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Adds a basic FDM model for LaRCsim debugging purposes.
[flightgear.git] / 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_POINTMASS") {
236       *AC_cfg >> pmWt >> pmX >> pmY >> pmZ;
237       MassBalance->AddPointMass(pmWt, pmX, pmY, pmZ);
238       if (debug_lvl > 0) cout << "    Point Mass Object: " << pmWt << " lbs. at "
239                          << "X, Y, Z (in.): " << pmX << "  " << pmY << "  " << pmZ
240                          << endl;
241     }
242   }
243   
244   // calculate some derived parameters
245   if (cbar != 0.0) {
246     lbarh = HTailArm/cbar;
247     lbarv = VTailArm/cbar;
248     if (WingArea != 0.0) {
249       vbarh = HTailArm*HTailArea / (cbar*WingArea);
250       vbarv = VTailArm*VTailArea / (cbar*WingArea);
251     }
252   }     
253   return true;
254 }
255
256 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
257
258 void FGAircraft::bind(void)
259 {
260   typedef double (FGAircraft::*PMF)(int) const;
261   PropertyManager->Tie("metrics/Sw-sqft", this,
262                        &FGAircraft::GetWingArea);
263   PropertyManager->Tie("metrics/bw-ft", this,
264                        &FGAircraft::GetWingSpan);
265   PropertyManager->Tie("metrics/cbarw-ft", this,
266                        &FGAircraft::Getcbar);
267   PropertyManager->Tie("metrics/iw-deg", this,
268                        &FGAircraft::GetWingIncidence);
269   PropertyManager->Tie("metrics/Sh-sqft", this,
270                        &FGAircraft::GetHTailArea);
271   PropertyManager->Tie("metrics/lh-ft", this,
272                        &FGAircraft::GetHTailArm);
273   PropertyManager->Tie("metrics/Sv-sqft", this,
274                        &FGAircraft::GetVTailArea);
275   PropertyManager->Tie("metrics/lv-ft", this,
276                        &FGAircraft::GetVTailArm);
277   PropertyManager->Tie("metrics/lh-norm", this,
278                        &FGAircraft::Getlbarh);
279   PropertyManager->Tie("metrics/lv-norm", this,
280                        &FGAircraft::Getlbarv);
281   PropertyManager->Tie("metrics/vbarh-norm", this,
282                        &FGAircraft::Getvbarh);
283   PropertyManager->Tie("metrics/vbarv-norm", this,
284                        &FGAircraft::Getvbarv);
285   PropertyManager->Tie("moments/l-total-lbsft", this,1,
286                        (PMF)&FGAircraft::GetMoments);
287   PropertyManager->Tie("moments/m-total-lbsft", this,2,
288                        (PMF)&FGAircraft::GetMoments);
289   PropertyManager->Tie("moments/n-total-lbsft", this,3,
290                        (PMF)&FGAircraft::GetMoments);
291   PropertyManager->Tie("forces/fbx-total-lbs", this,1,
292                        (PMF)&FGAircraft::GetForces);
293   PropertyManager->Tie("forces/fby-total-lbs", this,2,
294                        (PMF)&FGAircraft::GetForces);
295   PropertyManager->Tie("forces/fbz-total-lbs", this,3,
296                        (PMF)&FGAircraft::GetForces);
297   PropertyManager->Tie("metrics/aero-rp-x-ft", this,1,
298                        (PMF)&FGAircraft::GetXYZrp);
299   PropertyManager->Tie("metrics/aero-rp-y-ft", this,2,
300                        (PMF)&FGAircraft::GetXYZrp);
301   PropertyManager->Tie("metrics/aero-rp-z-ft", this,3,
302                        (PMF)&FGAircraft::GetXYZrp);
303   PropertyManager->Tie("metrics/eyepoint-x-ft", this,1,
304                        (PMF)&FGAircraft::GetXYZep);
305   PropertyManager->Tie("metrics/eyepoint-y-ft", this,2,
306                        (PMF)&FGAircraft::GetXYZep);
307   PropertyManager->Tie("metrics/eyepoint-z-ft", this,3,
308                        (PMF)&FGAircraft::GetXYZep);
309 }
310
311 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
312
313 void FGAircraft::unbind(void)
314 {
315   PropertyManager->Untie("metrics/Sw-sqft");
316   PropertyManager->Untie("metrics/bw-ft");
317   PropertyManager->Untie("metrics/cbarw-ft");
318   PropertyManager->Untie("metrics/iw-deg");
319   PropertyManager->Untie("metrics/Sh-sqft");
320   PropertyManager->Untie("metrics/lh-ft");
321   PropertyManager->Untie("metrics/Sv-sqft");
322   PropertyManager->Untie("metrics/lv-ft");
323   PropertyManager->Untie("metrics/lh-norm");
324   PropertyManager->Untie("metrics/lv-norm");
325   PropertyManager->Untie("metrics/vbarh-norm");
326   PropertyManager->Untie("metrics/vbarv-norm");
327   PropertyManager->Untie("moments/l-total-lbsft");
328   PropertyManager->Untie("moments/m-total-lbsft");
329   PropertyManager->Untie("moments/n-total-lbsft");
330   PropertyManager->Untie("forces/fbx-total-lbs");
331   PropertyManager->Untie("forces/fby-total-lbs");
332   PropertyManager->Untie("forces/fbz-total-lbs");
333   PropertyManager->Untie("metrics/aero-rp-x-ft");
334   PropertyManager->Untie("metrics/aero-rp-y-ft");
335   PropertyManager->Untie("metrics/aero-rp-z-ft");
336   PropertyManager->Untie("metrics/eyepoint-x-ft");
337   PropertyManager->Untie("metrics/eyepoint-y-ft");
338   PropertyManager->Untie("metrics/eyepoint-z-ft");
339 }
340
341 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
342 //    The bitmasked value choices are as follows:
343 //    unset: In this case (the default) JSBSim would only print
344 //       out the normally expected messages, essentially echoing
345 //       the config files as they are read. If the environment
346 //       variable is not set, debug_lvl is set to 1 internally
347 //    0: This requests JSBSim not to output any messages
348 //       whatsoever.
349 //    1: This value explicity requests the normal JSBSim
350 //       startup messages
351 //    2: This value asks for a message to be printed out when
352 //       a class is instantiated
353 //    4: When this value is set, a message is displayed when a
354 //       FGModel object executes its Run() method
355 //    8: When this value is set, various runtime state variables
356 //       are printed out periodically
357 //    16: When set various parameters are sanity checked and
358 //       a message is printed out when they go out of bounds
359
360 void FGAircraft::Debug(int from)
361 {
362   if (debug_lvl <= 0) return;
363
364   if (debug_lvl & 1) { // Standard console startup message output
365     if (from == 0) { // Constructor
366     }
367   }
368   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
369     if (from == 0) cout << "Instantiated: FGAircraft" << endl;
370     if (from == 1) cout << "Destroyed:    FGAircraft" << endl;
371   }
372   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
373   }
374   if (debug_lvl & 8 ) { // Runtime state variables
375   }
376   if (debug_lvl & 16) { // Sanity checking
377   }
378   if (debug_lvl & 64) {
379     if (from == 0) { // Constructor
380       cout << IdSrc << endl;
381       cout << IdHdr << endl;
382     }
383   }
384 }
385
386 } // namespace JSBSim