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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   HTailArea = VTailArea = 0.0;
108   HTailArm  = VTailArm  = 0.0;
109   lbarh = lbarv = 0.0;
110   vbarh = vbarv = 0.0;
111   WingIncidence = 0.0;
112
113   bind();
114
115   Debug(0);
116 }
117
118 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
119
120 FGAircraft::~FGAircraft()
121 {
122   unbind();
123   Debug(1);
124 }
125
126 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
127
128 bool FGAircraft::Run(void)
129 {
130   if (!FGModel::Run()) {                 // if false then execute this Run()
131     vForces.InitMatrix();
132     vForces += Aerodynamics->GetForces();
133     vForces += Inertial->GetForces();
134     vForces += Propulsion->GetForces();
135     vForces += GroundReactions->GetForces();
136
137     vMoments.InitMatrix();
138     vMoments += Aerodynamics->GetMoments();
139     vMoments += Propulsion->GetMoments();
140     vMoments += GroundReactions->GetMoments();
141     
142     vBodyAccel = vForces/MassBalance->GetMass();
143     
144     vNcg = vBodyAccel/Inertial->gravity();
145
146     vNwcg = State->GetTb2s() * vNcg;
147     vNwcg(3) = -1*vNwcg(3) + 1;
148     
149     return false;
150   } else {                               // skip Run() execution this time
151     return true;
152   }
153 }
154
155 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
156
157 float FGAircraft::GetNlf(void)
158 {
159   return -1*Aerodynamics->GetvFs(3)/MassBalance->GetWeight();
160 }
161
162 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
163
164 bool FGAircraft::Load(FGConfigFile* AC_cfg)
165 {
166   string token = "";
167   string parameter;
168   double EW, bixx, biyy, bizz, bixy, bixz;
169   double pmWt, pmX, pmY, pmZ;
170   FGColumnVector3 vbaseXYZcg;
171
172   AC_cfg->GetNextConfigLine();
173
174   while ((token = AC_cfg->GetValue()) != string("/METRICS")) {
175     *AC_cfg >> parameter;
176     if (parameter == "AC_WINGAREA") {
177       *AC_cfg >> WingArea;
178       if (debug_lvl > 0) cout << "    WingArea: " << WingArea  << endl;
179     } else if (parameter == "AC_WINGSPAN") {
180       *AC_cfg >> WingSpan;
181       if (debug_lvl > 0) cout << "    WingSpan: " << WingSpan  << endl;
182     } else if (parameter == "AC_WINGINCIDENCE") {
183       *AC_cfg >> WingIncidence;
184       if (debug_lvl > 0) cout << "    Chord: " << cbar << endl;
185     } else if (parameter == "AC_CHORD") {
186       *AC_cfg >> cbar;
187       if (debug_lvl > 0) cout << "    Chord: " << cbar << endl;
188     } else if (parameter == "AC_HTAILAREA") {
189       *AC_cfg >> HTailArea;
190       if (debug_lvl > 0) cout << "    H. Tail Area: " << HTailArea << endl;
191     } else if (parameter == "AC_HTAILARM") {
192       *AC_cfg >> HTailArm;
193       if (debug_lvl > 0) cout << "    H. Tail Arm: " << HTailArm << endl;
194     } else if (parameter == "AC_VTAILAREA") {
195       *AC_cfg >> VTailArea;
196       if (debug_lvl > 0) cout << "    V. Tail Area: " << VTailArea << endl;
197     } else if (parameter == "AC_VTAILARM") {
198       *AC_cfg >> VTailArm;
199       if (debug_lvl > 0) cout << "    V. Tail Arm: " << VTailArm << endl;
200     } else if (parameter == "AC_IXX") {
201       *AC_cfg >> bixx;
202       if (debug_lvl > 0) cout << "    baseIxx: " << bixx << endl;
203       MassBalance->SetBaseIxx(bixx);
204     } else if (parameter == "AC_IYY") {
205       *AC_cfg >> biyy;
206       if (debug_lvl > 0) cout << "    baseIyy: " << biyy << endl;
207       MassBalance->SetBaseIyy(biyy);
208     } else if (parameter == "AC_IZZ") {
209       *AC_cfg >> bizz;
210       if (debug_lvl > 0) cout << "    baseIzz: " << bizz << endl;
211       MassBalance->SetBaseIzz(bizz);
212     } else if (parameter == "AC_IXY") {
213       *AC_cfg >> bixy;
214       if (debug_lvl > 0) cout << "    baseIxy: " << bixy  << endl;
215       MassBalance->SetBaseIxy(bixy);
216     } else if (parameter == "AC_IXZ") {
217       *AC_cfg >> bixz;
218       if (debug_lvl > 0) cout << "    baseIxz: " << bixz  << endl;
219       MassBalance->SetBaseIxz(bixz);
220     } else if (parameter == "AC_EMPTYWT") {
221       *AC_cfg >> EW;
222       MassBalance->SetEmptyWeight(EW);
223       if (debug_lvl > 0) cout << "    EmptyWeight: " << EW  << endl;
224     } else if (parameter == "AC_CGLOC") {
225       *AC_cfg >> vbaseXYZcg(eX) >> vbaseXYZcg(eY) >> vbaseXYZcg(eZ);
226       MassBalance->SetBaseCG(vbaseXYZcg);
227       if (debug_lvl > 0) cout << "    CG (x, y, z): " << vbaseXYZcg << endl;
228     } else if (parameter == "AC_EYEPTLOC") {
229       *AC_cfg >> vXYZep(eX) >> vXYZep(eY) >> vXYZep(eZ);
230       if (debug_lvl > 0) cout << "    Eyepoint (x, y, z): " << vXYZep << endl;
231     } else if (parameter == "AC_AERORP") {
232       *AC_cfg >> vXYZrp(eX) >> vXYZrp(eY) >> vXYZrp(eZ);
233       if (debug_lvl > 0) cout << "    Ref Pt (x, y, z): " << vXYZrp << endl;
234     } else if (parameter == "AC_POINTMASS") {
235       *AC_cfg >> pmWt >> pmX >> pmY >> pmZ;
236       MassBalance->AddPointMass(pmWt, pmX, pmY, pmZ);
237       if (debug_lvl > 0) cout << "    Point Mass Object: " << pmWt << " lbs. at "
238                          << "X, Y, Z (in.): " << pmX << "  " << pmY << "  " << pmZ
239                          << endl;
240     }
241   }
242   
243   // calculate some derived parameters
244   if (cbar != 0.0) {
245     lbarh = HTailArm/cbar;
246     lbarv = VTailArm/cbar;
247     if (WingArea != 0.0) {
248       vbarh = HTailArm*HTailArea / (cbar*WingArea);
249       vbarv = VTailArm*VTailArea / (cbar*WingArea);
250     }
251   }     
252   return true;
253 }
254
255 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
256
257 void FGAircraft::bind(void)
258 {
259   typedef double (FGAircraft::*PMF)(int) const;
260   PropertyManager->Tie("metrics/Sw-sqft", this,
261                        &FGAircraft::GetWingArea);
262   PropertyManager->Tie("metrics/bw-ft", this,
263                        &FGAircraft::GetWingSpan);
264   PropertyManager->Tie("metrics/cbarw-ft", this,
265                        &FGAircraft::Getcbar);
266   PropertyManager->Tie("metrics/iw-deg", this,
267                        &FGAircraft::GetWingIncidence);
268   PropertyManager->Tie("metrics/Sh-sqft", this,
269                        &FGAircraft::GetHTailArea);
270   PropertyManager->Tie("metrics/lh-ft", this,
271                        &FGAircraft::GetHTailArm);
272   PropertyManager->Tie("metrics/Sv-sqft", this,
273                        &FGAircraft::GetVTailArea);
274   PropertyManager->Tie("metrics/lv-ft", this,
275                        &FGAircraft::GetVTailArm);
276   PropertyManager->Tie("metrics/lh-norm", this,
277                        &FGAircraft::Getlbarh);
278   PropertyManager->Tie("metrics/lv-norm", this,
279                        &FGAircraft::Getlbarv);
280   PropertyManager->Tie("metrics/vbarh-norm", this,
281                        &FGAircraft::Getvbarh);
282   PropertyManager->Tie("metrics/vbarv-norm", this,
283                        &FGAircraft::Getvbarv);
284   PropertyManager->Tie("moments/l-total-lbsft", this,1,
285                        (PMF)&FGAircraft::GetMoments);
286   PropertyManager->Tie("moments/m-total-lbsft", this,2,
287                        (PMF)&FGAircraft::GetMoments);
288   PropertyManager->Tie("moments/n-total-lbsft", this,3,
289                        (PMF)&FGAircraft::GetMoments);
290   PropertyManager->Tie("forces/fbx-total-lbs", this,1,
291                        (PMF)&FGAircraft::GetForces);
292   PropertyManager->Tie("forces/fby-total-lbs", this,2,
293                        (PMF)&FGAircraft::GetForces);
294   PropertyManager->Tie("forces/fbz-total-lbs", this,3,
295                        (PMF)&FGAircraft::GetForces);
296   PropertyManager->Tie("metrics/aero-rp-x-ft", this,1,
297                        (PMF)&FGAircraft::GetXYZrp);
298   PropertyManager->Tie("metrics/aero-rp-y-ft", this,2,
299                        (PMF)&FGAircraft::GetXYZrp);
300   PropertyManager->Tie("metrics/aero-rp-z-ft", this,3,
301                        (PMF)&FGAircraft::GetXYZrp);
302   PropertyManager->Tie("metrics/eyepoint-x-ft", this,1,
303                        (PMF)&FGAircraft::GetXYZep);
304   PropertyManager->Tie("metrics/eyepoint-y-ft", this,2,
305                        (PMF)&FGAircraft::GetXYZep);
306   PropertyManager->Tie("metrics/eyepoint-z-ft", this,3,
307                        (PMF)&FGAircraft::GetXYZep);
308 }
309
310 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
311
312 void FGAircraft::unbind(void)
313 {
314   PropertyManager->Untie("metrics/Sw-sqft");
315   PropertyManager->Untie("metrics/bw-ft");
316   PropertyManager->Untie("metrics/cbarw-ft");
317   PropertyManager->Untie("metrics/iw-deg");
318   PropertyManager->Untie("metrics/Sh-sqft");
319   PropertyManager->Untie("metrics/lh-ft");
320   PropertyManager->Untie("metrics/Sv-sqft");
321   PropertyManager->Untie("metrics/lv-ft");
322   PropertyManager->Untie("metrics/lh-norm");
323   PropertyManager->Untie("metrics/lv-norm");
324   PropertyManager->Untie("metrics/vbarh-norm");
325   PropertyManager->Untie("metrics/vbarv-norm");
326   PropertyManager->Untie("moments/l-total-lbsft");
327   PropertyManager->Untie("moments/m-total-lbsft");
328   PropertyManager->Untie("moments/n-total-lbsft");
329   PropertyManager->Untie("forces/fbx-total-lbs");
330   PropertyManager->Untie("forces/fby-total-lbs");
331   PropertyManager->Untie("forces/fbz-total-lbs");
332   PropertyManager->Untie("metrics/aero-rp-x-ft");
333   PropertyManager->Untie("metrics/aero-rp-y-ft");
334   PropertyManager->Untie("metrics/aero-rp-z-ft");
335   PropertyManager->Untie("metrics/eyepoint-x-ft");
336   PropertyManager->Untie("metrics/eyepoint-y-ft");
337   PropertyManager->Untie("metrics/eyepoint-z-ft");
338 }
339
340 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
341 //    The bitmasked value choices are as follows:
342 //    unset: In this case (the default) JSBSim would only print
343 //       out the normally expected messages, essentially echoing
344 //       the config files as they are read. If the environment
345 //       variable is not set, debug_lvl is set to 1 internally
346 //    0: This requests JSBSim not to output any messages
347 //       whatsoever.
348 //    1: This value explicity requests the normal JSBSim
349 //       startup messages
350 //    2: This value asks for a message to be printed out when
351 //       a class is instantiated
352 //    4: When this value is set, a message is displayed when a
353 //       FGModel object executes its Run() method
354 //    8: When this value is set, various runtime state variables
355 //       are printed out periodically
356 //    16: When set various parameters are sanity checked and
357 //       a message is printed out when they go out of bounds
358
359 void FGAircraft::Debug(int from)
360 {
361   if (debug_lvl <= 0) return;
362
363   if (debug_lvl & 1) { // Standard console startup message output
364     if (from == 0) { // Constructor
365     }
366   }
367   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
368     if (from == 0) cout << "Instantiated: FGAircraft" << endl;
369     if (from == 1) cout << "Destroyed:    FGAircraft" << endl;
370   }
371   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
372   }
373   if (debug_lvl & 8 ) { // Runtime state variables
374   }
375   if (debug_lvl & 16) { // Sanity checking
376   }
377   if (debug_lvl & 64) {
378     if (from == 0) { // Constructor
379       cout << IdSrc << endl;
380       cout << IdHdr << endl;
381     }
382   }
383 }
384
385 } // namespace JSBSim