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
 105   Name = "FGAircraft";
 106   alphaclmin = alphaclmax = 0;
 107   HTailArea = VTailArea = HTailArm = VTailArm = 0.0;
 108   lbarh = lbarv = vbarh = vbarv = 0.0;
 109   WingIncidence=0;
 110   impending_stall = 0;
 111   bi2vel=ci2vel=alphaw=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   double twovel;
 131
 132   if (!FGModel::Run()) {                 // if false then execute this Run()
 133     vForces.InitMatrix();
 134     vForces += Aerodynamics->GetForces();
 135     vForces += Inertial->GetForces();
 136     vForces += Propulsion->GetForces();
 137     vForces += GroundReactions->GetForces();
 138
 139     vMoments.InitMatrix();
 140     vMoments += Aerodynamics->GetMoments();
 141     vMoments += Propulsion->GetMoments();
 142     vMoments += GroundReactions->GetMoments();
 143
 144     vBodyAccel = vForces/MassBalance->GetMass();
 145
 146     vNcg = vBodyAccel/Inertial->gravity();
 147
 148     vNwcg = State->GetTb2s() * vNcg;
 149     vNwcg(3) = -1*vNwcg(3) + 1;
 150
 151     twovel=2*Translation->GetVt();
 152     if(twovel > 0) {
 153       bi2vel = WingSpan / twovel;
 154       ci2vel = cbar / twovel;
 155     }
 156
 157     alphaw = Translation->Getalpha() + WingIncidence;
 158
 159     if (alphaclmax != 0) {
 160       if (Translation->Getalpha() > 0.85*alphaclmax) {
 161         impending_stall = 10*(Translation->Getalpha()/alphaclmax - 0.85);
 162       } else {
 163         impending_stall = 0;
 164       }
 165     }
 166
 167     return false;
 168   } else {                               // skip Run() execution this time
 169     return true;
 170   }
 171 }
 172
 173 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 174
 175 float FGAircraft::GetNlf(void)
 176 {
 177   return -1*Aerodynamics->GetvFs(3)/MassBalance->GetWeight();
 178 }
 179
 180 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 181
 182 bool FGAircraft::Load(FGConfigFile* AC_cfg)
 183 {
 184   string token = "";
 185   string parameter;
 186   double EW, bixx, biyy, bizz, bixy, bixz;
 187   double pmWt, pmX, pmY, pmZ;
 188   FGColumnVector3 vbaseXYZcg;
 189
 190   AC_cfg->GetNextConfigLine();
 191
 192   while ((token = AC_cfg->GetValue()) != string("/METRICS")) {
 193     *AC_cfg >> parameter;
 194     if (parameter == "AC_WINGAREA") {
 195       *AC_cfg >> WingArea;
 196       if (debug_lvl > 0) cout << "    WingArea: " << WingArea  << endl;
 197     } else if (parameter == "AC_WINGSPAN") {
 198       *AC_cfg >> WingSpan;
 199       if (debug_lvl > 0) cout << "    WingSpan: " << WingSpan  << endl;
 200     } else if (parameter == "AC_WINGINCIDENCE") {
 201       *AC_cfg >> WingIncidence;
 202       if (debug_lvl > 0) cout << "    Chord: " << cbar << endl;
 203     } else if (parameter == "AC_CHORD") {
 204       *AC_cfg >> cbar;
 205       if (debug_lvl > 0) cout << "    Chord: " << cbar << endl;
 206     } else if (parameter == "AC_HTAILAREA") {
 207       *AC_cfg >> HTailArea;
 208       if (debug_lvl > 0) cout << "    H. Tail Area: " << HTailArea << endl;
 209     } else if (parameter == "AC_HTAILARM") {
 210       *AC_cfg >> HTailArm;
 211       if (debug_lvl > 0) cout << "    H. Tail Arm: " << HTailArm << endl;
 212     } else if (parameter == "AC_VTAILAREA") {
 213       *AC_cfg >> VTailArea;
 214       if (debug_lvl > 0) cout << "    V. Tail Area: " << VTailArea << endl;
 215     } else if (parameter == "AC_VTAILARM") {
 216       *AC_cfg >> VTailArm;
 217       if (debug_lvl > 0) cout << "    V. Tail Arm: " << VTailArm << endl;
 218     } else if (parameter == "AC_IXX") {
 219       *AC_cfg >> bixx;
 220       if (debug_lvl > 0) cout << "    baseIxx: " << bixx << endl;
 221       MassBalance->SetBaseIxx(bixx);
 222     } else if (parameter == "AC_IYY") {
 223       *AC_cfg >> biyy;
 224       if (debug_lvl > 0) cout << "    baseIyy: " << biyy << endl;
 225       MassBalance->SetBaseIyy(biyy);
 226     } else if (parameter == "AC_IZZ") {
 227       *AC_cfg >> bizz;
 228       if (debug_lvl > 0) cout << "    baseIzz: " << bizz << endl;
 229       MassBalance->SetBaseIzz(bizz);
 230     } else if (parameter == "AC_IXY") {
 231       *AC_cfg >> bixy;
 232       if (debug_lvl > 0) cout << "    baseIxy: " << bixy  << endl;
 233       MassBalance->SetBaseIxy(bixy);
 234     } else if (parameter == "AC_IXZ") {
 235       *AC_cfg >> bixz;
 236       if (debug_lvl > 0) cout << "    baseIxz: " << bixz  << endl;
 237       MassBalance->SetBaseIxz(bixz);
 238     } else if (parameter == "AC_EMPTYWT") {
 239       *AC_cfg >> EW;
 240       MassBalance->SetEmptyWeight(EW);
 241       if (debug_lvl > 0) cout << "    EmptyWeight: " << EW  << endl;
 242     } else if (parameter == "AC_CGLOC") {
 243       *AC_cfg >> vbaseXYZcg(eX) >> vbaseXYZcg(eY) >> vbaseXYZcg(eZ);
 244       MassBalance->SetBaseCG(vbaseXYZcg);
 245       if (debug_lvl > 0) cout << "    CG (x, y, z): " << vbaseXYZcg << endl;
 246     } else if (parameter == "AC_EYEPTLOC") {
 247       *AC_cfg >> vXYZep(eX) >> vXYZep(eY) >> vXYZep(eZ);
 248       if (debug_lvl > 0) cout << "    Eyepoint (x, y, z): " << vXYZep << endl;
 249     } else if (parameter == "AC_AERORP") {
 250       *AC_cfg >> vXYZrp(eX) >> vXYZrp(eY) >> vXYZrp(eZ);
 251       if (debug_lvl > 0) cout << "    Ref Pt (x, y, z): " << vXYZrp << endl;
 252     } else if (parameter == "AC_ALPHALIMITS") {
 253       *AC_cfg >> alphaclmin >> alphaclmax;
 254       if (debug_lvl > 0) cout << "    Maximum Alpha: " << alphaclmax
 255              << "    Minimum Alpha: " << alphaclmin
 256              << endl;
 257     } else if (parameter == "AC_POINTMASS") {
 258       *AC_cfg >> pmWt >> pmX >> pmY >> pmZ;
 259       MassBalance->AddPointMass(pmWt, pmX, pmY, pmZ);
 260       if (debug_lvl > 0) cout << "    Point Mass Object: " << pmWt << " lbs. at "
 261                          << "X, Y, Z (in.): " << pmX << "  " << pmY << "  " << pmZ
 262                          << endl;
 263     }
 264   }
 265
 266   // calculate some derived parameters
 267   if (cbar != 0.0) {
 268     lbarh = HTailArm/cbar;
 269     lbarv = VTailArm/cbar;
 270     if (WingArea != 0.0) {
 271       vbarh = HTailArm*HTailArea / (cbar*WingArea);
 272       vbarv = VTailArm*VTailArea / (cbar*WingArea);
 273     }
 274   }
 275   return true;
 276 }
 277
 278 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 279 //    The bitmasked value choices are as follows:
 280 //    unset: In this case (the default) JSBSim would only print
 281 //       out the normally expected messages, essentially echoing
 282 //       the config files as they are read. If the environment
 283 //       variable is not set, debug_lvl is set to 1 internally
 284 //    0: This requests JSBSim not to output any messages
 285 //       whatsoever.
 286 //    1: This value explicity requests the normal JSBSim
 287 //       startup messages
 288 //    2: This value asks for a message to be printed out when
 289 //       a class is instantiated
 290 //    4: When this value is set, a message is displayed when a
 291 //       FGModel object executes its Run() method
 292 //    8: When this value is set, various runtime state variables
 293 //       are printed out periodically
 294 //    16: When set various parameters are sanity checked and
 295 //       a message is printed out when they go out of bounds
 296
 297 void FGAircraft::Debug(int from)
 298 {
 299   if (debug_lvl <= 0) return;
 300
 301   if (debug_lvl & 1) { // Standard console startup message output
 302     if (from == 0) { // Constructor
 303     }
 304   }
 305   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 306     if (from == 0) cout << "Instantiated: FGAircraft" << endl;
 307     if (from == 1) cout << "Destroyed:    FGAircraft" << endl;
 308   }
 309   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 310   }
 311   if (debug_lvl & 8 ) { // Runtime state variables
 312   }
 313   if (debug_lvl & 16) { // Sanity checking
 314   }
 315   if (debug_lvl & 64) {
 316     if (from == 0) { // Constructor
 317       cout << IdSrc << endl;
 318       cout << IdHdr << endl;
 319     }
 320   }
 321 }
 322
 323 void FGAircraft::bind(void){
 324   PropertyManager->Tie("metrics/Sw-sqft", this,
 325                        &FGAircraft::GetWingArea);
 326   PropertyManager->Tie("metrics/bw-ft", this,
 327                        &FGAircraft::GetWingSpan);
 328   PropertyManager->Tie("metrics/cbarw-ft", this,
 329                        &FGAircraft::Getcbar);
 330   PropertyManager->Tie("metrics/iw-deg", this,
 331                        &FGAircraft::GetWingIncidence);
 332   PropertyManager->Tie("metrics/Sh-sqft", this,
 333                        &FGAircraft::GetHTailArea);
 334   PropertyManager->Tie("metrics/lh-ft", this,
 335                        &FGAircraft::GetHTailArm);
 336   PropertyManager->Tie("metrics/Sv-sqft", this,
 337                        &FGAircraft::GetVTailArea);
 338   PropertyManager->Tie("metrics/lv-ft", this,
 339                        &FGAircraft::GetVTailArm);
 340   PropertyManager->Tie("metrics/lh-norm", this,
 341                        &FGAircraft::Getlbarh);
 342   PropertyManager->Tie("metrics/lv-norm", this,
 343                        &FGAircraft::Getlbarv);
 344   PropertyManager->Tie("metrics/vbarh-norm", this,
 345                        &FGAircraft::Getvbarh);
 346   PropertyManager->Tie("metrics/vbarv-norm", this,
 347                        &FGAircraft::Getvbarv);
 348   PropertyManager->Tie("moments/l-total-lbsft", this,1,
 349                        &FGAircraft::GetMoments);
 350   PropertyManager->Tie("moments/m-total-lbsft", this,2,
 351                        &FGAircraft::GetMoments);
 352   PropertyManager->Tie("moments/n-total-lbsft", this,3,
 353                        &FGAircraft::GetMoments);
 354   PropertyManager->Tie("forces/fbx-total-lbs", this,1,
 355                        &FGAircraft::GetForces);
 356   PropertyManager->Tie("forces/fby-total-lbs", this,2,
 357                        &FGAircraft::GetForces);
 358   PropertyManager->Tie("forces/fbz-total-lbs", this,3,
 359                        &FGAircraft::GetForces);
 360   PropertyManager->Tie("metrics/aero-rp-x-ft", this,1,
 361                        &FGAircraft::GetXYZrp);
 362   PropertyManager->Tie("metrics/aero-rp-y-ft", this,2,
 363                        &FGAircraft::GetXYZrp);
 364   PropertyManager->Tie("metrics/aero-rp-z-ft", this,3,
 365                        &FGAircraft::GetXYZrp);
 366   PropertyManager->Tie("metrics/eyepoint-x-ft", this,1,
 367                        &FGAircraft::GetXYZep);
 368   PropertyManager->Tie("metrics/eyepoint-y-ft", this,2,
 369                        &FGAircraft::GetXYZep);
 370   PropertyManager->Tie("metrics/eyepoint-z-ft", this,3,
 371                        &FGAircraft::GetXYZep);
 372   PropertyManager->Tie("metrics/alpha-max-deg", this,
 373                        &FGAircraft::GetAlphaCLMax,
 374                        &FGAircraft::SetAlphaCLMax,
 375                        true);
 376   PropertyManager->Tie("metrics/alpha-min-deg", this,
 377                        &FGAircraft::GetAlphaCLMin,
 378                        &FGAircraft::SetAlphaCLMin,
 379                        true);
 380   PropertyManager->Tie("aero/bi2vel", this,
 381                        &FGAircraft::GetBI2Vel);
 382   PropertyManager->Tie("aero/ci2vel", this,
 383                        &FGAircraft::GetCI2Vel);
 384   PropertyManager->Tie("aero/alpha-wing-rad", this,
 385                        &FGAircraft::GetAlphaW);
 386   PropertyManager->Tie("systems/stall-warn-norm", this,
 387                         &FGAircraft::GetStallWarn);
 388 }
 389
 390 void FGAircraft::unbind(void){
 391   PropertyManager->Untie("metrics/Sw-sqft");
 392   PropertyManager->Untie("metrics/bw-ft");
 393   PropertyManager->Untie("metrics/cbarw-ft");
 394   PropertyManager->Untie("metrics/iw-deg");
 395   PropertyManager->Untie("metrics/Sh-sqft");
 396   PropertyManager->Untie("metrics/lh-ft");
 397   PropertyManager->Untie("metrics/Sv-sqft");
 398   PropertyManager->Untie("metrics/lv-ft");
 399   PropertyManager->Untie("metrics/lh-norm");
 400   PropertyManager->Untie("metrics/lv-norm");
 401   PropertyManager->Untie("metrics/vbarh-norm");
 402   PropertyManager->Untie("metrics/vbarv-norm");
 403   PropertyManager->Untie("moments/l-total-lbsft");
 404   PropertyManager->Untie("moments/m-total-lbsft");
 405   PropertyManager->Untie("moments/n-total-lbsft");
 406   PropertyManager->Untie("forces/fbx-total-lbs");
 407   PropertyManager->Untie("forces/fby-total-lbs");
 408   PropertyManager->Untie("forces/fbz-total-lbs");
 409   PropertyManager->Untie("metrics/aero-rp-x-ft");
 410   PropertyManager->Untie("metrics/aero-rp-y-ft");
 411   PropertyManager->Untie("metrics/aero-rp-z-ft");
 412   PropertyManager->Untie("metrics/eyepoint-x-ft");
 413   PropertyManager->Untie("metrics/eyepoint-y-ft");
 414   PropertyManager->Untie("metrics/eyepoint-z-ft");
 415   PropertyManager->Untie("metrics/alpha-max-deg");
 416   PropertyManager->Untie("metrics/alpha-min-deg");
 417   PropertyManager->Untie("aero/bi2vel");
 418   PropertyManager->Untie("aero/ci2vel");
 419   PropertyManager->Untie("aero/alpha-wing-rad");
 420   PropertyManager->Untie("systems/stall-warn-norm");
 421 }