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 "FGState.h"
  77 #include "FGFDMExec.h"
  78 #include "FGPosition.h"
  79 #include "FGPropertyManager.h"
  80
  81 namespace JSBSim {
  82
  83 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  84 DEFINITIONS
  85 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  86
  87 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  88 GLOBAL DATA
  89 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  90
  91 static const char *IdSrc = "$Id$";
  92 static const char *IdHdr = ID_AIRCRAFT;
  93
  94 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  95 CLASS IMPLEMENTATION
  96 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  97
  98 FGAircraft::FGAircraft(FGFDMExec* fdmex) : FGModel(fdmex)
  99 {
 100   Name = "FGAircraft";
 101   WingSpan = 0.0;
 102   HTailArea = VTailArea = 0.0;
 103   HTailArm  = VTailArm  = 0.0;
 104   lbarh = lbarv = 0.0;
 105   vbarh = vbarv = 0.0;
 106   WingIncidence = 0.0;
 107
 108   bind();
 109
 110   Debug(0);
 111 }
 112
 113 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 114
 115 FGAircraft::~FGAircraft()
 116 {
 117   unbind();
 118   Debug(1);
 119 }
 120
 121 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 122
 123 bool FGAircraft::Run(void)
 124 {
 125   if (!FGModel::Run()) {                 // if false then execute this Run()
 126     vForces.InitMatrix();
 127     vForces += Aerodynamics->GetForces();
 128     vForces += Inertial->GetForces();
 129     vForces += Propulsion->GetForces();
 130     vForces += GroundReactions->GetForces();
 131
 132     vMoments.InitMatrix();
 133     vMoments += Aerodynamics->GetMoments();
 134     vMoments += Propulsion->GetMoments();
 135     vMoments += GroundReactions->GetMoments();
 136
 137     vBodyAccel = vForces/MassBalance->GetMass();
 138
 139     vNcg = vBodyAccel/Inertial->gravity();
 140
 141     vNwcg = State->GetTb2s() * vNcg;
 142     vNwcg(3) = -1*vNwcg(3) + 1;
 143
 144     return false;
 145   } else {                               // skip Run() execution this time
 146     return true;
 147   }
 148 }
 149
 150 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 151
 152 float FGAircraft::GetNlf(void)
 153 {
 154   return -1*Aerodynamics->GetvFs(3)/MassBalance->GetWeight();
 155 }
 156
 157 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 158
 159 bool FGAircraft::Load(FGConfigFile* AC_cfg)
 160 {
 161   string token = "";
 162   string parameter;
 163   double EW, bixx, biyy, bizz, bixy, bixz, biyz;
 164   double pmWt, pmX, pmY, pmZ;
 165   FGColumnVector3 vbaseXYZcg;
 166
 167   bixx = biyy = bizz = bixy = bixz = biyz = 0.0;
 168
 169   AC_cfg->GetNextConfigLine();
 170
 171   while ((token = AC_cfg->GetValue()) != string("/METRICS")) {
 172     *AC_cfg >> parameter;
 173     if (parameter == "AC_WINGAREA") {
 174       *AC_cfg >> WingArea;
 175       if (debug_lvl > 0) cout << "    WingArea: " << WingArea  << endl;
 176     } else if (parameter == "AC_WINGSPAN") {
 177       *AC_cfg >> WingSpan;
 178       if (debug_lvl > 0) cout << "    WingSpan: " << WingSpan  << endl;
 179     } else if (parameter == "AC_WINGINCIDENCE") {
 180       *AC_cfg >> WingIncidence;
 181       if (debug_lvl > 0) cout << "    Incidence: " << WingIncidence << endl;
 182     } else if (parameter == "AC_CHORD") {
 183       *AC_cfg >> cbar;
 184       if (debug_lvl > 0) cout << "    Chord: " << cbar << endl;
 185     } else if (parameter == "AC_HTAILAREA") {
 186       *AC_cfg >> HTailArea;
 187       if (debug_lvl > 0) cout << "    H. Tail Area: " << HTailArea << endl;
 188     } else if (parameter == "AC_HTAILARM") {
 189       *AC_cfg >> HTailArm;
 190       if (debug_lvl > 0) cout << "    H. Tail Arm: " << HTailArm << endl;
 191     } else if (parameter == "AC_VTAILAREA") {
 192       *AC_cfg >> VTailArea;
 193       if (debug_lvl > 0) cout << "    V. Tail Area: " << VTailArea << endl;
 194     } else if (parameter == "AC_VTAILARM") {
 195       *AC_cfg >> VTailArm;
 196       if (debug_lvl > 0) cout << "    V. Tail Arm: " << VTailArm << endl;
 197     } else if (parameter == "AC_IXX") {
 198       *AC_cfg >> bixx;
 199       if (debug_lvl > 0) cout << "    baseIxx: " << bixx << " slug-ft2" << endl;
 200     } else if (parameter == "AC_IYY") {
 201       *AC_cfg >> biyy;
 202       if (debug_lvl > 0) cout << "    baseIyy: " << biyy << " slug-ft2" << endl;
 203     } else if (parameter == "AC_IZZ") {
 204       *AC_cfg >> bizz;
 205       if (debug_lvl > 0) cout << "    baseIzz: " << bizz << " slug-ft2" << endl;
 206     } else if (parameter == "AC_IXY") {
 207       *AC_cfg >> bixy;
 208       if (debug_lvl > 0) cout << "    baseIxy: " << bixy << " slug-ft2" << endl;
 209     } else if (parameter == "AC_IXZ") {
 210       *AC_cfg >> bixz;
 211       if (debug_lvl > 0) cout << "    baseIxz: " << bixz << " slug-ft2" << endl;
 212     } else if (parameter == "AC_IYZ") {
 213       *AC_cfg >> biyz;
 214       if (debug_lvl > 0) cout << "    baseIyz: " << biyz << " slug-ft2" << endl;
 215     } else if (parameter == "AC_EMPTYWT") {
 216       *AC_cfg >> EW;
 217       MassBalance->SetEmptyWeight(EW);
 218       if (debug_lvl > 0) cout << "    EmptyWeight: " << EW << " lbm" << endl;
 219     } else if (parameter == "AC_CGLOC") {
 220       *AC_cfg >> vbaseXYZcg(eX) >> vbaseXYZcg(eY) >> vbaseXYZcg(eZ);
 221       MassBalance->SetBaseCG(vbaseXYZcg);
 222       if (debug_lvl > 0) cout << "    CG (x, y, z): " << vbaseXYZcg << endl;
 223     } else if (parameter == "AC_EYEPTLOC") {
 224       *AC_cfg >> vXYZep(eX) >> vXYZep(eY) >> vXYZep(eZ);
 225       if (debug_lvl > 0) cout << "    Eyepoint (x, y, z): " << vXYZep << endl;
 226     } else if (parameter == "AC_AERORP") {
 227       *AC_cfg >> vXYZrp(eX) >> vXYZrp(eY) >> vXYZrp(eZ);
 228       if (debug_lvl > 0) cout << "    Ref Pt (x, y, z): " << vXYZrp << endl;
 229     } else if (parameter == "AC_VRP") {
 230       *AC_cfg >> vXYZvrp(eX) >> vXYZvrp(eY) >> vXYZvrp(eZ);
 231       if (debug_lvl > 0) cout << "    Visual Ref Pt (x, y, z): " << vXYZvrp << endl;
 232       Position->SetVRP(vXYZvrp);
 233     } else if (parameter == "AC_POINTMASS") {
 234       *AC_cfg >> pmWt >> pmX >> pmY >> pmZ;
 235       MassBalance->AddPointMass(pmWt, pmX, pmY, pmZ);
 236       if (debug_lvl > 0) cout << "    Point Mass Object: " << pmWt << " lbs. at "
 237                          << "X, Y, Z (in.): " << pmX << "  " << pmY << "  " << pmZ
 238                          << endl;
 239     }
 240   }
 241
 242   MassBalance->SetAircraftBaseInertias(FGMatrix33(  bixx,  -bixy,  -bixz,
 243                                                     -bixy,  biyy,  -biyz,
 244                                                     -bixz,  -biyz,  bizz ));
 245
 246   // calculate some derived parameters
 247   if (cbar != 0.0) {
 248     lbarh = HTailArm/cbar;
 249     lbarv = VTailArm/cbar;
 250     if (WingArea != 0.0) {
 251       vbarh = HTailArm*HTailArea / (cbar*WingArea);
 252       vbarv = VTailArm*VTailArea / (cbar*WingArea);
 253     }
 254   }
 255   return true;
 256 }
 257
 258 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 259
 260 void FGAircraft::bind(void)
 261 {
 262   typedef double (FGAircraft::*PMF)(int) const;
 263   PropertyManager->Tie("metrics/Sw-sqft", this,
 264                        &FGAircraft::GetWingArea);
 265   PropertyManager->Tie("metrics/bw-ft", this,
 266                        &FGAircraft::GetWingSpan);
 267   PropertyManager->Tie("metrics/cbarw-ft", this,
 268                        &FGAircraft::Getcbar);
 269   PropertyManager->Tie("metrics/iw-deg", this,
 270                        &FGAircraft::GetWingIncidence);
 271   PropertyManager->Tie("metrics/Sh-sqft", this,
 272                        &FGAircraft::GetHTailArea);
 273   PropertyManager->Tie("metrics/lh-ft", this,
 274                        &FGAircraft::GetHTailArm);
 275   PropertyManager->Tie("metrics/Sv-sqft", this,
 276                        &FGAircraft::GetVTailArea);
 277   PropertyManager->Tie("metrics/lv-ft", this,
 278                        &FGAircraft::GetVTailArm);
 279   PropertyManager->Tie("metrics/lh-norm", this,
 280                        &FGAircraft::Getlbarh);
 281   PropertyManager->Tie("metrics/lv-norm", this,
 282                        &FGAircraft::Getlbarv);
 283   PropertyManager->Tie("metrics/vbarh-norm", this,
 284                        &FGAircraft::Getvbarh);
 285   PropertyManager->Tie("metrics/vbarv-norm", this,
 286                        &FGAircraft::Getvbarv);
 287   PropertyManager->Tie("moments/l-total-lbsft", this,1,
 288                        (PMF)&FGAircraft::GetMoments);
 289   PropertyManager->Tie("moments/m-total-lbsft", this,2,
 290                        (PMF)&FGAircraft::GetMoments);
 291   PropertyManager->Tie("moments/n-total-lbsft", this,3,
 292                        (PMF)&FGAircraft::GetMoments);
 293   PropertyManager->Tie("forces/fbx-total-lbs", this,1,
 294                        (PMF)&FGAircraft::GetForces);
 295   PropertyManager->Tie("forces/fby-total-lbs", this,2,
 296                        (PMF)&FGAircraft::GetForces);
 297   PropertyManager->Tie("forces/fbz-total-lbs", this,3,
 298                        (PMF)&FGAircraft::GetForces);
 299   PropertyManager->Tie("metrics/aero-rp-x-in", this,1,
 300                        (PMF)&FGAircraft::GetXYZrp);
 301   PropertyManager->Tie("metrics/aero-rp-y-in", this,2,
 302                        (PMF)&FGAircraft::GetXYZrp);
 303   PropertyManager->Tie("metrics/aero-rp-z-in", this,3,
 304                        (PMF)&FGAircraft::GetXYZrp);
 305   PropertyManager->Tie("metrics/eyepoint-x-in", this,1,
 306                        (PMF)&FGAircraft::GetXYZep);
 307   PropertyManager->Tie("metrics/eyepoint-y-in", this,2,
 308                        (PMF)&FGAircraft::GetXYZep);
 309   PropertyManager->Tie("metrics/eyepoint-z-in", this,3,
 310                        (PMF)&FGAircraft::GetXYZep);
 311   PropertyManager->Tie("metrics/visualrefpoint-x-in", this,1,
 312                        (PMF)&FGAircraft::GetXYZvrp);
 313   PropertyManager->Tie("metrics/visualrefpoint-y-in", this,2,
 314                        (PMF)&FGAircraft::GetXYZvrp);
 315   PropertyManager->Tie("metrics/visualrefpoint-z-in", this,3,
 316                        (PMF)&FGAircraft::GetXYZvrp);
 317 }
 318
 319 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 320
 321 void FGAircraft::unbind(void)
 322 {
 323   PropertyManager->Untie("metrics/Sw-sqft");
 324   PropertyManager->Untie("metrics/bw-ft");
 325   PropertyManager->Untie("metrics/cbarw-ft");
 326   PropertyManager->Untie("metrics/iw-deg");
 327   PropertyManager->Untie("metrics/Sh-sqft");
 328   PropertyManager->Untie("metrics/lh-ft");
 329   PropertyManager->Untie("metrics/Sv-sqft");
 330   PropertyManager->Untie("metrics/lv-ft");
 331   PropertyManager->Untie("metrics/lh-norm");
 332   PropertyManager->Untie("metrics/lv-norm");
 333   PropertyManager->Untie("metrics/vbarh-norm");
 334   PropertyManager->Untie("metrics/vbarv-norm");
 335   PropertyManager->Untie("moments/l-total-lbsft");
 336   PropertyManager->Untie("moments/m-total-lbsft");
 337   PropertyManager->Untie("moments/n-total-lbsft");
 338   PropertyManager->Untie("forces/fbx-total-lbs");
 339   PropertyManager->Untie("forces/fby-total-lbs");
 340   PropertyManager->Untie("forces/fbz-total-lbs");
 341   PropertyManager->Untie("metrics/aero-rp-x-in");
 342   PropertyManager->Untie("metrics/aero-rp-y-in");
 343   PropertyManager->Untie("metrics/aero-rp-z-in");
 344   PropertyManager->Untie("metrics/eyepoint-x-in");
 345   PropertyManager->Untie("metrics/eyepoint-y-in");
 346   PropertyManager->Untie("metrics/eyepoint-z-in");
 347   PropertyManager->Untie("metrics/visualrefpoint-x-in");
 348   PropertyManager->Untie("metrics/visualrefpoint-y-in");
 349   PropertyManager->Untie("metrics/visualrefpoint-z-in");
 350 }
 351
 352 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 353 //    The bitmasked value choices are as follows:
 354 //    unset: In this case (the default) JSBSim would only print
 355 //       out the normally expected messages, essentially echoing
 356 //       the config files as they are read. If the environment
 357 //       variable is not set, debug_lvl is set to 1 internally
 358 //    0: This requests JSBSim not to output any messages
 359 //       whatsoever.
 360 //    1: This value explicity requests the normal JSBSim
 361 //       startup messages
 362 //    2: This value asks for a message to be printed out when
 363 //       a class is instantiated
 364 //    4: When this value is set, a message is displayed when a
 365 //       FGModel object executes its Run() method
 366 //    8: When this value is set, various runtime state variables
 367 //       are printed out periodically
 368 //    16: When set various parameters are sanity checked and
 369 //       a message is printed out when they go out of bounds
 370
 371 void FGAircraft::Debug(int from)
 372 {
 373   if (debug_lvl <= 0) return;
 374
 375   if (debug_lvl & 1) { // Standard console startup message output
 376     if (from == 0) { // Constructor
 377     }
 378   }
 379   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 380     if (from == 0) cout << "Instantiated: FGAircraft" << endl;
 381     if (from == 1) cout << "Destroyed:    FGAircraft" << endl;
 382   }
 383   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 384   }
 385   if (debug_lvl & 8 ) { // Runtime state variables
 386   }
 387   if (debug_lvl & 16) { // Sanity checking
 388   }
 389   if (debug_lvl & 64) {
 390     if (from == 0) { // Constructor
 391       cout << IdSrc << endl;
 392       cout << IdHdr << endl;
 393     }
 394   }
 395 }
 396
 397 } // namespace JSBSim