X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2FFGFCS.cpp;h=c6ee9bd831788338d6bafc9eda2d540bc31e542c;hb=eb05a298e9a9a830b23b6337d812dafa48d39bba;hp=04bfb388035b327636af0248083333f8c83a30a9;hpb=14a8533f636b7d4ad5d95cff30e4d46b42eb57ca;p=flightgear.git

diff --git a/src/FDM/JSBSim/FGFCS.cpp b/src/FDM/JSBSim/FGFCS.cpp
index 04bfb3880..c6ee9bd83 100644
--- a/src/FDM/JSBSim/FGFCS.cpp
+++ b/src/FDM/JSBSim/FGFCS.cpp
@@ -1,41 +1,41 @@
-/*******************************************************************************
-
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ 
  Module:       FGFCS.cpp
  Author:       Jon Berndt
  Date started: 12/12/98
  Purpose:      Model the flight controls
  Called by:    FDMExec
-
+ 
  ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------
-
+ 
  This program is free software; you can redistribute it and/or modify it under
  the terms of the GNU General Public License as published by the Free Software
  Foundation; either version 2 of the License, or (at your option) any later
  version.
-
+ 
  This program is distributed in the hope that it will be useful, but WITHOUT
  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
  details.
-
+ 
  You should have received a copy of the GNU General Public License along with
  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  Place - Suite 330, Boston, MA  02111-1307, USA.
-
+ 
  Further information about the GNU General Public License can also be found on
  the world wide web at http://www.gnu.org.
-
+ 
 FUNCTIONAL DESCRIPTION
 --------------------------------------------------------------------------------
 This class models the flight controls for a specific airplane
-
+ 
 HISTORY
 --------------------------------------------------------------------------------
 12/12/98   JSB   Created
-
-********************************************************************************
+ 
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 INCLUDES
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGFCS.h"
 #include "FGState.h"
@@ -47,28 +47,852 @@ INCLUDES
 #include "FGPosition.h"
 #include "FGAuxiliary.h"
 #include "FGOutput.h"
+#include "FGPropertyManager.h"
 
-/*******************************************************************************
-************************************ CODE **************************************
-*******************************************************************************/
+#include "filtersjb/FGFilter.h"
+#include "filtersjb/FGDeadBand.h"
+#include "filtersjb/FGGain.h"
+#include "filtersjb/FGGradient.h"
+#include "filtersjb/FGSwitch.h"
+#include "filtersjb/FGSummer.h"
+#include "filtersjb/FGKinemat.h"
 
+static const char *IdSrc = "$Id$";
+static const char *IdHdr = ID_FCS;
+
+#if defined(WIN32) && !defined(__CYGWIN__)
+#define snprintf _snprintf
+#endif
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
 {
+  int i;
   Name = "FGFCS";
+
+  DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = 0.0;
+  AP_DaCmd = AP_DeCmd = AP_DrCmd = AP_ThrottleCmd = 0.0;
+  PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
+  GearCmd = GearPos = 1; // default to gear down
+  LeftBrake = RightBrake = CenterBrake = 0.0;
+  DoNormalize=true;
+  
+  eMode = mNone;
+
+  bind();
+  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 (i=0;i<NNorm;i++) { ToNormalize[i]=-1;}
+  Debug(0);
 }
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-FGFCS::~FGFCS(void)
+FGFCS::~FGFCS()
 {
+  unbind( PropertyManager->GetNode("fcs") );
+  unbind( PropertyManager->GetNode("ap") );
+  PropertyManager->Untie( "gear/gear-cmd-norm" );
+  PropertyManager->Untie( "gear/gear-pos-norm" );
+
+  ThrottleCmd.clear();
+  ThrottlePos.clear();
+  MixtureCmd.clear();
+  MixturePos.clear();
+  PropAdvanceCmd.clear();
+  PropAdvance.clear();
+
+
+  unsigned int i;
+
+  for (i=0;i<APComponents.size();i++) delete APComponents[i];
+  for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
+  
+  Debug(1);
 }
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 bool FGFCS::Run(void)
 {
+  unsigned int i;
+
   if (!FGModel::Run()) {
-    
+    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];
+    for (i=0; i<APComponents.size(); i++)  {
+      eMode = mAP;
+      APComponents[i]->Run();
+      eMode = mNone;
+    }
+    for (i=0; i<FCSComponents.size(); i++)  {
+      eMode = mFCS;
+      FCSComponents[i]->Run();
+      eMode = mNone;
+    }
+    if (DoNormalize) Normalize();
+
+    return false;
   } else {
+    return true;
   }
-  return false;
 }
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFCS::SetThrottleCmd(int engineNum, double setting)
+{
+  unsigned int ctr;
+
+  if (engineNum < (int)ThrottlePos.size()) {
+    if (engineNum < 0) {
+      for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
+    } else {
+      ThrottleCmd[engineNum] = setting;
+    }
+  } else {
+    cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
+         << " engines exist, but attempted throttle command is for engine "
+         << engineNum << endl;
+  }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFCS::SetThrottlePos(int engineNum, double setting)
+{
+  unsigned int ctr;
+
+  if (engineNum < (int)ThrottlePos.size()) {
+    if (engineNum < 0) {
+      for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
+    } else {
+      ThrottlePos[engineNum] = setting;
+    }
+  } else {
+    cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
+         << " engines exist, but attempted throttle position setting is for engine "
+         << engineNum << endl;
+  }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+double FGFCS::GetThrottleCmd(int engineNum) const
+{
+  if (engineNum < (int)ThrottlePos.size()) {
+    if (engineNum < 0) {
+       cerr << "Cannot get throttle value for ALL engines" << endl;
+    } else {
+      return ThrottleCmd[engineNum];
+    }
+  } else {
+    cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
+         << " engines exist, but throttle setting for engine " << engineNum
+         << " is selected" << endl;
+  }
+  return 0.0;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+double FGFCS::GetThrottlePos(int engineNum) const
+{
+  if (engineNum < (int)ThrottlePos.size()) {
+    if (engineNum < 0) {
+       cerr << "Cannot get throttle value for ALL engines" << endl;
+    } else {
+      return ThrottlePos[engineNum];
+    }
+  } else {
+    cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
+         << " engines exist, but attempted throttle position setting is for engine "
+         << engineNum << endl;
+  }
+  return 0.0; 
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFCS::SetMixtureCmd(int engineNum, double setting)
+{
+  unsigned int ctr;
+
+  if (engineNum < (int)ThrottlePos.size()) {
+    if (engineNum < 0) {
+      for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
+    } else {
+      MixtureCmd[engineNum] = setting;
+    }
+  }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFCS::SetMixturePos(int engineNum, double setting)
+{
+  unsigned int ctr;
+
+  if (engineNum < (int)ThrottlePos.size()) {
+    if (engineNum < 0) {
+      for (ctr=0;ctr<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
+    } else {
+      MixturePos[engineNum] = setting;
+    }
+  }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
+{
+  unsigned int ctr;
+
+  if (engineNum < (int)ThrottlePos.size()) {
+    if (engineNum < 0) {
+      for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
+    } else {
+      PropAdvanceCmd[engineNum] = setting;
+    }
+  }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFCS::SetPropAdvance(int engineNum, double setting)
+{
+  unsigned int ctr;
+
+  if (engineNum < (int)ThrottlePos.size()) {
+    if (engineNum < 0) {
+      for (ctr=0;ctr<=PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
+    } else {
+      PropAdvance[engineNum] = setting;
+    }
+  }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFCS::Load(FGConfigFile* AC_cfg)
+{
+  string token, delimiter;
+  string name, file, fname;
+  unsigned i;
+  vector <FGFCSComponent*> *Components;
+  FGConfigFile *FCS_cfg;
+
+  Components=0;
+  // Determine if the FCS/Autopilot is defined inline in the aircraft configuration
+  // file or in a separate file. Set up the config file class as appropriate.
+
+  delimiter = AC_cfg->GetValue();
+  name  = AC_cfg->GetValue("NAME");
+  fname = AC_cfg->GetValue("FILE");
+
+  if ( AC_cfg->GetValue("NORMALIZE") == "FALSE") {
+    DoNormalize = false;
+    cout << "    Automatic Control Surface Normalization Disabled" << endl;
+  }
+
+# ifndef macintosh
+  file = "control/" + fname + ".xml";
+# else
+  file = "control;" + fname + ".xml";
+# endif
+
+  if (name.empty()) {
+    name = fname;
+    if (file.empty()) {
+      cerr << "FCS/Autopilot does not appear to be defined inline nor in a file" << endl;
+    } else {
+      FCS_cfg = new FGConfigFile(file);
+      if (!FCS_cfg->IsOpen()) {
+        cerr << "Could not open " << delimiter << " file: " << file << endl;
+        return false;
+      } else {
+        AC_cfg = FCS_cfg; // set local config file object pointer to FCS config
+	                        // file object pointer
+      }
+    }
+  } else {
+    AC_cfg->GetNextConfigLine();
+  }
+
+  if (delimiter == "AUTOPILOT") {
+    Components = &APComponents;
+    eMode = mAP;
+    Name = "Autopilot: " + name;
+  } else if (delimiter == "FLIGHT_CONTROL") {
+    Components = &FCSComponents;
+    eMode = mFCS;
+    Name = "FCS: " + name;
+  } else {
+    cerr << endl << "Unknown FCS delimiter" << endl << endl;
+  }
+  
+  if (debug_lvl > 0) cout << "    Control System Name: " << Name << endl;
+
+  while ((token = AC_cfg->GetValue()) != string("/" + delimiter)) {
+    if (token == "COMPONENT") {
+      token = AC_cfg->GetValue("TYPE");
+      if (debug_lvl > 0) cout << endl << "    Loading Component \""
+                              << AC_cfg->GetValue("NAME")
+                              << "\" of type: " << token << endl;
+      if ((token == "LAG_FILTER") ||
+          (token == "LEAD_LAG_FILTER") ||
+          (token == "SECOND_ORDER_FILTER") ||
+          (token == "WASHOUT_FILTER") ||
+          (token == "INTEGRATOR") ) {
+        Components->push_back(new FGFilter(this, AC_cfg));
+      } else if ((token == "PURE_GAIN") ||
+                 (token == "SCHEDULED_GAIN") ||
+                 (token == "AEROSURFACE_SCALE") ) {
+
+        Components->push_back(new FGGain(this, AC_cfg));
+
+      } else if (token == "SUMMER") {
+        Components->push_back(new FGSummer(this, AC_cfg));
+      } else if (token == "DEADBAND") {
+        Components->push_back(new FGDeadBand(this, AC_cfg));
+      } else if (token == "GRADIENT") {
+        Components->push_back(new FGGradient(this, AC_cfg));
+      } else if (token == "SWITCH") {
+        Components->push_back(new FGSwitch(this, AC_cfg));
+      } else if (token == "KINEMAT") {
+        Components->push_back(new FGKinemat(this, AC_cfg));
+      } else {
+        cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
+        return false;
+      }
+      if (AC_cfg->GetNextConfigLine() == "EOF") break;
+    }
+  }
+
+  //collect information for normalizing control surfaces
+
+  string nodeName;
+  for (i=0; i<Components->size(); i++) {
+    
+    if ( (((*Components)[i])->GetType() == "AEROSURFACE_SCALE" 
+          || ((*Components)[i])->GetType() == "KINEMAT")  
+                    && ((*Components)[i])->GetOutputNode() ) { 
+      nodeName = ((*Components)[i])->GetOutputNode()->GetName();
+      if ( nodeName == "elevator-pos-rad" ) {
+        ToNormalize[iDe]=i;
+      } else if ( nodeName  == "left-aileron-pos-rad" 
+                   || nodeName == "aileron-pos-rad" ) {
+        ToNormalize[iDaL]=i;
+      } else if ( nodeName == "right-aileron-pos-rad" ) {
+        ToNormalize[iDaR]=i;
+      } else if ( nodeName == "rudder-pos-rad" ) {
+        ToNormalize[iDr]=i;
+      } else if ( nodeName == "speedbrake-pos-rad" ) {
+        ToNormalize[iDsb]=i;
+      } else if ( nodeName == "spoiler-pos-rad" ) {
+        ToNormalize[iDsp]=i;
+      } else if ( nodeName == "flap-pos-deg" ) {
+        ToNormalize[iDf]=i;
+      }
+    }
+  }     
+  
+  if (delimiter == "FLIGHT_CONTROL") bindModel();
+
+  eMode = mNone;
+
+  return true;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+double FGFCS::GetComponentOutput(int idx)
+{
+  switch (eMode) {
+  case mFCS:
+    return FCSComponents[idx]->GetOutput();
+  case mAP:
+    return APComponents[idx]->GetOutput();
+  case mNone:
+    cerr << "Unknown FCS mode" << endl;
+    break;
+  }
+  return 0.0;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+string FGFCS::GetComponentName(int idx)
+{
+  switch (eMode) {
+  case mFCS:
+    return FCSComponents[idx]->GetName();
+  case mAP:
+    return APComponents[idx]->GetName();
+  case mNone:
+    cerr << "Unknown FCS mode" << endl;
+    break;
+  }
+  return string("");
+} 
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
+{
+  switch (bg) {
+  case FGLGear::bgLeft:
+    return LeftBrake;
+  case FGLGear::bgRight:
+    return RightBrake;
+  case FGLGear::bgCenter:
+    return CenterBrake;
+  default:
+    cerr << "GetBrake asked to return a bogus brake value" << endl;
+  }
+  return 0.0;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+string FGFCS::GetComponentStrings(void)
+{
+  unsigned int comp;
+  string CompStrings = "";
+  bool firstime = true;
+
+  for (comp = 0; comp < FCSComponents.size(); comp++) {
+    if (firstime) firstime = false;
+    else          CompStrings += ", ";
+
+    CompStrings += FCSComponents[comp]->GetName();
+  }
+
+  for (comp = 0; comp < APComponents.size(); comp++)
+  {
+    CompStrings += ", ";
+    CompStrings += APComponents[comp]->GetName();
+  }
+
+  return CompStrings;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+string FGFCS::GetComponentValues(void)
+{
+  unsigned int comp;
+  string CompValues = "";
+  char buffer[10];
+  bool firstime = true;
+
+  for (comp = 0; comp < FCSComponents.size(); comp++) {
+    if (firstime) firstime = false;
+    else          CompValues += ", ";
+
+    sprintf(buffer, "%9.6f", FCSComponents[comp]->GetOutput());
+    CompValues += string(buffer);
+  }
+
+  for (comp = 0; comp < APComponents.size(); comp++) {
+    sprintf(buffer, ", %9.6f", APComponents[comp]->GetOutput());
+    CompValues += string(buffer);
+  }
+
+  return CompValues;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFCS::AddThrottle(void)
+{
+  ThrottleCmd.push_back(0.0);
+  ThrottlePos.push_back(0.0);
+  MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
+  MixturePos.push_back(0.0);
+  PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
+  PropAdvance.push_back(0.0);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFCS::Normalize(void) {
+  
+  //not all of these are guaranteed to be defined for every model
+  //those that are have an index >=0 in the ToNormalize array
+  //ToNormalize is filled in Load()
+  
+  if ( ToNormalize[iDe] > -1 ) {
+    DePos[ofNorm] = FCSComponents[ToNormalize[iDe]]->GetOutputPct();
+  }
+  
+  if ( ToNormalize[iDaL] > -1 ) {
+    DaLPos[ofNorm] = FCSComponents[ToNormalize[iDaL]]->GetOutputPct();
+  }
+  
+  if ( ToNormalize[iDaR] > -1 ) {
+    DaRPos[ofNorm] = FCSComponents[ToNormalize[iDaR]]->GetOutputPct();
+  }
+
+  if ( ToNormalize[iDr] > -1 ) {
+    DrPos[ofNorm] = FCSComponents[ToNormalize[iDr]]->GetOutputPct();
+  }
+       
+  if ( ToNormalize[iDsb] > -1 ) { 
+    DsbPos[ofNorm] = FCSComponents[ToNormalize[iDsb]]->GetOutputPct();
+  }
+  
+  if ( ToNormalize[iDsp] > -1 ) {
+    DspPos[ofNorm] = FCSComponents[ToNormalize[iDsp]]->GetOutputPct();
+  }
+  
+  if ( ToNormalize[iDf] > -1 ) {
+    DfPos[ofNorm] = FCSComponents[ToNormalize[iDf]]->GetOutputPct();
+  }
+  
+  DePos[ofMag]  = fabs(DePos[ofRad]);
+  DaLPos[ofMag] = fabs(DaLPos[ofRad]);
+  DaRPos[ofMag] = fabs(DaRPos[ofRad]);
+  DrPos[ofMag]  = fabs(DrPos[ofRad]);
+  DsbPos[ofMag] = fabs(DsbPos[ofRad]);
+  DspPos[ofMag] = fabs(DspPos[ofRad]);
+  DfPos[ofMag]  = fabs(DfPos[ofRad]);
+   
+}  
+    
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFCS::bind(void)
+{
+  PropertyManager->Tie("fcs/aileron-cmd-norm", this,
+                       &FGFCS::GetDaCmd,
+                       &FGFCS::SetDaCmd,
+                       true);
+  PropertyManager->Tie("fcs/elevator-cmd-norm", this,
+                       &FGFCS::GetDeCmd,
+                       &FGFCS::SetDeCmd,
+                       true);
+  PropertyManager->Tie("fcs/rudder-cmd-norm", this,
+                       &FGFCS::GetDrCmd,
+                       &FGFCS::SetDrCmd,
+                       true);
+  PropertyManager->Tie("fcs/flap-cmd-norm", this,
+                       &FGFCS::GetDfCmd,
+                       &FGFCS::SetDfCmd,
+                       true);
+  PropertyManager->Tie("fcs/speedbrake-cmd-norm", this,
+                       &FGFCS::GetDsbCmd,
+                       &FGFCS::SetDsbCmd,
+                       true);
+  PropertyManager->Tie("fcs/spoiler-cmd-norm", this,
+                       &FGFCS::GetDspCmd,
+                       &FGFCS::SetDspCmd,
+                       true);
+  PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this,
+                       &FGFCS::GetPitchTrimCmd,
+                       &FGFCS::SetPitchTrimCmd,
+                       true);
+  PropertyManager->Tie("fcs/roll-trim-cmd-norm", this,
+                       &FGFCS::GetYawTrimCmd,
+                       &FGFCS::SetYawTrimCmd,
+                       true);
+  PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this,
+                       &FGFCS::GetRollTrimCmd,
+                       &FGFCS::SetRollTrimCmd,
+                       true);
+  PropertyManager->Tie("gear/gear-cmd-norm", this,
+                       &FGFCS::GetGearCmd,
+                       &FGFCS::SetGearCmd,
+                       true);
+  
+  PropertyManager->Tie("fcs/left-aileron-pos-rad", this,ofRad,
+                       &FGFCS::GetDaLPos,
+                       &FGFCS::SetDaLPos,
+                       true);
+  PropertyManager->Tie("fcs/left-aileron-pos-norm", this,ofNorm,
+                       &FGFCS::GetDaLPos,
+                       &FGFCS::SetDaLPos,
+                       true);
+  PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this,ofMag,
+                       &FGFCS::GetDaLPos,
+                       &FGFCS::SetDaLPos,
+                       true);
+ 
+  PropertyManager->Tie("fcs/right-aileron-pos-rad", this,ofRad,
+                       &FGFCS::GetDaRPos,
+                       &FGFCS::SetDaRPos,
+                       true);
+  PropertyManager->Tie("fcs/right-aileron-pos-norm", this,ofNorm,
+                       &FGFCS::GetDaRPos,
+                       &FGFCS::SetDaRPos,
+                       true);
+  PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this,ofMag,
+                       &FGFCS::GetDaRPos,
+                       &FGFCS::SetDaRPos,
+                       true);
+  
+  PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad,
+                       &FGFCS::GetDePos,
+                       &FGFCS::SetDePos,
+                       true );
+  PropertyManager->Tie("fcs/elevator-pos-norm", this,ofNorm,
+                       &FGFCS::GetDePos,                       
+                       &FGFCS::SetDePos,
+                       true );
+  PropertyManager->Tie("fcs/mag-elevator-pos-rad", this,ofMag,
+                       &FGFCS::GetDePos,
+                       &FGFCS::SetDePos,
+                       true );
+  
+  PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad,
+                       &FGFCS::GetDrPos,
+                       &FGFCS::SetDrPos,
+                       true);
+  PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm,
+                       &FGFCS::GetDrPos,
+                       &FGFCS::SetDrPos,
+                       true);
+  PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag,
+                       &FGFCS::GetDrPos,
+                       &FGFCS::SetDrPos,
+                       true);
+                       
+  PropertyManager->Tie("fcs/flap-pos-deg", this,ofRad,
+                       &FGFCS::GetDfPos,
+                       &FGFCS::SetDfPos,
+                       true);
+  PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm,
+                       &FGFCS::GetDfPos,
+                       &FGFCS::SetDfPos,
+                       true);
+  
+  PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad,
+                       &FGFCS::GetDsbPos,
+                       &FGFCS::SetDsbPos,
+                       true);
+  PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm,
+                       &FGFCS::GetDsbPos,
+                       &FGFCS::SetDsbPos,
+                       true);
+  PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag,
+                       &FGFCS::GetDsbPos,
+                       &FGFCS::SetDsbPos,
+                       true);
+                       
+  PropertyManager->Tie("fcs/spoiler-pos-rad", this,ofRad,
+                       &FGFCS::GetDspPos,
+                       &FGFCS::SetDspPos,
+                       true);
+  PropertyManager->Tie("fcs/spoiler-pos-norm", this,ofNorm,
+                       &FGFCS::GetDspPos,
+                       &FGFCS::SetDspPos,
+                       true);
+  PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this,ofMag,
+                       &FGFCS::GetDspPos,
+                       &FGFCS::SetDspPos,
+                       true);
+                       
+  PropertyManager->Tie("gear/gear-pos-norm", this,
+                       &FGFCS::GetGearPos,
+                       &FGFCS::SetGearPos,
+                       true);
+
+  PropertyManager->Tie("ap/elevator_cmd", this,
+                       &FGFCS::GetAPDeCmd,
+                       &FGFCS::SetAPDeCmd,
+                       true);
+
+  PropertyManager->Tie("ap/aileron_cmd", this,
+                       &FGFCS::GetAPDaCmd,
+                       &FGFCS::SetAPDaCmd,
+                       true);
+
+  PropertyManager->Tie("ap/rudder_cmd", this,
+                       &FGFCS::GetAPDrCmd,
+                       &FGFCS::SetAPDrCmd,
+                       true);
+
+  PropertyManager->Tie("ap/throttle_cmd", this,
+                       &FGFCS::GetAPThrottleCmd,
+                       &FGFCS::SetAPThrottleCmd,
+                       true);
+
+  PropertyManager->Tie("ap/attitude_setpoint", this,
+                       &FGFCS::GetAPAttitudeSetPt,
+                       &FGFCS::SetAPAttitudeSetPt,
+                       true);
+
+  PropertyManager->Tie("ap/altitude_setpoint", this,
+                       &FGFCS::GetAPAltitudeSetPt,
+                       &FGFCS::SetAPAltitudeSetPt,
+                       true);
+
+  PropertyManager->Tie("ap/heading_setpoint", this,
+                       &FGFCS::GetAPHeadingSetPt,
+                       &FGFCS::SetAPHeadingSetPt,
+                       true);
+
+  PropertyManager->Tie("ap/airspeed_setpoint", this,
+                       &FGFCS::GetAPAirspeedSetPt,
+                       &FGFCS::SetAPAirspeedSetPt,
+                       true);
+
+  PropertyManager->Tie("ap/acquire_attitude", this,
+                       &FGFCS::GetAPAcquireAttitude,
+                       &FGFCS::SetAPAcquireAttitude,
+                       true);
+
+  PropertyManager->Tie("ap/acquire_altitude", this,
+                       &FGFCS::GetAPAcquireAltitude,
+                       &FGFCS::SetAPAcquireAltitude,
+                       true);
+
+  PropertyManager->Tie("ap/acquire_heading", this,
+                       &FGFCS::GetAPAcquireHeading,
+                       &FGFCS::SetAPAcquireHeading,
+                       true);
+
+  PropertyManager->Tie("ap/acquire_airspeed", this,
+                       &FGFCS::GetAPAcquireAirspeed,
+                       &FGFCS::SetAPAcquireAirspeed,
+                       true);
+
+  PropertyManager->Tie("ap/attitude_hold", this,
+                       &FGFCS::GetAPAttitudeHold,
+                       &FGFCS::SetAPAttitudeHold,
+                       true);
+
+  PropertyManager->Tie("ap/altitude_hold", this,
+                       &FGFCS::GetAPAltitudeHold,
+                       &FGFCS::SetAPAltitudeHold,
+                       true);
+
+  PropertyManager->Tie("ap/heading_hold", this,
+                       &FGFCS::GetAPHeadingHold,
+                       &FGFCS::SetAPHeadingHold,
+                       true);
+
+  PropertyManager->Tie("ap/airspeed_hold", this,
+                       &FGFCS::GetAPAirspeedHold,
+                       &FGFCS::SetAPAirspeedHold,
+                       true);
+
+  PropertyManager->Tie("ap/wingslevel_hold", this,
+                       &FGFCS::GetAPWingsLevelHold,
+                       &FGFCS::SetAPWingsLevelHold,
+                       true);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFCS::bindModel(void)
+{
+  unsigned i;
+  char tmp[80];
+  
+  
+  for (i=0; i<ThrottleCmd.size(); i++) {
+    snprintf(tmp,80,"fcs/throttle-cmd-norm[%u]",i);
+    PropertyManager->Tie( tmp,this,i,
+                          &FGFCS::GetThrottleCmd,
+                          &FGFCS::SetThrottleCmd,
+                          true );
+    snprintf(tmp,80,"fcs/throttle-pos-norm[%u]",i);                      
+    PropertyManager->Tie( tmp,this,i,
+                          &FGFCS::GetThrottlePos,
+                          &FGFCS::SetThrottlePos,
+                          true );
+    if ( MixtureCmd.size() > i ) {
+      snprintf(tmp,80,"fcs/mixture-cmd-norm[%u]",i); 
+      PropertyManager->Tie( tmp,this,i,
+                            &FGFCS::GetMixtureCmd,
+                            &FGFCS::SetMixtureCmd,
+                            true );
+      snprintf(tmp,80,"fcs/mixture-pos-norm[%u]",i);                    
+      PropertyManager->Tie( tmp,this,i,
+                            &FGFCS::GetMixturePos,
+                            &FGFCS::SetMixturePos,
+                            true );
+    }
+    if ( PropAdvanceCmd.size() > i ) {
+      snprintf(tmp,80,"fcs/advance-cmd-norm[%u]",i); 
+      PropertyManager->Tie( tmp,this,i,
+                            &FGFCS::GetPropAdvanceCmd,
+                            &FGFCS::SetPropAdvanceCmd,
+                            true );
+      snprintf(tmp,80,"fcs/advance-pos-norm[%u]",i);                       
+      PropertyManager->Tie( tmp,this,i,
+                            &FGFCS::GetPropAdvance,
+                            &FGFCS::SetPropAdvance,
+                            true );
+    }
+  }
+}                            
+                          
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+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
+//       out the normally expected messages, essentially echoing
+//       the config files as they are read. If the environment
+//       variable is not set, debug_lvl is set to 1 internally
+//    0: This requests JSBSim not to output any messages
+//       whatsoever.
+//    1: This value explicity requests the normal JSBSim
+//       startup messages
+//    2: This value asks for a message to be printed out when
+//       a class is instantiated
+//    4: When this value is set, a message is displayed when a
+//       FGModel object executes its Run() method
+//    8: When this value is set, various runtime state variables
+//       are printed out periodically
+//    16: When set various parameters are sanity checked and
+//       a message is printed out when they go out of bounds
+
+void FGFCS::Debug(int from)
+{
+  if (debug_lvl <= 0) return;
+
+  if (debug_lvl & 1) { // Standard console startup message output
+    if (from == 0) { // Constructor
+
+    }
+  }
+  if (debug_lvl & 2 ) { // Instantiation/Destruction notification
+    if (from == 0) cout << "Instantiated: FGFCS" << endl;
+    if (from == 1) cout << "Destroyed:    FGFCS" << endl;
+  }
+  if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
+  }
+  if (debug_lvl & 8 ) { // Runtime state variables
+  }
+  if (debug_lvl & 16) { // Sanity checking
+  }
+  if (debug_lvl & 64) {
+    if (from == 0) { // Constructor
+      cout << IdSrc << endl;
+      cout << IdHdr << endl;
+    }
+  }
+}
+