1 /*******************************************************************************
7 ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
9 This program is free software; you can redistribute it and/or modify it under
10 the terms of the GNU General Public License as published by the Free Software
11 Foundation; either version 2 of the License, or (at your option) any later
14 This program is distributed in the hope that it will be useful, but WITHOUT
15 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
19 You should have received a copy of the GNU General Public License along with
20 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 Place - Suite 330, Boston, MA 02111-1307, USA.
23 Further information about the GNU General Public License can also be found on
24 the world wide web at http://www.gnu.org.
27 --------------------------------------------------------------------------------
30 ********************************************************************************
32 *******************************************************************************/
37 /*******************************************************************************
38 COMMENTS, REFERENCES, and NOTES
39 *******************************************************************************/
41 The aerodynamic coefficients used in this model typically are:
44 CL0 - Reference lift at zero alpha
45 CD0 - Reference drag at zero alpha
46 CDM - Drag due to Mach
47 CLa - Lift curve slope (w.r.t. alpha)
48 CDa - Drag curve slope (w.r.t. alpha)
49 CLq - Lift due to pitch rate
50 CLM - Lift due to Mach
51 CLadt - Lift due to alpha rate
53 Cmadt - Pitching Moment due to alpha rate
54 Cm0 - Reference Pitching moment at zero alpha
55 Cma - Pitching moment slope (w.r.t. alpha)
56 Cmq - Pitch damping (pitch moment due to pitch rate)
57 CmM - Pitch Moment due to Mach
60 Cyb - Side force due to sideslip
61 Cyr - Side force due to yaw rate
63 Clb - Dihedral effect (roll moment due to sideslip)
64 Clp - Roll damping (roll moment due to roll rate)
65 Clr - Roll moment due to yaw rate
66 Cnb - Weathercocking stability (yaw moment due to sideslip)
67 Cnp - Rudder adverse yaw (yaw moment due to roll rate)
68 Cnr - Yaw damping (yaw moment due to yaw rate)
71 CLDe - Lift due to elevator
72 CDDe - Drag due to elevator
73 CyDr - Side force due to rudder
74 CyDa - Side force due to aileron
76 CmDe - Pitch moment due to elevator
77 ClDa - Roll moment due to aileron
78 ClDr - Roll moment due to rudder
79 CnDr - Yaw moment due to rudder
80 CnDa - Yaw moment due to aileron
82 [1] Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling
83 Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420 Naval Postgraduate
85 [2] D. M. Henderson, "Euler Angles, Quaternions, and Transformation Matrices",
87 [3] Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
88 NASA-Ames", NASA CR-2497, January 1975
89 [4] Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
90 Wiley & Sons, 1979 ISBN 0-471-03032-5
91 [5] Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
92 1982 ISBN 0-471-08936-2
95 /*******************************************************************************
97 *******************************************************************************/
100 # include <simgear/compiler.h>
101 # ifdef FG_HAVE_STD_INCLUDES
107 # include <iterator.h>
117 #include "FGCoefficient.h"
118 #include "FGEngine.h"
121 #include "FGConfigFile.h"
122 #include "FGMatrix.h"
124 /*******************************************************************************
126 *******************************************************************************/
128 /*******************************************************************************
130 *******************************************************************************/
132 class FGAircraft : public FGModel {
136 enum {ePhi=1, eTht, ePsi};
139 FGAircraft(FGFDMExec*);
143 bool LoadAircraft(string, string, string);
144 inline string GetAircraftName(void) { return AircraftName; }
145 inline void SetGearUp(bool tt) { GearUp = tt; }
146 inline bool GetGearUp(void) { return GearUp; }
147 inline int GetNumGearUnits(void) { return lGear.size(); }
148 inline FGLGear* GetGearUnit(int ii) { return lGear[ii]; }
149 inline float GetWingArea(void) { return WingArea; }
150 inline float GetWingSpan(void) { return WingSpan; }
151 inline float Getcbar(void) { return cbar; }
152 inline FGEngine* GetEngine(int tt) { return Engine[tt]; }
153 inline FGTank* GetTank(int tt) { return Tank[tt]; }
154 inline float GetWeight(void) { return Weight; }
155 inline float GetMass(void) { return Mass; }
156 inline FGColumnVector GetMoments(void) { return vMoments; }
157 inline FGColumnVector GetForces(void) { return vForces; }
158 inline FGColumnVector GetvFs(void) { return vFs; }
159 inline float GetIxx(void) { return Ixx; }
160 inline float GetIyy(void) { return Iyy; }
161 inline float GetIzz(void) { return Izz; }
162 inline float GetIxz(void) { return Ixz; }
163 inline unsigned int GetNumEngines(void) { return numEngines; }
164 inline FGColumnVector GetXYZcg(void) { return vXYZcg; }
165 inline FGColumnVector GetXYZrp(void) { return vXYZrp; }
166 inline FGColumnVector GetXYZep(void) { return vXYZep; }
167 inline float GetNlf(void) { return nlf; }
168 inline float GetAlphaCLMax(void) { return alphaclmax; }
169 inline float GetAlphaCLMin(void) { return alphaclmin; }
171 inline void SetAlphaCLMax(float tt) { alphaclmax=tt; }
172 inline void SetAlphaCLMin(float tt) { alphaclmin=tt; }
174 inline FGCoefficient* GetCoeff(int axis, int idx) { return Coeff[axis][idx]; }
175 string GetCoefficientStrings(void);
176 string GetCoefficientValues(void);
177 string GetGroundReactionStrings(void);
178 string GetGroundReactionValues(void);
180 vector <FGLGear>::iterator iGear;
182 enum { ssSimulation = 1,
190 ssCoefficients = 256,
192 ssGroundReactions = 1024 } subsystems;
200 void MassChange(void);
201 FGColumnVector vMoments;
202 FGColumnVector vForces;
204 FGColumnVector vXYZrp;
205 FGColumnVector vbaseXYZcg;
206 FGColumnVector vXYZcg;
207 FGColumnVector vXYZep;
208 FGColumnVector vEuler;
209 float baseIxx, baseIyy, baseIzz, baseIxz, EmptyMass, Mass;
210 float Ixx, Iyy, Izz, Ixz;
212 float WingArea, WingSpan, cbar;
213 float Weight, EmptyWeight;
214 float nlf,alphaclmax,alphaclmin;
219 unsigned int numTanks;
220 unsigned int numEngines;
221 unsigned int numSelectedOxiTanks;
222 unsigned int numSelectedFuelTanks;
223 FGTank* Tank[MAX_TANKS]; // need to make a vector
224 FGEngine *Engine[MAX_ENGINES]; // need to make a vector
226 typedef map<string,int> AxisIndex;
229 typedef vector<FGCoefficient*> CoeffArray;
233 void DisplayCoeffFactors(vector <eParam> multipliers);
238 vector <FGLGear*> lGear;
242 void ReadMetrics(FGConfigFile*);
243 void ReadPropulsion(FGConfigFile*);
244 void ReadFlightControls(FGConfigFile*);
245 void ReadAerodynamics(FGConfigFile*);
246 void ReadUndercarriage(FGConfigFile*);
247 void ReadPrologue(FGConfigFile*);
248 void ReadOutput(FGConfigFile*);
251 /******************************************************************************/