X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2Fmodels%2FFGFCS.cpp;h=477890295478671424b026873c20664dfeb362fb;hb=edd83dd7e8fd7162ae49da6113ad797c68769f20;hp=0c106cefa1887505aab3276c5d1292e0447d0421;hpb=932b38a87e2870d23f9be9461b551f1e1fe556ba;p=flightgear.git

diff --git a/src/FDM/JSBSim/models/FGFCS.cpp b/src/FDM/JSBSim/models/FGFCS.cpp
index 0c106cefa..477890295 100644
--- a/src/FDM/JSBSim/models/FGFCS.cpp
+++ b/src/FDM/JSBSim/models/FGFCS.cpp
@@ -1,28 +1,28 @@
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
- Module:       FGFCS.cpp
+ 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) -------------
+ ------------- 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 General Public License as published by the Free Software
+ the terms of the GNU Lesser 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
+ FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
  details.
 
- You should have received a copy of the GNU General Public License along with
+ You should have received a copy of the GNU Lesser 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
+ Further information about the GNU Lesser General Public License can also be found on
  the world wide web at http://www.gnu.org.
 
 FUNCTIONAL DESCRIPTION
@@ -38,29 +38,34 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #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/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 <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 *IdHdr = ID_FCS;
 
-#if defined(WIN32) && !defined(__CYGWIN__)
-#define snprintf _snprintf
-#endif
-
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -74,9 +79,10 @@ FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
   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++) {
+  for (i=0;i<NForms;i++) {
     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
   }
@@ -88,11 +94,6 @@ FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
 
 FGFCS::~FGFCS()
 {
-  if (PropertyManager->HasNode("fcs")) unbind( PropertyManager->GetNode("fcs") );
-  if (PropertyManager->HasNode("ap")) unbind( PropertyManager->GetNode("ap") );
-  PropertyManager->Untie( "gear/gear-cmd-norm" );
-  PropertyManager->Untie( "gear/gear-pos-norm" );
-
   ThrottleCmd.clear();
   ThrottlePos.clear();
   MixtureCmd.clear();
@@ -106,17 +107,82 @@ FGFCS::~FGFCS()
   unsigned int i;
 
   for (i=0;i<APComponents.size();i++) delete APComponents[i];
-  for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
-  for (i=0;i<sensors.size();i++) delete sensors[i];
-
   APComponents.clear();
+  for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
   FCSComponents.clear();
-  sensors.clear();
-  interface_properties.clear();
+  for (i=0;i<Systems.size();i++) delete Systems[i];
+  Systems.clear();
+
 
   Debug(1);
 }
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFCS::InitModel(void)
+{
+  unsigned int i;
+
+  if (!FGModel::InitModel()) return false;
+
+  for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = 0.0;
+  for (i=0; i<MixturePos.size(); i++) MixturePos[i] = 0.0;
+  for (i=0; i<ThrottleCmd.size(); i++) ThrottleCmd[i] = 0.0;
+  for (i=0; i<MixtureCmd.size(); i++) MixtureCmd[i] = 0.0;
+  for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = 0.0;
+  for (i=0; i<PropFeather.size(); i++) PropFeather[i] = 0.0;
+
+  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;
+}
+  
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 // Notes: In this logic the default engine commands are set. This is simply a
 // sort of safe-mode method in case the user has not defined control laws for
@@ -132,23 +198,30 @@ bool FGFCS::Run(void)
   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];
   for (i=0; i<PropFeather.size(); i++) PropFeather[i] = PropFeatherCmd[i];
 
-
   // Set the default steering angle
   for (i=0; i<SteerPosDeg.size(); i++) {
     FGLGear* gear = GroundReactions->GetGearUnit(i);
     SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
   }
 
-  // Cycle through the sensor, autopilot, and flight control components
-  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 Autopilot
   for (i=0; i<APComponents.size(); i++) APComponents[i]->Run();
+
+  // Execute Flight Control System
   for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
 
+  RunPostFunctions();
+
   return false;
 }
 
@@ -382,7 +455,7 @@ void FGFCS::SetMixturePos(int engineNum, double setting)
 
   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;
     }
@@ -412,7 +485,7 @@ void FGFCS::SetPropAdvance(int engineNum, double 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;
     }
@@ -442,7 +515,7 @@ void FGFCS::SetPropFeather(int engineNum, bool 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;
     }
@@ -451,38 +524,39 @@ void FGFCS::SetPropFeather(int engineNum, bool setting)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-bool FGFCS::Load(Element* el)
+bool FGFCS::Load(Element* el, SystemType systype)
 {
-  string name, file, fname, comp_name, interface_property_string;
-  unsigned i;
+  string name, file, fname="", interface_property_string, parent_name;
   vector <FGFCSComponent*> *Components;
-  Element *FCS_cfg, *document, *component_element, *property_element, *sensor_element;
+  Element *component_element;
   Element *channel_element;
-  ifstream* controls_file = new ifstream();
-  FGXMLParse controls_file_parser;
 
   Components=0;
-  // Determine if the FCS/Autopilot is defined inline in the aircraft configuration
-  // file or in a separate file. Set up the Element pointer as appropriate.
 
   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()) {
     fname = el->GetAttributeValue("file");
-    file = FDMExec->GetAircraftPath() + separator + FDMExec->GetModelName() + separator + fname + ".xml";
+    if (systype == stSystem) {
+      file = FindSystemFullPathname(fname);
+    } else { 
+      file = FDMExec->GetFullAircraftPath() + separator + fname + ".xml";
+    }
     if (fname.empty()) {
-      cerr << "FCS/Autopilot does not appear to be defined inline nor in a file" << endl;
+      cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl;
       return false;
     } else {
-      controls_file->open(file.c_str());
-      readXML(*controls_file, controls_file_parser);
-      delete controls_file;
-      document = controls_file_parser.GetDocument();
+      document = LoadXMLDocument(file);
+      if (!document) {
+        cerr << "Error loading file " << file << endl;
+        return false;
+      }
+      name = document->GetAttributeValue("name");
     }
   } else {
     document = el;
@@ -494,97 +568,108 @@ bool FGFCS::Load(Element* el)
   } else if (document->GetName() == "flight_control") {
     Components = &FCSComponents;
     Name = "FCS: " + document->GetAttributeValue("name");
+  } else if (document->GetName() == "system") {
+    Components = &Systems;
+    Name = "System: " + document->GetAttributeValue("name");
   }
-
   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();
 
-  property_element = document->FindElement("property");
-  while (property_element) {
-    interface_properties.push_back(new double(0));
-    interface_property_string = property_element->GetDataLine();
-    PropertyManager->Tie(interface_property_string, interface_properties.back());
-    property_element = document->FindNextElement("property");
-  }
-
-  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) {
-    component_element = channel_element->FindElement("component");
-    if (component_element) {
-      cout << "This form of the component specification is being deprecated" << endl;
-    } else {
-      component_element = channel_element->GetElement();
-    }
+  
+    if (debug_lvl > 0)
+      cout << endl << highint << fgblue << "    Channel " 
+         << normint << channel_element->GetAttributeValue("name") << reset << endl;
+  
+    component_element = channel_element->GetElement();
     while (component_element) {
-      comp_name = component_element->GetAttributeValue("type");
       try {
-        if ((comp_name == "LAG_FILTER") ||
-            (comp_name == "LEAD_LAG_FILTER") ||
-            (comp_name == "SECOND_ORDER_FILTER") ||
-            (comp_name == "WASHOUT_FILTER") ||
-            (comp_name == "INTEGRATOR") ||
-            (component_element->GetName() == string("lag_filter")) ||
+        if ((component_element->GetName() == string("lag_filter")) ||
             (component_element->GetName() == string("lead_lag_filter")) ||
             (component_element->GetName() == string("washout_filter")) ||
             (component_element->GetName() == string("second_order_filter")) ||
             (component_element->GetName() == string("integrator")) )
         {
           Components->push_back(new FGFilter(this, component_element));
-        } else if ((comp_name == "PURE_GAIN") ||
-                   (comp_name == "SCHEDULED_GAIN") ||
-                   (comp_name == "AEROSURFACE_SCALE") ||
-                   (component_element->GetName() == string("pure_gain")) ||
+        } else if ((component_element->GetName() == string("pure_gain")) ||
                    (component_element->GetName() == string("scheduled_gain")) ||
                    (component_element->GetName() == string("aerosurface_scale")))
         {
           Components->push_back(new FGGain(this, component_element));
-        } else if ((comp_name == "SUMMER") || (component_element->GetName() == string("summer"))) {
+        } else if (component_element->GetName() == string("summer")) {
           Components->push_back(new FGSummer(this, component_element));
-        } else if ((comp_name == "DEADBAND") || (component_element->GetName() == string("deadband"))) {
+        } else if (component_element->GetName() == string("deadband")) {
           Components->push_back(new FGDeadBand(this, component_element));
-        } else if (comp_name == "GRADIENT") {
-          Components->push_back(new FGGradient(this, component_element));
-        } else if ((comp_name == "SWITCH") || (component_element->GetName() == string("switch"))) {
+        } else if (component_element->GetName() == string("switch")) {
           Components->push_back(new FGSwitch(this, component_element));
-        } else if ((comp_name == "KINEMAT") || (component_element->GetName() == string("kinematic"))) {
+        } else if (component_element->GetName() == string("kinematic")) {
           Components->push_back(new FGKinemat(this, component_element));
-        } else if ((comp_name == "FUNCTION") || (component_element->GetName() == string("fcs_function"))) {
+        } else if (component_element->GetName() == string("fcs_function")) {
           Components->push_back(new FGFCSFunction(this, component_element));
+        } else if (component_element->GetName() == string("pid")) {
+          Components->push_back(new FGPID(this, component_element));
+        } else if (component_element->GetName() == string("actuator")) {
+          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: " << comp_name << endl;
+          cerr << "Unknown FCS component: " << component_element->GetName() << endl;
         }
       } catch(string s) {
         cerr << highint << fgred << endl << "  " << s << endl;
         cerr << reset << endl;
         return false;
       }
-      if (comp_name.empty()) { // comp_name will be empty if using new format
-        component_element = channel_element->GetNextElement();
-      } else {
-        component_element = channel_element->FindNextElement("component");
-      }
+      component_element = channel_element->GetNextElement();
     }
     channel_element = document->FindNextElement("channel");
   }
 
+  ResetParser();
+
   return true;
 }
 
@@ -607,23 +692,89 @@ double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGFCS::GetComponentStrings(string delimeter)
+string FGFCS::FindSystemFullPathname(const string& system_filename)
+{
+  string fullpath, localpath;
+  string systemPath = FDMExec->GetSystemsPath();
+  string aircraftPath = FDMExec->GetFullAircraftPath();
+  ifstream system_file;
+
+  string separator = "/";
+
+  fullpath = systemPath + separator;
+  localpath = aircraftPath + separator + "Systems" + separator;
+
+  system_file.open(string(fullpath + system_filename + ".xml").c_str());
+  if ( !system_file.is_open()) {
+    system_file.open(string(localpath + system_filename + ".xml").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 + ".xml");
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+ifstream* FGFCS::FindSystemFile(const string& system_filename)
+{
+  string fullpath, localpath;
+  string systemPath = FDMExec->GetSystemsPath();
+  string aircraftPath = FDMExec->GetFullAircraftPath();
+  ifstream* system_file = new ifstream();
+
+  string separator = "/";
+
+  fullpath = systemPath + separator;
+  localpath = aircraftPath + separator + "Systems" + separator;
+
+  system_file->open(string(fullpath + system_filename + ".xml").c_str());
+  if ( !system_file->is_open()) {
+    system_file->open(string(localpath + system_filename + ".xml").c_str());
+      if ( !system_file->is_open()) {
+        cerr << " Could not open system file: " << system_filename << " in path "
+             << fullpath << " or " << localpath << endl;
+      }
+  }
+  return system_file;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+string FGFCS::GetComponentStrings(const string& delimiter)
 {
   unsigned int comp;
   string CompStrings = "";
   bool firstime = true;
+  int total_count=0;
 
-  for (comp = 0; comp < FCSComponents.size(); comp++) {
+  for (unsigned int i=0; i<Systems.size(); i++) {
     if (firstime) firstime = false;
-    else          CompStrings += delimeter;
+    else          CompStrings += delimiter;
 
-    CompStrings += FCSComponents[comp]->GetName();
+    CompStrings += Systems[i]->GetName();
+    total_count++;
   }
 
   for (comp = 0; comp < APComponents.size(); comp++)
   {
-    CompStrings += delimeter;
+    if (firstime) firstime = false;
+    else          CompStrings += delimiter;
+
     CompStrings += APComponents[comp]->GetName();
+    total_count++;
+  }
+
+  for (comp = 0; comp < FCSComponents.size(); comp++) {
+    if (firstime) firstime = false;
+    else          CompStrings += delimiter;
+
+    CompStrings += FCSComponents[comp]->GetName();
+    total_count++;
   }
 
   return CompStrings;
@@ -631,27 +782,39 @@ string FGFCS::GetComponentStrings(string delimeter)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGFCS::GetComponentValues(string delimeter)
+string FGFCS::GetComponentValues(const string& delimiter)
 {
+  std::ostringstream buf;
+
   unsigned int comp;
-  string CompValues = "";
-  char buffer[12];
   bool firstime = true;
+  int total_count=0;
 
-  for (comp = 0; comp < FCSComponents.size(); comp++) {
+  for (unsigned int i=0; i<Systems.size(); i++) {
     if (firstime) firstime = false;
-    else          CompValues += delimeter;
+    else          buf << delimiter;
 
-    sprintf(buffer, "%9.6f", FCSComponents[comp]->GetOutput());
-    CompValues += string(buffer);
+    buf << setprecision(9) << Systems[i]->GetOutput();
+    total_count++;
   }
 
   for (comp = 0; comp < APComponents.size(); comp++) {
-    sprintf(buffer, "%s%9.6f", delimeter.c_str(), APComponents[comp]->GetOutput());
-    CompValues += string(buffer);
+    if (firstime) firstime = false;
+    else          buf << delimiter;
+
+    buf << setprecision(9) << APComponents[comp]->GetOutput();
+    total_count++;
+  }
+
+  for (comp = 0; comp < FCSComponents.size(); comp++) {
+    if (firstime) firstime = false;
+    else          buf << delimiter;
+
+    buf << setprecision(9) << FCSComponents[comp]->GetOutput();
+    total_count++;
   }
 
-  return CompValues;
+  return buf.str();
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -667,7 +830,7 @@ void FGFCS::AddThrottle(void)
   PropFeatherCmd.push_back(false);
   PropFeather.push_back(false);
 
-  unsigned int num = ThrottleCmd.size()-1;
+  unsigned int num = (unsigned int)ThrottleCmd.size()-1;
   bindThrottle(num);
 }
 
@@ -680,19 +843,24 @@ void FGFCS::AddGear(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+double FGFCS::GetDt(void)
+{
+  return FDMExec->GetDeltaT()*rate;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 void FGFCS::bind(void)
 {
   PropertyManager->Tie("fcs/aileron-cmd-norm", this, &FGFCS::GetDaCmd, &FGFCS::SetDaCmd);
   PropertyManager->Tie("fcs/elevator-cmd-norm", this, &FGFCS::GetDeCmd, &FGFCS::SetDeCmd);
   PropertyManager->Tie("fcs/rudder-cmd-norm", this, &FGFCS::GetDrCmd, &FGFCS::SetDrCmd);
-  PropertyManager->Tie("fcs/steer-cmd-norm", this, &FGFCS::GetDsCmd, &FGFCS::SetDsCmd);
   PropertyManager->Tie("fcs/flap-cmd-norm", this, &FGFCS::GetDfCmd, &FGFCS::SetDfCmd);
   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this, &FGFCS::GetDsbCmd, &FGFCS::SetDsbCmd);
   PropertyManager->Tie("fcs/spoiler-cmd-norm", this, &FGFCS::GetDspCmd, &FGFCS::SetDspCmd);
   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this, &FGFCS::GetPitchTrimCmd, &FGFCS::SetPitchTrimCmd);
   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this, &FGFCS::GetRollTrimCmd, &FGFCS::SetRollTrimCmd);
   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this, &FGFCS::GetYawTrimCmd, &FGFCS::SetYawTrimCmd);
-  PropertyManager->Tie("gear/gear-cmd-norm", this, &FGFCS::GetGearCmd, &FGFCS::SetGearCmd);
 
   PropertyManager->Tie("fcs/left-aileron-pos-rad", this, ofRad, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
   PropertyManager->Tie("fcs/left-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
@@ -729,40 +897,47 @@ void FGFCS::bind(void)
   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this, ofMag, &FGFCS::GetDspPos);
 
   PropertyManager->Tie("gear/gear-pos-norm", this, &FGFCS::GetGearPos, &FGFCS::SetGearPos);
+  PropertyManager->Tie("gear/gear-cmd-norm", this, &FGFCS::GetGearCmd, &FGFCS::SetGearCmd);
+  PropertyManager->Tie("fcs/left-brake-cmd-norm", this, &FGFCS::GetLBrake, &FGFCS::SetLBrake);
+  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);
 }
 
@@ -771,26 +946,12 @@ void FGFCS::bindThrottle(unsigned int num)
 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);
-    }
-  }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-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();
+      tmp = CreateIndexedPropertyName("fcs/steer-pos-deg", i);
+      PropertyManager->Tie( tmp.c_str(), this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
     }
   }
 }
@@ -820,7 +981,7 @@ void FGFCS::Debug(int from)
 
   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