src/FDM/JSBSim/FGAerodynamics.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGAerodynamics.cpp
   4  Author:       Jon S. Berndt
   5  Date started: 09/13/00
   6  Purpose:      Encapsulates the aerodynamic forces (gear and collision)
   7
   8  ------------- Copyright (C) 2000  Jon S. Berndt (jsb@hal-pc.org) -------------
   9
  10  This program is free software; you can redistribute it and/or modify it under
  11  the terms of the GNU General Public License as published by the Free Software
  12  Foundation; either version 2 of the License, or (at your option) any later
  13  version.
  14
  15  This program is distributed in the hope that it will be useful, but WITHOUT
  16  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  17  FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
  18  details.
  19
  20  You should have received a copy of the GNU General Public License along with
  21  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  22  Place - Suite 330, Boston, MA  02111-1307, USA.
  23
  24  Further information about the GNU General Public License can also be found on
  25  the world wide web at http://www.gnu.org.
  26
  27 FUNCTIONAL DESCRIPTION
  28 --------------------------------------------------------------------------------
  29
  30 HISTORY
  31 --------------------------------------------------------------------------------
  32 09/13/00   JSB   Created
  33 04/22/01   JSB   Moved code into here from FGAircraft
  34
  35 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  36 INCLUDES
  37 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  38
  39 #include "FGAerodynamics.h"
  40 #include "FGFactorGroup.h"
  41 #include "FGCoefficient.h"
  42 #include "FGPropertyManager.h"
  43
  44 static const char *IdSrc = "$Id$";
  45 static const char *IdHdr = ID_AERODYNAMICS;
  46
  47 const unsigned NAxes=6;
  48 const char* AxisNames[] = { "drag", "side-force", "lift", "rolling-moment",
  49                             "pitching-moment","yawing-moment" };
  50
  51 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  52 CLASS IMPLEMENTATION
  53 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  54
  55
  56 FGAerodynamics::FGAerodynamics(FGFDMExec* FDMExec) : FGModel(FDMExec)
  57 {
  58   Name = "FGAerodynamics";
  59
  60   AxisIdx["DRAG"]  = 0;
  61   AxisIdx["SIDE"]  = 1;
  62   AxisIdx["LIFT"]  = 2;
  63   AxisIdx["ROLL"]  = 3;
  64   AxisIdx["PITCH"] = 4;
  65   AxisIdx["YAW"]   = 5;
  66
  67   Coeff = new CoeffArray[6];
  68
  69   clsq=lod=0;
  70
  71   bind();
  72
  73   Debug(0);
  74 }
  75
  76 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  77
  78 FGAerodynamics::~FGAerodynamics()
  79 {
  80   unsigned int i,j;
  81
  82   unbind();
  83
  84   for (i=0; i<6; i++) {
  85     for (j=0; j<Coeff[i].size(); j++) {
  86       delete Coeff[i][j];
  87     }
  88   }
  89   delete[] Coeff;
  90
  91   Debug(1);
  92 }
  93
  94 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  95
  96 bool FGAerodynamics::Run(void)
  97 {
  98   unsigned int axis_ctr,ctr;
  99
 100   if (!FGModel::Run()) {
 101
 102     vLastFs = vFs;
 103     vFs.InitMatrix();
 104
 105     for (axis_ctr = 0; axis_ctr < 3; axis_ctr++) {
 106       for (ctr=0; ctr < Coeff[axis_ctr].size(); ctr++) {
 107         //Coeff[axis_ctr][ctr]->Run();
 108         vFs(axis_ctr+1) += Coeff[axis_ctr][ctr]->TotalValue();
 109         //cout << Coeff[axis_ctr][ctr]->Getname() << "= "
 110         //     << Coeff[axis_ctr][ctr]->TotalValue() << endl;
 111       }
 112     }
 113     //correct signs of drag and lift to wind axes convention
 114     //positive forward, right, down
 115     if ( Translation->Getqbar() > 0) {
 116       clsq = vFs(eLift) / (Aircraft->GetWingArea()*Translation->Getqbar());
 117       clsq *= clsq;
 118     }
 119     if ( vFs(eDrag)  > 0) {
 120       lod = vFs(eLift) / vFs(eDrag);
 121     }
 122
 123     //correct signs of drag and lift to wind axes convention
 124     //positive forward, right, down
 125     vFs(eDrag)*=-1; vFs(eLift)*=-1;
 126     //cout << "Aircraft::vFs: " << vFs << endl;
 127     vForces = State->GetTs2b()*vFs;
 128
 129     vDXYZcg(eX) = -(Aircraft->GetXYZrp(eX)
 130                       - MassBalance->GetXYZcg(eX))*inchtoft;
 131     vDXYZcg(eY) =  (Aircraft->GetXYZrp(eY)
 132                       - MassBalance->GetXYZcg(eY))*inchtoft;
 133     vDXYZcg(eZ) = -(Aircraft->GetXYZrp(eZ)
 134                       - MassBalance->GetXYZcg(eZ))*inchtoft;
 135
 136     vMoments = vDXYZcg*vForces; // M = r X F
 137
 138     for (axis_ctr = 0; axis_ctr < 3; axis_ctr++) {
 139       for (ctr = 0; ctr < Coeff[axis_ctr+3].size(); ctr++) {
 140         //Coeff[axis_ctr+3][ctr]->Run();
 141         vMoments(axis_ctr+1) += Coeff[axis_ctr+3][ctr]->TotalValue();
 142       }
 143     }
 144     return false;
 145   } else {
 146     return true;
 147   }
 148 }
 149
 150 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 151
 152 bool FGAerodynamics::Load(FGConfigFile* AC_cfg)
 153 {
 154   string token, axis;
 155
 156   AC_cfg->GetNextConfigLine();
 157
 158   while ((token = AC_cfg->GetValue()) != string("/AERODYNAMICS")) {
 159     if (token == "AXIS") {
 160       CoeffArray ca;
 161       axis = AC_cfg->GetValue("NAME");
 162       AC_cfg->GetNextConfigLine();
 163       while ((token = AC_cfg->GetValue()) != string("/AXIS")) {
 164         if ( token == "COEFFICIENT" ) {
 165           ca.push_back( new FGCoefficient(FDMExec) );
 166           ca.back()->Load(AC_cfg);
 167         } else if ( token == "GROUP" ) {
 168           ca.push_back( new FGFactorGroup(FDMExec) );
 169           ca.back()->Load(AC_cfg);
 170         }
 171       }
 172       Coeff[AxisIdx[axis]] = ca;
 173       AC_cfg->GetNextConfigLine();
 174     }
 175   }
 176
 177   bindModel();
 178
 179   return true;
 180 }
 181
 182 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 183
 184 string FGAerodynamics::GetCoefficientStrings(void)
 185 {
 186   string CoeffStrings = "";
 187   bool firstime = true;
 188   unsigned int axis, sd;
 189
 190   for (axis = 0; axis < 6; axis++) {
 191     for (sd = 0; sd < Coeff[axis].size(); sd++) {
 192       if (firstime) {
 193         firstime = false;
 194       } else {
 195         CoeffStrings += ", ";
 196       }
 197       CoeffStrings += Coeff[axis][sd]->GetCoefficientStrings();
 198     }
 199   }
 200   return CoeffStrings;
 201 }
 202
 203 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 204
 205 string FGAerodynamics::GetCoefficientValues(void)
 206 {
 207   string SDValues = "";
 208   bool firstime = true;
 209
 210   for (unsigned int axis = 0; axis < 6; axis++) {
 211     for (unsigned int sd = 0; sd < Coeff[axis].size(); sd++) {
 212       if (firstime) {
 213         firstime = false;
 214       } else {
 215         SDValues += ", ";
 216       }
 217       SDValues += Coeff[axis][sd]->GetCoefficientValues();
 218     }
 219   }
 220
 221   return SDValues;
 222 }
 223
 224 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 225
 226 void FGAerodynamics::bind(void)
 227 {
 228   typedef double (FGAerodynamics::*PMF)(int) const;
 229
 230   PropertyManager->Tie("forces/fbx-aero-lbs", this,1,
 231                        (PMF)&FGAerodynamics::GetForces);
 232   PropertyManager->Tie("forces/fby-aero-lbs", this,2,
 233                        (PMF)&FGAerodynamics::GetForces);
 234   PropertyManager->Tie("forces/fbz-aero-lbs", this,3,
 235                        (PMF)&FGAerodynamics::GetForces);
 236   PropertyManager->Tie("moments/l-aero-lbsft", this,1,
 237                        (PMF)&FGAerodynamics::GetMoments);
 238   PropertyManager->Tie("moments/m-aero-lbsft", this,2,
 239                        (PMF)&FGAerodynamics::GetMoments);
 240   PropertyManager->Tie("moments/n-aero-lbsft", this,3,
 241                        (PMF)&FGAerodynamics::GetMoments);
 242   PropertyManager->Tie("forces/fwx-aero-lbs", this,1,
 243                        (PMF)&FGAerodynamics::GetvFs);
 244   PropertyManager->Tie("forces/fwy-aero-lbs", this,2,
 245                        (PMF)&FGAerodynamics::GetvFs);
 246   PropertyManager->Tie("forces/fwz-aero-lbs", this,3,
 247                        (PMF)&FGAerodynamics::GetvFs);
 248   PropertyManager->Tie("forces/lod-norm", this,
 249                        &FGAerodynamics::GetLoD);
 250   PropertyManager->Tie("aero/cl-squared-norm", this,
 251                        &FGAerodynamics::GetClSquared);
 252 }
 253
 254 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 255
 256 void FGAerodynamics::bindModel(void)
 257 {
 258   unsigned i,j;
 259   FGPropertyManager* node;
 260   string axis_node_name;
 261   node = PropertyManager->GetNode("aero/buildup",true);
 262   for (i=0;i<NAxes;i++) {
 263      node = node->GetNode( string(AxisNames[i]),true );
 264      for (j=0; j < Coeff[i].size(); j++) {
 265        Coeff[i][j]->bind(node);
 266      }
 267      node = (FGPropertyManager*)node->getParent();
 268   }
 269 }
 270
 271 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 272
 273 void FGAerodynamics::unbind(void)
 274 {
 275   unsigned i,j;
 276
 277   PropertyManager->Untie("forces/fbx-aero-lbs");
 278   PropertyManager->Untie("forces/fby-aero-lbs");
 279   PropertyManager->Untie("forces/fbz-aero-lbs");
 280   PropertyManager->Untie("moments/l-aero-lbsft");
 281   PropertyManager->Untie("moments/m-aero-lbsft");
 282   PropertyManager->Untie("moments/n-aero-lbsft");
 283   PropertyManager->Untie("forces/fwx-aero-lbs");
 284   PropertyManager->Untie("forces/fwy-aero-lbs");
 285   PropertyManager->Untie("forces/fwz-aero-lbs");
 286   PropertyManager->Untie("forces/lod-norm");
 287   PropertyManager->Untie("aero/cl-squared-norm");
 288
 289   for ( i=0; i<NAxes; i++ ) {
 290      for ( j=0; j < Coeff[i].size(); j++ ) {
 291        Coeff[i][j]->unbind();
 292
 293      }
 294   }
 295 }
 296
 297 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 298 //    The bitmasked value choices are as follows:
 299 //    unset: In this case (the default) JSBSim would only print
 300 //       out the normally expected messages, essentially echoing
 301 //       the config files as they are read. If the environment
 302 //       variable is not set, debug_lvl is set to 1 internally
 303 //    0: This requests JSBSim not to output any messages
 304 //       whatsoever.
 305 //    1: This value explicity requests the normal JSBSim
 306 //       startup messages
 307 //    2: This value asks for a message to be printed out when
 308 //       a class is instantiated
 309 //    4: When this value is set, a message is displayed when a
 310 //       FGModel object executes its Run() method
 311 //    8: When this value is set, various runtime state variables
 312 //       are printed out periodically
 313 //    16: When set various parameters are sanity checked and
 314 //       a message is printed out when they go out of bounds
 315
 316 void FGAerodynamics::Debug(int from)
 317 {
 318   if (debug_lvl <= 0) return;
 319
 320   if (debug_lvl & 1) { // Standard console startup message output
 321     if (from == 0) { // Constructor
 322
 323     }
 324   }
 325   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 326     if (from == 0) cout << "Instantiated: FGAerodynamics" << endl;
 327     if (from == 1) cout << "Destroyed:    FGAerodynamics" << endl;
 328   }
 329   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 330   }
 331   if (debug_lvl & 8 ) { // Runtime state variables
 332   }
 333   if (debug_lvl & 16) { // Sanity checking
 334   }
 335   if (debug_lvl & 64) {
 336     if (from == 0) { // Constructor
 337       cout << IdSrc << endl;
 338       cout << IdHdr << endl;
 339     }
 340   }
 341 }
 342