506 lines
18 KiB
C++
506 lines
18 KiB
C++
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Header: FGGFCS.h
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Author: Jon S. Berndt
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Date started: 12/12/98
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------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
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This program is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License as published by the Free Software
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Foundation; either version 2 of the License, or (at your option) any later
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version.
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This program is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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details.
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You should have received a copy of the GNU General Public License along with
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this program; if not, write to the Free Software Foundation, Inc., 59 Temple
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Place - Suite 330, Boston, MA 02111-1307, USA.
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Further information about the GNU General Public License can also be found on
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the world wide web at http://www.gnu.org.
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HISTORY
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--------------------------------------------------------------------------------
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12/12/98 JSB Created
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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SENTRY
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#ifndef FGFCS_H
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#define FGFCS_H
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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INCLUDES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#ifdef FGFS
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# include <simgear/compiler.h>
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# ifdef SG_HAVE_STD_INCLUDES
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# include <vector>
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# else
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# include <vector.h>
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# endif
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#else
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# include <vector>
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#endif
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#include <string>
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#include <models/flight_control/FGFCSComponent.h>
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#include <models/FGModel.h>
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#include <models/FGLGear.h>
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#include <input_output/FGXMLElement.h>
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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DEFINITIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#define ID_FCS "$Id$"
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FORWARD DECLARATIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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namespace JSBSim {
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typedef enum { ofRad=0, ofDeg, ofNorm, ofMag , NForms} OutputForm;
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS DOCUMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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/** Encapsulates the Flight Control System (FCS) functionality.
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This class owns and contains the list of FGFCSComponents
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that define the control system for this aircraft. The config file for the
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aircraft contains a description of the control path that starts at an input
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or command and ends at an effector, e.g. an aerosurface. The FCS components
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which comprise the control laws for an axis are defined sequentially in
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the configuration file. For instance, for the X-15:
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<pre>
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\<flight_control name="X-15 SAS">
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\<channel>
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\<component name="Pitch Trim Sum" type="SUMMER">
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<input> fcs/elevator-cmd-norm </input>
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<input> fcs/pitch-trim-cmd-norm </input>
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<clipto>
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<min>-1</min>
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<max>1</max>
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</clipto>
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\</component>
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\<component name="Pitch Command Scale" TYPE="AEROSURFACE_SCALE">
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<input> fcs/pitch-trim-sum </input>
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<limit>
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<min> -50 </min>
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<max> 50 </max>
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</limit>
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\</component>
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... etc.
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</pre>
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In the above case we can see the first few components of the pitch channel
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defined. The input to the first component, as can be seen in the "Pitch trim
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sum" component, is really the sum of two parameters: elevator command (from
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the stick - a pilot input), and pitch trim. The type of this component is
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"Summer".
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The next component created is an aerosurface scale component - a type of
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gain (see the LoadFCS() method for insight on how the various types of
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components map into the actual component classes). This continues until the
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final component for an axis when the
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\<output> element specifies where the output is supposed to go. See the
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individual components for more information on how they are mechanized.
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Another option for the flight controls portion of the config file is that in
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addition to using the "NAME" attribute in,
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<pre>
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\<flight_control name="X-15 SAS">
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</pre>
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one can also supply a filename:
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<pre>
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\<flight_control name="X-15 SAS" file="X15.xml">
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\</flight_control>
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</pre>
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In this case, the FCS would be read in from another file.
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@author Jon S. Berndt
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@version $Id$
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@see FGFCSComponent
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@see FGXMLElement
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@see FGGain
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@see FGSummer
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@see FGSwitch
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@see FGGradient
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@see FGFilter
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@see FGDeadBand
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*/
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS DECLARATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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class FGFCS : public FGModel {
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public:
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/** Constructor
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@param Executive a pointer to the parent executive object */
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FGFCS(FGFDMExec*);
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/// Destructor
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~FGFCS();
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/** Runs the Flight Controls model; called by the Executive
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@return false if no error */
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bool Run(void);
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/// @name Pilot input command retrieval
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//@{
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/** Gets the aileron command.
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@return aileron command in range from -1.0 - 1.0 */
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inline double GetDaCmd(void) const { return DaCmd; }
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/** Gets the elevator command.
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@return elevator command in range from -1.0 - 1.0 */
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inline double GetDeCmd(void) const { return DeCmd; }
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/** Gets the rudder command.
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@return rudder command in range from -1.0 - 1.0 */
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inline double GetDrCmd(void) const { return DrCmd; }
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/** Gets the steering command.
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@return steering command in range from -1.0 - 1.0 */
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inline double GetDsCmd(void) const { return DsCmd; }
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/** Gets the flaps command.
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@return flaps command in range from 0 to 1.0 */
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inline double GetDfCmd(void) const { return DfCmd; }
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/** Gets the speedbrake command.
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@return speedbrake command in range from 0 to 1.0 */
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inline double GetDsbCmd(void) const { return DsbCmd; }
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/** Gets the spoiler command.
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@return spoiler command in range from 0 to 1.0 */
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inline double GetDspCmd(void) const { return DspCmd; }
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/** Gets the throttle command.
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@param engine engine ID number
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@return throttle command in range from 0 - 1.0 for the given engine */
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double GetThrottleCmd(int engine) const;
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/** Gets the mixture command.
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@param engine engine ID number
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@return mixture command in range from 0 - 1.0 for the given engine */
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inline double GetMixtureCmd(int engine) const { return MixtureCmd[engine]; }
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/** Gets the prop pitch command.
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@param engine engine ID number
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@return pitch command in range from 0.0 - 1.0 for the given engine */
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inline double GetPropAdvanceCmd(int engine) const { return PropAdvanceCmd[engine]; }
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/** Gets the prop feather command.
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@param engine engine ID number
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@return feather command for the given engine (on / off)*/
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inline bool GetFeatherCmd(int engine) const { return PropFeatherCmd[engine]; }
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/** Gets the pitch trim command.
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@return pitch trim command in range from -1.0 to 1.0 */
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inline double GetPitchTrimCmd(void) const { return PTrimCmd; }
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/** Gets the rudder trim command.
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@return rudder trim command in range from -1.0 - 1.0 */
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inline double GetYawTrimCmd(void) const { return YTrimCmd; }
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/** Gets the aileron trim command.
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@return aileron trim command in range from -1.0 - 1.0 */
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inline double GetRollTrimCmd(void) const { return RTrimCmd; }
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/** Get the gear extend/retract command. 0 commands gear up, 1 down.
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defaults to down.
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@return the current value of the gear extend/retract command*/
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inline double GetGearCmd(void) const { return GearCmd; }
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//@}
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/// @name Aerosurface position retrieval
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//@{
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/** Gets the left aileron position.
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@return aileron position in radians */
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inline double GetDaLPos( int form = ofRad )
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const { return DaLPos[form]; }
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/// @name Aerosurface position retrieval
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//@{
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/** Gets the right aileron position.
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@return aileron position in radians */
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inline double GetDaRPos( int form = ofRad )
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const { return DaRPos[form]; }
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/** Gets the elevator position.
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@return elevator position in radians */
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inline double GetDePos( int form = ofRad )
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const { return DePos[form]; }
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/** Gets the rudder position.
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@return rudder position in radians */
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inline double GetDrPos( int form = ofRad )
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const { return DrPos[form]; }
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/** Gets the speedbrake position.
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@return speedbrake position in radians */
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inline double GetDsbPos( int form = ofRad )
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const { return DsbPos[form]; }
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/** Gets the spoiler position.
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@return spoiler position in radians */
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inline double GetDspPos( int form = ofRad )
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const { return DspPos[form]; }
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/** Gets the flaps position.
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@return flaps position in radians */
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inline double GetDfPos( int form = ofRad )
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const { return DfPos[form]; }
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/** Gets the throttle position.
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@param engine engine ID number
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@return throttle position for the given engine in range from 0 - 1.0 */
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double GetThrottlePos(int engine) const;
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/** Gets the mixture position.
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@param engine engine ID number
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@return mixture position for the given engine in range from 0 - 1.0 */
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inline double GetMixturePos(int engine) const { return MixturePos[engine]; }
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/** Gets the steering position.
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@return steering position in degrees */
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double GetSteerPosDeg(int gear) const { return SteerPosDeg[gear]; }
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/** Gets the gear position (0 up, 1 down), defaults to down
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@return gear position (0 up, 1 down) */
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inline double GetGearPos(void) const { return GearPos; }
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/** Gets the prop pitch position.
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@param engine engine ID number
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@return prop pitch position for the given engine in range from 0 - 1.0 */
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inline double GetPropAdvance(int engine) const { return PropAdvance[engine]; }
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/** Gets the prop feather position.
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@param engine engine ID number
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@return prop fether for the given engine (on / off)*/
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inline bool GetPropFeather(int engine) const { return PropFeather[engine]; }
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//@}
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/** Retrieves the State object pointer.
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This is used by the FGFCS-owned components.
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@return pointer to the State object */
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inline FGState* GetState(void) { return State; }
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/** Retrieves all component names for inclusion in output stream
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@param delimeter either a tab or comma string depending on output type
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@return a string containing the descriptive names for all components */
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string GetComponentStrings(string delimeter);
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/** Retrieves all component outputs for inclusion in output stream
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@param delimeter either a tab or comma string depending on output type
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@return a string containing the numeric values for the current set of
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component outputs */
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string GetComponentValues(string delimeter);
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/// @name Pilot input command setting
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//@{
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/** Sets the aileron command
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@param cmd aileron command */
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inline void SetDaCmd( double cmd ) { DaCmd = cmd; }
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/** Sets the elevator command
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@param cmd elevator command in percent*/
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inline void SetDeCmd(double cmd ) { DeCmd = cmd; }
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/** Sets the rudder command
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@param cmd rudder command in percent*/
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inline void SetDrCmd(double cmd) { DrCmd = cmd; }
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/** Sets the steering command
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@param cmd steering command in percent*/
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inline void SetDsCmd(double cmd) { DsCmd = cmd; }
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/** Sets the flaps command
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@param cmd flaps command in percent*/
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inline void SetDfCmd(double cmd) { DfCmd = cmd; }
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/** Sets the speedbrake command
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@param cmd speedbrake command in percent*/
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inline void SetDsbCmd(double cmd) { DsbCmd = cmd; }
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/** Sets the spoilers command
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@param cmd spoilers command in percent*/
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inline void SetDspCmd(double cmd) { DspCmd = cmd; }
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/** Sets the pitch trim command
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@param cmd pitch trim command in percent*/
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inline void SetPitchTrimCmd(double cmd) { PTrimCmd = cmd; }
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/** Sets the rudder trim command
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@param cmd rudder trim command in percent*/
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inline void SetYawTrimCmd(double cmd) { YTrimCmd = cmd; }
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/** Sets the aileron trim command
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@param cmd aileron trim command in percent*/
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inline void SetRollTrimCmd(double cmd) { RTrimCmd = cmd; }
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/** Sets the throttle command for the specified engine
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@param engine engine ID number
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@param cmd throttle command in percent (0 - 100)*/
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void SetThrottleCmd(int engine, double cmd);
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/** Sets the mixture command for the specified engine
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@param engine engine ID number
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@param cmd mixture command in percent (0 - 100)*/
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void SetMixtureCmd(int engine, double cmd);
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/** Set the gear extend/retract command, defaults to down
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@param gear command 0 for up, 1 for down */
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void SetGearCmd(double gearcmd) { GearCmd = gearcmd; }
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/** Sets the propeller pitch command for the specified engine
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@param engine engine ID number
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@param cmd mixture command in percent (0.0 - 1.0)*/
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void SetPropAdvanceCmd(int engine, double cmd);
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/** Sets the propeller feather command for the specified engine
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@param engine engine ID number
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@param cmd feather (bool)*/
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void SetFeatherCmd(int engine, bool cmd);
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//@}
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/// @name Aerosurface position setting
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//@{
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/** Sets the left aileron position
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@param cmd left aileron position in radians*/
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inline void SetDaLPos( int form , double pos );
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/** Sets the right aileron position
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@param cmd right aileron position in radians*/
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inline void SetDaRPos( int form , double pos );
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/** Sets the elevator position
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@param cmd elevator position in radians*/
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inline void SetDePos( int form , double pos );
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/** Sets the rudder position
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@param cmd rudder position in radians*/
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inline void SetDrPos( int form , double pos );
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/** Sets the flaps position
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@param cmd flaps position in radians*/
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inline void SetDfPos( int form , double pos );
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/** Sets the speedbrake position
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@param cmd speedbrake position in radians*/
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inline void SetDsbPos( int form , double pos );
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/** Sets the spoiler position
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@param cmd spoiler position in radians*/
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inline void SetDspPos( int form , double pos );
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/** Sets the actual throttle setting for the specified engine
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@param engine engine ID number
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@param cmd throttle setting in percent (0 - 100)*/
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void SetThrottlePos(int engine, double cmd);
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/** Sets the actual mixture setting for the specified engine
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@param engine engine ID number
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@param cmd mixture setting in percent (0 - 100)*/
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void SetMixturePos(int engine, double cmd);
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/** Sets the steering position
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@param cmd steering position in degrees*/
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void SetSteerPosDeg(int gear, double pos) { SteerPosDeg[gear] = pos; }
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/** Set the gear extend/retract position, defaults to down
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@param gear position 0 up, 1 down */
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void SetGearPos(double gearpos) { GearPos = gearpos; }
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/** Sets the actual prop pitch setting for the specified engine
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@param engine engine ID number
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@param cmd prop pitch setting in percent (0.0 - 1.0)*/
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void SetPropAdvance(int engine, double cmd);
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/** Sets the actual prop feather setting for the specified engine
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@param engine engine ID number
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@param cmd prop fether setting (bool)*/
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void SetPropFeather(int engine, bool cmd);
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//@}
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/// @name Landing Gear brakes
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//@{
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/** Sets the left brake group
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@param cmd brake setting in percent (0.0 - 1.0) */
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void SetLBrake(double cmd) {LeftBrake = cmd;}
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/** Sets the right brake group
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@param cmd brake setting in percent (0.0 - 1.0) */
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void SetRBrake(double cmd) {RightBrake = cmd;}
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/** Sets the center brake group
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@param cmd brake setting in percent (0.0 - 1.0) */
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void SetCBrake(double cmd) {CenterBrake = cmd;}
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/** Gets the brake for a specified group.
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@param bg which brakegroup to retrieve the command for
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@return the brake setting for the supplied brake group argument */
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double GetBrake(FGLGear::BrakeGroup bg);
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//@}
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/** Loads the Flight Control System.
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The FGAircraft instance is actually responsible for reading the config file
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and calling the various Load() methods of the other systems, passing in
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the XML Element instance pointer. Load() is called from FGAircraft.
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@param el pointer to the Element instance
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@return true if succesful */
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bool Load(Element* el);
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void AddThrottle(void);
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void AddGear(void);
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FGPropertyManager* GetPropertyManager(void) { return PropertyManager; }
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private:
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double DaCmd, DeCmd, DrCmd, DsCmd, DfCmd, DsbCmd, DspCmd;
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double DePos[NForms], DaLPos[NForms], DaRPos[NForms], DrPos[NForms];
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double DfPos[NForms], DsbPos[NForms], DspPos[NForms];
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double PTrimCmd, YTrimCmd, RTrimCmd;
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vector <double> ThrottleCmd;
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vector <double> ThrottlePos;
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vector <double> MixtureCmd;
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vector <double> MixturePos;
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vector <double> PropAdvanceCmd;
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vector <double> PropAdvance;
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vector <bool> PropFeatherCmd;
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vector <bool> PropFeather;
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vector <double> SteerPosDeg;
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double LeftBrake, RightBrake, CenterBrake; // Brake settings
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double GearCmd,GearPos;
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vector <FGFCSComponent*> FCSComponents;
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vector <FGFCSComponent*> APComponents;
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vector <double*> interface_properties;
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vector <FGFCSComponent*> sensors;
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void bind(void);
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void bindModel(void);
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void bindThrottle(unsigned int);
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void unbind(FGPropertyManager *node);
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void Debug(int from);
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};
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}
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#endif
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