1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
3 Module: FGAuxiliary.cpp
4 Author: Tony Peden, Jon Berndt
6 Purpose: Calculates additional parameters needed by the visual system, etc.
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 This class calculates various auxiliary parameters.
33 Anderson, John D. "Introduction to Flight", 3rd Edition, McGraw-Hill, 1989
36 --------------------------------------------------------------------------------
39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
41 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
43 #include "FGAuxiliary.h"
44 #include "FGTranslation.h"
45 #include "FGRotation.h"
46 #include "FGAtmosphere.h"
48 #include "FGFDMExec.h"
50 #include "FGAircraft.h"
51 #include "FGPosition.h"
53 #include "FGInertial.h"
54 #include "FGMatrix33.h"
55 #include "FGColumnVector3.h"
56 #include "FGColumnVector4.h"
58 static const char *IdSrc = "$Id$";
59 static const char *IdHdr = ID_AUXILIARY;
61 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
63 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
66 FGAuxiliary::FGAuxiliary(FGFDMExec* fdmex) : FGModel(fdmex)
69 vcas = veas = mach = qbar = pt = 0;
76 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
78 FGAuxiliary::~FGAuxiliary()
83 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
85 bool FGAuxiliary::Run()
89 if (!FGModel::Run()) {
91 if (mach < 1) { //calculate total pressure assuming isentropic flow
92 pt=p*pow((1 + 0.2*mach*mach),3.5);
94 // shock in front of pitot tube, we'll assume its normal and use
95 // the Rayleigh Pitot Tube Formula, i.e. the ratio of total
96 // pressure behind the shock to the static pressure in front
98 B = 5.76*mach*mach/(5.6*mach*mach - 0.8);
100 // The denominator above is zero for Mach ~ 0.38, for which
101 // we'll never be here, so we're safe
103 D = (2.8*mach*mach-0.4)*0.4167;
107 A = pow(((pt-p)/psl+1),0.28571);
108 vcas = sqrt(7*psl/rhosl*(A-1));
109 veas = sqrt(2*qbar/rhosl);
111 // Pilot sensed accelerations are calculated here. This is used
112 // for the coordinated turn ball instrument. Motion base platforms sometimes
113 // use the derivative of pilot sensed accelerations as the driving parameter,
114 // rather than straight accelerations.
116 // The theory behind pilot-sensed calculations is presented:
118 // For purposes of discussion and calculation, assume for a minute that the
119 // pilot is in space and motionless in inertial space. She will feel
120 // no accelerations. If the aircraft begins to accelerate along any axis or
121 // axes (without rotating), the pilot will sense those accelerations. If
122 // any rotational moment is applied, the pilot will sense an acceleration
123 // due to that motion in the amount:
125 // [wdot X R] + [w X (w X R)]
130 // wdot = omegadot, the rotational acceleration rate vector
131 // w = omega, the rotational rate vector
132 // R = the vector from the aircraft CG to the pilot eyepoint
134 // The sum total of these two terms plus the acceleration of the aircraft
135 // body axis gives the acceleration the pilot senses in inertial space.
136 // In the presence of a large body such as a planet, a gravity field also
137 // provides an accelerating attraction. This acceleration can be transformed
138 // from the reference frame of the planet so as to be expressed in the frame
139 // of reference of the aircraft. This gravity field accelerating attraction
140 // is felt by the pilot as a force on her tushie as she sits in her aircraft
141 // on the runway awaiting takeoff clearance.
143 // In JSBSim the acceleration of the body frame in inertial space is given
144 // by the F = ma relation. If the vForces vector is divided by the aircraft
145 // mass, the acceleration vector is calculated. The term wdot is equivalent
146 // to the JSBSim vPQRdot vector, and the w parameter is equivalent to vPQR.
147 // The radius R is calculated below in the vector vToEyePt.
149 vPilotAccel.InitMatrix();
150 if( Translation->GetVt() > 1 ) {
151 vToEyePt = Aircraft->GetXYZep() - MassBalance->GetXYZcg();
152 vToEyePt *= inchtoft;
153 vPilotAccel = Aerodynamics->GetForces()
154 + Propulsion->GetForces()
155 + GroundReactions->GetForces();
156 vPilotAccel /= MassBalance->GetMass();
157 vPilotAccel += Rotation->GetPQRdot() * vToEyePt;
158 vPilotAccel += Rotation->GetPQR() * (Rotation->GetPQR() * vToEyePt);
159 //vPilotAccel(2)*=-1;
161 earthPosAngle += State->Getdt()*Inertial->omega();
168 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
170 double FGAuxiliary::GetHeadWind(void)
174 psiw = Atmosphere->GetWindPsi();
175 psi = Rotation->Getpsi();
176 vw = Atmosphere->GetWindNED().Magnitude();
178 return vw*cos(psiw - psi);
181 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
183 double FGAuxiliary::GetCrossWind(void)
187 psiw = Atmosphere->GetWindPsi();
188 psi = Rotation->Getpsi();
189 vw = Atmosphere->GetWindNED().Magnitude();
191 return vw*sin(psiw - psi);
194 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
196 FGColumnVector3 FGAuxiliary::GetNpilot(void)
198 return vPilotAccel/Inertial->gravity();
201 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
203 double FGAuxiliary::GetNpilot(int idx)
205 return (vPilotAccel/Inertial->gravity())(idx);
208 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
210 void FGAuxiliary::GetState(void)
212 qbar = Translation->Getqbar();
213 mach = Translation->GetMach();
214 p = Atmosphere->GetPressure();
215 rhosl = Atmosphere->GetDensitySL();
216 psl = Atmosphere->GetPressureSL();
219 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
220 // The bitmasked value choices are as follows:
221 // unset: In this case (the default) JSBSim would only print
222 // out the normally expected messages, essentially echoing
223 // the config files as they are read. If the environment
224 // variable is not set, debug_lvl is set to 1 internally
225 // 0: This requests JSBSim not to output any messages
227 // 1: This value explicity requests the normal JSBSim
229 // 2: This value asks for a message to be printed out when
230 // a class is instantiated
231 // 4: When this value is set, a message is displayed when a
232 // FGModel object executes its Run() method
233 // 8: When this value is set, various runtime state variables
234 // are printed out periodically
235 // 16: When set various parameters are sanity checked and
236 // a message is printed out when they go out of bounds
238 void FGAuxiliary::Debug(int from)
240 if (debug_lvl <= 0) return;
242 if (debug_lvl & 1) { // Standard console startup message output
243 if (from == 0) { // Constructor
247 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
248 if (from == 0) cout << "Instantiated: FGAuxiliary" << endl;
249 if (from == 1) cout << "Destroyed: FGAuxiliary" << endl;
251 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
253 if (debug_lvl & 8 ) { // Runtime state variables
255 if (debug_lvl & 16) { // Sanity checking
257 if (debug_lvl & 64) {
258 if (from == 0) { // Constructor
259 cout << IdSrc << endl;
260 cout << IdHdr << endl;