src/FDM/JSBSim/FGAircraft.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGAircraft.cpp
   4  Author:       Jon S. Berndt
   5  Date started: 12/12/98
   6  Purpose:      Encapsulates an aircraft
   7  Called by:    FGFDMExec
   8
   9  ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------
  10
  11  This program is free software; you can redistribute it and/or modify it under
  12  the terms of the GNU General Public License as published by the Free Software
  13  Foundation; either version 2 of the License, or (at your option) any later
  14  version.
  15
  16  This program is distributed in the hope that it will be useful, but WITHOUT
  17  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  18  FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
  19  details.
  20
  21  You should have received a copy of the GNU General Public License along with
  22  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  23  Place - Suite 330, Boston, MA  02111-1307, USA.
  24
  25  Further information about the GNU General Public License can also be found on
  26  the world wide web at http://www.gnu.org.
  27
  28 FUNCTIONAL DESCRIPTION
  29 --------------------------------------------------------------------------------
  30 Models the aircraft reactions and forces. This class is instantiated by the
  31 FGFDMExec class and scheduled as an FDM entry.
  32
  33 HISTORY
  34 --------------------------------------------------------------------------------
  35 12/12/98   JSB   Created
  36 04/03/99   JSB   Changed Aero() method to correct body axis force calculation
  37                  from wind vector. Fix provided by Tony Peden.
  38 05/03/99   JSB   Changed (for the better?) the way configurations are read in.
  39 9/17/99     TP   Combined force and moment functions. Added aero reference
  40                  point to config file. Added calculations for moments due to
  41                  difference in cg and aero reference point
  42
  43 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  44 COMMENTS, REFERENCES,  and NOTES
  45 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  46
  47 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  48 INCLUDES
  49 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  50
  51 #include <sys/stat.h>
  52 #include <sys/types.h>
  53
  54 #ifdef FGFS
  55 #  ifndef __BORLANDC__
  56 #    include <simgear/compiler.h>
  57 #  endif
  58 #  ifdef SG_HAVE_STD_INCLUDES
  59 #    include <cmath>
  60 #  else
  61 #    include <math.h>
  62 #  endif
  63 #else
  64 #  if defined (sgi) && !defined(__GNUC__)
  65 #    include <math.h>
  66 #  else
  67 #    include <cmath>
  68 #  endif
  69 #endif
  70
  71 #include "FGAircraft.h"
  72 #include "FGMassBalance.h"
  73 #include "FGInertial.h"
  74 #include "FGGroundReactions.h"
  75 #include "FGAerodynamics.h"
  76 #include "FGTranslation.h"
  77 #include "FGRotation.h"
  78 #include "FGAtmosphere.h"
  79 #include "FGState.h"
  80 #include "FGFDMExec.h"
  81 #include "FGFCS.h"
  82 #include "FGPosition.h"
  83 #include "FGAuxiliary.h"
  84 #include "FGOutput.h"
  85 #include "FGPropertyManager.h"
  86
  87 namespace JSBSim {
  88
  89 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  90 DEFINITIONS
  91 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  92
  93 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  94 GLOBAL DATA
  95 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  96
  97 static const char *IdSrc = "$Id$";
  98 static const char *IdHdr = ID_AIRCRAFT;
  99
 100 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 101 CLASS IMPLEMENTATION
 102 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 103
 104 FGAircraft::FGAircraft(FGFDMExec* fdmex) : FGModel(fdmex)
 105 {
 106   Name = "FGAircraft";
 107   WingSpan = 0.0;
 108   HTailArea = VTailArea = 0.0;
 109   HTailArm  = VTailArm  = 0.0;
 110   lbarh = lbarv = 0.0;
 111   vbarh = vbarv = 0.0;
 112   WingIncidence = 0.0;
 113
 114   bind();
 115
 116   Debug(0);
 117 }
 118
 119 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 120
 121 FGAircraft::~FGAircraft()
 122 {
 123   unbind();
 124   Debug(1);
 125 }
 126
 127 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 128
 129 bool FGAircraft::Run(void)
 130 {
 131   if (!FGModel::Run()) {                 // if false then execute this Run()
 132     vForces.InitMatrix();
 133     vForces += Aerodynamics->GetForces();
 134     vForces += Inertial->GetForces();
 135     vForces += Propulsion->GetForces();
 136     vForces += GroundReactions->GetForces();
 137
 138     vMoments.InitMatrix();
 139     vMoments += Aerodynamics->GetMoments();
 140     vMoments += Propulsion->GetMoments();
 141     vMoments += GroundReactions->GetMoments();
 142
 143     vBodyAccel = vForces/MassBalance->GetMass();
 144
 145     vNcg = vBodyAccel/Inertial->gravity();
 146
 147     vNwcg = State->GetTb2s() * vNcg;
 148     vNwcg(3) = -1*vNwcg(3) + 1;
 149
 150     return false;
 151   } else {                               // skip Run() execution this time
 152     return true;
 153   }
 154 }
 155
 156 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 157
 158 float FGAircraft::GetNlf(void)
 159 {
 160   return -1*Aerodynamics->GetvFs(3)/MassBalance->GetWeight();
 161 }
 162
 163 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 164
 165 bool FGAircraft::Load(FGConfigFile* AC_cfg)
 166 {
 167   string token = "";
 168   string parameter;
 169   double EW, bixx, biyy, bizz, bixy, bixz;
 170   double pmWt, pmX, pmY, pmZ;
 171   FGColumnVector3 vbaseXYZcg;
 172
 173   AC_cfg->GetNextConfigLine();
 174
 175   while ((token = AC_cfg->GetValue()) != string("/METRICS")) {
 176     *AC_cfg >> parameter;
 177     if (parameter == "AC_WINGAREA") {
 178       *AC_cfg >> WingArea;
 179       if (debug_lvl > 0) cout << "    WingArea: " << WingArea  << endl;
 180     } else if (parameter == "AC_WINGSPAN") {
 181       *AC_cfg >> WingSpan;
 182       if (debug_lvl > 0) cout << "    WingSpan: " << WingSpan  << endl;
 183     } else if (parameter == "AC_WINGINCIDENCE") {
 184       *AC_cfg >> WingIncidence;
 185       if (debug_lvl > 0) cout << "    Chord: " << cbar << endl;
 186     } else if (parameter == "AC_CHORD") {
 187       *AC_cfg >> cbar;
 188       if (debug_lvl > 0) cout << "    Chord: " << cbar << endl;
 189     } else if (parameter == "AC_HTAILAREA") {
 190       *AC_cfg >> HTailArea;
 191       if (debug_lvl > 0) cout << "    H. Tail Area: " << HTailArea << endl;
 192     } else if (parameter == "AC_HTAILARM") {
 193       *AC_cfg >> HTailArm;
 194       if (debug_lvl > 0) cout << "    H. Tail Arm: " << HTailArm << endl;
 195     } else if (parameter == "AC_VTAILAREA") {
 196       *AC_cfg >> VTailArea;
 197       if (debug_lvl > 0) cout << "    V. Tail Area: " << VTailArea << endl;
 198     } else if (parameter == "AC_VTAILARM") {
 199       *AC_cfg >> VTailArm;
 200       if (debug_lvl > 0) cout << "    V. Tail Arm: " << VTailArm << endl;
 201     } else if (parameter == "AC_IXX") {
 202       *AC_cfg >> bixx;
 203       if (debug_lvl > 0) cout << "    baseIxx: " << bixx << endl;
 204       MassBalance->SetBaseIxx(bixx);
 205     } else if (parameter == "AC_IYY") {
 206       *AC_cfg >> biyy;
 207       if (debug_lvl > 0) cout << "    baseIyy: " << biyy << endl;
 208       MassBalance->SetBaseIyy(biyy);
 209     } else if (parameter == "AC_IZZ") {
 210       *AC_cfg >> bizz;
 211       if (debug_lvl > 0) cout << "    baseIzz: " << bizz << endl;
 212       MassBalance->SetBaseIzz(bizz);
 213     } else if (parameter == "AC_IXY") {
 214       *AC_cfg >> bixy;
 215       if (debug_lvl > 0) cout << "    baseIxy: " << bixy  << endl;
 216       MassBalance->SetBaseIxy(bixy);
 217     } else if (parameter == "AC_IXZ") {
 218       *AC_cfg >> bixz;
 219       if (debug_lvl > 0) cout << "    baseIxz: " << bixz  << endl;
 220       MassBalance->SetBaseIxz(bixz);
 221     } else if (parameter == "AC_EMPTYWT") {
 222       *AC_cfg >> EW;
 223       MassBalance->SetEmptyWeight(EW);
 224       if (debug_lvl > 0) cout << "    EmptyWeight: " << EW  << endl;
 225     } else if (parameter == "AC_CGLOC") {
 226       *AC_cfg >> vbaseXYZcg(eX) >> vbaseXYZcg(eY) >> vbaseXYZcg(eZ);
 227       MassBalance->SetBaseCG(vbaseXYZcg);
 228       if (debug_lvl > 0) cout << "    CG (x, y, z): " << vbaseXYZcg << endl;
 229     } else if (parameter == "AC_EYEPTLOC") {
 230       *AC_cfg >> vXYZep(eX) >> vXYZep(eY) >> vXYZep(eZ);
 231       if (debug_lvl > 0) cout << "    Eyepoint (x, y, z): " << vXYZep << endl;
 232     } else if (parameter == "AC_AERORP") {
 233       *AC_cfg >> vXYZrp(eX) >> vXYZrp(eY) >> vXYZrp(eZ);
 234       if (debug_lvl > 0) cout << "    Ref Pt (x, y, z): " << vXYZrp << endl;
 235     } else if (parameter == "AC_VRP") {
 236       *AC_cfg >> vXYZvrp(eX) >> vXYZvrp(eY) >> vXYZvrp(eZ);
 237       if (debug_lvl > 0) cout << "    Visual Ref Pt (x, y, z): " << vXYZvrp << endl;
 238       Position->SetVRP(vXYZvrp);
 239     } else if (parameter == "AC_POINTMASS") {
 240       *AC_cfg >> pmWt >> pmX >> pmY >> pmZ;
 241       MassBalance->AddPointMass(pmWt, pmX, pmY, pmZ);
 242       if (debug_lvl > 0) cout << "    Point Mass Object: " << pmWt << " lbs. at "
 243                          << "X, Y, Z (in.): " << pmX << "  " << pmY << "  " << pmZ
 244                          << endl;
 245     }
 246   }
 247
 248   // calculate some derived parameters
 249   if (cbar != 0.0) {
 250     lbarh = HTailArm/cbar;
 251     lbarv = VTailArm/cbar;
 252     if (WingArea != 0.0) {
 253       vbarh = HTailArm*HTailArea / (cbar*WingArea);
 254       vbarv = VTailArm*VTailArea / (cbar*WingArea);
 255     }
 256   }
 257   return true;
 258 }
 259
 260 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 261
 262 void FGAircraft::bind(void)
 263 {
 264   typedef double (FGAircraft::*PMF)(int) const;
 265   PropertyManager->Tie("metrics/Sw-sqft", this,
 266                        &FGAircraft::GetWingArea);
 267   PropertyManager->Tie("metrics/bw-ft", this,
 268                        &FGAircraft::GetWingSpan);
 269   PropertyManager->Tie("metrics/cbarw-ft", this,
 270                        &FGAircraft::Getcbar);
 271   PropertyManager->Tie("metrics/iw-deg", this,
 272                        &FGAircraft::GetWingIncidence);
 273   PropertyManager->Tie("metrics/Sh-sqft", this,
 274                        &FGAircraft::GetHTailArea);
 275   PropertyManager->Tie("metrics/lh-ft", this,
 276                        &FGAircraft::GetHTailArm);
 277   PropertyManager->Tie("metrics/Sv-sqft", this,
 278                        &FGAircraft::GetVTailArea);
 279   PropertyManager->Tie("metrics/lv-ft", this,
 280                        &FGAircraft::GetVTailArm);
 281   PropertyManager->Tie("metrics/lh-norm", this,
 282                        &FGAircraft::Getlbarh);
 283   PropertyManager->Tie("metrics/lv-norm", this,
 284                        &FGAircraft::Getlbarv);
 285   PropertyManager->Tie("metrics/vbarh-norm", this,
 286                        &FGAircraft::Getvbarh);
 287   PropertyManager->Tie("metrics/vbarv-norm", this,
 288                        &FGAircraft::Getvbarv);
 289   PropertyManager->Tie("moments/l-total-lbsft", this,1,
 290                        (PMF)&FGAircraft::GetMoments);
 291   PropertyManager->Tie("moments/m-total-lbsft", this,2,
 292                        (PMF)&FGAircraft::GetMoments);
 293   PropertyManager->Tie("moments/n-total-lbsft", this,3,
 294                        (PMF)&FGAircraft::GetMoments);
 295   PropertyManager->Tie("forces/fbx-total-lbs", this,1,
 296                        (PMF)&FGAircraft::GetForces);
 297   PropertyManager->Tie("forces/fby-total-lbs", this,2,
 298                        (PMF)&FGAircraft::GetForces);
 299   PropertyManager->Tie("forces/fbz-total-lbs", this,3,
 300                        (PMF)&FGAircraft::GetForces);
 301   PropertyManager->Tie("metrics/aero-rp-x-ft", this,1,
 302                        (PMF)&FGAircraft::GetXYZrp);
 303   PropertyManager->Tie("metrics/aero-rp-y-ft", this,2,
 304                        (PMF)&FGAircraft::GetXYZrp);
 305   PropertyManager->Tie("metrics/aero-rp-z-ft", this,3,
 306                        (PMF)&FGAircraft::GetXYZrp);
 307   PropertyManager->Tie("metrics/eyepoint-x-ft", this,1,
 308                        (PMF)&FGAircraft::GetXYZep);
 309   PropertyManager->Tie("metrics/eyepoint-y-ft", this,2,
 310                        (PMF)&FGAircraft::GetXYZep);
 311   PropertyManager->Tie("metrics/eyepoint-z-ft", this,3,
 312                        (PMF)&FGAircraft::GetXYZep);
 313   PropertyManager->Tie("metrics/visualrefpoint-x-in", this,1,
 314                        (PMF)&FGAircraft::GetXYZvrp);
 315   PropertyManager->Tie("metrics/visualrefpoint-y-in", this,2,
 316                        (PMF)&FGAircraft::GetXYZvrp);
 317   PropertyManager->Tie("metrics/visualrefpoint-z-in", this,3,
 318                        (PMF)&FGAircraft::GetXYZvrp);
 319 }
 320
 321 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 322
 323 void FGAircraft::unbind(void)
 324 {
 325   PropertyManager->Untie("metrics/Sw-sqft");
 326   PropertyManager->Untie("metrics/bw-ft");
 327   PropertyManager->Untie("metrics/cbarw-ft");
 328   PropertyManager->Untie("metrics/iw-deg");
 329   PropertyManager->Untie("metrics/Sh-sqft");
 330   PropertyManager->Untie("metrics/lh-ft");
 331   PropertyManager->Untie("metrics/Sv-sqft");
 332   PropertyManager->Untie("metrics/lv-ft");
 333   PropertyManager->Untie("metrics/lh-norm");
 334   PropertyManager->Untie("metrics/lv-norm");
 335   PropertyManager->Untie("metrics/vbarh-norm");
 336   PropertyManager->Untie("metrics/vbarv-norm");
 337   PropertyManager->Untie("moments/l-total-lbsft");
 338   PropertyManager->Untie("moments/m-total-lbsft");
 339   PropertyManager->Untie("moments/n-total-lbsft");
 340   PropertyManager->Untie("forces/fbx-total-lbs");
 341   PropertyManager->Untie("forces/fby-total-lbs");
 342   PropertyManager->Untie("forces/fbz-total-lbs");
 343   PropertyManager->Untie("metrics/aero-rp-x-ft");
 344   PropertyManager->Untie("metrics/aero-rp-y-ft");
 345   PropertyManager->Untie("metrics/aero-rp-z-ft");
 346   PropertyManager->Untie("metrics/eyepoint-x-ft");
 347   PropertyManager->Untie("metrics/eyepoint-y-ft");
 348   PropertyManager->Untie("metrics/eyepoint-z-ft");
 349   PropertyManager->Untie("metrics/visualrefpoint-x-in");
 350   PropertyManager->Untie("metrics/visualrefpoint-y-in");
 351   PropertyManager->Untie("metrics/visualrefpoint-z-in");
 352 }
 353
 354 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 355 //    The bitmasked value choices are as follows:
 356 //    unset: In this case (the default) JSBSim would only print
 357 //       out the normally expected messages, essentially echoing
 358 //       the config files as they are read. If the environment
 359 //       variable is not set, debug_lvl is set to 1 internally
 360 //    0: This requests JSBSim not to output any messages
 361 //       whatsoever.
 362 //    1: This value explicity requests the normal JSBSim
 363 //       startup messages
 364 //    2: This value asks for a message to be printed out when
 365 //       a class is instantiated
 366 //    4: When this value is set, a message is displayed when a
 367 //       FGModel object executes its Run() method
 368 //    8: When this value is set, various runtime state variables
 369 //       are printed out periodically
 370 //    16: When set various parameters are sanity checked and
 371 //       a message is printed out when they go out of bounds
 372
 373 void FGAircraft::Debug(int from)
 374 {
 375   if (debug_lvl <= 0) return;
 376
 377   if (debug_lvl & 1) { // Standard console startup message output
 378     if (from == 0) { // Constructor
 379     }
 380   }
 381   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 382     if (from == 0) cout << "Instantiated: FGAircraft" << endl;
 383     if (from == 1) cout << "Destroyed:    FGAircraft" << endl;
 384   }
 385   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 386   }
 387   if (debug_lvl & 8 ) { // Runtime state variables
 388   }
 389   if (debug_lvl & 16) { // Sanity checking
 390   }
 391   if (debug_lvl & 64) {
 392     if (from == 0) { // Constructor
 393       cout << IdSrc << endl;
 394       cout << IdHdr << endl;
 395     }
 396   }
 397 }
 398
 399 } // namespace JSBSim