return PropertyManager; }
+
+ void bind(void);
+ void bindModel(void);
+ void unbind(void);
+
private:
double DaCmd, DeCmd, DrCmd, DfCmd, DsbCmd, DspCmd;
- double DaPos, DePos, DrPos, DfPos, DsbPos, DspPos;
- double PTrimCmd;
+ 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> PropAdvance;
double LeftBrake, RightBrake, CenterBrake; // Brake settings
double GearCmd,GearPos;
+
+ bool DoNormalize;
+ void Normalize(void);
vector <FGFCSComponent*> Components;
- void Debug(void);
+ int ToNormalize[NNorm];
+ void Debug(int from);
};
#include "FGState.h"
projects / flightgear.git / blobdiff