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 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  88 DEFINITIONS
  89 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  90
  91 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  92 GLOBAL DATA
  93 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  94
  95 static const char *IdSrc = "$Id$";
  96 static const char *IdHdr = ID_AIRCRAFT;
  97
  98 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  99 CLASS IMPLEMENTATION
 100 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 101
 102 FGAircraft::FGAircraft(FGFDMExec* fdmex) : FGModel(fdmex)
 103 {
 104   Name = "FGAircraft";
 105   alphaclmin = alphaclmax = 0;
 106   HTailArea = VTailArea = HTailArm = VTailArm = 0.0;
 107   lbarh = lbarv = vbarh = vbarv = 0.0;
 108   WingIncidence=0;
 109   impending_stall = 0;
 110   bi2vel=ci2vel=alphaw=0;
 111
 112   bind();
 113
 114   Debug(0);
 115 }
 116
 117 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 118
 119 FGAircraft::~FGAircraft()
 120 {
 121   unbind();
 122   Debug(1);
 123 }
 124
 125 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 126
 127 bool FGAircraft::Run(void)
 128 {
 129   double twovel;
 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     twovel=2*Translation->GetVt();
 151     if(twovel > 0) {
 152       bi2vel = WingSpan / twovel;
 153       ci2vel = cbar / twovel;
 154     }
 155
 156     alphaw = Translation->Getalpha() + WingIncidence;
 157
 158     if (alphaclmax != 0) {
 159       if (Translation->Getalpha() > 0.85*alphaclmax) {
 160         impending_stall = 10*(Translation->Getalpha()/alphaclmax - 0.85);
 161       } else {
 162         impending_stall = 0;
 163       }
 164     }
 165
 166     return false;
 167   } else {                               // skip Run() execution this time
 168     return true;
 169   }
 170 }
 171
 172 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 173
 174 float FGAircraft::GetNlf(void)
 175 {
 176   return -1*Aerodynamics->GetvFs(3)/MassBalance->GetWeight();
 177 }
 178
 179 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 180
 181 bool FGAircraft::Load(FGConfigFile* AC_cfg)
 182 {
 183   string token = "";
 184   string parameter;
 185   double EW, bixx, biyy, bizz, bixy, bixz;
 186   double pmWt, pmX, pmY, pmZ;
 187   FGColumnVector3 vbaseXYZcg;
 188
 189   AC_cfg->GetNextConfigLine();
 190
 191   while ((token = AC_cfg->GetValue()) != string("/METRICS")) {
 192     *AC_cfg >> parameter;
 193     if (parameter == "AC_WINGAREA") {
 194       *AC_cfg >> WingArea;
 195       if (debug_lvl > 0) cout << "    WingArea: " << WingArea  << endl;
 196     } else if (parameter == "AC_WINGSPAN") {
 197       *AC_cfg >> WingSpan;
 198       if (debug_lvl > 0) cout << "    WingSpan: " << WingSpan  << endl;
 199     } else if (parameter == "AC_WINGINCIDENCE") {
 200       *AC_cfg >> WingIncidence;
 201       if (debug_lvl > 0) cout << "    Chord: " << cbar << endl;
 202     } else if (parameter == "AC_CHORD") {
 203       *AC_cfg >> cbar;
 204       if (debug_lvl > 0) cout << "    Chord: " << cbar << endl;
 205     } else if (parameter == "AC_HTAILAREA") {
 206       *AC_cfg >> HTailArea;
 207       if (debug_lvl > 0) cout << "    H. Tail Area: " << HTailArea << endl;
 208     } else if (parameter == "AC_HTAILARM") {
 209       *AC_cfg >> HTailArm;
 210       if (debug_lvl > 0) cout << "    H. Tail Arm: " << HTailArm << endl;
 211     } else if (parameter == "AC_VTAILAREA") {
 212       *AC_cfg >> VTailArea;
 213       if (debug_lvl > 0) cout << "    V. Tail Area: " << VTailArea << endl;
 214     } else if (parameter == "AC_VTAILARM") {
 215       *AC_cfg >> VTailArm;
 216       if (debug_lvl > 0) cout << "    V. Tail Arm: " << VTailArm << endl;
 217     } else if (parameter == "AC_IXX") {
 218       *AC_cfg >> bixx;
 219       if (debug_lvl > 0) cout << "    baseIxx: " << bixx << endl;
 220       MassBalance->SetBaseIxx(bixx);
 221     } else if (parameter == "AC_IYY") {
 222       *AC_cfg >> biyy;
 223       if (debug_lvl > 0) cout << "    baseIyy: " << biyy << endl;
 224       MassBalance->SetBaseIyy(biyy);
 225     } else if (parameter == "AC_IZZ") {
 226       *AC_cfg >> bizz;
 227       if (debug_lvl > 0) cout << "    baseIzz: " << bizz << endl;
 228       MassBalance->SetBaseIzz(bizz);
 229     } else if (parameter == "AC_IXY") {
 230       *AC_cfg >> bixy;
 231       if (debug_lvl > 0) cout << "    baseIxy: " << bixy  << endl;
 232       MassBalance->SetBaseIxy(bixy);
 233     } else if (parameter == "AC_IXZ") {
 234       *AC_cfg >> bixz;
 235       if (debug_lvl > 0) cout << "    baseIxz: " << bixz  << endl;
 236       MassBalance->SetBaseIxz(bixz);
 237     } else if (parameter == "AC_EMPTYWT") {
 238       *AC_cfg >> EW;
 239       MassBalance->SetEmptyWeight(EW);
 240       if (debug_lvl > 0) cout << "    EmptyWeight: " << EW  << endl;
 241     } else if (parameter == "AC_CGLOC") {
 242       *AC_cfg >> vbaseXYZcg(eX) >> vbaseXYZcg(eY) >> vbaseXYZcg(eZ);
 243       MassBalance->SetBaseCG(vbaseXYZcg);
 244       if (debug_lvl > 0) cout << "    CG (x, y, z): " << vbaseXYZcg << endl;
 245     } else if (parameter == "AC_EYEPTLOC") {
 246       *AC_cfg >> vXYZep(eX) >> vXYZep(eY) >> vXYZep(eZ);
 247       if (debug_lvl > 0) cout << "    Eyepoint (x, y, z): " << vXYZep << endl;
 248     } else if (parameter == "AC_AERORP") {
 249       *AC_cfg >> vXYZrp(eX) >> vXYZrp(eY) >> vXYZrp(eZ);
 250       if (debug_lvl > 0) cout << "    Ref Pt (x, y, z): " << vXYZrp << endl;
 251     } else if (parameter == "AC_ALPHALIMITS") {
 252       *AC_cfg >> alphaclmin >> alphaclmax;
 253       if (debug_lvl > 0) cout << "    Maximum Alpha: " << alphaclmax
 254              << "    Minimum Alpha: " << alphaclmin
 255              << endl;
 256     } else if (parameter == "AC_POINTMASS") {
 257       *AC_cfg >> pmWt >> pmX >> pmY >> pmZ;
 258       MassBalance->AddPointMass(pmWt, pmX, pmY, pmZ);
 259       if (debug_lvl > 0) cout << "    Point Mass Object: " << pmWt << " lbs. at "
 260                          << "X, Y, Z (in.): " << pmX << "  " << pmY << "  " << pmZ
 261                          << endl;
 262     }
 263   }
 264
 265   // calculate some derived parameters
 266   if (cbar != 0.0) {
 267     lbarh = HTailArm/cbar;
 268     lbarv = VTailArm/cbar;
 269     if (WingArea != 0.0) {
 270       vbarh = HTailArm*HTailArea / (cbar*WingArea);
 271       vbarv = VTailArm*VTailArea / (cbar*WingArea);
 272     }
 273   }
 274   return true;
 275 }
 276
 277 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 278
 279 void FGAircraft::bind(void)
 280 {
 281   PropertyManager->Tie("metrics/Sw-sqft", this,
 282                        &FGAircraft::GetWingArea);
 283   PropertyManager->Tie("metrics/bw-ft", this,
 284                        &FGAircraft::GetWingSpan);
 285   PropertyManager->Tie("metrics/cbarw-ft", this,
 286                        &FGAircraft::Getcbar);
 287   PropertyManager->Tie("metrics/iw-deg", this,
 288                        &FGAircraft::GetWingIncidence);
 289   PropertyManager->Tie("metrics/Sh-sqft", this,
 290                        &FGAircraft::GetHTailArea);
 291   PropertyManager->Tie("metrics/lh-ft", this,
 292                        &FGAircraft::GetHTailArm);
 293   PropertyManager->Tie("metrics/Sv-sqft", this,
 294                        &FGAircraft::GetVTailArea);
 295   PropertyManager->Tie("metrics/lv-ft", this,
 296                        &FGAircraft::GetVTailArm);
 297   PropertyManager->Tie("metrics/lh-norm", this,
 298                        &FGAircraft::Getlbarh);
 299   PropertyManager->Tie("metrics/lv-norm", this,
 300                        &FGAircraft::Getlbarv);
 301   PropertyManager->Tie("metrics/vbarh-norm", this,
 302                        &FGAircraft::Getvbarh);
 303   PropertyManager->Tie("metrics/vbarv-norm", this,
 304                        &FGAircraft::Getvbarv);
 305   PropertyManager->Tie("moments/l-total-lbsft", this,1,
 306                        &FGAircraft::GetMoments);
 307   PropertyManager->Tie("moments/m-total-lbsft", this,2,
 308                        &FGAircraft::GetMoments);
 309   PropertyManager->Tie("moments/n-total-lbsft", this,3,
 310                        &FGAircraft::GetMoments);
 311   PropertyManager->Tie("forces/fbx-total-lbs", this,1,
 312                        &FGAircraft::GetForces);
 313   PropertyManager->Tie("forces/fby-total-lbs", this,2,
 314                        &FGAircraft::GetForces);
 315   PropertyManager->Tie("forces/fbz-total-lbs", this,3,
 316                        &FGAircraft::GetForces);
 317   PropertyManager->Tie("metrics/aero-rp-x-ft", this,1,
 318                        &FGAircraft::GetXYZrp);
 319   PropertyManager->Tie("metrics/aero-rp-y-ft", this,2,
 320                        &FGAircraft::GetXYZrp);
 321   PropertyManager->Tie("metrics/aero-rp-z-ft", this,3,
 322                        &FGAircraft::GetXYZrp);
 323   PropertyManager->Tie("metrics/eyepoint-x-ft", this,1,
 324                        &FGAircraft::GetXYZep);
 325   PropertyManager->Tie("metrics/eyepoint-y-ft", this,2,
 326                        &FGAircraft::GetXYZep);
 327   PropertyManager->Tie("metrics/eyepoint-z-ft", this,3,
 328                        &FGAircraft::GetXYZep);
 329   PropertyManager->Tie("metrics/alpha-max-deg", this,
 330                        &FGAircraft::GetAlphaCLMax,
 331                        &FGAircraft::SetAlphaCLMax,
 332                        true);
 333   PropertyManager->Tie("metrics/alpha-min-deg", this,
 334                        &FGAircraft::GetAlphaCLMin,
 335                        &FGAircraft::SetAlphaCLMin,
 336                        true);
 337   PropertyManager->Tie("aero/bi2vel", this,
 338                        &FGAircraft::GetBI2Vel);
 339   PropertyManager->Tie("aero/ci2vel", this,
 340                        &FGAircraft::GetCI2Vel);
 341   PropertyManager->Tie("aero/alpha-wing-rad", this,
 342                        &FGAircraft::GetAlphaW);
 343   PropertyManager->Tie("systems/stall-warn-norm", this,
 344                         &FGAircraft::GetStallWarn);
 345 }
 346
 347 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 348
 349 void FGAircraft::unbind(void)
 350 {
 351   PropertyManager->Untie("metrics/Sw-sqft");
 352   PropertyManager->Untie("metrics/bw-ft");
 353   PropertyManager->Untie("metrics/cbarw-ft");
 354   PropertyManager->Untie("metrics/iw-deg");
 355   PropertyManager->Untie("metrics/Sh-sqft");
 356   PropertyManager->Untie("metrics/lh-ft");
 357   PropertyManager->Untie("metrics/Sv-sqft");
 358   PropertyManager->Untie("metrics/lv-ft");
 359   PropertyManager->Untie("metrics/lh-norm");
 360   PropertyManager->Untie("metrics/lv-norm");
 361   PropertyManager->Untie("metrics/vbarh-norm");
 362   PropertyManager->Untie("metrics/vbarv-norm");
 363   PropertyManager->Untie("moments/l-total-lbsft");
 364   PropertyManager->Untie("moments/m-total-lbsft");
 365   PropertyManager->Untie("moments/n-total-lbsft");
 366   PropertyManager->Untie("forces/fbx-total-lbs");
 367   PropertyManager->Untie("forces/fby-total-lbs");
 368   PropertyManager->Untie("forces/fbz-total-lbs");
 369   PropertyManager->Untie("metrics/aero-rp-x-ft");
 370   PropertyManager->Untie("metrics/aero-rp-y-ft");
 371   PropertyManager->Untie("metrics/aero-rp-z-ft");
 372   PropertyManager->Untie("metrics/eyepoint-x-ft");
 373   PropertyManager->Untie("metrics/eyepoint-y-ft");
 374   PropertyManager->Untie("metrics/eyepoint-z-ft");
 375   PropertyManager->Untie("metrics/alpha-max-rad");
 376   PropertyManager->Untie("metrics/alpha-min-rad");
 377   PropertyManager->Untie("aero/bi2vel");
 378   PropertyManager->Untie("aero/ci2vel");
 379   PropertyManager->Untie("aero/alpha-wing-rad");
 380   PropertyManager->Untie("systems/stall-warn-norm");
 381 }
 382
 383 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 384 //    The bitmasked value choices are as follows:
 385 //    unset: In this case (the default) JSBSim would only print
 386 //       out the normally expected messages, essentially echoing
 387 //       the config files as they are read. If the environment
 388 //       variable is not set, debug_lvl is set to 1 internally
 389 //    0: This requests JSBSim not to output any messages
 390 //       whatsoever.
 391 //    1: This value explicity requests the normal JSBSim
 392 //       startup messages
 393 //    2: This value asks for a message to be printed out when
 394 //       a class is instantiated
 395 //    4: When this value is set, a message is displayed when a
 396 //       FGModel object executes its Run() method
 397 //    8: When this value is set, various runtime state variables
 398 //       are printed out periodically
 399 //    16: When set various parameters are sanity checked and
 400 //       a message is printed out when they go out of bounds
 401
 402 void FGAircraft::Debug(int from)
 403 {
 404   if (debug_lvl <= 0) return;
 405
 406   if (debug_lvl & 1) { // Standard console startup message output
 407     if (from == 0) { // Constructor
 408     }
 409   }
 410   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 411     if (from == 0) cout << "Instantiated: FGAircraft" << endl;
 412     if (from == 1) cout << "Destroyed:    FGAircraft" << endl;
 413   }
 414   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 415   }
 416   if (debug_lvl & 8 ) { // Runtime state variables
 417   }
 418   if (debug_lvl & 16) { // Sanity checking
 419   }
 420   if (debug_lvl & 64) {
 421     if (from == 0) { // Constructor
 422       cout << IdSrc << endl;
 423       cout << IdHdr << endl;
 424     }
 425   }
 426 }
 427