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"
62 #include "FGAircraft.h"
63 #include "FGMassBalance.h"
64 #include "FGPropertyManager.h"
69 static const char *IdSrc = "$Id$";
70 static const char *IdHdr = ID_ROTATION;
72 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
74 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
77 FGRotation::FGRotation(FGFDMExec* fdmex) : FGModel(fdmex)
80 cTht = cPhi = cPsi = 1.0;
81 sTht = sPhi = sPsi = 0.0;
84 vPQRdot_prev[0].InitMatrix();
85 vPQRdot_prev[1].InitMatrix();
86 vPQRdot_prev[2].InitMatrix();
87 vPQRdot_prev[3].InitMatrix();
94 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
96 FGRotation::~FGRotation()
102 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
104 bool FGRotation::Run(void)
108 if (!FGModel::Run()) {
111 vPQRdot = MassBalance->GetJinv()*(vMoments - vPQR*(MassBalance->GetJ()*vPQR));
112 vPQR += State->Integrate(FGState::TRAPZ, dt*rate, vPQRdot, vPQRdot_prev);
114 vAeroPQR = vPQR + Atmosphere->GetTurbPQR();
116 State->IntegrateQuat(vPQR, rate);
117 State->CalcMatrices();
118 vEuler = State->CalcEuler();
120 cTht = cos(vEuler(eTht)); sTht = sin(vEuler(eTht));
121 cPhi = cos(vEuler(ePhi)); sPhi = sin(vEuler(ePhi));
122 cPsi = cos(vEuler(ePsi)); sPsi = sin(vEuler(ePsi));
124 vEulerRates(eTht) = vPQR(2)*cPhi - vPQR(3)*sPhi;
126 tTheta = sTht/cTht; // what's cheaper: / or tan() ?
127 vEulerRates(ePhi) = vPQR(1) + (vPQR(2)*sPhi + vPQR(3)*cPhi)*tTheta;
128 vEulerRates(ePsi) = (vPQR(2)*sPhi + vPQR(3)*cPhi)/cTht;
131 if (debug_lvl > 1) Debug(2);
139 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
141 void FGRotation::GetState(void)
144 vMoments = Aircraft->GetMoments();
147 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
149 void FGRotation::bind(void)
151 typedef double (FGRotation::*PMF)(int) const;
152 PropertyManager->Tie("velocities/p-rad_sec", this,1,
153 (PMF)&FGRotation::GetPQR);
154 PropertyManager->Tie("velocities/q-rad_sec", this,2,
155 (PMF)&FGRotation::GetPQR);
156 PropertyManager->Tie("velocities/r-rad_sec", this,3,
157 (PMF)&FGRotation::GetPQR);
158 PropertyManager->Tie("velocities/p-aero-rad_sec", this,1,
159 (PMF)&FGRotation::GetAeroPQR);
160 PropertyManager->Tie("velocities/q-aero-rad_sec", this,2,
161 (PMF)&FGRotation::GetAeroPQR);
162 PropertyManager->Tie("velocities/r-aero-rad_sec", this,3,
163 (PMF)&FGRotation::GetAeroPQR);
164 PropertyManager->Tie("accelerations/pdot-rad_sec", this,1,
165 (PMF)&FGRotation::GetPQRdot);
166 PropertyManager->Tie("accelerations/qdot-rad_sec", this,2,
167 (PMF)&FGRotation::GetPQRdot);
168 PropertyManager->Tie("accelerations/rdot-rad_sec", this,3,
169 (PMF)&FGRotation::GetPQRdot);
170 PropertyManager->Tie("attitude/roll-rad", this,1,
171 (PMF)&FGRotation::GetEuler);
172 PropertyManager->Tie("attitude/pitch-rad", this,2,
173 (PMF)&FGRotation::GetEuler);
174 PropertyManager->Tie("attitude/heading-true-rad", this,3,
175 (PMF)&FGRotation::GetEuler);
176 PropertyManager->Tie("velocities/phidot-rad_sec", this,1,
177 (PMF)&FGRotation::GetEulerRates);
178 PropertyManager->Tie("velocities/thetadot-rad_sec", this,2,
179 (PMF)&FGRotation::GetEulerRates);
180 PropertyManager->Tie("velocities/psidot-rad_sec", this,3,
181 (PMF)&FGRotation::GetEulerRates);
182 PropertyManager->Tie("attitude/phi-rad", this,
183 &FGRotation::Getphi);
184 PropertyManager->Tie("attitude/theta-rad", this,
185 &FGRotation::Gettht);
186 PropertyManager->Tie("attitude/psi-true-rad", this,
187 &FGRotation::Getpsi);
190 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
192 void FGRotation::unbind(void)
194 PropertyManager->Untie("velocities/p-rad_sec");
195 PropertyManager->Untie("velocities/q-rad_sec");
196 PropertyManager->Untie("velocities/r-rad_sec");
197 PropertyManager->Untie("velocities/p-aero-rad_sec");
198 PropertyManager->Untie("velocities/q-aero-rad_sec");
199 PropertyManager->Untie("velocities/r-aero-rad_sec");
200 PropertyManager->Untie("accelerations/pdot-rad_sec");
201 PropertyManager->Untie("accelerations/qdot-rad_sec");
202 PropertyManager->Untie("accelerations/rdot-rad_sec");
203 PropertyManager->Untie("attitude/roll-rad");
204 PropertyManager->Untie("attitude/pitch-rad");
205 PropertyManager->Untie("attitude/heading-true-rad");
206 PropertyManager->Untie("velocities/phidot-rad_sec");
207 PropertyManager->Untie("velocities/thetadot-rad_sec");
208 PropertyManager->Untie("velocities/psidot-rad_sec");
209 PropertyManager->Untie("attitude/phi-rad");
210 PropertyManager->Untie("attitude/theta-rad");
211 PropertyManager->Untie("attitude/psi-true-rad");
214 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
215 // The bitmasked value choices are as follows:
216 // unset: In this case (the default) JSBSim would only print
217 // out the normally expected messages, essentially echoing
218 // the config files as they are read. If the environment
219 // variable is not set, debug_lvl is set to 1 internally
220 // 0: This requests JSBSim not to output any messages
222 // 1: This value explicity requests the normal JSBSim
224 // 2: This value asks for a message to be printed out when
225 // a class is instantiated
226 // 4: When this value is set, a message is displayed when a
227 // FGModel object executes its Run() method
228 // 8: When this value is set, various runtime state variables
229 // are printed out periodically
230 // 16: When set various parameters are sanity checked and
231 // a message is printed out when they go out of bounds
233 void FGRotation::Debug(int from)
235 if (debug_lvl <= 0) return;
237 if (debug_lvl & 1) { // Standard console startup message output
238 if (from == 0) { // Constructor
242 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
243 if (from == 0) cout << "Instantiated: FGRotation" << endl;
244 if (from == 1) cout << "Destroyed: FGRotation" << endl;
246 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
248 if (debug_lvl & 8 ) { // Runtime state variables
250 if (debug_lvl & 16) { // Sanity check variables
252 if (fabs(vPQR(eP)) > 100)
253 cout << "FGRotation::P (Roll Rate) out of bounds: " << vPQR(eP) << endl;
254 if (fabs(vPQR(eQ)) > 100)
255 cout << "FGRotation::Q (Pitch Rate) out of bounds: " << vPQR(eQ) << endl;
256 if (fabs(vPQR(eR)) > 100)
257 cout << "FGRotation::R (Yaw Rate) out of bounds: " << vPQR(eR) << endl;
260 if (debug_lvl & 64) {
261 if (from == 0) { // Constructor
262 cout << IdSrc << endl;
263 cout << IdHdr << endl;