X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2Fmodels%2FFGFCS.cpp;h=3f659831f5c03944085cc9eb75ae589ed4e657db;hb=642735ab18421db87a07d6841dd720fd4615bfff;hp=22ca19d77ee9892333698f3638762840e41cc615;hpb=cb435814c1293b5ada428612a3e6bb8f2180f21b;p=flightgear.git diff --git a/src/FDM/JSBSim/models/FGFCS.cpp b/src/FDM/JSBSim/models/FGFCS.cpp index 22ca19d77..3f659831f 100644 --- a/src/FDM/JSBSim/models/FGFCS.cpp +++ b/src/FDM/JSBSim/models/FGFCS.cpp @@ -6,7 +6,7 @@ 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 @@ -37,28 +37,34 @@ HISTORY INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#include "FGFCS.h" -#include -#include #include #include #include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include "FGFCS.h" +#include "FGFDMExec.h" +#include "FGGroundReactions.h" +#include "input_output/FGPropertyManager.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 { -static const char *IdSrc = "$Id$"; +static const char *IdSrc = "$Id: FGFCS.cpp,v 1.77 2011/09/25 14:05:40 bcoconni Exp $"; static const char *IdHdr = ID_FCS; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -73,7 +79,7 @@ FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex) DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0; PTrimCmd = YTrimCmd = RTrimCmd = 0.0; GearCmd = GearPos = 1; // default to gear down - LeftBrake = RightBrake = CenterBrake = 0.0; + BrakePos.resize(FGLGear::bgNumBrakeGroups); TailhookPos = WingFoldPos = 0.0; bind(); @@ -118,8 +124,6 @@ bool FGFCS::InitModel(void) { unsigned int i; - if (!FGModel::InitModel()) return false; - for (i=0; iHolding()) return false; + if (FGModel::Run(Holding)) return true; // fast exit if nothing to do + if (Holding) return false; + + RunPreFunctions(); for (i=0; iGetGearUnit(i); + FGLGear* gear = FDMExec->GetGroundReactions()->GetGearUnit(i); SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() ); } @@ -213,6 +219,8 @@ bool FGFCS::Run(void) // Execute Flight Control System for (i=0; iRun(); + RunPostFunctions(); + return false; } @@ -519,24 +527,22 @@ bool FGFCS::Load(Element* el, SystemType systype) { string name, file, fname="", interface_property_string, parent_name; vector *Components; - Element *component_element, *sensor_element; + Element *component_element; Element *channel_element; Components=0; - string separator = "/"; - // 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; @@ -642,6 +648,10 @@ bool FGFCS::Load(Element* el, SystemType systype) 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; } @@ -655,6 +665,8 @@ bool FGFCS::Load(Element* el, SystemType systype) channel_element = document->FindNextElement("channel"); } + PostLoad(document, PropertyManager); + ResetParser(); return true; @@ -664,64 +676,60 @@ bool FGFCS::Load(Element* el, SystemType systype) 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; + return BrakePos[bg]; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -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 = "/"; + 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(localpath + system_filename).c_str()); if ( !system_file.is_open()) { - system_file.open(string(localpath + system_filename + ".xml").c_str()); + system_file.open(string(fullpath + 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(fullpath + system_filename); } } - return string(fullpath + system_filename + ".xml"); + return string(localpath + 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 = "/"; + 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(localpath + system_filename).c_str()); if ( !system_file->is_open()) { - system_file->open(string(localpath + system_filename + ".xml").c_str()); + system_file->open(string(fullpath + system_filename).c_str()); if ( !system_file->is_open()) { cerr << " Could not open system file: " << system_filename << " in path " << fullpath << " or " << localpath << endl; @@ -732,7 +740,7 @@ ifstream* FGFCS::FindSystemFile(string system_filename) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -string FGFCS::GetComponentStrings(string delimeter) +string FGFCS::GetComponentStrings(const string& delimiter) const { unsigned int comp; string CompStrings = ""; @@ -741,7 +749,7 @@ string FGFCS::GetComponentStrings(string delimeter) for (unsigned int i=0; iGetName(); total_count++; @@ -750,7 +758,7 @@ string FGFCS::GetComponentStrings(string delimeter) for (comp = 0; comp < APComponents.size(); comp++) { if (firstime) firstime = false; - else CompStrings += delimeter; + else CompStrings += delimiter; CompStrings += APComponents[comp]->GetName(); total_count++; @@ -758,7 +766,7 @@ string FGFCS::GetComponentStrings(string delimeter) for (comp = 0; comp < FCSComponents.size(); comp++) { if (firstime) firstime = false; - else CompStrings += delimeter; + else CompStrings += delimiter; CompStrings += FCSComponents[comp]->GetName(); total_count++; @@ -769,7 +777,7 @@ string FGFCS::GetComponentStrings(string delimeter) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -string FGFCS::GetComponentValues(string delimeter) +string FGFCS::GetComponentValues(const string& delimiter) const { std::ostringstream buf; @@ -779,7 +787,7 @@ string FGFCS::GetComponentValues(string delimeter) for (unsigned int i=0; iGetOutput(); total_count++; @@ -787,7 +795,7 @@ string FGFCS::GetComponentValues(string delimeter) 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++; @@ -795,7 +803,7 @@ string FGFCS::GetComponentValues(string delimeter) 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++; @@ -823,9 +831,10 @@ void FGFCS::AddThrottle(void) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -void FGFCS::AddGear(void) +void FGFCS::AddGear(unsigned int NumGear) { - SteerPosDeg.push_back(0.0); + SteerPosDeg.clear(); + for (unsigned int i=0; iGetGearUnit(i)->GetSteerable()) { + if (FDMExec->GetGroundReactions()->GetGearUnit(i)->GetSteerable()) { tmp = CreateIndexedPropertyName("fcs/steer-pos-deg", i); PropertyManager->Tie( tmp.c_str(), this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg); }