339 lines
10 KiB
C++
339 lines
10 KiB
C++
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Module: FGFCS.cpp
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Author: Jon Berndt
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Date started: 12/12/98
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Purpose: Model the flight controls
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Called by: FDMExec
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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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FUNCTIONAL DESCRIPTION
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--------------------------------------------------------------------------------
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This class models the flight controls for a specific airplane
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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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INCLUDES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#include "FGDefs.h"
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#include "FGFCS.h"
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#include "FGState.h"
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#include "FGFDMExec.h"
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#include "FGAtmosphere.h"
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#include "FGAircraft.h"
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#include "FGTranslation.h"
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#include "FGRotation.h"
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#include "FGPosition.h"
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#include "FGAuxiliary.h"
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#include "FGOutput.h"
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#include "filtersjb/FGFilter.h"
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#include "filtersjb/FGDeadBand.h"
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#include "filtersjb/FGGain.h"
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#include "filtersjb/FGGradient.h"
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#include "filtersjb/FGSwitch.h"
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#include "filtersjb/FGSummer.h"
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#include "filtersjb/FGFlaps.h"
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static const char *IdSrc = "$Id$";
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static const char *IdHdr = ID_FCS;
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS IMPLEMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
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{
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Name = "FGFCS";
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DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = PTrimCmd = 0.0;
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DaPos = DePos = DrPos = DfPos = DsbPos = DspPos = 0.0;
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LeftBrake = RightBrake = CenterBrake = 0.0;
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if (debug_lvl & 2) cout << "Instantiated: " << Name << endl;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGFCS::~FGFCS()
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{
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ThrottleCmd.clear();
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ThrottlePos.clear();
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MixtureCmd.clear();
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MixturePos.clear();
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unsigned int i;
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for(i=0;i<Components.size();i++) delete Components[i];
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if (debug_lvl & 2) cout << "Destroyed: FGFCS" << endl;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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bool FGFCS::Run(void)
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{
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unsigned int i;
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if (!FGModel::Run()) {
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for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
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for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
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for (i=0; i<Components.size(); i++) Components[i]->Run();
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} else {
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}
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return false;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGFCS::SetThrottleCmd(int engineNum, float setting)
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{
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unsigned int ctr;
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if ((int)ThrottleCmd.size() > engineNum) {
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if (engineNum < 0) {
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for (ctr=0;ctr<=ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
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} else {
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ThrottleCmd[engineNum] = setting;
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}
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} else {
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cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
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<< " engines exist, but attempted throttle command is for engine "
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<< engineNum << endl;
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}
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGFCS::SetThrottlePos(int engineNum, float setting)
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{
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unsigned int ctr;
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if ((int)ThrottlePos.size() > engineNum) {
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if (engineNum < 0) {
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for (ctr=0;ctr<=ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
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} else {
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ThrottlePos[engineNum] = setting;
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}
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} else {
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cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
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<< " engines exist, but attempted throttle position setting is for engine "
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<< engineNum << endl;
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}
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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float FGFCS::GetThrottleCmd(int engineNum)
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{
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if ((int)ThrottleCmd.size() > engineNum) {
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if (engineNum < 0) {
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cerr << "Cannot get throttle value for ALL engines" << endl;
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} else {
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return ThrottleCmd[engineNum];
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}
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} else {
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cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
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<< " engines exist, but throttle setting for engine " << engineNum
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<< " is selected" << endl;
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}
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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float FGFCS::GetThrottlePos(int engineNum)
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{
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if ((int)ThrottlePos.size() > engineNum) {
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if (engineNum < 0) {
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cerr << "Cannot get throttle value for ALL engines" << endl;
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} else {
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return ThrottlePos[engineNum];
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}
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} else {
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cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
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<< " engines exist, but attempted throttle position setting is for engine "
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<< engineNum << endl;
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}
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGFCS::SetMixtureCmd(int engineNum, float setting)
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{
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unsigned int ctr;
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if (engineNum < 0) {
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for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
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} else {
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MixtureCmd[engineNum] = setting;
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}
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGFCS::SetMixturePos(int engineNum, float setting)
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{
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unsigned int ctr;
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if (engineNum < 0) {
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for (ctr=0;ctr<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
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} else {
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MixturePos[engineNum] = setting;
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}
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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bool FGFCS::Load(FGConfigFile* AC_cfg)
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{
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string token;
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Name = Name + ":" + AC_cfg->GetValue("NAME");
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if (debug_lvl > 0) cout << " Control System Name: " << Name << endl;
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AC_cfg->GetNextConfigLine();
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while ((token = AC_cfg->GetValue()) != "/FLIGHT_CONTROL") {
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if (token == "COMPONENT") {
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token = AC_cfg->GetValue("TYPE");
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if (debug_lvl > 0) cout << " Loading Component \""
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<< AC_cfg->GetValue("NAME")
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<< "\" of type: " << token << endl;
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if ((token == "LAG_FILTER") ||
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(token == "LEAD_LAG_FILTER") ||
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(token == "SECOND_ORDER_FILTER") ||
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(token == "WASHOUT_FILTER") ||
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(token == "INTEGRATOR") ) {
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Components.push_back(new FGFilter(this, AC_cfg));
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} else if ((token == "PURE_GAIN") ||
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(token == "SCHEDULED_GAIN") ||
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(token == "AEROSURFACE_SCALE") ) {
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Components.push_back(new FGGain(this, AC_cfg));
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} else if (token == "SUMMER") {
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Components.push_back(new FGSummer(this, AC_cfg));
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} else if (token == "DEADBAND") {
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Components.push_back(new FGDeadBand(this, AC_cfg));
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} else if (token == "GRADIENT") {
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Components.push_back(new FGGradient(this, AC_cfg));
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} else if (token == "SWITCH") {
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Components.push_back(new FGSwitch(this, AC_cfg));
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} else if (token == "FLAPS") {
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Components.push_back(new FGFlaps(this, AC_cfg));
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} else {
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cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
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return false;
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}
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AC_cfg->GetNextConfigLine();
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}
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}
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return true;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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float FGFCS::GetComponentOutput(eParam idx) {
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return Components[idx]->GetOutput();
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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string FGFCS::GetComponentName(int idx) {
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return Components[idx]->GetName();
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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float FGFCS::GetBrake(FGLGear::BrakeGroup bg) {
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switch (bg) {
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case FGLGear::bgLeft:
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return LeftBrake;
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case FGLGear::bgRight:
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return RightBrake;
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case FGLGear::bgCenter:
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return CenterBrake;
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default:
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cerr << "GetBrake asked to return a bogus brake value" << endl;
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}
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return 0.0;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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string FGFCS::GetComponentStrings(void)
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{
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unsigned int comp;
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string CompStrings = "";
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bool firstime = true;
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for (comp = 0; comp < Components.size(); comp++) {
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if (firstime) firstime = false;
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else CompStrings += ", ";
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CompStrings += Components[comp]->GetName();
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}
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return CompStrings;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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string FGFCS::GetComponentValues(void)
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{
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unsigned int comp;
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string CompValues = "";
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char buffer[10];
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bool firstime = true;
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for (comp = 0; comp < Components.size(); comp++) {
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if (firstime) firstime = false;
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else CompValues += ", ";
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sprintf(buffer, "%9.6f", Components[comp]->GetOutput());
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CompValues += string(buffer);
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}
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return CompValues;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGFCS::AddThrottle(void)
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{
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ThrottleCmd.push_back(0.0);
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ThrottlePos.push_back(0.0);
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MixtureCmd.push_back(0.0); // assume throttle and mixture are coupled
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MixturePos.push_back(0.0);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGFCS::Debug(void)
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{
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//TODO: Add your source code here
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}
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