FGFCS Class Reference

#include <FGFCS.h>

Inherits FGModel, and FGXMLFileRead.

Detailed Description

This class also encapsulates the identical "system" and "autopilot" capability. FGFCS owns and contains the list of FGFCSComponents that define a system or systems for the modeled aircraft. The config file for the aircraft contains a description of the control path that starts at an input or command and ends at an effector, e.g. an aerosurface. The FCS components which comprise the control laws for an axis are defined sequentially in the configuration file. For instance, for the X-15:

    <flight_control name="X-15 SAS">
      <channel>
        <summer name="Pitch Trim Sum">
           <input> fcs/elevator-cmd-norm </input>
           <input> fcs/pitch-trim-cmd-norm </input>
           <clipto>
             <min>-1</min>
             <max>1</max>
           </clipto>
        </summer>

        <aerosurface_scale name="Pitch Command Scale">
          <input> fcs/pitch-trim-sum </input>
          <range>
            <min> -50 </min>
            <max>  50 </max>
          </range>
        </aerosurface_scale>

        ... etc.

In the above case we can see the first few components of the pitch channel defined. The input to the first component (a summer), as can be seen in the "Pitch trim sum" component, is really the sum of two parameters: elevator command (from the stick - a pilot input), and pitch trim. The next component created is an aerosurface scale component - a type of gain (see the LoadFCS() method for insight on how the various types of components map into the actual component classes). This continues until the final component for an axis when the <output> element is usually used to specify where the output is supposed to go. See the individual components for more information on how they are mechanized.

Another option for the flight controls portion of the config file is that in addition to using the "NAME" attribute in,

    <flight_control name="X-15 SAS">

one can also supply a filename:

    <flight_control name="X-15 SAS" file="X15.xml">
    </flight_control>

In this case, the FCS would be read in from another file.

Properties

fcs/aileron-cmd-norm normalized aileron command
fcs/elevator-cmd-norm normalized elevator command
fcs/rudder-cmd-norm
fcs/steer-cmd-norm
fcs/flap-cmd-norm
fcs/speedbrake-cmd-norm
fcs/spoiler-cmd-norm
fcs/pitch-trim-cmd-norm
fcs/roll-trim-cmd-norm
fcs/yaw-trim-cmd-norm
gear/gear-cmd-norm
fcs/left-aileron-pos-rad
fcs/left-aileron-pos-deg
fcs/left-aileron-pos-norm
fcs/mag-left-aileron-pos-rad
fcs/right-aileron-pos-rad
fcs/right-aileron-pos-deg
fcs/right-aileron-pos-norm
fcs/mag-right-aileron-pos-rad
fcs/elevator-pos-rad
fcs/elevator-pos-deg
fcs/elevator-pos-norm
fcs/mag-elevator-pos-rad
fcs/rudder-pos-rad
fcs/rudder-pos-deg
fcs/rudder-pos-norm
fcs/mag-rudder-pos-rad
fcs/flap-pos-rad
fcs/flap-pos-deg
fcs/flap-pos-norm
fcs/speedbrake-pos-rad
fcs/speedbrake-pos-deg
fcs/speedbrake-pos-norm
fcs/mag-speedbrake-pos-rad
fcs/spoiler-pos-rad
fcs/spoiler-pos-deg
fcs/spoiler-pos-norm
fcs/mag-spoiler-pos-rad
fcs/wing-fold-pos-norm
gear/gear-pos-norm
gear/tailhook-pos-norm

Author:: Jon S. Berndt

Version:

Revision: 1.23

See also:

Definition at line 189 of file FGFCS.h.


Public Types
enum	SystemType { stFCS, stSystem, stAutoPilot }
Public Member Functions
void	AddGear (void)
void	AddThrottle (void)
	FGFCS (FGFDMExec *)
	Constructor.
ifstream *	FindSystemFile (string system_filename)
string	FindSystemFullPathname (string system_filename)
string	GetComponentStrings (string delimeter)
	Retrieves all component names for inclusion in output stream.
string	GetComponentValues (string delimeter)
	Retrieves all component outputs for inclusion in output stream.
double	GetDt (void)
FGPropertyManager *	GetPropertyManager (void)
FGState *	GetState (void)
	Retrieves the State object pointer.
bool	InitModel (void)
bool	Load (Element *el, SystemType systype)
	Loads the Flight Control System.
bool	Run (void)
	Runs the Flight Controls model; called by the Executive.
	~FGFCS ()
	Destructor.
Landing Gear brakes
double	GetBrake (FGLGear::BrakeGroup bg)
	Gets the brake for a specified group.
double	GetCBrake (void) const
	Gets the center brake.
double	GetLBrake (void) const
	Gets the left brake.
double	GetRBrake (void) const
	Gets the right brake.
void	SetCBrake (double cmd)
	Sets the center brake group.
void	SetLBrake (double cmd)
	Sets the left brake group.
void	SetRBrake (double cmd)
	Sets the right brake group.
Pilot input command retrieval
double	GetDaCmd (void) const
	Gets the aileron command.
double	GetDeCmd (void) const
	Gets the elevator command.
double	GetDfCmd (void) const
	Gets the flaps command.
double	GetDrCmd (void) const
	Gets the rudder command.
double	GetDsbCmd (void) const
	Gets the speedbrake command.
double	GetDsCmd (void) const
	Gets the steering command.
double	GetDspCmd (void) const
	Gets the spoiler command.
bool	GetFeatherCmd (int engine) const
	Gets the prop feather command.
double	GetGearCmd (void) const
	Get the gear extend/retract command.
double	GetMixtureCmd (int engine) const
	Gets the mixture command.
double	GetPitchTrimCmd (void) const
	Gets the pitch trim command.
double	GetPropAdvanceCmd (int engine) const
	Gets the prop pitch command.
double	GetRollTrimCmd (void) const
	Gets the aileron trim command.
double	GetThrottleCmd (int engine) const
	Gets the throttle command.
double	GetYawTrimCmd (void) const
	Gets the rudder trim command.
Aerosurface position retrieval
double	GetDaLPos (int form=ofRad) const
	Gets the left aileron position.
Aerosurface position retrieval
double	GetDaRPos (int form=ofRad) const
	Gets the right aileron position.
double	GetDePos (int form=ofRad) const
	Gets the elevator position.
double	GetDfPos (int form=ofRad) const
	Gets the flaps position.
double	GetDrPos (int form=ofRad) const
	Gets the rudder position.
double	GetDsbPos (int form=ofRad) const
	Gets the speedbrake position.
double	GetDspPos (int form=ofRad) const
	Gets the spoiler position.
double	GetGearPos (void) const
	Gets the gear position (0 up, 1 down), defaults to down.
double	GetMixturePos (int engine) const
	Gets the mixture position.
double	GetPropAdvance (int engine) const
	Gets the prop pitch position.
bool	GetPropFeather (int engine) const
	Gets the prop feather position.
double	GetSteerPosDeg (int gear) const
	Gets the steering position.
double	GetTailhookPos (void) const
	Gets the tailhook position (0 up, 1 down).
double	GetThrottlePos (int engine) const
	Gets the throttle position.
double	GetWingFoldPos (void) const
	Gets the wing fold position (0 unfolded, 1 folded).
Pilot input command setting
void	SetDaCmd (double cmd)
	Sets the aileron command.
void	SetDeCmd (double cmd)
	Sets the elevator command.
void	SetDfCmd (double cmd)
	Sets the flaps command.
void	SetDrCmd (double cmd)
	Sets the rudder command.
void	SetDsbCmd (double cmd)
	Sets the speedbrake command.
void	SetDsCmd (double cmd)
	Sets the steering command.
void	SetDspCmd (double cmd)
	Sets the spoilers command.
void	SetFeatherCmd (int engine, bool cmd)
	Sets the propeller feather command for the specified engine.
void	SetGearCmd (double gearcmd)
	Set the gear extend/retract command, defaults to down.
void	SetMixtureCmd (int engine, double cmd)
	Sets the mixture command for the specified engine.
void	SetPitchTrimCmd (double cmd)
	Sets the pitch trim command.
void	SetPropAdvanceCmd (int engine, double cmd)
	Sets the propeller pitch command for the specified engine.
void	SetRollTrimCmd (double cmd)
	Sets the aileron trim command.
void	SetThrottleCmd (int engine, double cmd)
	Sets the throttle command for the specified engine.
void	SetYawTrimCmd (double cmd)
	Sets the rudder trim command.
Aerosurface position setting
void	SetDaLPos (int form, double pos)
	Sets the left aileron position.
void	SetDaRPos (int form, double pos)
	Sets the right aileron position.
void	SetDePos (int form, double pos)
	Sets the elevator position.
void	SetDfPos (int form, double pos)
	Sets the flaps position.
void	SetDrPos (int form, double pos)
	Sets the rudder position.
void	SetDsbPos (int form, double pos)
	Sets the speedbrake position.
void	SetDspPos (int form, double pos)
	Sets the spoiler position.
void	SetGearPos (double gearpos)
	Set the gear extend/retract position, defaults to down.
void	SetMixturePos (int engine, double cmd)
	Sets the actual mixture setting for the specified engine.
void	SetPropAdvance (int engine, double cmd)
	Sets the actual prop pitch setting for the specified engine.
void	SetPropFeather (int engine, bool cmd)
	Sets the actual prop feather setting for the specified engine.
void	SetSteerPosDeg (int gear, double pos)
	Sets the steering position.
void	SetTailhookPos (double hookpos)
	Set the tailhook position.
void	SetThrottlePos (int engine, double cmd)
	Sets the actual throttle setting for the specified engine.
void	SetWingFoldPos (double foldpos)
	Set the wing fold position.

Constructor & Destructor Documentation

FGFCS ( FGFDMExec * fdmex )

Parameters:

Executive

a pointer to the parent executive object

Definition at line 68 of file FGFCS.cpp.

Member Function Documentation

double GetBrake ( FGLGear::BrakeGroup bg )

Parameters:

bg

which brakegroup to retrieve the command for

Returns:: the brake setting for the supplied brake group argument

Definition at line 707 of file FGFCS.cpp.

double GetCBrake ( void ) const [inline]

Returns:: the center brake setting.

Definition at line 528 of file FGFCS.h.

string GetComponentStrings ( string delimeter )

Parameters:

delimeter

either a tab or comma string depending on output type

Returns:: a string containing the descriptive names for all components

Definition at line 777 of file FGFCS.cpp.

string GetComponentValues ( string delimeter )

Parameters:

delimeter

either a tab or comma string depending on output type

Returns:: a string containing the numeric values for the current set of component outputs

Definition at line 814 of file FGFCS.cpp.

double GetDaCmd ( void ) const [inline]

Returns:: aileron command in range from -1.0 - 1.0

Definition at line 209 of file FGFCS.h.

double GetDaLPos ( int form = ofRad ) const [inline]

Returns:: aileron position in radians

Definition at line 277 of file FGFCS.h.

double GetDaRPos ( int form = ofRad ) const [inline]

Returns:: aileron position in radians

Definition at line 284 of file FGFCS.h.

double GetDeCmd ( void ) const [inline]

Returns:: elevator command in range from -1.0 - 1.0

Definition at line 213 of file FGFCS.h.

double GetDePos ( int form = ofRad ) const [inline]

Returns:: elevator position in radians

Definition at line 289 of file FGFCS.h.

double GetDfCmd ( void ) const [inline]

Returns:: flaps command in range from 0 to 1.0

Definition at line 225 of file FGFCS.h.

double GetDfPos ( int form = ofRad ) const [inline]

Returns:: flaps position in radians

Definition at line 309 of file FGFCS.h.

double GetDrCmd ( void ) const [inline]

Returns:: rudder command in range from -1.0 - 1.0

Definition at line 217 of file FGFCS.h.

double GetDrPos ( int form = ofRad ) const [inline]

Returns:: rudder position in radians

Definition at line 294 of file FGFCS.h.

double GetDsbCmd ( void ) const [inline]

Returns:: speedbrake command in range from 0 to 1.0

Definition at line 229 of file FGFCS.h.

double GetDsbPos ( int form = ofRad ) const [inline]

Returns:: speedbrake position in radians

Definition at line 299 of file FGFCS.h.

double GetDsCmd ( void ) const [inline]

Returns:: steering command in range from -1.0 - 1.0

Definition at line 221 of file FGFCS.h.

double GetDspCmd ( void ) const [inline]

Returns:: spoiler command in range from 0 to 1.0

Definition at line 233 of file FGFCS.h.

double GetDspPos ( int form = ofRad ) const [inline]

Returns:: spoiler position in radians

Definition at line 304 of file FGFCS.h.

bool GetFeatherCmd ( int engine ) const [inline]

Parameters:

engine

engine ID number

Returns:: feather command for the given engine (on / off)

Definition at line 253 of file FGFCS.h.

double GetGearCmd ( void ) const [inline]

0 commands gear up, 1 down. defaults to down.

Returns:: the current value of the gear extend/retract command

Definition at line 270 of file FGFCS.h.

double GetGearPos ( void ) const [inline]

Returns:: gear position (0 up, 1 down)

Definition at line 328 of file FGFCS.h.

double GetLBrake ( void ) const [inline]

Returns:: the left brake setting.

Definition at line 520 of file FGFCS.h.

double GetMixtureCmd ( int engine ) const [inline]

Parameters:

engine

engine ID number

Returns:: mixture command in range from 0 - 1.0 for the given engine

Definition at line 243 of file FGFCS.h.

double GetMixturePos ( int engine ) const [inline]

Parameters:

engine

engine ID number

Returns:: mixture position for the given engine in range from 0 - 1.0

Definition at line 320 of file FGFCS.h.

double GetPitchTrimCmd ( void ) const [inline]

Returns:: pitch trim command in range from -1.0 to 1.0

Definition at line 257 of file FGFCS.h.

double GetPropAdvance ( int engine ) const [inline]

Parameters:

engine

engine ID number

Returns:: prop pitch position for the given engine in range from 0 - 1.0

Definition at line 341 of file FGFCS.h.

double GetPropAdvanceCmd ( int engine ) const [inline]

Parameters:

engine

engine ID number

Returns:: pitch command in range from 0.0 - 1.0 for the given engine

Definition at line 248 of file FGFCS.h.

bool GetPropFeather ( int engine ) const [inline]

Parameters:

engine

engine ID number

Returns:: prop fether for the given engine (on / off)

Definition at line 346 of file FGFCS.h.

double GetRBrake ( void ) const [inline]

Returns:: the right brake setting.

Definition at line 524 of file FGFCS.h.

double GetRollTrimCmd ( void ) const [inline]

Returns:: aileron trim command in range from -1.0 - 1.0

Definition at line 265 of file FGFCS.h.

FGState* GetState ( void ) [inline]

This is used by the FGFCS-owned components.

Returns:: pointer to the State object

Definition at line 352 of file FGFCS.h.

double GetSteerPosDeg ( int gear ) const [inline]

Returns:: steering position in degrees

Definition at line 324 of file FGFCS.h.

double GetTailhookPos ( void ) const [inline]

Returns:: tailhook position (0 up, 1 down)

Definition at line 332 of file FGFCS.h.

double GetThrottleCmd ( int engine ) const

Parameters:

engine

engine ID number

Returns:: throttle command in range from 0 - 1.0 for the given engine

Definition at line 400 of file FGFCS.cpp.

double GetThrottlePos ( int engine ) const

Parameters:

engine

engine ID number

Returns:: throttle position for the given engine in range from 0 - 1.0

Definition at line 418 of file FGFCS.cpp.

double GetWingFoldPos ( void ) const [inline]

Returns:: wing fold position (0 unfolded, 1 folded)

Definition at line 336 of file FGFCS.h.

double GetYawTrimCmd ( void ) const [inline]

Returns:: rudder trim command in range from -1.0 - 1.0

Definition at line 261 of file FGFCS.h.

bool Load	(	Element *	el,
		SystemType	systype
	)

Load() is called from FGFDMExec.

Parameters:

	el	pointer to the Element instance
	systype	type of system (FCS, Autopilot, System)

Returns:: true if succesful

Definition at line 526 of file FGFCS.cpp.

bool Run ( void ) [virtual]

Returns:: false if no error

Reimplemented from FGModel.

Definition at line 193 of file FGFCS.cpp.

void SetCBrake ( double cmd ) [inline]

Parameters:

cmd

brake setting in percent (0.0 - 1.0)

Definition at line 511 of file FGFCS.h.

void SetDaCmd ( double cmd ) [inline]

Parameters:

cmd

aileron command

Definition at line 369 of file FGFCS.h.

void SetDaLPos	(	int	form,
		double	pos
	)

Parameters:

cmd

left aileron position in radians

Definition at line 229 of file FGFCS.cpp.

void SetDaRPos	(	int	form,
		double	pos
	)

Parameters:

cmd

right aileron position in radians

Definition at line 248 of file FGFCS.cpp.

void SetDeCmd ( double cmd ) [inline]

Parameters:

cmd

elevator command in percent

Definition at line 373 of file FGFCS.h.

void SetDePos	(	int	form,
		double	pos
	)

Parameters:

cmd

elevator position in radians

Definition at line 267 of file FGFCS.cpp.

void SetDfCmd ( double cmd ) [inline]

Parameters:

cmd

flaps command in percent

Definition at line 385 of file FGFCS.h.

void SetDfPos	(	int	form,
		double	pos
	)

Parameters:

cmd

flaps position in radians

Definition at line 305 of file FGFCS.cpp.

void SetDrCmd ( double cmd ) [inline]

Parameters:

cmd

rudder command in percent

Definition at line 377 of file FGFCS.h.

void SetDrPos	(	int	form,
		double	pos
	)

Parameters:

cmd

rudder position in radians

Definition at line 286 of file FGFCS.cpp.

void SetDsbCmd ( double cmd ) [inline]

Parameters:

cmd

speedbrake command in percent

Definition at line 389 of file FGFCS.h.

void SetDsbPos	(	int	form,
		double	pos
	)

Parameters:

cmd

speedbrake position in radians

Definition at line 324 of file FGFCS.cpp.

void SetDsCmd ( double cmd ) [inline]

Parameters:

cmd

steering command in percent

Definition at line 381 of file FGFCS.h.

void SetDspCmd ( double cmd ) [inline]

Parameters:

cmd

spoilers command in percent

Definition at line 393 of file FGFCS.h.

void SetDspPos	(	int	form,
		double	pos
	)

Parameters:

cmd

spoiler position in radians

Definition at line 343 of file FGFCS.cpp.

void SetFeatherCmd	(	int	engine,
		bool	cmd
	)

Parameters:

	engine	engine ID number
	cmd	feather (bool)

Definition at line 496 of file FGFCS.cpp.

void SetGearCmd ( double gearcmd ) [inline]

Parameters:

gear

command 0 for up, 1 for down

Definition at line 419 of file FGFCS.h.

void SetGearPos ( double gearpos ) [inline]

Parameters:

gear

position 0 up, 1 down

Definition at line 478 of file FGFCS.h.

void SetLBrake ( double cmd ) [inline]

Parameters:

cmd

brake setting in percent (0.0 - 1.0)

Definition at line 503 of file FGFCS.h.

void SetMixtureCmd	(	int	engine,
		double	cmd
	)

Parameters:

	engine	engine ID number
	cmd	mixture command in percent (0 - 100)

Definition at line 436 of file FGFCS.cpp.

void SetMixturePos	(	int	engine,
		double	cmd
	)

Parameters:

	engine	engine ID number
	cmd	mixture setting in percent (0 - 100)

Definition at line 451 of file FGFCS.cpp.

void SetPitchTrimCmd ( double cmd ) [inline]

Parameters:

cmd

pitch trim command in percent

Definition at line 397 of file FGFCS.h.

void SetPropAdvance	(	int	engine,
		double	cmd
	)

Parameters:

	engine	engine ID number
	cmd	prop pitch setting in percent (0.0 - 1.0)

Definition at line 481 of file FGFCS.cpp.

void SetPropAdvanceCmd	(	int	engine,
		double	cmd
	)

Parameters:

	engine	engine ID number
	cmd	mixture command in percent (0.0 - 1.0)

Definition at line 466 of file FGFCS.cpp.

void SetPropFeather	(	int	engine,
		bool	cmd
	)

Parameters:

	engine	engine ID number
	cmd	prop fether setting (bool)

Definition at line 511 of file FGFCS.cpp.

void SetRBrake ( double cmd ) [inline]

Parameters:

cmd

brake setting in percent (0.0 - 1.0)

Definition at line 507 of file FGFCS.h.

void SetRollTrimCmd ( double cmd ) [inline]

Parameters:

cmd

aileron trim command in percent

Definition at line 405 of file FGFCS.h.

void SetSteerPosDeg	(	int	gear,
		double	pos
	)			`[inline]`

Parameters:

cmd

steering position in degrees

Definition at line 474 of file FGFCS.h.

void SetTailhookPos ( double hookpos ) [inline]

Parameters:

tailhook

position 0 up, 1 down

Definition at line 482 of file FGFCS.h.

void SetThrottleCmd	(	int	engine,
		double	cmd
	)

Parameters:

	engine	engine ID number
	cmd	throttle command in percent (0 - 100)

Definition at line 362 of file FGFCS.cpp.

void SetThrottlePos	(	int	engine,
		double	cmd
	)

Parameters:

	engine	engine ID number
	cmd	throttle setting in percent (0 - 100)

Definition at line 381 of file FGFCS.cpp.

void SetWingFoldPos ( double foldpos ) [inline]

Parameters:

wing

fold position 0 unfolded, 1 folded

Definition at line 486 of file FGFCS.h.

void SetYawTrimCmd ( double cmd ) [inline]

Parameters:

cmd

rudder trim command in percent

Definition at line 401 of file FGFCS.h.

The documentation for this class was generated from the following files:

FGFCS Class Reference

Detailed Description

Properties

Public Types

Public Member Functions

Constructor & Destructor Documentation

Member Function Documentation