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Add support for normalized control surface positions and right and left ailerons

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This commit is contained in:
tony 2002-02-28 13:31:56 +00:00
parent a073e35c7c
commit 1ab43c8048
5 changed files with 302 additions and 83 deletions
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62
src/FDM/JSBSim/FGFCS.cpp
View file

@ -65,14 +65,17 @@ CLASS IMPLEMENTATION
FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
{
int i;
Name = "FGFCS";
DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = 0.0;
PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
DaPos = DePos = DrPos = DfPos = DsbPos = DspPos = 0.0;
DaLPos = DaRPos = DePos = DrPos = DfPos = DsbPos = DspPos = 0.0;
GearCmd = GearPos = 1; // default to gear down
LeftBrake = RightBrake = CenterBrake = 0.0;
DoNormalize=true;
for(i=0;i<6;i++) { ToNormalize[i]=-1;}
Debug(0);
}
@ -104,6 +107,7 @@ bool FGFCS::Run(void)
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();
if(DoNormalize) Normalize();
} else {
}
@ -249,9 +253,14 @@ void FGFCS::SetPropAdvance(int engineNum, double setting)
bool FGFCS::Load(FGConfigFile* AC_cfg)
{
string token;
unsigned i;
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")) {
if (token == "COMPONENT") {
@ -288,6 +297,31 @@ bool FGFCS::Load(FGConfigFile* AC_cfg)
AC_cfg->GetNextConfigLine();
}
}
//collect information for normalizing control surfaces
for(i=0;i<Components.size();i++) {
if(Components[i]->GetType() == "AEROSURFACE_SCALE"
|| Components[i]->GetType() == "KINEMAT" ) {
if( Components[i]->GetOutputIdx() == FG_ELEVATOR_POS ) {
ToNormalize[iNDe]=i;
} else if ( Components[i]->GetOutputIdx() == FG_LEFT_AILERON_POS
|| Components[i]->GetOutputIdx() == FG_AILERON_POS ) {
ToNormalize[iNDaL]=i;
} else if ( Components[i]->GetOutputIdx() == FG_RIGHT_AILERON_POS ) {
ToNormalize[iNDaR]=i;
} else if ( Components[i]->GetOutputIdx() == FG_RUDDER_POS ) {
ToNormalize[iNDr]=i;
} else if ( Components[i]->GetOutputIdx() == FG_SPDBRAKE_POS ) {
ToNormalize[iNDsb]=i;
} else if ( Components[i]->GetOutputIdx() == FG_SPOILERS_POS ) {
ToNormalize[iNDsp]=i;
} else if ( Components[i]->GetOutputIdx() == FG_FLAPS_POS ) {
ToNormalize[iNDf]=i;
}
}
}
return true;
}
@ -370,6 +404,32 @@ void FGFCS::AddThrottle(void)
PropAdvance.push_back(0.0);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGFCS::Normalize(void) {
if( ToNormalize[iNDe] > -1 )
DePosN = Components[ToNormalize[iNDe]]->GetOutputPct();
if( ToNormalize[iNDaL] > -1 )
DaLPosN = Components[ToNormalize[iNDaL]]->GetOutputPct();
if( ToNormalize[iNDaR] > -1 )
DaRPosN = Components[ToNormalize[iNDaR]]->GetOutputPct();
if( ToNormalize[iNDr] > -1 )
DrPosN = Components[ToNormalize[iNDr]]->GetOutputPct();
if( ToNormalize[iNDsb] > -1 )
DsbPosN = Components[ToNormalize[iNDsb]]->GetOutputPct();
if( ToNormalize[iNDsp] > -1 )
DspPosN = Components[ToNormalize[iNDsp]]->GetOutputPct();
if( ToNormalize[iNDf] > -1 )
DfPosN = Components[ToNormalize[iNDf]]->GetOutputPct();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// The bitmasked value choices are as follows:
// unset: In this case (the default) JSBSim would only print

89
src/FDM/JSBSim/FGFCS.h
View file

@ -153,6 +153,8 @@ CLASS DOCUMENTATION
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
typedef enum { iNDe=0, iNDaL, iNDaR, iNDr, iNDsb, iNDsp, iNDf } NormalizeIdx;
class FGFCS : public FGModel {
public:
@ -227,30 +229,68 @@ public:
/// @name Aerosurface position retrieval
//@{
/** Gets the aileron position.
/** Gets the left aileron position.
@return aileron position in radians */
inline double GetDaPos(void) { return DaPos; }
inline double GetDaLPos(void) { return DaLPos; }
/// @name Aerosurface position retrieval
//@{
/** Gets the normalized left aileron position.
@return aileron position in radians */
inline double GetDaLPosN(void) { return DaLPosN; }
/// @name Aerosurface position retrieval
//@{
/** Gets the right aileron position.
@return aileron position in radians */
inline double GetDaRPos(void) { return DaRPos; }
/// @name Aerosurface position retrieval
//@{
/** Gets the normalized right aileron position.
@return right aileron position in percent (-1..1) */
inline double GetDaRPosN(void) { return DaRPosN; }
/** Gets the elevator position.
@return elevator position in radians */
inline double GetDePos(void) { return DePos; }
/** Gets the normalized elevator position.
@return elevator position in percent (-1..1) */
inline double GetDePosN(void) { return DePosN; }
/** Gets the rudder position.
@return rudder position in radians */
inline double GetDrPos(void) { return DrPos; }
/** Gets the normalized rudder position.
@return rudder position in percent (-1..1) */
inline double GetDrPosN(void) { return DrPosN; }
/** Gets the flaps position.
@return flaps position in radians */
inline double GetDfPos(void) { return DfPos; }
/** Gets the normalized flaps position.
@return flaps position in percent (-1..1) */
inline double GetDfPosN(void) { return DfPosN; }
/** Gets the speedbrake position.
@return speedbrake position in radians */
inline double GetDsbPos(void) { return DsbPos; }
/** Gets the normalized speedbrake position.
@return speedbrake position in percent (-1..1) */
inline double GetDsbPosN(void) { return DsbPosN; }
/** Gets the spoiler position.
@return spoiler position in radians */
inline double GetDspPos(void) { return DspPos; }
/** Gets the normalized spoiler position.
@return spoiler position in percent (-1..1) */
inline double GetDspPosN(void) { return DspPosN; }
/** Gets the throttle position.
@param engine engine ID number
@return throttle position for the given engine in percent ( 0 - 100)*/
@ -352,30 +392,62 @@ public:
/// @name Aerosurface position setting
//@{
/** Sets the aileron position
@param cmd aileron position in radians*/
inline void SetDaPos(double cmd) { DaPos = cmd; }
/** Sets the left aileron position
@param cmd left aileron position in radians*/
inline void SetDaLPos(double cmd) { DaLPos = cmd; }
/** Sets the normalized left aileron position
@param cmd left aileron position in percent (-1..1)*/
inline void SetDaLPosN(double cmd) { DaLPosN = cmd; }
/** Sets the right aileron position
@param cmd right aileron position in radians*/
inline void SetDaRPos(double cmd) { DaRPos = cmd; }
/** Sets the normalized right aileron position
@param cmd right aileron position in percent (-1..1)*/
inline void SetDaRPosN(double cmd) { DaRPosN = cmd; }
/** Sets the elevator position
@param cmd elevator position in radians*/
inline void SetDePos(double cmd) { DePos = cmd; }
/** Sets the normalized elevator position
@param cmd elevator position in percent (-1..1) */
inline void SetDePosN(double cmd) { DePosN = cmd; }
/** Sets the rudder position
@param cmd rudder position in radians*/
inline void SetDrPos(double cmd) { DrPos = cmd; }
/** Sets the normalized rudder position
@param cmd rudder position in percent (-1..1)*/
inline void SetDrPosN(double cmd) { DrPosN = cmd; }
/** Sets the flaps position
@param cmd flaps position in radians*/
inline void SetDfPos(double cmd) { DfPos = cmd; }
/** Sets the flaps position
@param cmd flaps position in radians*/
inline void SetDfPosN(double cmd) { DfPosN = cmd; }
/** Sets the speedbrake position
@param cmd speedbrake position in radians*/
inline void SetDsbPos(double cmd) { DsbPos = cmd; }
/** Sets the normalized speedbrake position
@param cmd normalized speedbrake position in percent (-1..1)*/
inline void SetDsbPosN(double cmd) { DsbPosN = cmd; }
/** Sets the spoiler position
@param cmd spoiler position in radians*/
inline void SetDspPos(double cmd) { DspPos = cmd; }
/** Sets the normalized spoiler position
@param cmd normalized spoiler position in percent (-1..1)*/
inline void SetDspPosN(double cmd) { DspPosN = cmd; }
/** Sets the actual throttle setting for the specified engine
@param engine engine ID number
@param cmd throttle setting in percent (0 - 100)*/
@ -429,7 +501,8 @@ public:
private:
double DaCmd, DeCmd, DrCmd, DfCmd, DsbCmd, DspCmd;
double DaPos, DePos, DrPos, DfPos, DsbPos, DspPos;
double DaLPos, DaRPos, DePos, DrPos, DfPos, DsbPos, DspPos;
double DaLPosN, DaRPosN, DePosN, DrPosN, DfPosN, DsbPosN, DspPosN;
double PTrimCmd, YTrimCmd, RTrimCmd;
vector <double> ThrottleCmd;
vector <double> ThrottlePos;
@ -440,7 +513,11 @@ private:
double LeftBrake, RightBrake, CenterBrake; // Brake settings
double GearCmd,GearPos;
bool DoNormalize;
void Normalize(void);
vector <FGFCSComponent*> Components;
int ToNormalize[7];
void Debug(int from);
};

12
src/FDM/JSBSim/FGJSBBase.h
View file

@ -115,13 +115,25 @@ enum eParam {
FG_CI2VEL,
FG_ELEVATOR_POS,
FG_AELEVATOR_POS,
FG_NELEVATOR_POS,
FG_AILERON_POS,
FG_AAILERON_POS,
FG_NAILERON_POS,
FG_LEFT_AILERON_POS,
FG_ALEFT_AILERON_POS,
FG_NLEFT_AILERON_POS,
FG_RIGHT_AILERON_POS,
FG_ARIGHT_AILERON_POS,
FG_NRIGHT_AILERON_POS,
FG_RUDDER_POS,
FG_ARUDDER_POS,
FG_NRUDDER_POS,
FG_SPDBRAKE_POS,
FG_NSPDBRAKE_POS,
FG_SPOILERS_POS,
FG_NSPOILERS_POS,
FG_FLAPS_POS,
FG_NFLAPS_POS,
FG_ELEVATOR_CMD,
FG_AILERON_CMD,
FG_RUDDER_CMD,

12
src/FDM/JSBSim/FGOutput.cpp
View file

@ -149,7 +149,8 @@ void FGOutput::DelimitedOutput(string fname)
outstream << "Elevator Cmd, ";
outstream << "Rudder Cmd, ";
outstream << "Flap Cmd, ";
outstream << "Aileron Pos, ";
outstream << "Left Aileron Pos, ";
outstream << "Right Aileron Pos, ";
outstream << "Elevator Pos, ";
outstream << "Rudder Pos, ";
outstream << "Flap Pos";
@ -228,7 +229,8 @@ void FGOutput::DelimitedOutput(string fname)
outstream << FCS->GetDeCmd() << ", ";
outstream << FCS->GetDrCmd() << ", ";
outstream << FCS->GetDfCmd() << ", ";
outstream << FCS->GetDaPos() << ", ";
outstream << FCS->GetDaLPos() << ", ";
outstream << FCS->GetDaRPos() << ", ";
outstream << FCS->GetDePos() << ", ";
outstream << FCS->GetDrPos() << ", ";
outstream << FCS->GetDfPos();
@ -346,7 +348,8 @@ void FGOutput::SocketOutput(void)
socket->Append("M");
socket->Append("N");
socket->Append("Throttle Position");
socket->Append("Aileron Position");
socket->Append("Left Aileron Position");
socket->Append("Right Aileron Position");
socket->Append("Elevator Position");
socket->Append("Rudder Position");
sFirstPass = false;
@ -390,7 +393,8 @@ void FGOutput::SocketOutput(void)
socket->Append(Aircraft->GetMoments(eM));
socket->Append(Aircraft->GetMoments(eN));
socket->Append(FCS->GetThrottlePos(0));
socket->Append(FCS->GetDaPos());
socket->Append(FCS->GetDaLPos());
socket->Append(FCS->GetDaRPos());
socket->Append(FCS->GetDePos());
socket->Append(FCS->GetDrPos());
socket->Send();

72
src/FDM/JSBSim/FGState.cpp
View file

@ -119,13 +119,25 @@ FGState::FGState(FGFDMExec* fdex)
RegisterVariable(FG_CI2VEL, " CI2Vel " );
RegisterVariable(FG_ELEVATOR_POS, " elevator_pos " );
RegisterVariable(FG_AELEVATOR_POS, " |elevator_pos| " );
RegisterVariable(FG_NELEVATOR_POS, " elevator_pos_n " );
RegisterVariable(FG_AILERON_POS, " aileron_pos " );
RegisterVariable(FG_AAILERON_POS, " |aileron_pos| " );
RegisterVariable(FG_NAILERON_POS, " aileron_pos_n " );
RegisterVariable(FG_LEFT_AILERON_POS, " left_aileron_pos " );
RegisterVariable(FG_ALEFT_AILERON_POS, " |left_aileron_pos| " );
RegisterVariable(FG_NLEFT_AILERON_POS, " left_aileron_pos_n " );
RegisterVariable(FG_RIGHT_AILERON_POS, " right_aileron_pos " );
RegisterVariable(FG_ARIGHT_AILERON_POS, " |right_aileron_pos| " );
RegisterVariable(FG_NRIGHT_AILERON_POS, " right_aileron_pos_n " );
RegisterVariable(FG_RUDDER_POS, " rudder_pos " );
RegisterVariable(FG_ARUDDER_POS, " |rudder_pos| " );
RegisterVariable(FG_NRUDDER_POS, " rudder_pos_n " );
RegisterVariable(FG_SPDBRAKE_POS, " speedbrake_pos " );
RegisterVariable(FG_NSPDBRAKE_POS, " speedbrake_pos_n " );
RegisterVariable(FG_SPOILERS_POS, " spoiler_pos " );
RegisterVariable(FG_NSPOILERS_POS, " spoiler_pos_n " );
RegisterVariable(FG_FLAPS_POS, " flaps_pos " );
RegisterVariable(FG_NFLAPS_POS, " flaps_pos_n " );
RegisterVariable(FG_GEAR_POS, " gear_pos " );
RegisterVariable(FG_ELEVATOR_CMD, " elevator_cmd " );
RegisterVariable(FG_AILERON_CMD, " aileron_cmd " );
@ -236,20 +248,44 @@ double FGState::GetParameter(eParam val_idx) {
return FCS->GetDePos();
case FG_AELEVATOR_POS:
return fabs(FCS->GetDePos());
case FG_NELEVATOR_POS:
return FCS->GetDePosN();
case FG_AILERON_POS:
return FCS->GetDaPos();
return FCS->GetDaLPos();
case FG_AAILERON_POS:
return fabs(FCS->GetDaPos());
return fabs(FCS->GetDaLPos());
case FG_NAILERON_POS:
return FCS->GetDaLPosN();
case FG_LEFT_AILERON_POS:
return FCS->GetDaLPos();
case FG_ALEFT_AILERON_POS:
return fabs(FCS->GetDaLPos());
case FG_NLEFT_AILERON_POS:
return FCS->GetDaLPosN();
case FG_RIGHT_AILERON_POS:
return FCS->GetDaRPos();
case FG_ARIGHT_AILERON_POS:
return fabs(FCS->GetDaRPos());
case FG_NRIGHT_AILERON_POS:
return FCS->GetDaRPosN();
case FG_RUDDER_POS:
return FCS->GetDrPos();
case FG_ARUDDER_POS:
return fabs(FCS->GetDrPos());
case FG_NRUDDER_POS:
return FCS->GetDrPosN();
case FG_SPDBRAKE_POS:
return FCS->GetDsbPos();
case FG_NSPDBRAKE_POS:
return FCS->GetDsbPosN();
case FG_SPOILERS_POS:
return FCS->GetDspPos();
case FG_NSPOILERS_POS:
return FCS->GetDspPosN();
case FG_FLAPS_POS:
return FCS->GetDfPos();
case FG_NFLAPS_POS:
return FCS->GetDfPosN();
case FG_ELEVATOR_CMD:
return FCS->GetDeCmd();
case FG_AILERON_CMD:
@ -341,21 +377,51 @@ void FGState::SetParameter(eParam val_idx, double val)
case FG_ELEVATOR_POS:
FCS->SetDePos(val);
break;
case FG_NELEVATOR_POS:
FCS->SetDePosN(val);
break;
case FG_AILERON_POS:
FCS->SetDaPos(val);
FCS->SetDaLPos(val);
break;
case FG_NAILERON_POS:
FCS->SetDaLPosN(val);
break;
case FG_LEFT_AILERON_POS:
FCS->SetDaLPos(val);
break;
case FG_NLEFT_AILERON_POS:
FCS->SetDaLPosN(val);
break;
case FG_RIGHT_AILERON_POS:
FCS->SetDaRPos(val);
break;
case FG_NRIGHT_AILERON_POS:
FCS->SetDaRPosN(val);
break;
case FG_RUDDER_POS:
FCS->SetDrPos(val);
break;
case FG_NRUDDER_POS:
FCS->SetDrPosN(val);
break;
case FG_SPDBRAKE_POS:
FCS->SetDsbPos(val);
break;
case FG_NSPDBRAKE_POS:
FCS->SetDsbPosN(val);
break;
case FG_SPOILERS_POS:
FCS->SetDspPos(val);
break;
case FG_NSPOILERS_POS:
FCS->SetDspPosN(val);
break;
case FG_FLAPS_POS:
FCS->SetDfPos(val);
break;
case FG_NFLAPS_POS:
FCS->SetDfPosN(val);
break;
case FG_THROTTLE_POS:
if (ActiveEngine == -1) {
for (i=0; i<Propulsion->GetNumEngines(); i++) {