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   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