Sync. with JSBSim (CVS) again

[flightgear.git] / src / FDM / JSBSim / models / flight_control / FGActuator.cpp

diff --git a/src/FDM/JSBSim/models/flight_control/FGActuator.cpp b/src/FDM/JSBSim/models/flight_control/FGActuator.cpp
index 3a06e89b33656d0dad7ee1ef46b2058d8d947813..9b0a3cc8a6da773b1b56cc330e349739ba12cb04 100755 (executable)
--- a/src/FDM/JSBSim/models/flight_control/FGActuator.cpp
+++ b/src/FDM/JSBSim/models/flight_control/FGActuator.cpp
@@ -4,7 +4,7 @@
  Author:       Jon Berndt
  Date started: 21 February 2006
 
- ------------- Copyright (C) 2007 Jon S. Berndt (jsb@hal-pc.org) -------------
+ ------------- Copyright (C) 2007 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
@@ -104,10 +104,16 @@ bool FGActuator::Run(void )
   dt = fcs->GetDt();
 
   Input = InputNodes[0]->getDoubleValue() * InputSigns[0];
-  Output = Input; // perfect actuator
 
   if (fail_zero) Input = 0;
-  if (fail_hardover) Input =  clipmax*fabs(Input)/Input;
+  if (fail_hardover) Input =  clipmax*sign(Input);
+
+  Output = Input; // Perfect actuator. At this point, if no failures are present
+                  // and no subsequent lag, limiting, etc. is done, the output
+                  // is simply the input. If any further processing is done
+                  // (below) such as lag, rate limiting, hysteresis, etc., then
+                  // the Input will be further processed and the eventual Output
+                  // will be overwritten from this perfect value.
 
   if (lag != 0.0)              Lag();        // models actuator lag
   if (rate_limit != 0)         RateLimit();  // limit the actuator rate
@@ -188,7 +194,10 @@ void FGActuator::Deadband(void)
 
 void FGActuator::bind(void)
 {
-  string tmp = "fcs/" + PropertyManager->mkPropertyName(Name, true);
+  string tmp = Name;
+  if (Name.find("/") == string::npos) {
+    tmp = "fcs/" + PropertyManager->mkPropertyName(Name, true);
+  }
   const string tmp_zero = tmp + "/malfunction/fail_zero";
   const string tmp_hardover = tmp + "/malfunction/fail_hardover";
   const string tmp_stuck = tmp + "/malfunction/fail_stuck";