FGEngine(FGFDMExec* exec);
virtual ~FGEngine();
- enum EngineType {etUnknown, etRocket, etPiston, etTurboProp, etTurboJet, etTurboShaft};
+ enum EngineType {etUnknown, etRocket, etPiston, etTurbine};
virtual double GetThrottleMin(void) { return MinThrottle; }
virtual double GetThrottleMax(void) { return MaxThrottle; }
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;
PropAdvanceCmd.clear();
PropAdvance.clear();
- unsigned int i;
-
unbind();
- for (i=0;i<Components.size();i++) delete Components[i];
+ 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);
}
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<Components.size(); i++) Components[i]->Run();
+ 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;
+ return false;
} else {
- return true;
+ return true;
}
}
bool FGFCS::Load(FGConfigFile* AC_cfg)
{
- string token;
+ string token, delimiter;
+ string name, file, fname;
unsigned i;
+ vector <FGFCSComponent*> *Components;
+ FGConfigFile *FCS_cfg;
+
+ // 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;
+ }
- Name = Name + ":" + AC_cfg->GetValue("NAME");
if (debug_lvl > 0) cout << " Control System Name: " << Name << endl;
- if ( AC_cfg->GetValue("NORMALIZE") == "FALSE") {
- DoNormalize=false;
- cout << " Automatic Control Surface Normalization Disabled" << endl;
- }
- AC_cfg->GetNextConfigLine();
- while ((token = AC_cfg->GetValue()) != string("/FLIGHT_CONTROL")) {
+
+ while ((token = AC_cfg->GetValue()) != string("/" + delimiter)) {
if (token == "COMPONENT") {
token = AC_cfg->GetValue("TYPE");
if (debug_lvl > 0) cout << endl << " Loading Component \""
(token == "SECOND_ORDER_FILTER") ||
(token == "WASHOUT_FILTER") ||
(token == "INTEGRATOR") ) {
- Components.push_back(new FGFilter(this, AC_cfg));
+ 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));
+ Components->push_back(new FGGain(this, AC_cfg));
} else if (token == "SUMMER") {
- Components.push_back(new FGSummer(this, AC_cfg));
+ Components->push_back(new FGSummer(this, AC_cfg));
} else if (token == "DEADBAND") {
- Components.push_back(new FGDeadBand(this, AC_cfg));
+ Components->push_back(new FGDeadBand(this, AC_cfg));
} else if (token == "GRADIENT") {
- Components.push_back(new FGGradient(this, AC_cfg));
+ Components->push_back(new FGGradient(this, AC_cfg));
} else if (token == "SWITCH") {
- Components.push_back(new FGSwitch(this, AC_cfg));
+ Components->push_back(new FGSwitch(this, AC_cfg));
} else if (token == "KINEMAT") {
- Components.push_back(new FGKinemat(this, AC_cfg));
+ Components->push_back(new FGKinemat(this, AC_cfg));
} else {
cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
return false;
}
- AC_cfg->GetNextConfigLine();
+ if (AC_cfg->GetNextConfigLine() == "EOF") break;
}
}
+
//collect information for normalizing control surfaces
+
string nodeName;
- for (i=0;i<Components.size();i++) {
+ 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 ( (((*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"
}
}
- bindModel();
-
+ if (delimiter == "FLIGHT_CONTROL") bindModel();
+
+ eMode = mNone;
+
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-double FGFCS::GetComponentOutput(int idx) {
- return Components[idx]->GetOutput();
+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;
+ }
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-string FGFCS::GetComponentName(int idx) {
- return Components[idx]->GetName();
+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;
+ }
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
string CompStrings = "";
bool firstime = true;
- for (comp = 0; comp < Components.size(); comp++) {
+ for (comp = 0; comp < FCSComponents.size(); comp++) {
if (firstime) firstime = false;
else CompStrings += ", ";
- CompStrings += Components[comp]->GetName();
+ CompStrings += FCSComponents[comp]->GetName();
+ }
+
+ for (comp = 0; comp < APComponents.size(); comp++)
+ {
+ CompStrings += ", ";
+ CompStrings += APComponents[comp]->GetName();
}
return CompStrings;
char buffer[10];
bool firstime = true;
- for (comp = 0; comp < Components.size(); comp++) {
+ for (comp = 0; comp < FCSComponents.size(); comp++) {
if (firstime) firstime = false;
else CompValues += ", ";
- sprintf(buffer, "%9.6f", Components[comp]->GetOutput());
+ 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);
}
//ToNormalize is filled in Load()
if ( ToNormalize[iDe] > -1 ) {
- DePos[ofNorm] = Components[ToNormalize[iDe]]->GetOutputPct();
+ DePos[ofNorm] = FCSComponents[ToNormalize[iDe]]->GetOutputPct();
}
if ( ToNormalize[iDaL] > -1 ) {
- DaLPos[ofNorm] = Components[ToNormalize[iDaL]]->GetOutputPct();
+ DaLPos[ofNorm] = FCSComponents[ToNormalize[iDaL]]->GetOutputPct();
}
if ( ToNormalize[iDaR] > -1 ) {
- DaRPos[ofNorm] = Components[ToNormalize[iDaR]]->GetOutputPct();
+ DaRPos[ofNorm] = FCSComponents[ToNormalize[iDaR]]->GetOutputPct();
}
if ( ToNormalize[iDr] > -1 ) {
- DrPos[ofNorm] = Components[ToNormalize[iDr]]->GetOutputPct();
+ DrPos[ofNorm] = FCSComponents[ToNormalize[iDr]]->GetOutputPct();
}
if ( ToNormalize[iDsb] > -1 ) {
- DsbPos[ofNorm] = Components[ToNormalize[iDsb]]->GetOutputPct();
+ DsbPos[ofNorm] = FCSComponents[ToNormalize[iDsb]]->GetOutputPct();
}
if ( ToNormalize[iDsp] > -1 ) {
- DspPos[ofNorm] = Components[ToNormalize[iDsp]]->GetOutputPct();
+ DspPos[ofNorm] = FCSComponents[ToNormalize[iDsp]]->GetOutputPct();
}
if ( ToNormalize[iDf] > -1 ) {
- DfPos[ofNorm] = Components[ToNormalize[iDf]]->GetOutputPct();
+ DfPos[ofNorm] = FCSComponents[ToNormalize[iDf]]->GetOutputPct();
}
DePos[ofMag] = fabs(DePos[ofRad]);
&FGFCS::GetGearPos,
&FGFCS::SetGearPos,
true);
+
+ PropertyManager->Tie("jsbsim/ap/elevator_cmd", this,
+ &FGFCS::GetAPDeCmd,
+ &FGFCS::SetAPDeCmd,
+ true);
+
+ PropertyManager->Tie("jsbsim/ap/aileron_cmd", this,
+ &FGFCS::GetAPDaCmd,
+ &FGFCS::SetAPDaCmd,
+ true);
+
+ PropertyManager->Tie("jsbsim/ap/rudder_cmd", this,
+ &FGFCS::GetAPDrCmd,
+ &FGFCS::SetAPDrCmd,
+ true);
+
+ PropertyManager->Tie("jsbsim/ap/throttle_cmd", this,
+ &FGFCS::GetAPThrottleCmd,
+ &FGFCS::SetAPThrottleCmd,
+ true);
+
+ PropertyManager->Tie("jsbsim/ap/attitude_setpoint", this,
+ &FGFCS::GetAPAttitudeSetPt,
+ &FGFCS::SetAPAttitudeSetPt,
+ true);
+
+ PropertyManager->Tie("jsbsim/ap/altitude_setpoint", this,
+ &FGFCS::GetAPAltitudeSetPt,
+ &FGFCS::SetAPAltitudeSetPt,
+ true);
+
+ PropertyManager->Tie("jsbsim/ap/heading_setpoint", this,
+ &FGFCS::GetAPHeadingSetPt,
+ &FGFCS::SetAPHeadingSetPt,
+ true);
+
+ PropertyManager->Tie("jsbsim/ap/airspeed_setpoint", this,
+ &FGFCS::GetAPAirspeedSetPt,
+ &FGFCS::SetAPAirspeedSetPt,
+ true);
+
+ PropertyManager->Tie("jsbsim/ap/acquire_attitude", this,
+ &FGFCS::GetAPAcquireAttitude,
+ &FGFCS::SetAPAcquireAttitude,
+ true);
+
+ PropertyManager->Tie("jsbsim/ap/acquire_altitude", this,
+ &FGFCS::GetAPAcquireAltitude,
+ &FGFCS::SetAPAcquireAltitude,
+ true);
+
+ PropertyManager->Tie("jsbsim/ap/acquire_heading", this,
+ &FGFCS::GetAPAcquireHeading,
+ &FGFCS::SetAPAcquireHeading,
+ true);
+
+ PropertyManager->Tie("jsbsim/ap/acquire_airspeed", this,
+ &FGFCS::GetAPAcquireAirspeed,
+ &FGFCS::SetAPAcquireAirspeed,
+ true);
+
+ PropertyManager->Tie("jsbsim/ap/attitude_hold", this,
+ &FGFCS::GetAPAttitudeHold,
+ &FGFCS::SetAPAttitudeHold,
+ true);
+
+ PropertyManager->Tie("jsbsim/ap/altitude_hold", this,
+ &FGFCS::GetAPAltitudeHold,
+ &FGFCS::SetAPAltitudeHold,
+ true);
+
+ PropertyManager->Tie("jsbsim/ap/heading_hold", this,
+ &FGFCS::GetAPHeadingHold,
+ &FGFCS::SetAPHeadingHold,
+ true);
+
+ PropertyManager->Tie("jsbsim/ap/airspeed_hold", this,
+ &FGFCS::GetAPAirspeedHold,
+ &FGFCS::SetAPAirspeedHold,
+ true);
+
+ PropertyManager->Tie("jsbsim/ap/wingslevel_hold", this,
+ &FGFCS::GetAPWingsLevelHold,
+ &FGFCS::SetAPWingsLevelHold,
+ true);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
PropertyManager->Untie("fcs/mag-spoiler-pos-rad");
PropertyManager->Untie("fcs/spoiler-pos-norm");
PropertyManager->Untie("gear/gear-pos-norm");
+ PropertyManager->Untie("jsbsim/ap/elevator_cmd");
+ PropertyManager->Untie("jsbsim/ap/aileron_cmd");
+ PropertyManager->Untie("jsbsim/ap/rudder_cmd");
+ PropertyManager->Untie("jsbsim/ap/throttle_cmd");
+ PropertyManager->Untie("jsbsim/ap/attitude_setpoint");
+ PropertyManager->Untie("jsbsim/ap/altitude_setpoint");
+ PropertyManager->Untie("jsbsim/ap/heading_setpoint");
+ PropertyManager->Untie("jsbsim/ap/airspeed_setpoint");
+ PropertyManager->Untie("jsbsim/ap/acquire_attitude");
+ PropertyManager->Untie("jsbsim/ap/acquire_altitude");
+ PropertyManager->Untie("jsbsim/ap/acquire_heading");
+ PropertyManager->Untie("jsbsim/ap/acquire_airspeed");
+ PropertyManager->Untie("jsbsim/ap/attitude_hold");
+ PropertyManager->Untie("jsbsim/ap/altitude_hold");
+ PropertyManager->Untie("jsbsim/ap/heading_hold");
+ PropertyManager->Untie("jsbsim/ap/airspeed_hold");
+ PropertyManager->Untie("jsbsim/ap/wingslevel_hold");
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
inline double GetGearCmd(void) const { return GearCmd; }
//@}
+ /// @name AUTOPilot -> FCS effectors command retrieval
+ //@{
+ /** Gets the AUTOPilot aileron command.
+ @return aileron command in radians */
+ inline double GetAPDaCmd(void) const { return AP_DaCmd; }
+
+ /** Gets the AUTOPilot elevator command.
+ @return elevator command in radians */
+ inline double GetAPDeCmd(void) const { return AP_DeCmd; }
+
+ /** Gets the AUTOPilot rudder command.
+ @return rudder command in radians */
+ inline double GetAPDrCmd(void) const { return AP_DrCmd; }
+
+ /** Gets the AUTOPilot throttle (all engines) command.
+ @return throttle command in percent */
+ inline double GetAPThrottleCmd(void) const { return AP_ThrottleCmd; }
+ //@}
+
+ /// @name AUTOPilot setpoint retrieval
+ //@{
+ /** Gets the autopilot pitch attitude setpoint
+ @return Pitch attitude setpoint in radians */
+ inline double GetAPAttitudeSetPt(void) const {return APAttitudeSetPt;}
+
+ /** Gets the autopilot altitude setpoint
+ @return Altitude setpoint in feet */
+ inline double GetAPAltitudeSetPt(void) const {return APAltitudeSetPt;}
+
+ /** Gets the autopilot heading setpoint
+ @return Heading setpoint in radians */
+ inline double GetAPHeadingSetPt(void) const {return APHeadingSetPt;}
+
+ /** Gets the autopilot airspeed setpoint
+ @return Airspeed setpoint in fps */
+ inline double GetAPAirspeedSetPt(void) const {return APAirspeedSetPt;}
+ //@}
+
+ /// @name AUTOPilot setpoint setting
+ //@{
+ /// Sets the autopilot pitch attitude setpoint
+ inline void SetAPAttitudeSetPt(double set) {APAttitudeSetPt = set;}
+
+ /// Sets the autopilot altitude setpoint
+ inline void SetAPAltitudeSetPt(double set) {APAltitudeSetPt = set;}
+
+ /// Sets the autopilot heading setpoint
+ inline void SetAPHeadingSetPt(double set) {APHeadingSetPt = set;}
+
+ /// Sets the autopilot airspeed setpoint
+ inline void SetAPAirspeedSetPt(double set) {APAirspeedSetPt = set;}
+ //@}
+
+
+ /// @name AUTOPilot mode setting
+ //@{
+ /** Turns on/off the attitude-seeking autopilot.
+ @param set true turns the mode on, false turns it off **/
+ inline void SetAPAcquireAttitude(bool set) {APAcquireAttitude = set;}
+
+ /** Turns on/off the altitude-seeking autopilot.
+ @param set true turns the mode on, false turns it off **/
+ inline void SetAPAcquireAltitude(bool set) {APAcquireAltitude = set;}
+
+ /** Turns on/off the heading-seeking autopilot.
+ @param set true turns the mode on, false turns it off **/
+ inline void SetAPAcquireHeading(bool set) {APAcquireHeading = set;}
+
+ /** Turns on/off the airspeed-seeking autopilot.
+ @param set true turns the mode on, false turns it off **/
+ inline void SetAPAcquireAirspeed(bool set) {APAcquireAirspeed = set;}
+
+ /** Turns on/off the attitude-holding autopilot.
+ @param set true turns the mode on, false turns it off **/
+ inline void SetAPAttitudeHold(bool set) {APAttitudeHold = set;}
+
+ /** Turns on/off the altitude-holding autopilot.
+ @param set true turns the mode on, false turns it off **/
+ inline void SetAPAltitudeHold(bool set) {APAltitudeHold = set;}
+
+ /** Turns on/off the heading-holding autopilot.
+ @param set true turns the mode on, false turns it off **/
+ inline void SetAPHeadingHold(bool set) {APHeadingHold = set;}
+
+ /** Turns on/off the airspeed-holding autopilot.
+ @param set true turns the mode on, false turns it off **/
+ inline void SetAPAirspeedHold(bool set) {APAirspeedHold = set;}
+
+ /** Turns on/off the wing-leveler autopilot.
+ @param set true turns the mode on, false turns it off **/
+ inline void SetAPWingsLevelHold(bool set) {APWingsLevelHold = set;}
+ //@}
+
+ /// @name AUTOPilot mode retrieval
+ //@{
+ /** Retrieves the on/off mode of the autopilot AcquireAttitude mode
+ @return true if on, false if off */
+ inline bool GetAPAcquireAttitude(void) const {return APAcquireAttitude;}
+
+ /** Retrieves the on/off mode of the autopilot AcquireAltitude mode
+ @return true if on, false if off */
+ inline bool GetAPAcquireAltitude(void) const {return APAcquireAltitude;}
+
+ /** Retrieves the on/off mode of the autopilot AcquireHeading mode
+ @return true if on, false if off */
+ inline bool GetAPAcquireHeading(void) const {return APAcquireHeading;}
+
+ /** Retrieves the on/off mode of the autopilot AcquireAirspeed mode
+ @return true if on, false if off */
+ inline bool GetAPAcquireAirspeed(void) const {return APAcquireAirspeed;}
+
+ /** Retrieves the on/off mode of the autopilot AttitudeHold mode
+ @return true if on, false if off */
+ inline bool GetAPAttitudeHold(void) const {return APAttitudeHold;}
+
+ /** Retrieves the on/off mode of the autopilot AltitudeHold mode
+ @return true if on, false if off */
+ inline bool GetAPAltitudeHold(void) const {return APAltitudeHold;}
+
+ /** Retrieves the on/off mode of the autopilot HeadingHold mode
+ @return true if on, false if off */
+ inline bool GetAPHeadingHold(void) const {return APHeadingHold;}
+
+ /** Retrieves the on/off mode of the autopilot AirspeedHold mode
+ @return true if on, false if off */
+ inline bool GetAPAirspeedHold(void) const {return APAirspeedHold;}
+
+ /** Retrieves the on/off mode of the autopilot WingsLevelHold mode
+ @return true if on, false if off */
+ inline bool GetAPWingsLevelHold(void) const {return APWingsLevelHold;}
+ //@}
+
/// @name Aerosurface position retrieval
//@{
/** Gets the left aileron position.
void SetPropAdvanceCmd(int engine, double cmd);
//@}
+ /// @name AUTOPilot -> FCS effector command setting
+ //@{
+ /** Sets the AUTOPilot aileron command
+ @param cmd AUTOPilot aileron command in radians*/
+ inline void SetAPDaCmd( double cmd ) { AP_DaCmd = cmd; }
+
+ /** Sets the AUTOPilot elevator command
+ @param cmd AUTOPilot elevator command in radians*/
+ inline void SetAPDeCmd(double cmd ) { AP_DeCmd = cmd; }
+
+ /** Sets the AUTOPilot rudder command
+ @param cmd AUTOPilot rudder command in radians*/
+ inline void SetAPDrCmd(double cmd) { AP_DrCmd = cmd; }
+
+ /** Sets the AUTOPilot throttle command
+ @param cmd AUTOPilot throttle command in percent*/
+ inline void SetAPThrottleCmd(double cmd) { AP_ThrottleCmd = cmd; }
+ //@}
+
/// @name Aerosurface position setting
//@{
/** Sets the left aileron position
void SetPropAdvance(int engine, double cmd);
//@}
- /// @name Landing Gear brakes
+ /// @name Landing Gear brakes
//@{
/** Sets the left brake group
@param cmd brake setting in percent (0.0 - 1.0) */
private:
double DaCmd, DeCmd, DrCmd, DfCmd, DsbCmd, DspCmd;
+ double AP_DaCmd, AP_DeCmd, AP_DrCmd, AP_ThrottleCmd;
double DePos[NForms], DaLPos[NForms], DaRPos[NForms], DrPos[NForms];
double DfPos[NForms], DsbPos[NForms], DspPos[NForms];
double PTrimCmd, YTrimCmd, RTrimCmd;
vector <double> PropAdvance;
double LeftBrake, RightBrake, CenterBrake; // Brake settings
double GearCmd,GearPos;
-
+
+ enum Mode {mAP, mFCS, mNone} eMode;
+
+ double APAttitudeSetPt, APAltitudeSetPt, APHeadingSetPt, APAirspeedSetPt;
+ bool APAcquireAttitude, APAcquireAltitude, APAcquireHeading, APAcquireAirspeed;
+ bool APAttitudeHold, APAltitudeHold, APHeadingHold, APAirspeedHold, APWingsLevelHold;
+
bool DoNormalize;
void Normalize(void);
- vector <FGFCSComponent*> Components;
+ vector <FGFCSComponent*> FCSComponents;
+ vector <FGFCSComponent*> APComponents;
int ToNormalize[NNorm];
void Debug(int from);
};
} else if (token == "FLIGHT_CONTROL") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Flight Control" << fgdef << endl;
if (!ReadFlightControls(&AC_cfg)) result = false;
+ } else if (token == "AUTOPILOT") {
+ if (debug_lvl > 0) cout << fgcyan << "\n Reading Autopilot" << fgdef << endl;
+ if (!ReadFlightControls(&AC_cfg)) result = false;
} else if (token == "OUTPUT") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Output directives" << fgdef << endl;
if (!ReadOutput(&AC_cfg)) result = false;
// reset debug level to prior setting
int saved_debug_lvl = debug_lvl;
+ string token;
SlaveFDMList.push_back(new slaveData);
SlaveFDMList.back()->exec = new FGFDMExec();
string AircraftName = AC_cfg->GetValue("FILE");
- debug_lvl = 0;
+ debug_lvl = 0; // turn off debug output for slave vehicle
SlaveFDMList.back()->exec->LoadModel("aircraft", "engine", AircraftName);
- debug_lvl = saved_debug_lvl;
+ debug_lvl = saved_debug_lvl; // turn debug output back on for master vehicle
+
+ AC_cfg->GetNextConfigLine();
+ while ((token = AC_cfg->GetValue()) != string("/SLAVE")) {
+ *AC_cfg >> token;
+ if (token == "XLOC") { *AC_cfg >> SlaveFDMList.back()->x; }
+ else if (token == "YLOC") { *AC_cfg >> SlaveFDMList.back()->y; }
+ else if (token == "ZLOC") { *AC_cfg >> SlaveFDMList.back()->z; }
+ else if (token == "PITCH") { *AC_cfg >> SlaveFDMList.back()->pitch;}
+ else if (token == "YAW") { *AC_cfg >> SlaveFDMList.back()->yaw; }
+ else if (token == "ROLL") { *AC_cfg >> SlaveFDMList.back()->roll; }
+ else cerr << "Unknown identifier: " << token << " in slave vehicle definition" << endl;
+ }
+
+ if (debug_lvl > 0) {
+ cout << " X = " << SlaveFDMList.back()->x << endl;
+ cout << " Y = " << SlaveFDMList.back()->y << endl;
+ cout << " Z = " << SlaveFDMList.back()->z << endl;
+ cout << " Pitch = " << SlaveFDMList.back()->pitch << endl;
+ cout << " Yaw = " << SlaveFDMList.back()->yaw << endl;
+ cout << " Roll = " << SlaveFDMList.back()->roll << endl;
+ }
return true;
}
{
Name = "FGInertial";
- vRadius.InitMatrix();
-
// Defaults
RotationRate = 0.00007272205217;
GM = 14.06252720E15;
RadiusReference = 20925650.00;
gAccelReference = GM/(RadiusReference*RadiusReference);
gAccel = GM/(RadiusReference*RadiusReference);
+ vRadius.InitMatrix();
vCoriolis.InitMatrix();
vCentrifugal.InitMatrix();
vGravity.InitMatrix();
void bind(void);
void unbind(void);
-
private:
FGColumnVector3 vOmegaLocal;
FGColumnVector3 vForces;
const double FGJSBBase::radtodeg = 57.29578;
const double FGJSBBase::degtorad = 1.745329E-2;
const double FGJSBBase::hptoftlbssec = 550.0;
+const double FGJSBBase::psftoinhg = 0.014138;
const double FGJSBBase::fpstokts = 0.592484;
const double FGJSBBase::ktstofps = 1.68781;
const double FGJSBBase::inchtoft = 0.08333333;
+const double FGJSBBase::in3tom3 = 1.638706E-5;
const double FGJSBBase::Reng = 1716.0;
const double FGJSBBase::SHRatio = 1.40;
-const string FGJSBBase::needed_cfg_version = "1.57";
-const string FGJSBBase::JSBSim_version = "0.9.1";
+const string FGJSBBase::needed_cfg_version = "1.58";
+const string FGJSBBase::JSBSim_version = "0.9.2";
queue <FGJSBBase::Message*> FGJSBBase::Messages;
FGJSBBase::Message FGJSBBase::localMsg;
FG_VBARV, //vertical tail volume
FG_GEAR_CMD,
FG_GEAR_POS,
- FG_HYSTPARM
+ FG_HYSTPARM,
+ AP_ELEVATOR_CMD,
+ AP_AILERON_CMD,
+ AP_RUDDER_CMD,
+ AP_THROTTLE_CMD,
+ AP_SET_ATTITUDE,
+ AP_SET_ALTITUDE,
+ AP_SET_HEADING,
+ AP_SET_AIRSPEED,
+ AP_ACQUIRE_ATTITUDE,
+ AP_ACQUIRE_ALTITUDE,
+ AP_ACQUIRE_HEADING,
+ AP_ACQUIRE_AIRSPEED,
+ AP_ATTITUDE_HOLD_ON,
+ AP_ALTITUDE_HOLD_ON,
+ AP_HEADING_HOLD_ON,
+ AP_AIRSPEED_HOLD_ON,
+ AP_WINGSLEVEL_HOLD_ON
};
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
static const double radtodeg;
static const double degtorad;
static const double hptoftlbssec;
+ static const double psftoinhg;
static const double fpstokts;
static const double ktstofps;
static const double inchtoft;
+ static const double in3tom3;
static const double Reng; // Specific Gas Constant,ft^2/(sec^2*R)
static const double SHRatio;
static const string needed_cfg_version;
outstream << ", ";
outstream << Aerodynamics->GetCoefficientStrings();
}
+ if (SubSystems & ssFCS) {
+ outstream << ", ";
+ outstream << FCS->GetComponentStrings();
+ }
if (SubSystems & ssGroundReactions) {
outstream << ", ";
outstream << GroundReactions->GetGroundReactionStrings();
outstream << ", ";
outstream << Aerodynamics->GetCoefficientValues();
}
+ if (SubSystems & ssFCS) {
+ outstream << ", ";
+ outstream << FCS->GetComponentValues();
+ }
if (SubSystems & ssGroundReactions) {
outstream << ", ";
outstream << GroundReactions->GetGroundReactionValues();
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
FGPiston::FGPiston(FGFDMExec* exec, FGConfigFile* Eng_cfg) : FGEngine(exec),
- CONVERT_CUBIC_INCHES_TO_METERS_CUBED(1.638706e-5),
R_air(287.3),
rho_fuel(800), // estimate
calorific_value_fuel(47.3e6),
crank_counter = 0;
EngineNumber = 0;
OilTemp_degK = 298;
- ManifoldPressure_inHg = Atmosphere->GetPressure() * 0.014138; // psf to in Hg
+ ManifoldPressure_inHg = Atmosphere->GetPressure() * psftoinhg; // psf to in Hg
dt = State->Getdt();
T_amb = Atmosphere->GetTemperature() * (5.0 / 9.0); // convert from Rankine to Kelvin
RPM = Propulsion->GetThruster(EngineNumber)->GetRPM();
- //if (RPM < IdleRPM) RPM = IdleRPM; // kludge
IAS = Auxiliary->GetVcalibratedKTS();
crank_counter = 0;
}
- //Check mode of engine operation
- if (Cranking) {
- crank_counter++;
- if (RPM <= 480) {
- // Do nothing !! - cranking power output is now handled in the doPower section
- } else {
- // consider making a horrible noise if the starter is engaged with
- // the engine running
- }
- }
+ if (Cranking) crank_counter++; //Check mode of engine operation
- // if ((!Running) && (spark) && (fuel) && (crank_counter > 120)) {
-
- if ((!Running) && (spark) && (fuel)) {
- // start the engine if revs high enough
+ if (!Running && spark && fuel) { // start the engine if revs high enough
if (Cranking) {
- if ((RPM > 450) && (crank_counter > 175)) {
- //Add a little delay to startup on the starter
- Running = true;
- }
+ if ((RPM > 450) && (crank_counter > 175)) // Add a little delay to startup
+ Running = true; // on the starter
} else {
- if (RPM > 450) {
- Running = true;
- //This allows us to in-air start when windmilling
- }
+ if (RPM > 450) // This allows us to in-air start
+ Running = true; // when windmilling
}
}
- if ( (Running) && ((!spark)||(!fuel)) ) {
- // Cut the engine
- // note that we only cut the power - the engine may continue to
- // spin if the prop is in a moving airstream
- Running = false;
- }
+ // Cut the engine *power* - Note: the engine may continue to
+ // spin if the prop is in a moving airstream
+
+ if ( Running && (!spark || !fuel) ) Running = false;
- // And finally a last check for stalling
+ // Check for stalling (RPM = 0).
if (Running) {
- //Check if we have stalled the engine
if (RPM == 0) {
Running = false;
} else if ((RPM <= 480) && (Cranking)) {
- // Make sure the engine noise dosn't play if the engine won't
- // start due to eg mixture lever pulled out.
Running = false;
}
}
ManifoldPressure_inHg = MinManifoldPressure_inHg +
(Throttle * (MaxManifoldPressure_inHg - MinManifoldPressure_inHg));
} else {
- ManifoldPressure_inHg = Atmosphere->GetPressure() * 0.014138; // psf to in Hg
+ ManifoldPressure_inHg = Atmosphere->GetPressure() * psftoinhg; // psf to in Hg
}
}
{
rho_air = p_amb / (R_air * T_amb);
double rho_air_manifold = rho_air * ManifoldPressure_inHg / 29.6;
- double displacement_SI = Displacement * CONVERT_CUBIC_INCHES_TO_METERS_CUBED;
+ double displacement_SI = Displacement * in3tom3;
double swept_volume = (displacement_SI * (RPM/60)) / 2;
double v_dot_air = swept_volume * volumetric_efficiency;
m_dot_air = v_dot_air * rho_air_manifold;
ParamNameToProp[ "FG_GEAR_CMD" ]="gear/gear-cmd-norm";
ParamNameToProp[ "FG_GEAR_POS" ]="gear/gear-pos-norm";
ParamNameToProp[ "FG_HYSTPARM" ]="aero/stall-hyst-norm";
+ ParamNameToProp[ "AP_ELEVATOR_CMD" ]="jsbsim/ap/elevator_cmd";
+ ParamNameToProp[ "AP_AILERON_CMD" ]="jsbsim/ap/aileron_cmd";
+ ParamNameToProp[ "AP_RUDDER_CMD" ]="jsbsim/ap/rudder_cmd";
+ ParamNameToProp[ "AP_THROTTLE_CMD" ]="jsbsim/ap/throttle_cmd";
+ ParamNameToProp[ "AP_SET_ATTITUDE" ]="jsbsim/ap/set_attitude";
+ ParamNameToProp[ "AP_SET_ALTITUDE" ]="jsbsim/ap/set_altitude";
+ ParamNameToProp[ "AP_SET_HEADING" ]="jsbsim/ap/set_heading";
+ ParamNameToProp[ "AP_SET_AIRSPEED" ]="jsbsim/ap/set_airspeed";
+ ParamNameToProp[ "AP_ACQUIRE_ATTITUDE" ]="jsbsim/ap/acquire_attitude";
+ ParamNameToProp[ "AP_ACQUIRE_ALTITUDE" ]="jsbsim/ap/acquire_altitude";
+ ParamNameToProp[ "AP_ACQUIRE_HEADING" ]="jsbsim/ap/acquire_heading";
+ ParamNameToProp[ "AP_ACQUIRE_AIRSPEED" ]="jsbsim/ap/acquire_aispeed";
+ ParamNameToProp[ "AP_ATTITUDE_HOLD_ON" ]="jsbsim/ap/attitude_hold_on";
+ ParamNameToProp[ "AP_ALTITUDE,_HOLD_ON" ]="jsbsim/ap/altitude_hold_on";
+ ParamNameToProp[ "AP_HEADING_HOLD_ON" ]="jsbsim/ap/heading_hold_on";
+ ParamNameToProp[ "AP_AIRSPEED_HOLD_ON" ]="jsbsim/ap/airspeed_hold_on";
+ ParamNameToProp[ "AP_WINGSLEVEL_HOLD_ON" ]="jsbsim/ap/wingslevel_hold_on";
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
projects / flightgear.git / commitdiff