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 <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/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>
+#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/FGAccelerometer.h"
+#include "models/flight_control/FGMagnetometer.h"
+#include "models/flight_control/FGGyro.h"
+
+using namespace std;
namespace JSBSim {
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGFCS.cpp,v 1.68 2010/03/18 13:21:24 jberndt Exp $";
static const char *IdHdr = ID_FCS;
-#if defined(WIN32) && !defined(__CYGWIN__)
-#define snprintf _snprintf
-#endif
-
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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++) {
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);
}
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;
}
+ for (unsigned int i=0; i<Systems.size(); i++) {
+ if (Systems[i]->GetType() == "LAG" ||
+ Systems[i]->GetType() == "LEAD_LAG" ||
+ Systems[i]->GetType() == "WASHOUT" ||
+ Systems[i]->GetType() == "SECOND_ORDER_FILTER" ||
+ Systems[i]->GetType() == "INTEGRATOR")
+ {
+ ((FGFilter*)Systems[i])->ResetPastStates();
+ } else if (Systems[i]->GetType() == "PID" ) {
+ ((FGPID*)Systems[i])->ResetPastStates();
+ }
+ }
+
+ for (unsigned int i=0; i<FCSComponents.size(); i++) {
+ if (FCSComponents[i]->GetType() == "LAG" ||
+ FCSComponents[i]->GetType() == "LEAD_LAG" ||
+ FCSComponents[i]->GetType() == "WASHOUT" ||
+ FCSComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
+ FCSComponents[i]->GetType() == "INTEGRATOR")
+ {
+ ((FGFilter*)FCSComponents[i])->ResetPastStates();
+ } else if (FCSComponents[i]->GetType() == "PID" ) {
+ ((FGPID*)FCSComponents[i])->ResetPastStates();
+ }
+ }
+
+ for (unsigned int i=0; i<APComponents.size(); i++) {
+ if (APComponents[i]->GetType() == "LAG" ||
+ APComponents[i]->GetType() == "LEAD_LAG" ||
+ APComponents[i]->GetType() == "WASHOUT" ||
+ APComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
+ APComponents[i]->GetType() == "INTEGRATOR")
+ {
+ ((FGFilter*)APComponents[i])->ResetPastStates();
+ } else if (APComponents[i]->GetType() == "PID" ) {
+ ((FGPID*)APComponents[i])->ResetPastStates();
+ }
+ }
+
return true;
}
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;
}
bool FGFCS::Load(Element* el, SystemType systype)
{
- string name, file, fname, interface_property_string, parent_name;
+ 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;
- 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()) {
+ if (name.empty() || !el->GetAttributeValue("file").empty()) {
fname = el->GetAttributeValue("file");
if (systype == stSystem) {
file = FindSystemFullPathname(fname);
} else {
- file = FDMExec->GetFullAircraftPath() + separator + fname + ".xml";
+ file = FDMExec->GetFullAircraftPath() + "/" + fname + ".xml";
}
if (fname.empty()) {
cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl;
return false;
} else {
document = LoadXMLDocument(file);
+ if (!document) {
+ cerr << "Error loading file " << file << endl;
+ return false;
+ }
name = document->GetAttributeValue("name");
}
} else {
}
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");
- while (property_element) {
- 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());
- property_element = document->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 {
- sensors.push_back(new FGSensor(this, sensor_element));
- } catch (string s) {
- cerr << highint << fgred << endl << " " << s << endl;
- return false;
+ 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;
+ while (property_element) {
+ double value=0.0;
+ if ( ! property_element->GetAttributeValue("value").empty())
+ value = property_element->GetAttributeValueAsNumber("value");
+
+ interface_property_string = property_element->GetDataLine();
+ if (PropertyManager->HasNode(interface_property_string)) {
+ FGPropertyManager* node = PropertyManager->GetNode(interface_property_string);
+ 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));
+ 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");
}
- sensor_element = document->FindNextElement("sensor");
}
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 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& sysfilename)
{
string fullpath, localpath;
+ string system_filename = sysfilename;
string systemPath = FDMExec->GetSystemsPath();
string aircraftPath = FDMExec->GetFullAircraftPath();
ifstream system_file;
- string separator = "/";
-# ifdef macintosh
- separator = ";";
-# endif
+ fullpath = systemPath + "/";
+ localpath = aircraftPath + "/Systems/";
- fullpath = systemPath + separator;
- localpath = aircraftPath + separator + "Systems" + separator;
+ if (system_filename.length() <=4 || system_filename.substr(system_filename.length()-4, 4) != ".xml") {
+ system_filename.append(".xml");
+ }
- system_file.open(string(fullpath + system_filename + ".xml").c_str());
+ system_file.open(string(fullpath + system_filename).c_str());
if ( !system_file.is_open()) {
- system_file.open(string(localpath + system_filename + ".xml").c_str());
+ system_file.open(string(localpath + system_filename).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(localpath + system_filename);
}
}
- return string(fullpath + system_filename + ".xml");
+ return string(fullpath + system_filename);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-ifstream* FGFCS::FindSystemFile(string system_filename)
+ifstream* FGFCS::FindSystemFile(const string& sysfilename)
{
string fullpath, localpath;
+ string system_filename = sysfilename;
string systemPath = FDMExec->GetSystemsPath();
string aircraftPath = FDMExec->GetFullAircraftPath();
ifstream* system_file = new ifstream();
- string separator = "/";
-# ifdef macintosh
- separator = ";";
-# endif
+ fullpath = systemPath + "/";
+ localpath = aircraftPath + "/Systems/";
- fullpath = systemPath + separator;
- localpath = aircraftPath + separator + "Systems" + separator;
+ if (system_filename.substr(system_filename.length()-4, 4) != ".xml") {
+ system_filename.append(".xml");
+ }
- system_file->open(string(fullpath + system_filename + ".xml").c_str());
+ system_file->open(string(fullpath + system_filename).c_str());
if ( !system_file->is_open()) {
- system_file->open(string(localpath + system_filename + ".xml").c_str());
+ system_file->open(string(localpath + system_filename).c_str());
if ( !system_file->is_open()) {
cerr << " Could not open system file: " << system_filename << " in path "
<< fullpath << " or " << localpath << endl;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-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;
+
unsigned int comp;
- string CompValues = "";
- char buffer[20];
bool firstime = true;
int total_count=0;
for (unsigned int i=0; i<Systems.size(); i++) {
if (firstime) firstime = false;
- else CompValues += delimeter;
+ else buf << delimiter;
- sprintf(buffer, "%9.6f", Systems[i]->GetOutput());
- CompValues += string(buffer);
+ buf << setprecision(9) << Systems[i]->GetOutput();
total_count++;
}
for (comp = 0; comp < APComponents.size(); comp++) {
if (firstime) firstime = false;
- else CompValues += delimeter;
+ else buf << delimiter;
- sprintf(buffer, "%9.6f", APComponents[comp]->GetOutput());
- CompValues += string(buffer);
+ buf << setprecision(9) << APComponents[comp]->GetOutput();
total_count++;
}
for (comp = 0; comp < FCSComponents.size(); comp++) {
if (firstime) firstime = false;
- else CompValues += delimeter;
+ else buf << delimiter;
- sprintf(buffer, "%9.6f", FCSComponents[comp]->GetOutput());
- CompValues += string(buffer);
+ buf << setprecision(9) << FCSComponents[comp]->GetOutput();
total_count++;
}
- CompValues += "\0";
- return CompValues;
+ return buf.str();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Technically, this function should probably bind propulsion type specific controls
// rather than mixture and prop-advance.
-//
void FGFCS::bindThrottle(unsigned int num)
{
- char tmp[80];
+ string tmp;
- snprintf(tmp, 80, "fcs/throttle-cmd-norm[%u]",num);
- PropertyManager->Tie( tmp, this, num, &FGFCS::GetThrottleCmd,
+ tmp = CreateIndexedPropertyName("fcs/throttle-cmd-norm", num);
+ PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottleCmd,
&FGFCS::SetThrottleCmd);
- snprintf(tmp, 80, "fcs/throttle-pos-norm[%u]",num);
- PropertyManager->Tie( tmp, this, num, &FGFCS::GetThrottlePos,
+ tmp = CreateIndexedPropertyName("fcs/throttle-pos-norm", num);
+ PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottlePos,
&FGFCS::SetThrottlePos);
- snprintf(tmp, 80, "fcs/mixture-cmd-norm[%u]",num);
- PropertyManager->Tie( tmp, this, num, &FGFCS::GetMixtureCmd,
+ tmp = CreateIndexedPropertyName("fcs/mixture-cmd-norm", num);
+ PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixtureCmd,
&FGFCS::SetMixtureCmd);
- snprintf(tmp, 80, "fcs/mixture-pos-norm[%u]",num);
- PropertyManager->Tie( tmp, this, num, &FGFCS::GetMixturePos,
+ tmp = CreateIndexedPropertyName("fcs/mixture-pos-norm", num);
+ PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixturePos,
&FGFCS::SetMixturePos);
- snprintf(tmp, 80, "fcs/advance-cmd-norm[%u]",num);
- PropertyManager->Tie( tmp, this, num, &FGFCS::GetPropAdvanceCmd,
+ tmp = CreateIndexedPropertyName("fcs/advance-cmd-norm", num);
+ PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvanceCmd,
&FGFCS::SetPropAdvanceCmd);
- snprintf(tmp, 80, "fcs/advance-pos-norm[%u]", num);
- PropertyManager->Tie( tmp, this, num, &FGFCS::GetPropAdvance,
+ tmp = CreateIndexedPropertyName("fcs/advance-pos-norm", num);
+ PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvance,
&FGFCS::SetPropAdvance);
- snprintf(tmp, 80, "fcs/feather-cmd-norm[%u]", num);
- PropertyManager->Tie( tmp, this, num, &FGFCS::GetFeatherCmd,
+ tmp = CreateIndexedPropertyName("fcs/feather-cmd-norm", num);
+ PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetFeatherCmd,
&FGFCS::SetFeatherCmd);
- snprintf(tmp, 80, "fcs/feather-pos-norm[%u]", num);
- PropertyManager->Tie( tmp, this, num, &FGFCS::GetPropFeather,
+ tmp = CreateIndexedPropertyName("fcs/feather-pos-norm", num);
+ PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropFeather,
&FGFCS::SetPropFeather);
}
void FGFCS::bindModel(void)
{
unsigned int i;
- char tmp[80];
+ string tmp;
for (i=0; i<SteerPosDeg.size(); i++) {
if (GroundReactions->GetGearUnit(i)->GetSteerable()) {
- snprintf(tmp,80,"fcs/steer-pos-deg[%u]",i);
- PropertyManager->Tie( tmp, this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
+ tmp = CreateIndexedPropertyName("fcs/steer-pos-deg", i);
+ PropertyManager->Tie( tmp.c_str(), this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
}
}
}
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