Purpose: Model the flight controls
Called by: FDMExec
- ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
+ ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU Lesser General Public License as published by the Free Software
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGFCS.h"
-#include <FGFDMExec.h>
-#include <input_output/FGPropertyManager.h>
+#include "FGFDMExec.h"
+#include "FGGroundReactions.h"
+#include "input_output/FGPropertyManager.h"
#include <fstream>
#include <sstream>
#include <iomanip>
-#include <models/flight_control/FGFilter.h>
-#include <models/flight_control/FGDeadBand.h>
-#include <models/flight_control/FGGain.h>
-#include <models/flight_control/FGPID.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>
+#include "models/flight_control/FGFilter.h"
+#include "models/flight_control/FGDeadBand.h"
+#include "models/flight_control/FGGain.h"
+#include "models/flight_control/FGPID.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"
+#include "models/flight_control/FGAccelerometer.h"
+#include "models/flight_control/FGMagnetometer.h"
+#include "models/flight_control/FGGyro.h"
+
+using namespace std;
namespace JSBSim {
unsigned int 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];
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);
}
if (FGModel::Run()) return true; // fast exit if nothing to do
if (FDMExec->Holding()) return false;
+ RunPreFunctions();
+
for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
}
- // 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 Flight Control System
for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
+ RunPostFunctions();
+
return false;
}
if (engineNum < (int)ThrottlePos.size()) {
if (engineNum < 0) {
- for (ctr=0;ctr<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
+ for (ctr=0;ctr<MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
} else {
MixturePos[engineNum] = setting;
}
if (engineNum < (int)ThrottlePos.size()) {
if (engineNum < 0) {
- for (ctr=0;ctr<=PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
+ for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
} else {
PropAdvance[engineNum] = setting;
}
if (engineNum < (int)ThrottlePos.size()) {
if (engineNum < 0) {
- for (ctr=0;ctr<=PropFeatherCmd.size();ctr++) PropFeather[ctr] = PropFeatherCmd[ctr];
+ for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeather[ctr] = PropFeatherCmd[ctr];
} else {
PropFeather[engineNum] = setting;
}
{
string name, file, fname="", interface_property_string, parent_name;
vector <FGFCSComponent*> *Components;
- Element *component_element, *property_element, *sensor_element;
+ Element *component_element;
Element *channel_element;
Components=0;
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_property_string = property_element->GetDataLine();
- if (PropertyManager->HasNode(interface_property_string)) {
- cout << " Property " << interface_property_string << " is already defined." << endl;
- } else {
- 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");
- }
+ FGModel::Load(document); // Load interface properties from document
// 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.
+ Element* property_element = 0;
+
if (!fname.empty()) {
property_element = el->FindElement("property");
if (property_element && debug_lvl > 0) cout << endl << " Overriding properties" << endl << endl;
interface_property_string = property_element->GetDataLine();
if (PropertyManager->HasNode(interface_property_string)) {
FGPropertyManager* node = PropertyManager->GetNode(interface_property_string);
- cout << " " << "Overriding value for property " << interface_property_string
- << " (old value: " << node->getDoubleValue() << " new value: " << value << ")" << endl;
+ if (debug_lvl > 0)
+ 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));
}
}
- // 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 {
- sensors.push_back(new FGSensor(this, sensor_element));
- } catch (string s) {
- cerr << highint << fgred << endl << " " << s << endl;
- return false;
- }
- sensor_element = document->FindNextElement("sensor");
- }
-
channel_element = document->FindElement("channel");
while (channel_element) {
Components->push_back(new FGActuator(this, component_element));
} else if (component_element->GetName() == string("sensor")) {
Components->push_back(new FGSensor(this, component_element));
+ } else if (component_element->GetName() == string("accelerometer")) {
+ Components->push_back(new FGAccelerometer(this, component_element));
+ } else if (component_element->GetName() == string("magnetometer")) {
+ Components->push_back(new FGMagnetometer(this, component_element));
+ } else if (component_element->GetName() == string("gyro")) {
+ Components->push_back(new FGGyro(this, component_element));
} else {
cerr << "Unknown FCS component: " << component_element->GetName() << endl;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-string FGFCS::FindSystemFullPathname(string system_filename)
+string FGFCS::FindSystemFullPathname(const string& system_filename)
{
string fullpath, localpath;
string systemPath = FDMExec->GetSystemsPath();
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-ifstream* FGFCS::FindSystemFile(string system_filename)
+ifstream* FGFCS::FindSystemFile(const string& system_filename)
{
string fullpath, localpath;
string systemPath = FDMExec->GetSystemsPath();
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-string FGFCS::GetComponentStrings(string delimeter)
+string FGFCS::GetComponentStrings(const string& delimiter)
{
unsigned int comp;
string CompStrings = "";
for (unsigned int i=0; i<Systems.size(); i++) {
if (firstime) firstime = false;
- else CompStrings += delimeter;
+ else CompStrings += delimiter;
CompStrings += Systems[i]->GetName();
total_count++;
for (comp = 0; comp < APComponents.size(); comp++)
{
if (firstime) firstime = false;
- else CompStrings += delimeter;
+ else CompStrings += delimiter;
CompStrings += APComponents[comp]->GetName();
total_count++;
for (comp = 0; comp < FCSComponents.size(); comp++) {
if (firstime) firstime = false;
- else CompStrings += delimeter;
+ else CompStrings += delimiter;
CompStrings += FCSComponents[comp]->GetName();
total_count++;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-string FGFCS::GetComponentValues(string delimeter)
+string FGFCS::GetComponentValues(const string& delimiter)
{
std::ostringstream buf;
for (unsigned int i=0; i<Systems.size(); i++) {
if (firstime) firstime = false;
- else buf << delimeter;
+ else buf << delimiter;
buf << setprecision(9) << Systems[i]->GetOutput();
total_count++;
for (comp = 0; comp < APComponents.size(); comp++) {
if (firstime) firstime = false;
- else buf << delimeter;
+ else buf << delimiter;
buf << setprecision(9) << APComponents[comp]->GetOutput();
total_count++;
for (comp = 0; comp < FCSComponents.size(); comp++) {
if (firstime) firstime = false;
- else buf << delimeter;
+ else buf << delimiter;
buf << setprecision(9) << FCSComponents[comp]->GetOutput();
total_count++;
projects / flightgear.git / blobdiff