FGFCS Class Reference

Encapsulates the Flight Control System (FCS) functionality. More...

#include <FGFCS.h>

Inheritance diagram for FGFCS:

Collaboration diagram for FGFCS:

Public Types
enum	SystemType { stFCS, stSystem, stAutoPilot }
Public Types inherited from FGJSBBase
enum	{ eL = 1, eM, eN }
	Moments L, M, N.
enum	{ eP = 1, eQ, eR }
	Rates P, Q, R.
enum	{ eU = 1, eV, eW }
	Velocities U, V, W.
enum	{ eX = 1, eY, eZ }
	Positions X, Y, Z.
enum	{ ePhi = 1, eTht, ePsi }
	Euler angles Phi, Theta, Psi.
enum	{ eDrag = 1, eSide, eLift }
	Stability axis forces, Drag, Side force, Lift.
enum	{ eRoll = 1, ePitch, eYaw }
	Local frame orientation Roll, Pitch, Yaw.
enum	{ eNorth = 1, eEast, eDown }
	Local frame position North, East, Down.
enum	{ eLat = 1, eLong, eRad }
	Locations Radius, Latitude, Longitude.
enum	{   inNone = 0, inDegrees, inRadians, inMeters,   inFeet }
	Conversion specifiers.

Public Member Functions
	FGFCS (FGFDMExec *)
	Constructor. More...
	~FGFCS ()
	Destructor.
void	AddThrottle (void)
SGPath	FindFullPathName (const SGPath &path) const
double	GetChannelDeltaT (void) const
std::string	GetComponentStrings (const std::string &delimiter) const
	Retrieves all component names for inclusion in output stream. More...
std::string	GetComponentValues (const std::string &delimiter) const
	Retrieves all component outputs for inclusion in output stream. More...
double	GetDt (void) const
FGPropertyManager *	GetPropertyManager (void)
bool	GetTrimStatus (void) const
bool	InitModel (void)
bool	Load (Element *el)
	Loads the Flight Control System. More...
bool	Run (bool Holding)
	Runs the Flight Controls model; called by the Executive Can pass in a value indicating if the executive is directing the simulation to Hold. More...
Pilot input command retrieval
double	GetDaCmd (void) const
	Gets the aileron command. More...
double	GetDeCmd (void) const
	Gets the elevator command. More...
double	GetDrCmd (void) const
	Gets the rudder command. More...
double	GetDsCmd (void) const
	Gets the steering command. More...
double	GetDfCmd (void) const
	Gets the flaps command. More...
double	GetDsbCmd (void) const
	Gets the speedbrake command. More...
double	GetDspCmd (void) const
	Gets the spoiler command. More...
double	GetThrottleCmd (int engine) const
	Gets the throttle command. More...
const std::vector< double > &	GetThrottleCmd () const
double	GetMixtureCmd (int engine) const
	Gets the mixture command. More...
const std::vector< double > &	GetMixtureCmd () const
double	GetPropAdvanceCmd (int engine) const
	Gets the prop pitch command. More...
bool	GetFeatherCmd (int engine) const
	Gets the prop feather command. More...
double	GetPitchTrimCmd (void) const
	Gets the pitch trim command. More...
double	GetYawTrimCmd (void) const
	Gets the rudder trim command. More...
double	GetRollTrimCmd (void) const
	Gets the aileron trim command. More...
double	GetGearCmd (void) const
	Get the gear extend/retract command. More...
Aerosurface position retrieval
double	GetDaLPos (int form=ofRad) const
	Gets the left aileron position. More...
double	GetDaRPos (int form=ofRad) const
	Gets the right aileron position. More...
double	GetDePos (int form=ofRad) const
	Gets the elevator position. More...
double	GetDrPos (int form=ofRad) const
	Gets the rudder position. More...
double	GetDsbPos (int form=ofRad) const
	Gets the speedbrake position. More...
double	GetDspPos (int form=ofRad) const
	Gets the spoiler position. More...
double	GetDfPos (int form=ofRad) const
	Gets the flaps position. More...
double	GetThrottlePos (int engine) const
	Gets the throttle position. More...
const std::vector< double > &	GetThrottlePos () const
double	GetMixturePos (int engine) const
	Gets the mixture position. More...
const std::vector< double > &	GetMixturePos () const
double	GetGearPos (void) const
	Gets the gear position (0 up, 1 down), defaults to down. More...
double	GetTailhookPos (void) const
	Gets the tailhook position (0 up, 1 down) More...
double	GetWingFoldPos (void) const
	Gets the wing fold position (0 unfolded, 1 folded) More...
double	GetPropAdvance (int engine) const
	Gets the prop pitch position. More...
const std::vector< double > &	GetPropAdvance () const
bool	GetPropFeather (int engine) const
	Gets the prop feather position. More...
const std::vector< bool > &	GetPropFeather () const
Pilot input command setting
void	SetDaCmd (double cmd)
	Sets the aileron command. More...
void	SetDeCmd (double cmd)
	Sets the elevator command. More...
void	SetDrCmd (double cmd)
	Sets the rudder command. More...
void	SetDsCmd (double cmd)
	Sets the steering command. More...
void	SetDfCmd (double cmd)
	Sets the flaps command. More...
void	SetDsbCmd (double cmd)
	Sets the speedbrake command. More...
void	SetDspCmd (double cmd)
	Sets the spoilers command. More...
void	SetPitchTrimCmd (double cmd)
	Sets the pitch trim command. More...
void	SetYawTrimCmd (double cmd)
	Sets the rudder trim command. More...
void	SetRollTrimCmd (double cmd)
	Sets the aileron trim command. More...
void	SetThrottleCmd (int engine, double cmd)
	Sets the throttle command for the specified engine. More...
void	SetMixtureCmd (int engine, double cmd)
	Sets the mixture command for the specified engine. More...
void	SetGearCmd (double gearcmd)
	Set the gear extend/retract command, defaults to down. More...
void	SetPropAdvanceCmd (int engine, double cmd)
	Sets the propeller pitch command for the specified engine. More...
void	SetFeatherCmd (int engine, bool cmd)
	Sets the propeller feather command for the specified engine. More...
Aerosurface position setting
void	SetDaLPos (int form, double pos)
	Sets the left aileron position. More...
void	SetDaRPos (int form, double pos)
	Sets the right aileron position. More...
void	SetDePos (int form, double pos)
	Sets the elevator position. More...
void	SetDrPos (int form, double pos)
	Sets the rudder position. More...
void	SetDfPos (int form, double pos)
	Sets the flaps position. More...
void	SetDsbPos (int form, double pos)
	Sets the speedbrake position. More...
void	SetDspPos (int form, double pos)
	Sets the spoiler position. More...
void	SetThrottlePos (int engine, double cmd)
	Sets the actual throttle setting for the specified engine. More...
void	SetMixturePos (int engine, double cmd)
	Sets the actual mixture setting for the specified engine. More...
void	SetGearPos (double gearpos)
	Set the gear extend/retract position, defaults to down. More...
void	SetTailhookPos (double hookpos)
	Set the tailhook position. More...
void	SetWingFoldPos (double foldpos)
	Set the wing fold position. More...
void	SetPropAdvance (int engine, double cmd)
	Sets the actual prop pitch setting for the specified engine. More...
void	SetPropFeather (int engine, bool cmd)
	Sets the actual prop feather setting for the specified engine. More...
Landing Gear brakes
void	SetLBrake (double cmd)
	Sets the left brake group. More...
void	SetRBrake (double cmd)
	Sets the right brake group. More...
void	SetCBrake (double cmd)
	Sets the center brake group. More...
double	GetBrake (FGLGear::BrakeGroup bg)
	Gets the brake for a specified group. More...
const std::vector< double > &	GetBrakePos () const
double	GetLBrake (void) const
	Gets the left brake. More...
double	GetRBrake (void) const
	Gets the right brake. More...
double	GetCBrake (void) const
	Gets the center brake. More...
Public Member Functions inherited from FGModel
	FGModel (FGFDMExec *)
	Constructor.
virtual	~FGModel ()
	Destructor.
FGFDMExec *	GetExec (void)
unsigned int	GetRate (void)
	Get the output rate for the model in frames.
void	SetPropertyManager (FGPropertyManager *fgpm)
void	SetRate (unsigned int tt)
	Set the ouput rate for the model in frames.
Public Member Functions inherited from FGModelFunctions
std::string	GetFunctionStrings (const std::string &delimeter) const
	Gets the strings for the current set of functions. More...
std::string	GetFunctionValues (const std::string &delimeter) const
	Gets the function values. More...
FGFunction *	GetPreFunction (const std::string &name)
	Get one of the "pre" function. More...
bool	Load (Element *el, FGPropertyManager *PropertyManager, std::string prefix="")
void	PostLoad (Element *el, FGPropertyManager *PropertyManager, std::string prefix="")
void	PreLoad (Element *el, FGPropertyManager *PropertyManager, std::string prefix="")
void	RunPostFunctions (void)
void	RunPreFunctions (void)
Public Member Functions inherited from FGJSBBase
	FGJSBBase ()
	Constructor for FGJSBBase.
virtual	~FGJSBBase ()
	Destructor for FGJSBBase.
void	disableHighLighting (void)
	Disables highlighting in the console output.
std::string	GetVersion (void)
	Returns the version number of JSBSim. More...
void	PutMessage (const Message &msg)
	Places a Message structure on the Message queue. More...
void	PutMessage (const std::string &text)
	Creates a message with the given text and places it on the queue. More...
void	PutMessage (const std::string &text, bool bVal)
	Creates a message with the given text and boolean value and places it on the queue. More...
void	PutMessage (const std::string &text, int iVal)
	Creates a message with the given text and integer value and places it on the queue. More...
void	PutMessage (const std::string &text, double dVal)
	Creates a message with the given text and double value and places it on the queue. More...
int	SomeMessages (void)
	Reads the message on the queue (but does not delete it). More...
void	ProcessMessage (void)
	Reads the message on the queue and removes it from the queue. More...
Message *	ProcessNextMessage (void)
	Reads the next message on the queue and removes it from the queue. More...

Additional Inherited Members
Static Public Member Functions inherited from FGJSBBase
static double	CelsiusToFahrenheit (double celsius)
	Converts from degrees Celsius to degrees Fahrenheit. More...
static double	CelsiusToKelvin (double celsius)
	Converts from degrees Celsius to degrees Kelvin. More...
static double	CelsiusToRankine (double celsius)
	Converts from degrees Celsius to degrees Rankine. More...
static double	Constrain (double min, double value, double max)
	Constrain a value between a minimum and a maximum value.
static bool	EqualToRoundoff (double a, double b)
	Finite precision comparison. More...
static bool	EqualToRoundoff (float a, float b)
	Finite precision comparison. More...
static bool	EqualToRoundoff (float a, double b)
	Finite precision comparison. More...
static bool	EqualToRoundoff (double a, float b)
	Finite precision comparison. More...
static double	FahrenheitToCelsius (double fahrenheit)
	Converts from degrees Fahrenheit to degrees Celsius. More...
static double	FeetToMeters (double measure)
	Converts from feet to meters. More...
static double	GaussianRandomNumber (void)
static double	KelvinToCelsius (double kelvin)
	Converts from degrees Kelvin to degrees Celsius. More...
static double	KelvinToFahrenheit (double kelvin)
	Converts from degrees Kelvin to degrees Fahrenheit. More...
static double	KelvinToRankine (double kelvin)
	Converts from degrees Kelvin to degrees Rankine. More...
static double	MachFromVcalibrated (double vcas, double p, double psl, double rhosl)
	Calculate the Mach number from the calibrated airspeed. More...
static double	PitotTotalPressure (double mach, double p)
	Compute the total pressure in front of the Pitot tube. More...
static double	RankineToCelsius (double rankine)
	Converts from degrees Rankine to degrees Celsius. More...
static double	RankineToKelvin (double rankine)
	Converts from degrees Rankine to degrees Kelvin. More...
static double	sign (double num)
static double	VcalibratedFromMach (double mach, double p, double psl, double rhosl)
	Calculate the calibrated airspeed from the Mach number. More...
Public Attributes inherited from FGModel
std::string	Name
Static Public Attributes inherited from FGJSBBase
static short	debug_lvl = 1
static char	highint [5] = {27, '[', '1', 'm', '\0' }
	highlights text
static char	halfint [5] = {27, '[', '2', 'm', '\0' }
	low intensity text
static char	normint [6] = {27, '[', '2', '2', 'm', '\0' }
	normal intensity text
static char	reset [5] = {27, '[', '0', 'm', '\0' }
	resets text properties
static char	underon [5] = {27, '[', '4', 'm', '\0' }
	underlines text
static char	underoff [6] = {27, '[', '2', '4', 'm', '\0' }
	underline off
static char	fgblue [6] = {27, '[', '3', '4', 'm', '\0' }
	blue text
static char	fgcyan [6] = {27, '[', '3', '6', 'm', '\0' }
	cyan text
static char	fgred [6] = {27, '[', '3', '1', 'm', '\0' }
	red text
static char	fggreen [6] = {27, '[', '3', '2', 'm', '\0' }
	green text
static char	fgdef [6] = {27, '[', '3', '9', 'm', '\0' }
	default text
Protected Member Functions inherited from FGJSBBase
void	Debug (int)
Static Protected Member Functions inherited from FGJSBBase
static std::string	CreateIndexedPropertyName (const std::string &Property, int index)
Protected Attributes inherited from FGModel
unsigned int	exe_ctr
FGFDMExec *	FDMExec
FGPropertyManager *	PropertyManager
unsigned int	rate
Protected Attributes inherited from FGModelFunctions
FGPropertyReader	LocalProperties
std::vector< FGFunction * >	PostFunctions
std::vector< FGFunction * >	PreFunctions
Static Protected Attributes inherited from FGJSBBase
static const double	degtorad = 0.017453292519943295769236907684886
static const double	fpstokts = 1.0/ktstofps
static const double	fttom = 0.3048
static int	gaussian_random_number_phase = 0
static const double	hptoftlbssec = 550.0
static const double	in3tom3 = 1.638706E-5
static const double	inchtoft = 0.08333333
static const double	inhgtopa = 3386.38
static const std::string	JSBSim_version = "1.0 " __DATE__ " " __TIME__
static const double	kgtolb = 2.20462
static const double	kgtoslug = 0.06852168
static const double	ktstofps = 1.68781
static const double	lbtoslug = 1.0/slugtolb
static Message	localMsg
static const double	m3toft3 = 1.0/(fttom*fttom*fttom)
static double	Mair = 28.9645
static unsigned int	messageId = 0
static std::queue< Message >	Messages
static const std::string	needed_cfg_version = "2.0"
static const double	psftoinhg = 0.014138
static const double	psftopa = 47.88
static const double	radtodeg = 57.295779513082320876798154814105
static double	Reng = 1716.56
static double	Rstar = 1545.348
static const double	SHRatio = 1.40
static const double	slugtolb = 32.174049

Detailed Description

Encapsulates the Flight Control System (FCS) functionality.

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

1.54

See also

FGActuator

FGDeadBand

FGFCSFunction

FGFilter

FGGain

FGKinemat

FGPID

FGSensor

FGSummer

FGSwitch

FGWaypoint

FGAngles

FGFCSComponent

Element

FGDistributor

Definition at line 193 of file FGFCS.h.

Constructor & Destructor Documentation

FGFCS()

FGFCS

(

FGFDMExec *

fdm

)

Constructor.

Parameters

Executive

a pointer to the parent executive object

Definition at line 80 of file FGFCS.cpp.

                           : FGModel(fdm), ChannelRate(1)
{
  int i;
  Name = "FGFCS";
  systype = stFCS;

  fdmex = fdm;
  DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = 0;
  PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
  GearCmd = GearPos = 1; // default to gear down
  BrakePos.resize(FGLGear::bgNumBrakeGroups);
  TailhookPos = WingFoldPos = 0.0; 

  bind();
  for (i=0;i<NForms;i++) {
    DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
    DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
  }

  Debug(0);
}

Member Function Documentation

GetBrake()

double GetBrake

(

FGLGear::BrakeGroup

bg

)

Gets the brake for a specified group.

Parameters

bg	which brakegroup to retrieve the command for

Returns

the brake setting for the supplied brake group argument

Definition at line 598 of file FGFCS.cpp.

{
  return BrakePos[bg];
}

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GetCBrake()

double GetCBrake ( void  ) const

inline

Gets the center brake.

Returns

the center brake setting.

Definition at line 536 of file FGFCS.h.

{return BrakePos[FGLGear::bgCenter];}

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GetComponentStrings()

string GetComponentStrings

(

const std::string &

delimiter

)

const

Retrieves all component names for inclusion in output stream.

Parameters

delimiter

either a tab or comma string depending on output type

Returns

a string containing the descriptive names for all components

Definition at line 618 of file FGFCS.cpp.

{
  string CompStrings = "";
  bool firstime = true;
  int total_count=0;

  for (unsigned int i=0; i<SystemChannels.size(); i++)
  {
    for (unsigned int c=0; c<SystemChannels[i]->GetNumComponents(); c++)
    {
      if (firstime) firstime = false;
      else          CompStrings += delimiter;

      CompStrings += SystemChannels[i]->GetComponent(c)->GetName();
      total_count++;
    }
  }

  return CompStrings;
}

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GetComponentValues()

string GetComponentValues

(

const std::string &

delimiter

)

const

Retrieves all component outputs for inclusion in output stream.

Parameters

delimiter

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 641 of file FGFCS.cpp.

{
  std::ostringstream buf;

  bool firstime = true;
  int total_count=0;

  for (unsigned int i=0; i<SystemChannels.size(); i++)
  {
    for (unsigned int c=0; c<SystemChannels[i]->GetNumComponents(); c++)
    {
      if (firstime) firstime = false;
      else          buf << delimiter;

      buf << setprecision(9) << SystemChannels[i]->GetComponent(c)->GetOutput();
      total_count++;
    }
  }

  return buf.str();
}

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GetDaCmd()

double GetDaCmd ( void  ) const

inline

Gets the aileron command.

Returns

aileron command in range from -1.0 - 1.0

Definition at line 218 of file FGFCS.h.

{ return DaCmd; }

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GetDaLPos()

double GetDaLPos ( int  form = ofRad ) const

inline

Gets the left aileron position.

Returns

aileron position in radians

Definition at line 290 of file FGFCS.h.

                               { return DaLPos[form]; }

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GetDaRPos()

double GetDaRPos ( int  form = ofRad ) const

inline

Gets the right aileron position.

Returns

aileron position in radians

Definition at line 295 of file FGFCS.h.

                               { return DaRPos[form]; }

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GetDeCmd()

double GetDeCmd ( void  ) const

inline

Gets the elevator command.

Returns

elevator command in range from -1.0 - 1.0

Definition at line 222 of file FGFCS.h.

{ return DeCmd; }

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GetDePos()

double GetDePos ( int  form = ofRad ) const

inline

Gets the elevator position.

Returns

elevator position in radians

Definition at line 300 of file FGFCS.h.

                               { return DePos[form]; }

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GetDfCmd()

double GetDfCmd ( void  ) const

inline

Gets the flaps command.

Returns

flaps command in range from 0 to 1.0

Definition at line 234 of file FGFCS.h.

{ return DfCmd; }

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GetDfPos()

double GetDfPos ( int  form = ofRad ) const

inline

Gets the flaps position.

Returns

flaps position in radians

Definition at line 320 of file FGFCS.h.

                               { return DfPos[form]; }

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GetDrCmd()

double GetDrCmd ( void  ) const

inline

Gets the rudder command.

Returns

rudder command in range from -1.0 - 1.0

Definition at line 226 of file FGFCS.h.

{ return DrCmd; }

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GetDrPos()

double GetDrPos ( int  form = ofRad ) const

inline

Gets the rudder position.

Returns

rudder position in radians

Definition at line 305 of file FGFCS.h.

                               { return DrPos[form]; }

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GetDsbCmd()

double GetDsbCmd ( void  ) const

inline

Gets the speedbrake command.

Returns

speedbrake command in range from 0 to 1.0

Definition at line 238 of file FGFCS.h.

{ return DsbCmd; }

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GetDsbPos()

double GetDsbPos ( int  form = ofRad ) const

inline

Gets the speedbrake position.

Returns

speedbrake position in radians

Definition at line 310 of file FGFCS.h.

                               { return DsbPos[form]; }

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GetDsCmd()

double GetDsCmd ( void  ) const

inline

Gets the steering command.

Returns

steering command in range from -1.0 - 1.0

Definition at line 230 of file FGFCS.h.

{ return fdmex->GetGroundReactions()->GetDsCmd(); }

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GetDspCmd()

double GetDspCmd ( void  ) const

inline

Gets the spoiler command.

Returns

spoiler command in range from 0 to 1.0

Definition at line 242 of file FGFCS.h.

{ return DspCmd; }

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GetDspPos()

double GetDspPos ( int  form = ofRad ) const

inline

Gets the spoiler position.

Returns

spoiler position in radians

Definition at line 315 of file FGFCS.h.

                               { return DspPos[form]; }

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GetFeatherCmd()

bool GetFeatherCmd ( int  engine ) const

inline

Gets the prop feather command.

Parameters

engine

engine ID number

Returns

feather command for the given engine (on / off)

Definition at line 266 of file FGFCS.h.

{ return PropFeatherCmd[engine]; }

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GetGearCmd()

double GetGearCmd ( void  ) const

inline

Get the gear extend/retract command.

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

Returns

the current value of the gear extend/retract command

Definition at line 283 of file FGFCS.h.

{ return GearCmd; }

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GetGearPos()

double GetGearPos ( void  ) const

inline

Gets the gear position (0 up, 1 down), defaults to down.

Returns

gear position (0 up, 1 down)

Definition at line 339 of file FGFCS.h.

{ return GearPos; }

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GetLBrake()

double GetLBrake ( void  ) const

inline

Gets the left brake.

Returns

the left brake setting.

Definition at line 528 of file FGFCS.h.

{return BrakePos[FGLGear::bgLeft];}

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GetMixtureCmd()

double GetMixtureCmd ( int  engine ) const

inline

Gets the mixture command.

Parameters

engine

engine ID number

Returns

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

Definition at line 254 of file FGFCS.h.

{ return MixtureCmd[engine]; }

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GetMixturePos()

double GetMixturePos ( int  engine ) const

inline

Gets the mixture position.

Parameters

engine

engine ID number

Returns

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

Definition at line 333 of file FGFCS.h.

{ return MixturePos[engine]; }

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GetPitchTrimCmd()

double GetPitchTrimCmd ( void  ) const

inline

Gets the pitch trim command.

Returns

pitch trim command in range from -1.0 to 1.0

Definition at line 270 of file FGFCS.h.

{ return PTrimCmd; }

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GetPropAdvance()

double GetPropAdvance ( int  engine ) const

inline

Gets the prop pitch position.

Parameters

engine

engine ID number

Returns

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

Definition at line 352 of file FGFCS.h.

{ return PropAdvance[engine]; }

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GetPropAdvanceCmd()

double GetPropAdvanceCmd ( int  engine ) const

inline

Gets the prop pitch command.

Parameters

engine

engine ID number

Returns

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

Definition at line 261 of file FGFCS.h.

{ return PropAdvanceCmd[engine]; }

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GetPropFeather()

bool GetPropFeather ( int  engine ) const

inline

Gets the prop feather position.

Parameters

engine

engine ID number

Returns

prop fether for the given engine (on / off)

Definition at line 359 of file FGFCS.h.

{ return PropFeather[engine]; }

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GetRBrake()

double GetRBrake ( void  ) const

inline

Gets the right brake.

Returns

the right brake setting.

Definition at line 532 of file FGFCS.h.

{return BrakePos[FGLGear::bgRight];}

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GetRollTrimCmd()

double GetRollTrimCmd ( void  ) const

inline

Gets the aileron trim command.

Returns

aileron trim command in range from -1.0 - 1.0

Definition at line 278 of file FGFCS.h.

{ return RTrimCmd; }

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GetTailhookPos()

double GetTailhookPos ( void  ) const

inline

Gets the tailhook position (0 up, 1 down)

Returns

tailhook position (0 up, 1 down)

Definition at line 343 of file FGFCS.h.

{ return TailhookPos; }

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GetThrottleCmd()

double GetThrottleCmd

(

int

engine

)

const

Gets the throttle command.

Parameters

engine

engine ID number

Returns

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

Definition at line 359 of file FGFCS.cpp.

{
  if (engineNum < (int)ThrottlePos.size()) {
    if (engineNum < 0) {
       cerr << "Cannot get throttle value for ALL engines" << endl;
    } else {
      return ThrottleCmd[engineNum];
    }
  } else {
    cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
         << " engines exist, but throttle setting for engine " << engineNum
         << " is selected" << endl;
  }
  return 0.0;
}

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GetThrottlePos()

double GetThrottlePos

(

int

engine

)

const

Gets the throttle position.

Parameters

engine

engine ID number

Returns

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

Definition at line 377 of file FGFCS.cpp.

{
  if (engineNum < (int)ThrottlePos.size()) {
    if (engineNum < 0) {
       cerr << "Cannot get throttle value for ALL engines" << endl;
    } else {
      return ThrottlePos[engineNum];
    }
  } else {
    cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
         << " engines exist, but attempted throttle position setting is for engine "
         << engineNum << endl;
  }
  return 0.0;
}

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GetWingFoldPos()

double GetWingFoldPos ( void  ) const

inline

Gets the wing fold position (0 unfolded, 1 folded)

Returns

wing fold position (0 unfolded, 1 folded)

Definition at line 347 of file FGFCS.h.

{ return WingFoldPos; }

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GetYawTrimCmd()

double GetYawTrimCmd ( void  ) const

inline

Gets the rudder trim command.

Returns

rudder trim command in range from -1.0 - 1.0

Definition at line 274 of file FGFCS.h.

{ return YTrimCmd; }

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Load()

bool Load ( Element *  el )

virtual

Loads the Flight Control System.

Load() is called from FGFDMExec.

Parameters

el	pointer to the Element instance

Returns

true if succesful

Reimplemented from FGModel.

Definition at line 479 of file FGFCS.cpp.

{
  if (document->GetName() == "autopilot") {
    Name = "Autopilot: ";
    systype = stAutoPilot;
  } else if (document->GetName() == "flight_control") {
    Name = "FCS: ";
    systype = stFCS;
  } else if (document->GetName() == "system") {
    Name = "System: ";
    systype = stSystem;
  }

  // Load interface properties from document
  if (!FGModel::Load(document))
    return false;

  Name += document->GetAttributeValue("name");

  Debug(2);

  Element* channel_element = document->FindElement("channel");
  
  while (channel_element) {
  
    FGFCSChannel* newChannel = 0;

    string sOnOffProperty = channel_element->GetAttributeValue("execute");
    string sChannelName = channel_element->GetAttributeValue("name");
    
    int Rate = 0;
    if (!channel_element->GetAttributeValue("execrate").empty())
      Rate = channel_element->GetAttributeValueAsNumber("execrate");

    if (sOnOffProperty.length() > 0) {
      FGPropertyNode* OnOffPropertyNode = PropertyManager->GetNode(sOnOffProperty);
      if (OnOffPropertyNode == 0) {
        cerr << channel_element->ReadFrom() << highint << fgred
             << "The On/Off property, " << sOnOffProperty << " specified for channel "
             << channel_element->GetAttributeValue("name") << " is undefined or not "
             << "understood. The simulation will abort" << reset << endl;
        throw("Bad system definition");
      } else
        newChannel = new FGFCSChannel(this, sChannelName, Rate,
                                      OnOffPropertyNode);
    } else
      newChannel = new FGFCSChannel(this, sChannelName, Rate);

    SystemChannels.push_back(newChannel);

    if (debug_lvl > 0)
      cout << endl << highint << fgblue << "    Channel " 
         << normint << channel_element->GetAttributeValue("name") << reset << endl;
  
    Element* component_element = channel_element->GetElement();
    while (component_element) {
      try {
        if ((component_element->GetName() == string("lag_filter")) ||
            (component_element->GetName() == string("lead_lag_filter")) ||
            (component_element->GetName() == string("washout_filter")) ||
            (component_element->GetName() == string("second_order_filter")) ||
            (component_element->GetName() == string("integrator")) )
        {
          newChannel->Add(new FGFilter(this, component_element));
        } else if ((component_element->GetName() == string("pure_gain")) ||
                   (component_element->GetName() == string("scheduled_gain")) ||
                   (component_element->GetName() == string("aerosurface_scale")))
        {
          newChannel->Add(new FGGain(this, component_element));
        } else if (component_element->GetName() == string("summer")) {
          newChannel->Add(new FGSummer(this, component_element));
        } else if (component_element->GetName() == string("deadband")) {
          newChannel->Add(new FGDeadBand(this, component_element));
        } else if (component_element->GetName() == string("switch")) {
          newChannel->Add(new FGSwitch(this, component_element));
        } else if (component_element->GetName() == string("kinematic")) {
          newChannel->Add(new FGKinemat(this, component_element));
        } else if (component_element->GetName() == string("fcs_function")) {
          newChannel->Add(new FGFCSFunction(this, component_element));
        } else if (component_element->GetName() == string("pid")) {
          newChannel->Add(new FGPID(this, component_element));
        } else if (component_element->GetName() == string("actuator")) {
          newChannel->Add(new FGActuator(this, component_element));
        } else if (component_element->GetName() == string("sensor")) {
          newChannel->Add(new FGSensor(this, component_element));
        } else if (component_element->GetName() == string("accelerometer")) {
          newChannel->Add(new FGAccelerometer(this, component_element));
        } else if (component_element->GetName() == string("magnetometer")) {
          newChannel->Add(new FGMagnetometer(this, component_element));
        } else if (component_element->GetName() == string("gyro")) {
          newChannel->Add(new FGGyro(this, component_element));
        } else if ((component_element->GetName() == string("waypoint_heading")) ||
                   (component_element->GetName() == string("waypoint_distance")))
        {
          newChannel->Add(new FGWaypoint(this, component_element));
        } else if (component_element->GetName() == string("angle")) {
          newChannel->Add(new FGAngles(this, component_element));
        } else if (component_element->GetName() == string("distributor")) {
          newChannel->Add(new FGDistributor(this, component_element));
        } else {
          cerr << "Unknown FCS component: " << component_element->GetName() << endl;
        }
      } catch(string& s) {
        cerr << highint << fgred << endl << "  " << s << endl;
        cerr << reset << endl;
        return false;
      }
      component_element = channel_element->GetNextElement();
    }
    channel_element = document->FindNextElement("channel");
  }

  PostLoad(document, PropertyManager);

  return true;
}

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Run()

bool Run ( bool  Holding )

virtual

Runs the Flight Controls model; called by the Executive Can pass in a value indicating if the executive is directing the simulation to Hold.

Parameters

Holding

if true, the executive has been directed to hold the sim from advancing time. Some models may ignore this flag, such as the Input model, which may need to be active to listen on a socket for the "Resume" command to be given.

Returns

false if no error

Reimplemented from FGModel.

Definition at line 161 of file FGFCS.cpp.

{
  unsigned int i;

  if (FGModel::Run(Holding)) return true; // fast exit if nothing to do
  if (Holding) return false;

  RunPreFunctions();

  for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
  for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
  for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
  for (i=0; i<PropFeather.size(); i++) PropFeather[i] = PropFeatherCmd[i];

  // Execute system channels in order
  for (i=0; i<SystemChannels.size(); i++) {
    if (debug_lvl & 4) cout << "    Executing System Channel: " << SystemChannels[i]->GetName() << endl;
    ChannelRate = SystemChannels[i]->GetRate();
    SystemChannels[i]->Execute();
  }
  ChannelRate = 1;

  RunPostFunctions();

  return false;
}

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SetCBrake()

void SetCBrake ( double  cmd )

inline

Sets the center brake group.

Parameters

cmd	brake setting in percent (0.0 - 1.0)

Definition at line 517 of file FGFCS.h.

{BrakePos[FGLGear::bgCenter] = cmd;}

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SetDaCmd()

void SetDaCmd ( double  cmd )

inline

Sets the aileron command.

Parameters

cmd	aileron command

Definition at line 379 of file FGFCS.h.

{ DaCmd = cmd; }

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SetDaLPos()

void SetDaLPos	(	int	form,
		double	pos
	)

Sets the left aileron position.

Parameters

cmd	left aileron position in radians

Definition at line 190 of file FGFCS.cpp.

{
  switch(form) {
  case ofRad:
    DaLPos[ofRad] = pos;
    DaLPos[ofDeg] = pos*radtodeg;
    break;
  case ofDeg:
    DaLPos[ofRad] = pos*degtorad;
    DaLPos[ofDeg] = pos;
    break;
  case ofNorm:
    DaLPos[ofNorm] = pos;
  }
  DaLPos[ofMag] = fabs(DaLPos[ofRad]);
}

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SetDaRPos()

void SetDaRPos	(	int	form,
		double	pos
	)

Sets the right aileron position.

Parameters

cmd	right aileron position in radians

Definition at line 209 of file FGFCS.cpp.

{
  switch(form) {
  case ofRad:
    DaRPos[ofRad] = pos;
    DaRPos[ofDeg] = pos*radtodeg;
    break;
  case ofDeg:
    DaRPos[ofRad] = pos*degtorad;
    DaRPos[ofDeg] = pos;
    break;
  case ofNorm:
    DaRPos[ofNorm] = pos;
  }
  DaRPos[ofMag] = fabs(DaRPos[ofRad]);
}

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SetDeCmd()

void SetDeCmd ( double  cmd )

inline

Sets the elevator command.

Parameters

cmd	elevator command in percent

Definition at line 383 of file FGFCS.h.

{ DeCmd = cmd; }

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SetDePos()

void SetDePos	(	int	form,
		double	pos
	)

Sets the elevator position.

Parameters

cmd	elevator position in radians

Definition at line 228 of file FGFCS.cpp.

{
  switch(form) {
  case ofRad:
    DePos[ofRad] = pos;
    DePos[ofDeg] = pos*radtodeg;
    break;
  case ofDeg:
    DePos[ofRad] = pos*degtorad;
    DePos[ofDeg] = pos;
    break;
  case ofNorm:
    DePos[ofNorm] = pos;
  }
  DePos[ofMag] = fabs(DePos[ofRad]);
}

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SetDfCmd()

void SetDfCmd ( double  cmd )

inline

Sets the flaps command.

Parameters

cmd	flaps command in percent

Definition at line 395 of file FGFCS.h.

{ DfCmd = cmd; }

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SetDfPos()

void SetDfPos	(	int	form,
		double	pos
	)

Sets the flaps position.

Parameters

cmd	flaps position in radians

Definition at line 266 of file FGFCS.cpp.

{
  switch(form) {
  case ofRad:
    DfPos[ofRad] = pos;
    DfPos[ofDeg] = pos*radtodeg;
    break;
  case ofDeg:
    DfPos[ofRad] = pos*degtorad;
    DfPos[ofDeg] = pos;
    break;
  case ofNorm:
    DfPos[ofNorm] = pos;
  }
  DfPos[ofMag] = fabs(DfPos[ofRad]);
}

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SetDrCmd()

void SetDrCmd ( double  cmd )

inline

Sets the rudder command.

Parameters

cmd	rudder command in percent

Definition at line 387 of file FGFCS.h.

{ DrCmd = cmd; }

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SetDrPos()

void SetDrPos	(	int	form,
		double	pos
	)

Sets the rudder position.

Parameters

cmd	rudder position in radians

Definition at line 247 of file FGFCS.cpp.

{
  switch(form) {
  case ofRad:
    DrPos[ofRad] = pos;
    DrPos[ofDeg] = pos*radtodeg;
    break;
  case ofDeg:
    DrPos[ofRad] = pos*degtorad;
    DrPos[ofDeg] = pos;
    break;
  case ofNorm:
    DrPos[ofNorm] = pos;
  }
  DrPos[ofMag] = fabs(DrPos[ofRad]);
}

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SetDsbCmd()

void SetDsbCmd ( double  cmd )

inline

Sets the speedbrake command.

Parameters

cmd	speedbrake command in percent

Definition at line 399 of file FGFCS.h.

{ DsbCmd = cmd; }

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SetDsbPos()

void SetDsbPos	(	int	form,
		double	pos
	)

Sets the speedbrake position.

Parameters

cmd	speedbrake position in radians

Definition at line 285 of file FGFCS.cpp.

{
  switch(form) {
  case ofRad:
    DsbPos[ofRad] = pos;
    DsbPos[ofDeg] = pos*radtodeg;
    break;
  case ofDeg:
    DsbPos[ofRad] = pos*degtorad;
    DsbPos[ofDeg] = pos;
    break;
  case ofNorm:
    DsbPos[ofNorm] = pos;
  }
  DsbPos[ofMag] = fabs(DsbPos[ofRad]);
}

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SetDsCmd()

void SetDsCmd ( double  cmd )

inline

Sets the steering command.

Parameters

cmd	steering command in percent

Definition at line 391 of file FGFCS.h.

{ fdmex->GetGroundReactions()->SetDsCmd( cmd ); }

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SetDspCmd()

void SetDspCmd ( double  cmd )

inline

Sets the spoilers command.

Parameters

cmd	spoilers command in percent

Definition at line 403 of file FGFCS.h.

{ DspCmd = cmd; }

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SetDspPos()

void SetDspPos	(	int	form,
		double	pos
	)

Sets the spoiler position.

Parameters

cmd	spoiler position in radians

Definition at line 304 of file FGFCS.cpp.

{
  switch(form) {
  case ofRad:
    DspPos[ofRad] = pos;
    DspPos[ofDeg] = pos*radtodeg;
    break;
  case ofDeg:
    DspPos[ofRad] = pos*degtorad;
    DspPos[ofDeg] = pos;
    break;
  case ofNorm:
    DspPos[ofNorm] = pos;
  }
  DspPos[ofMag] = fabs(DspPos[ofRad]);
}

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SetFeatherCmd()

void SetFeatherCmd	(	int	engine,
		bool	cmd
	)

Sets the propeller feather command for the specified engine.

Parameters

engine	engine ID number
cmd	feather (bool)

Definition at line 451 of file FGFCS.cpp.

{
  if (engineNum < (int)ThrottlePos.size()) {
    if (engineNum < 0) {
      for (unsigned int ctr=0; ctr<PropFeatherCmd.size(); ctr++)
        PropFeatherCmd[ctr] = setting;
    } else {
      PropFeatherCmd[engineNum] = setting;
    }
  }
}

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SetGearCmd()

void SetGearCmd ( double  gearcmd )

inline

Set the gear extend/retract command, defaults to down.

Parameters

gear	command 0 for up, 1 for down

Definition at line 429 of file FGFCS.h.

{ GearCmd = gearcmd; }

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SetGearPos()

void SetGearPos ( double  gearpos )

inline

Set the gear extend/retract position, defaults to down.

Parameters

gear	position 0 up, 1 down

Definition at line 484 of file FGFCS.h.

{ GearPos = gearpos; }

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SetLBrake()

void SetLBrake ( double  cmd )

inline

Sets the left brake group.

Parameters

cmd	brake setting in percent (0.0 - 1.0)

Definition at line 509 of file FGFCS.h.

{BrakePos[FGLGear::bgLeft] = cmd;}

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SetMixtureCmd()

void SetMixtureCmd	(	int	engine,
		double	cmd
	)

Sets the mixture command for the specified engine.

Parameters

engine	engine ID number
cmd	normalized mixture command (0.0 - 1.0)

Definition at line 395 of file FGFCS.cpp.

{
  if (engineNum < (int)ThrottlePos.size()) {
    if (engineNum < 0) {
      for (unsigned int ctr=0; ctr<MixtureCmd.size(); ctr++)
        MixtureCmd[ctr] = setting;
    } else {
      MixtureCmd[engineNum] = setting;
    }
  }
}

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SetMixturePos()

void SetMixturePos	(	int	engine,
		double	cmd
	)

Sets the actual mixture setting for the specified engine.

Parameters

engine	engine ID number
cmd	normalized mixture setting (0.0 - 1.0)

Definition at line 409 of file FGFCS.cpp.

{
  if (engineNum < (int)ThrottlePos.size()) {
    if (engineNum < 0) {
      for (unsigned int ctr=0; ctr<MixtureCmd.size(); ctr++)
        MixturePos[ctr] = MixtureCmd[ctr];
    } else {
      MixturePos[engineNum] = setting;
    }
  }
}

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SetPitchTrimCmd()

void SetPitchTrimCmd ( double  cmd )

inline

Sets the pitch trim command.

Parameters

cmd	pitch trim command in percent

Definition at line 407 of file FGFCS.h.

{ PTrimCmd = cmd; }

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SetPropAdvance()

void SetPropAdvance	(	int	engine,
		double	cmd
	)

Sets the actual prop pitch setting for the specified engine.

Parameters

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

Definition at line 437 of file FGFCS.cpp.

{
  if (engineNum < (int)ThrottlePos.size()) {
    if (engineNum < 0) {
      for (unsigned int ctr=0; ctr<PropAdvanceCmd.size(); ctr++)
        PropAdvance[ctr] = PropAdvanceCmd[ctr];
    } else {
      PropAdvance[engineNum] = setting;
    }
  }
}

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SetPropAdvanceCmd()

void SetPropAdvanceCmd	(	int	engine,
		double	cmd
	)

Sets the propeller pitch command for the specified engine.

Parameters

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

Definition at line 423 of file FGFCS.cpp.

{
  if (engineNum < (int)ThrottlePos.size()) {
    if (engineNum < 0) {
      for (unsigned int ctr=0; ctr<PropAdvanceCmd.size(); ctr++)
        PropAdvanceCmd[ctr] = setting;
    } else {
      PropAdvanceCmd[engineNum] = setting;
    }
  }
}

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SetPropFeather()

void SetPropFeather	(	int	engine,
		bool	cmd
	)

Sets the actual prop feather setting for the specified engine.

Parameters

engine	engine ID number
cmd	prop fether setting (bool)

Definition at line 465 of file FGFCS.cpp.

{
  if (engineNum < (int)ThrottlePos.size()) {
    if (engineNum < 0) {
      for (unsigned int ctr=0; ctr<PropFeatherCmd.size(); ctr++)
        PropFeather[ctr] = PropFeatherCmd[ctr];
    } else {
      PropFeather[engineNum] = setting;
    }
  }
}

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SetRBrake()

void SetRBrake ( double  cmd )

inline

Sets the right brake group.

Parameters

cmd	brake setting in percent (0.0 - 1.0)

Definition at line 513 of file FGFCS.h.

{BrakePos[FGLGear::bgRight] = cmd;}

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SetRollTrimCmd()

void SetRollTrimCmd ( double  cmd )

inline

Sets the aileron trim command.

Parameters

cmd	aileron trim command in percent

Definition at line 415 of file FGFCS.h.

{ RTrimCmd = cmd; }

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SetTailhookPos()

void SetTailhookPos ( double  hookpos )

inline

Set the tailhook position.

Parameters

tailhook

position 0 up, 1 down

Definition at line 488 of file FGFCS.h.

{ TailhookPos = hookpos; }

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SetThrottleCmd()

void SetThrottleCmd	(	int	engine,
		double	cmd
	)

Sets the throttle command for the specified engine.

Parameters

engine	engine ID number
cmd	normalized throttle command (0.0 - 1.0)

Definition at line 323 of file FGFCS.cpp.

{
  if (engineNum < (int)ThrottlePos.size()) {
    if (engineNum < 0) {
      for (unsigned int ctr=0; ctr<ThrottleCmd.size(); ctr++)
        ThrottleCmd[ctr] = setting;
    } else {
      ThrottleCmd[engineNum] = setting;
    }
  } else {
    cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
         << " engines exist, but attempted throttle command is for engine "
         << engineNum << endl;
  }
}

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SetThrottlePos()

void SetThrottlePos	(	int	engine,
		double	cmd
	)

Sets the actual throttle setting for the specified engine.

Parameters

engine	engine ID number
cmd	normalized throttle setting (0.0 - 1.0)

Definition at line 341 of file FGFCS.cpp.

{
  if (engineNum < (int)ThrottlePos.size()) {
    if (engineNum < 0) {
      for (unsigned int ctr=0; ctr<ThrottlePos.size(); ctr++)
        ThrottlePos[ctr] = setting;
    } else {
      ThrottlePos[engineNum] = setting;
    }
  } else {
    cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
         << " engines exist, but attempted throttle position setting is for engine "
         << engineNum << endl;
  }
}

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SetWingFoldPos()

void SetWingFoldPos ( double  foldpos )

inline

Set the wing fold position.

Parameters

wing	fold position 0 unfolded, 1 folded

Definition at line 492 of file FGFCS.h.

{ WingFoldPos = foldpos; }

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SetYawTrimCmd()

void SetYawTrimCmd ( double  cmd )

inline

Sets the rudder trim command.

Parameters

cmd	rudder trim command in percent

Definition at line 411 of file FGFCS.h.

{ YTrimCmd = cmd; }

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

• FGFCS.h
• FGFCS.cpp