/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- Module: FGFCS.cpp
+ Module: FGFCS.cpp
Author: Jon Berndt
Date started: 12/12/98
Purpose: Model the flight controls
#include <models/flight_control/FGDeadBand.h>
#include <models/flight_control/FGGain.h>
#include <models/flight_control/FGPID.h>
-#include <models/flight_control/FGGradient.h>
#include <models/flight_control/FGSwitch.h>
#include <models/flight_control/FGSummer.h>
#include <models/flight_control/FGKinemat.h>
#include <models/flight_control/FGFCSFunction.h>
#include <models/flight_control/FGSensor.h>
+#include <models/flight_control/FGActuator.h>
namespace JSBSim {
PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
GearCmd = GearPos = 1; // default to gear down
LeftBrake = RightBrake = CenterBrake = 0.0;
+ TailhookPos = WingFoldPos = 0.0;
bind();
- for (i=0;i<=NForms;i++) {
+ for (i=0;i<NForms;i++) {
DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
}
FGFCS::~FGFCS()
{
- if (PropertyManager->HasNode("fcs")) unbind( PropertyManager->GetNode("fcs") );
- if (PropertyManager->HasNode("ap")) unbind( PropertyManager->GetNode("ap") );
- PropertyManager->Untie( "gear/gear-cmd-norm" );
- PropertyManager->Untie( "gear/gear-pos-norm" );
-
ThrottleCmd.clear();
ThrottlePos.clear();
MixtureCmd.clear();
unsigned int i;
- for (i=0;i<APComponents.size();i++) delete APComponents[i];
- for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
for (i=0;i<sensors.size();i++) delete sensors[i];
-
+ sensors.clear();
+ for (i=0;i<APComponents.size();i++) delete APComponents[i];
APComponents.clear();
+ for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
FCSComponents.clear();
- sensors.clear();
+ for (i=0;i<Systems.size();i++) delete Systems[i];
+ Systems.clear();
+
+ for (unsigned int i=0; i<interface_properties.size(); i++) delete interface_properties[i];
interface_properties.clear();
Debug(1);
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFCS::InitModel(void)
+{
+ unsigned int i;
+
+ if (!FGModel::InitModel()) return false;
+
+ for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = 0.0;
+ for (i=0; i<MixturePos.size(); i++) MixturePos[i] = 0.0;
+ for (i=0; i<ThrottleCmd.size(); i++) ThrottleCmd[i] = 0.0;
+ for (i=0; i<MixtureCmd.size(); i++) MixtureCmd[i] = 0.0;
+ for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = 0.0;
+ for (i=0; i<PropFeather.size(); i++) PropFeather[i] = 0.0;
+
+ DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
+ PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
+ TailhookPos = WingFoldPos = 0.0;
+
+ for (i=0;i<NForms;i++) {
+ DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
+ DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
+ }
+
+ return true;
+}
+
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Notes: In this logic the default engine commands are set. This is simply a
// sort of safe-mode method in case the user has not defined control laws for
for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
for (i=0; i<PropFeather.size(); i++) PropFeather[i] = PropFeatherCmd[i];
-
// Set the default steering angle
for (i=0; i<SteerPosDeg.size(); i++) {
FGLGear* gear = GroundReactions->GetGearUnit(i);
SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
}
- // Cycle through the sensor, autopilot, and flight control components
+ // Cycle through the sensor, systems, autopilot, and flight control components
+ // Execute Sensors
for (i=0; i<sensors.size(); i++) sensors[i]->Run();
+
+ // Execute Systems in order
+ for (i=0; i<Systems.size(); i++) Systems[i]->Run();
+
+ // Execute Autopilot
for (i=0; i<APComponents.size(); i++) APComponents[i]->Run();
+
+ // Execute Flight Control System
for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
return false;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFCS::Load(Element* el)
+bool FGFCS::Load(Element* el, SystemType systype)
{
- string name, file, fname, interface_property_string;
+ string name, file, fname="", interface_property_string, parent_name;
vector <FGFCSComponent*> *Components;
- Element *document, *component_element, *property_element, *sensor_element;
+ Element *component_element, *property_element, *sensor_element;
Element *channel_element;
- ifstream* controls_file = new ifstream();
- FGXMLParse controls_file_parser;
Components=0;
- // Determine if the FCS/Autopilot is defined inline in the aircraft configuration
- // file or in a separate file. Set up the Element pointer as appropriate.
string separator = "/";
-#ifdef macintosh
- separator = ";";
-#endif
+
+// ToDo: The handling of name and file attributes could be improved, here,
+// considering that a name can be in the external file, as well.
name = el->GetAttributeValue("name");
if (name.empty()) {
fname = el->GetAttributeValue("file");
- file = FDMExec->GetFullAircraftPath() + separator + fname + ".xml";
+ if (systype == stSystem) {
+ file = FindSystemFullPathname(fname);
+ } else {
+ file = FDMExec->GetFullAircraftPath() + separator + fname + ".xml";
+ }
if (fname.empty()) {
- cerr << "FCS/Autopilot does not appear to be defined inline nor in a file" << endl;
+ cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl;
return false;
} else {
- controls_file->open(file.c_str());
- readXML(*controls_file, controls_file_parser);
- delete controls_file;
- document = controls_file_parser.GetDocument();
+ document = LoadXMLDocument(file);
+ if (!document) {
+ cerr << "Error loading file " << file << endl;
+ return false;
+ }
+ name = document->GetAttributeValue("name");
}
} else {
document = el;
} else if (document->GetName() == "flight_control") {
Components = &FCSComponents;
Name = "FCS: " + document->GetAttributeValue("name");
+ } else if (document->GetName() == "system") {
+ Components = &Systems;
+ Name = "System: " + document->GetAttributeValue("name");
}
-
Debug(2);
- // ToDo: How do these get untied?
- // ToDo: Consider having INPUT and OUTPUT interface properties. Would then
- // have to duplicate this block of code after channel read code.
- // Input properties could be write only (nah), and output could be read
- // only.
-
if (document->GetName() == "flight_control") bindModel();
+ // Interface properties from any autopilot, flight control, or other system are
+ // all stored in the interface properties array.
+
property_element = document->FindElement("property");
+ if (property_element) cout << endl << " Declared properties" << endl << endl;
while (property_element) {
- interface_properties.push_back(new double(0));
+ double value=0.0;
+ if ( ! property_element->GetAttributeValue("value").empty())
+ value = property_element->GetAttributeValueAsNumber("value");
+ interface_properties.push_back(new double(value));
interface_property_string = property_element->GetDataLine();
PropertyManager->Tie(interface_property_string, interface_properties.back());
+ cout << " " << interface_property_string << " (initial value: " << value << ")" << endl;
property_element = document->FindNextElement("property");
}
+ // After reading interface properties in a file, read properties in the local
+ // flight_control, autopilot, or system element. This allows general-purpose
+ // systems to be defined in a file, with overrides or initial loaded constants
+ // supplied in the relevant element of the aircraft configuration file.
+
+ if (!fname.empty()) {
+ property_element = el->FindElement("property");
+ if (property_element && debug_lvl > 0) cout << endl << " Declared properties" << endl << endl;
+ while (property_element) {
+ double value=0.0;
+ if ( ! property_element->GetAttributeValue("value").empty())
+ value = property_element->GetAttributeValueAsNumber("value");
+
+ interface_property_string = property_element->GetDataLine();
+
+ FGPropertyManager* node = PropertyManager->GetNode(interface_property_string);
+ if (node) {
+ cout << " " << "Overriding value for property " << interface_property_string
+ << " (old value: " << node->getDoubleValue() << " new value: " << value << ")" << endl;
+ node->setDoubleValue(value);
+ } else {
+ interface_properties.push_back(new double(value));
+ PropertyManager->Tie(interface_property_string, interface_properties.back());
+ if (debug_lvl > 0)
+ cout << " " << interface_property_string << " (initial value: " << value << ")" << endl;
+ }
+
+
+ property_element = el->FindNextElement("property");
+ }
+ }
+
+ // Any sensor elements that are outside of a channel (in either the autopilot
+ // or the flight_control, or even any possible "system") are placed into the global
+ // "sensors" array, and are executed prior to any autopilot, flight control, or
+ // system.
+
sensor_element = document->FindElement("sensor");
while (sensor_element) {
try {
channel_element = document->FindElement("channel");
while (channel_element) {
+
+ if (debug_lvl > 0)
+ cout << endl << highint << fgblue << " Channel "
+ << normint << channel_element->GetAttributeValue("name") << reset << endl;
+
component_element = channel_element->GetElement();
while (component_element) {
try {
Components->push_back(new FGFCSFunction(this, component_element));
} else if (component_element->GetName() == string("pid")) {
Components->push_back(new FGPID(this, component_element));
+ } else if (component_element->GetName() == string("actuator")) {
+ Components->push_back(new FGActuator(this, component_element));
+ } else if (component_element->GetName() == string("sensor")) {
+ Components->push_back(new FGSensor(this, component_element));
} else {
cerr << "Unknown FCS component: " << component_element->GetName() << endl;
}
channel_element = document->FindNextElement("channel");
}
+ ResetParser();
+
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+string FGFCS::FindSystemFullPathname(string system_filename)
+{
+ string fullpath, localpath;
+ string systemPath = FDMExec->GetSystemsPath();
+ string aircraftPath = FDMExec->GetFullAircraftPath();
+ ifstream system_file;
+
+ string separator = "/";
+
+ fullpath = systemPath + separator;
+ localpath = aircraftPath + separator + "Systems" + separator;
+
+ system_file.open(string(fullpath + system_filename + ".xml").c_str());
+ if ( !system_file.is_open()) {
+ system_file.open(string(localpath + system_filename + ".xml").c_str());
+ if ( !system_file.is_open()) {
+ cerr << " Could not open system file: " << system_filename << " in path "
+ << fullpath << " or " << localpath << endl;
+ return string("");
+ } else {
+ return string(localpath + system_filename + ".xml");
+ }
+ }
+ return string(fullpath + system_filename + ".xml");
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+ifstream* FGFCS::FindSystemFile(string system_filename)
+{
+ string fullpath, localpath;
+ string systemPath = FDMExec->GetSystemsPath();
+ string aircraftPath = FDMExec->GetFullAircraftPath();
+ ifstream* system_file = new ifstream();
+
+ string separator = "/";
+
+ fullpath = systemPath + separator;
+ localpath = aircraftPath + separator + "Systems" + separator;
+
+ system_file->open(string(fullpath + system_filename + ".xml").c_str());
+ if ( !system_file->is_open()) {
+ system_file->open(string(localpath + system_filename + ".xml").c_str());
+ if ( !system_file->is_open()) {
+ cerr << " Could not open system file: " << system_filename << " in path "
+ << fullpath << " or " << localpath << endl;
+ }
+ }
+ return system_file;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
string FGFCS::GetComponentStrings(string delimeter)
{
unsigned int comp;
string CompStrings = "";
bool firstime = true;
+ int total_count=0;
- for (comp = 0; comp < FCSComponents.size(); comp++) {
+ for (unsigned int i=0; i<Systems.size(); i++) {
if (firstime) firstime = false;
else CompStrings += delimeter;
- CompStrings += FCSComponents[comp]->GetName();
+ CompStrings += Systems[i]->GetName();
+ total_count++;
}
for (comp = 0; comp < APComponents.size(); comp++)
{
- CompStrings += delimeter;
+ if (firstime) firstime = false;
+ else CompStrings += delimeter;
+
CompStrings += APComponents[comp]->GetName();
+ total_count++;
+ }
+
+ for (comp = 0; comp < FCSComponents.size(); comp++) {
+ if (firstime) firstime = false;
+ else CompStrings += delimeter;
+
+ CompStrings += FCSComponents[comp]->GetName();
+ total_count++;
}
return CompStrings;
{
unsigned int comp;
string CompValues = "";
- char buffer[17];
+ char buffer[100];
bool firstime = true;
+ int total_count=0;
- for (comp = 0; comp < FCSComponents.size(); comp++) {
+ for (unsigned int i=0; i<Systems.size(); i++) {
if (firstime) firstime = false;
else CompValues += delimeter;
- sprintf(buffer, "%9.6f", FCSComponents[comp]->GetOutput());
+ snprintf(buffer, 100, "%9.6f", Systems[i]->GetOutput());
CompValues += string(buffer);
+ total_count++;
}
for (comp = 0; comp < APComponents.size(); comp++) {
- sprintf(buffer, "%s%9.6f", delimeter.c_str(), APComponents[comp]->GetOutput());
+ if (firstime) firstime = false;
+ else CompValues += delimeter;
+
+ sprintf(buffer, "%9.6f", APComponents[comp]->GetOutput());
CompValues += string(buffer);
+ total_count++;
+ }
+
+ for (comp = 0; comp < FCSComponents.size(); comp++) {
+ if (firstime) firstime = false;
+ else CompValues += delimeter;
+
+ sprintf(buffer, "%9.6f", FCSComponents[comp]->GetOutput());
+ CompValues += string(buffer);
+ total_count++;
}
CompValues += "\0";
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+double FGFCS::GetDt(void)
+{
+ return FDMExec->GetDeltaT()*rate;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
void FGFCS::bind(void)
{
PropertyManager->Tie("fcs/aileron-cmd-norm", this, &FGFCS::GetDaCmd, &FGFCS::SetDaCmd);
PropertyManager->Tie("fcs/right-brake-cmd-norm", this, &FGFCS::GetRBrake, &FGFCS::SetRBrake);
PropertyManager->Tie("fcs/center-brake-cmd-norm", this, &FGFCS::GetCBrake, &FGFCS::SetCBrake);
PropertyManager->Tie("fcs/steer-cmd-norm", this, &FGFCS::GetDsCmd, &FGFCS::SetDsCmd);
+
+ PropertyManager->Tie("gear/tailhook-pos-norm", this, &FGFCS::GetTailhookPos, &FGFCS::SetTailhookPos);
+ PropertyManager->Tie("fcs/wing-fold-pos-norm", this, &FGFCS::GetWingFoldPos, &FGFCS::SetWingFoldPos);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
}
}
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFCS::unbind(FGPropertyManager *node)
-{
- int N = node->nChildren();
- for (int i=0; i<N; i++) {
- if (node->getChild(i)->nChildren() ) {
- unbind( (FGPropertyManager*)node->getChild(i) );
- } else if ( node->getChild(i)->isTied() ) {
- node->getChild(i)->untie();
- }
- }
-}
-
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// The bitmasked value choices are as follows:
// unset: In this case (the default) JSBSim would only print
if (debug_lvl & 1) { // Standard console startup message output
if (from == 2) { // Loader
- cout << endl << " Flight Control (" << Name << ")" << endl;
+ cout << endl << " " << Name << endl;
}
}
if (debug_lvl & 2 ) { // Instantiation/Destruction notification
projects / flightgear.git / blobdiff