1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
6 Purpose: Integrates the rotational EOM
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 integrates the rotational EOM.
33 --------------------------------------------------------------------------------
36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
37 COMMENTS, REFERENCES, and NOTES
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
39 [1] Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling
40 Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420 Naval Postgraduate
42 [2] D. M. Henderson, "Euler Angles, Quaternions, and Transformation Matrices",
44 [3] Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
45 NASA-Ames", NASA CR-2497, January 1975
46 [4] Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
47 Wiley & Sons, 1979 ISBN 0-471-03032-5
48 [5] Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
49 1982 ISBN 0-471-08936-2
51 The order of rotations used in this class corresponds to a 3-2-1 sequence,
52 or Y-P-R, or Z-Y-X, if you prefer.
54 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
56 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
58 #include "FGRotation.h"
59 #include "FGAtmosphere.h"
61 #include "FGFDMExec.h"
63 #include "FGAircraft.h"
64 #include "FGMassBalance.h"
65 #include "FGTranslation.h"
66 #include "FGPosition.h"
67 #include "FGAuxiliary.h"
69 #include "FGPropertyManager.h"
74 static const char *IdSrc = "$Id$";
75 static const char *IdHdr = ID_ROTATION;
77 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
79 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
82 FGRotation::FGRotation(FGFDMExec* fdmex) : FGModel(fdmex)
85 cTht = cPhi = cPsi = 1.0;
86 sTht = sPhi = sPsi = 0.0;
89 vPQRdot_prev[0].InitMatrix();
90 vPQRdot_prev[1].InitMatrix();
91 vPQRdot_prev[2].InitMatrix();
92 vPQRdot_prev[3].InitMatrix();
99 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
101 FGRotation::~FGRotation()
107 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
109 bool FGRotation::Run(void)
114 if (!FGModel::Run()) {
117 L2 = vMoments(eL) + Ixz*vPQR(eP)*vPQR(eQ) - (Izz-Iyy)*vPQR(eR)*vPQR(eQ);
118 N1 = vMoments(eN) - (Iyy-Ixx)*vPQR(eP)*vPQR(eQ) - Ixz*vPQR(eR)*vPQR(eQ);
120 vPQRdot(eP) = (L2*Izz - N1*Ixz) / (Ixx*Izz - Ixz*Ixz);
121 vPQRdot(eQ) = (vMoments(eM) - (Ixx-Izz)*vPQR(eP)*vPQR(eR)
122 - Ixz*(vPQR(eP)*vPQR(eP) - vPQR(eR)*vPQR(eR)))/Iyy;
123 vPQRdot(eR) = (N1*Ixx + L2*Ixz) / (Ixx*Izz - Ixz*Ixz);
125 vPQR += State->Integrate(FGState::TRAPZ, dt*rate, vPQRdot, vPQRdot_prev);
127 vAeroPQR = vPQR + Atmosphere->GetTurbPQR();
129 State->IntegrateQuat(vPQR, rate);
130 State->CalcMatrices();
131 vEuler = State->CalcEuler();
133 cTht = cos(vEuler(eTht)); sTht = sin(vEuler(eTht));
134 cPhi = cos(vEuler(ePhi)); sPhi = sin(vEuler(ePhi));
135 cPsi = cos(vEuler(ePsi)); sPsi = sin(vEuler(ePsi));
137 vEulerRates(eTht) = vPQR(2)*cPhi - vPQR(3)*sPhi;
139 tTheta = sTht/cTht; // what's cheaper: / or tan() ?
140 vEulerRates(ePhi) = vPQR(1) + (vPQR(2)*sPhi + vPQR(3)*cPhi)*tTheta;
141 vEulerRates(ePsi) = (vPQR(2)*sPhi + vPQR(3)*cPhi)/cTht;
144 if (debug_lvl > 1) Debug(2);
152 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
154 void FGRotation::GetState(void)
157 vMoments = Aircraft->GetMoments();
159 Ixx = MassBalance->GetIxx();
160 Iyy = MassBalance->GetIyy();
161 Izz = MassBalance->GetIzz();
162 Ixz = MassBalance->GetIxz();
165 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
167 void FGRotation::bind(void)
169 typedef double (FGRotation::*PMF)(int) const;
170 PropertyManager->Tie("velocities/p-rad_sec", this,1,
171 (PMF)&FGRotation::GetPQR);
172 PropertyManager->Tie("velocities/q-rad_sec", this,2,
173 (PMF)&FGRotation::GetPQR);
174 PropertyManager->Tie("velocities/r-rad_sec", this,3,
175 (PMF)&FGRotation::GetPQR);
176 PropertyManager->Tie("velocities/p-aero-rad_sec", this,1,
177 (PMF)&FGRotation::GetAeroPQR);
178 PropertyManager->Tie("velocities/q-aero-rad_sec", this,2,
179 (PMF)&FGRotation::GetAeroPQR);
180 PropertyManager->Tie("velocities/r-aero-rad_sec", this,3,
181 (PMF)&FGRotation::GetAeroPQR);
182 PropertyManager->Tie("accelerations/pdot-rad_sec", this,1,
183 (PMF)&FGRotation::GetPQRdot);
184 PropertyManager->Tie("accelerations/qdot-rad_sec", this,2,
185 (PMF)&FGRotation::GetPQRdot);
186 PropertyManager->Tie("accelerations/rdot-rad_sec", this,3,
187 (PMF)&FGRotation::GetPQRdot);
188 PropertyManager->Tie("attitude/roll-rad", this,1,
189 (PMF)&FGRotation::GetEuler);
190 PropertyManager->Tie("attitude/pitch-rad", this,2,
191 (PMF)&FGRotation::GetEuler);
192 PropertyManager->Tie("attitude/heading-true-rad", this,3,
193 (PMF)&FGRotation::GetEuler);
194 PropertyManager->Tie("velocities/phidot-rad_sec", this,1,
195 (PMF)&FGRotation::GetEulerRates);
196 PropertyManager->Tie("velocities/thetadot-rad_sec", this,2,
197 (PMF)&FGRotation::GetEulerRates);
198 PropertyManager->Tie("velocities/psidot-rad_sec", this,3,
199 (PMF)&FGRotation::GetEulerRates);
200 PropertyManager->Tie("attitude/phi-rad", this,
201 &FGRotation::Getphi);
202 PropertyManager->Tie("attitude/theta-rad", this,
203 &FGRotation::Gettht);
204 PropertyManager->Tie("attitude/psi-true-rad", this,
205 &FGRotation::Getpsi);
208 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
210 void FGRotation::unbind(void)
212 PropertyManager->Untie("velocities/p-rad_sec");
213 PropertyManager->Untie("velocities/q-rad_sec");
214 PropertyManager->Untie("velocities/r-rad_sec");
215 PropertyManager->Untie("velocities/p-aero-rad_sec");
216 PropertyManager->Untie("velocities/q-aero-rad_sec");
217 PropertyManager->Untie("velocities/r-aero-rad_sec");
218 PropertyManager->Untie("accelerations/pdot-rad_sec");
219 PropertyManager->Untie("accelerations/qdot-rad_sec");
220 PropertyManager->Untie("accelerations/rdot-rad_sec");
221 PropertyManager->Untie("attitude/roll-rad");
222 PropertyManager->Untie("attitude/pitch-rad");
223 PropertyManager->Untie("attitude/heading-true-rad");
224 PropertyManager->Untie("velocities/phidot-rad_sec");
225 PropertyManager->Untie("velocities/thetadot-rad_sec");
226 PropertyManager->Untie("velocities/psidot-rad_sec");
227 PropertyManager->Untie("attitude/phi-rad");
228 PropertyManager->Untie("attitude/theta-rad");
229 PropertyManager->Untie("attitude/psi-true-rad");
232 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
233 // The bitmasked value choices are as follows:
234 // unset: In this case (the default) JSBSim would only print
235 // out the normally expected messages, essentially echoing
236 // the config files as they are read. If the environment
237 // variable is not set, debug_lvl is set to 1 internally
238 // 0: This requests JSBSim not to output any messages
240 // 1: This value explicity requests the normal JSBSim
242 // 2: This value asks for a message to be printed out when
243 // a class is instantiated
244 // 4: When this value is set, a message is displayed when a
245 // FGModel object executes its Run() method
246 // 8: When this value is set, various runtime state variables
247 // are printed out periodically
248 // 16: When set various parameters are sanity checked and
249 // a message is printed out when they go out of bounds
251 void FGRotation::Debug(int from)
253 if (debug_lvl <= 0) return;
255 if (debug_lvl & 1) { // Standard console startup message output
256 if (from == 0) { // Constructor
260 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
261 if (from == 0) cout << "Instantiated: FGRotation" << endl;
262 if (from == 1) cout << "Destroyed: FGRotation" << endl;
264 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
266 if (debug_lvl & 8 ) { // Runtime state variables
268 if (debug_lvl & 16) { // Sanity check variables
270 if (fabs(vPQR(eP)) > 100)
271 cout << "FGRotation::P (Roll Rate) out of bounds: " << vPQR(eP) << endl;
272 if (fabs(vPQR(eQ)) > 100)
273 cout << "FGRotation::Q (Pitch Rate) out of bounds: " << vPQR(eQ) << endl;
274 if (fabs(vPQR(eR)) > 100)
275 cout << "FGRotation::R (Yaw Rate) out of bounds: " << vPQR(eR) << endl;
278 if (debug_lvl & 64) {
279 if (from == 0) { // Constructor
280 cout << IdSrc << endl;
281 cout << IdHdr << endl;