1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
6 Purpose: Encapsulates an aircraft
9 ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
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
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
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.
25 Further information about the GNU General Public License can also be found on
26 the world wide web at http://www.gnu.org.
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.
34 --------------------------------------------------------------------------------
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
43 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
44 COMMENTS, REFERENCES, and NOTES
45 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
47 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
49 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
52 #include <sys/types.h>
56 # include <simgear/compiler.h>
58 # ifdef SG_HAVE_STD_INCLUDES
64 # if defined (sgi) && !defined(__GNUC__)
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"
80 #include "FGFDMExec.h"
82 #include "FGPosition.h"
83 #include "FGAuxiliary.h"
86 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
88 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
90 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
92 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
94 static const char *IdSrc = "$Id$";
95 static const char *IdHdr = ID_AIRCRAFT;
97 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
99 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
101 FGAircraft::FGAircraft(FGFDMExec* fdmex) : FGModel(fdmex),
111 alphaclmin = alphaclmax = 0;
112 HTailArea = VTailArea = HTailArm = VTailArm = 0.0;
113 lbarh = lbarv = vbarh = vbarv = 0.0;
116 if (debug_lvl & 2) cout << "Instantiated: " << Name << endl;
120 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
123 FGAircraft::~FGAircraft()
125 if (debug_lvl & 2) cout << "Destroyed: FGAircraft" << endl;
128 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
130 bool FGAircraft::Load(FGConfigFile* AC_cfg)
134 ReadPrologue(AC_cfg);
136 while ((AC_cfg->GetNextConfigLine() != "EOF") &&
137 (token = AC_cfg->GetValue()) != "/FDM_CONFIG") {
138 if (token == "METRICS") {
139 if (debug_lvl > 0) cout << fgcyan << "\n Reading Metrics" << fgdef << endl;
141 } else if (token == "AERODYNAMICS") {
142 if (debug_lvl > 0) cout << fgcyan << "\n Reading Aerodynamics" << fgdef << endl;
143 ReadAerodynamics(AC_cfg);
144 } else if (token == "UNDERCARRIAGE") {
145 if (debug_lvl > 0) cout << fgcyan << "\n Reading Landing Gear" << fgdef << endl;
146 ReadUndercarriage(AC_cfg);
147 } else if (token == "PROPULSION") {
148 if (debug_lvl > 0) cout << fgcyan << "\n Reading Propulsion" << fgdef << endl;
149 ReadPropulsion(AC_cfg);
150 } else if (token == "FLIGHT_CONTROL") {
151 if (debug_lvl > 0) cout << fgcyan << "\n Reading Flight Control" << fgdef << endl;
152 ReadFlightControls(AC_cfg);
153 } else if (token == "OUTPUT") {
154 if (debug_lvl > 0) cout << fgcyan << "\n Reading Output directives" << fgdef << endl;
162 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
164 bool FGAircraft::Run(void)
166 if (!FGModel::Run()) { // if false then execute this Run()
167 vForces.InitMatrix();
168 vForces += Aerodynamics->GetForces();
169 vForces += Inertial->GetForces();
170 vForces += Propulsion->GetForces();
171 vForces += GroundReactions->GetForces();
173 vMoments.InitMatrix();
174 vMoments += Aerodynamics->GetMoments();
175 vMoments += Propulsion->GetMoments();
176 vMoments += GroundReactions->GetMoments();
178 vBodyAccel = vForces/MassBalance->GetMass();
181 } else { // skip Run() execution this time
186 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
188 void FGAircraft::ReadMetrics(FGConfigFile* AC_cfg)
192 float EW, bixx, biyy, bizz, bixz, biyz;
193 FGColumnVector3 vbaseXYZcg(3);
195 AC_cfg->GetNextConfigLine();
197 while ((token = AC_cfg->GetValue()) != "/METRICS") {
198 *AC_cfg >> parameter;
199 if (parameter == "AC_WINGAREA") {
201 if (debug_lvl > 0) cout << " WingArea: " << WingArea << endl;
202 } else if (parameter == "AC_WINGSPAN") {
204 if (debug_lvl > 0) cout << " WingSpan: " << WingSpan << endl;
205 } else if (parameter == "AC_WINGINCIDENCE") {
206 *AC_cfg >> WingIncidence;
207 if (debug_lvl > 0) cout << " Chord: " << cbar << endl;
208 } else if (parameter == "AC_CHORD") {
210 if (debug_lvl > 0) cout << " Chord: " << cbar << endl;
211 } else if (parameter == "AC_HTAILAREA") {
212 *AC_cfg >> HTailArea;
213 if (debug_lvl > 0) cout << " H. Tail Area: " << HTailArea << endl;
214 } else if (parameter == "AC_HTAILARM") {
216 if (debug_lvl > 0) cout << " H. Tail Arm: " << HTailArm << endl;
217 } else if (parameter == "AC_VTAILAREA") {
218 *AC_cfg >> VTailArea;
219 if (debug_lvl > 0) cout << " V. Tail Area: " << VTailArea << endl;
220 } else if (parameter == "AC_VTAILARM") {
222 if (debug_lvl > 0) cout << " V. Tail Arm: " << VTailArm << endl;
223 } else if (parameter == "AC_IXX") {
225 if (debug_lvl > 0) cout << " baseIxx: " << bixx << endl;
226 MassBalance->SetBaseIxx(bixx);
227 } else if (parameter == "AC_IYY") {
229 if (debug_lvl > 0) cout << " baseIyy: " << biyy << endl;
230 MassBalance->SetBaseIyy(biyy);
231 } else if (parameter == "AC_IZZ") {
233 if (debug_lvl > 0) cout << " baseIzz: " << bizz << endl;
234 MassBalance->SetBaseIzz(bizz);
235 } else if (parameter == "AC_IXZ") {
237 if (debug_lvl > 0) cout << " baseIxz: " << bixz << endl;
238 MassBalance->SetBaseIxz(bixz);
239 } else if (parameter == "AC_IYZ") {
241 if (debug_lvl > 0) cout << " baseIyz: " << biyz << endl;
242 MassBalance->SetBaseIyz(biyz);
243 } else if (parameter == "AC_EMPTYWT") {
245 MassBalance->SetEmptyWeight(EW);
246 if (debug_lvl > 0) cout << " EmptyWeight: " << EW << endl;
247 } else if (parameter == "AC_CGLOC") {
248 *AC_cfg >> vbaseXYZcg(eX) >> vbaseXYZcg(eY) >> vbaseXYZcg(eZ);
249 MassBalance->SetBaseCG(vbaseXYZcg);
250 if (debug_lvl > 0) cout << " CG (x, y, z): " << vbaseXYZcg << endl;
251 } else if (parameter == "AC_EYEPTLOC") {
252 *AC_cfg >> vXYZep(eX) >> vXYZep(eY) >> vXYZep(eZ);
253 if (debug_lvl > 0) cout << " Eyepoint (x, y, z): " << vXYZep << endl;
254 } else if (parameter == "AC_AERORP") {
255 *AC_cfg >> vXYZrp(eX) >> vXYZrp(eY) >> vXYZrp(eZ);
256 if (debug_lvl > 0) cout << " Ref Pt (x, y, z): " << vXYZrp << endl;
257 } else if (parameter == "AC_ALPHALIMITS") {
258 *AC_cfg >> alphaclmin >> alphaclmax;
259 if (debug_lvl > 0) cout << " Maximum Alpha: " << alphaclmax
260 << " Minimum Alpha: " << alphaclmin
265 // calculate some derived parameters
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);
277 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
279 void FGAircraft::ReadPropulsion(FGConfigFile* AC_cfg)
281 if (!Propulsion->Load(AC_cfg)) {
282 cerr << "Propulsion not successfully loaded" << endl;
286 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
288 void FGAircraft::ReadFlightControls(FGConfigFile* AC_cfg)
290 if (!FCS->Load(AC_cfg)) {
291 cerr << "Flight Controls not successfully loaded" << endl;
295 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
297 void FGAircraft::ReadAerodynamics(FGConfigFile* AC_cfg)
299 if (!Aerodynamics->Load(AC_cfg)) {
300 cerr << "Aerodynamics not successfully loaded" << endl;
304 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
306 void FGAircraft::ReadUndercarriage(FGConfigFile* AC_cfg)
308 if (!GroundReactions->Load(AC_cfg)) {
309 cerr << "Ground Reactions not successfully loaded" << endl;
313 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
315 void FGAircraft::ReadOutput(FGConfigFile* AC_cfg)
317 string token, parameter;
321 token = AC_cfg->GetValue("NAME");
322 Output->SetFilename(token);
323 token = AC_cfg->GetValue("TYPE");
324 Output->SetType(token);
325 AC_cfg->GetNextConfigLine();
327 while ((token = AC_cfg->GetValue()) != "/OUTPUT") {
328 *AC_cfg >> parameter;
329 if (parameter == "RATE_IN_HZ") *AC_cfg >> OutRate;
330 if (parameter == "SIMULATION") {
331 *AC_cfg >> parameter;
332 if (parameter == "ON") subsystems += ssSimulation;
334 if (parameter == "AEROSURFACES") {
335 *AC_cfg >> parameter;
336 if (parameter == "ON") subsystems += ssAerosurfaces;
338 if (parameter == "RATES") {
339 *AC_cfg >> parameter;
340 if (parameter == "ON") subsystems += ssRates;
342 if (parameter == "VELOCITIES") {
343 *AC_cfg >> parameter;
344 if (parameter == "ON") subsystems += ssVelocities;
346 if (parameter == "FORCES") {
347 *AC_cfg >> parameter;
348 if (parameter == "ON") subsystems += ssForces;
350 if (parameter == "MOMENTS") {
351 *AC_cfg >> parameter;
352 if (parameter == "ON") subsystems += ssMoments;
354 if (parameter == "ATMOSPHERE") {
355 *AC_cfg >> parameter;
356 if (parameter == "ON") subsystems += ssAtmosphere;
358 if (parameter == "MASSPROPS") {
359 *AC_cfg >> parameter;
360 if (parameter == "ON") subsystems += ssMassProps;
362 if (parameter == "POSITION") {
363 *AC_cfg >> parameter;
364 if (parameter == "ON") subsystems += ssPosition;
366 if (parameter == "COEFFICIENTS") {
367 *AC_cfg >> parameter;
368 if (parameter == "ON") subsystems += ssCoefficients;
370 if (parameter == "GROUND_REACTIONS") {
371 *AC_cfg >> parameter;
372 if (parameter == "ON") subsystems += ssGroundReactions;
374 if (parameter == "FCS") {
375 *AC_cfg >> parameter;
376 if (parameter == "ON") subsystems += ssFCS;
378 if (parameter == "PROPULSION") {
379 *AC_cfg >> parameter;
380 if (parameter == "ON") subsystems += ssPropulsion;
384 Output->SetSubsystems(subsystems);
386 OutRate = OutRate>120?120:(OutRate<0?0:OutRate);
387 Output->SetRate( (int)(0.5 + 1.0/(State->Getdt()*OutRate)) );
390 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
392 void FGAircraft::ReadPrologue(FGConfigFile* AC_cfg)
394 string token = AC_cfg->GetValue();
396 AircraftName = AC_cfg->GetValue("NAME");
397 if (debug_lvl > 0) cout << underon << "Reading Aircraft Configuration File"
398 << underoff << ": " << highint << AircraftName << normint << endl;
399 scratch = AC_cfg->GetValue("VERSION").c_str();
401 CFGVersion = AC_cfg->GetValue("VERSION");
404 cout << " Version: " << highint << CFGVersion
406 if (CFGVersion != NEEDED_CFG_VERSION) {
407 cerr << endl << fgred << "YOU HAVE AN INCOMPATIBLE CFG FILE FOR THIS AIRCRAFT."
408 " RESULTS WILL BE UNPREDICTABLE !!" << endl;
409 cerr << "Current version needed is: " << NEEDED_CFG_VERSION << endl;
410 cerr << " You have version: " << CFGVersion << endl << fgdef << endl;
414 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
416 void FGAircraft::Debug(void)
418 //TODO: Add your source code here