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"
72 static const char *IdSrc = "$Id$";
73 static const char *IdHdr = ID_ROTATION;
75 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
77 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
80 FGRotation::FGRotation(FGFDMExec* fdmex) : FGModel(fdmex)
91 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
93 FGRotation::~FGRotation()
99 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
101 bool FGRotation::Run(void)
106 if (!FGModel::Run()) {
109 L2 = vMoments(eL) + Ixz*vPQR(eP)*vPQR(eQ) - (Izz-Iyy)*vPQR(eR)*vPQR(eQ);
110 N1 = vMoments(eN) - (Iyy-Ixx)*vPQR(eP)*vPQR(eQ) - Ixz*vPQR(eR)*vPQR(eQ);
112 vPQRdot(eP) = (L2*Izz - N1*Ixz) / (Ixx*Izz - Ixz*Ixz);
113 vPQRdot(eQ) = (vMoments(eM) - (Ixx-Izz)*vPQR(eP)*vPQR(eR) - Ixz*(vPQR(eP)*vPQR(eP) - vPQR(eR)*vPQR(eR)))/Iyy;
114 vPQRdot(eR) = (N1*Ixx + L2*Ixz) / (Ixx*Izz - Ixz*Ixz);
116 vPQR += dt*rate*(vlastPQRdot + vPQRdot)/2.0;
117 vAeroPQR = vPQR + Atmosphere->GetTurbPQR();
119 State->IntegrateQuat(vPQR, rate);
120 State->CalcMatrices();
121 vEuler = State->CalcEuler();
123 cTht = cos(vEuler(eTht)); sTht = sin(vEuler(eTht));
124 cPhi = cos(vEuler(ePhi)); sPhi = sin(vEuler(ePhi));
125 cPsi = cos(vEuler(ePsi)); sPsi = sin(vEuler(ePsi));
127 vEulerRates(eTht) = vPQR(2)*cPhi - vPQR(3)*sPhi;
129 tTheta = sTht/cTht; // what's cheaper: / or tan() ?
130 vEulerRates(ePhi) = vPQR(1) + (vPQR(2)*sPhi + vPQR(3)*cPhi)*tTheta;
131 vEulerRates(ePsi) = (vPQR(2)*sPhi + vPQR(3)*cPhi)/cTht;
134 vlastPQRdot = vPQRdot;
136 if (debug_lvl > 1) Debug(2);
144 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
146 void FGRotation::GetState(void)
149 vMoments = Aircraft->GetMoments();
151 Ixx = MassBalance->GetIxx();
152 Iyy = MassBalance->GetIyy();
153 Izz = MassBalance->GetIzz();
154 Ixz = MassBalance->GetIxz();
157 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
158 // The bitmasked value choices are as follows:
159 // unset: In this case (the default) JSBSim would only print
160 // out the normally expected messages, essentially echoing
161 // the config files as they are read. If the environment
162 // variable is not set, debug_lvl is set to 1 internally
163 // 0: This requests JSBSim not to output any messages
165 // 1: This value explicity requests the normal JSBSim
167 // 2: This value asks for a message to be printed out when
168 // a class is instantiated
169 // 4: When this value is set, a message is displayed when a
170 // FGModel object executes its Run() method
171 // 8: When this value is set, various runtime state variables
172 // are printed out periodically
173 // 16: When set various parameters are sanity checked and
174 // a message is printed out when they go out of bounds
176 void FGRotation::Debug(int from)
178 if (debug_lvl <= 0) return;
180 if (debug_lvl & 1) { // Standard console startup message output
181 if (from == 0) { // Constructor
185 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
186 if (from == 0) cout << "Instantiated: FGRotation" << endl;
187 if (from == 1) cout << "Destroyed: FGRotation" << endl;
189 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
191 if (debug_lvl & 8 ) { // Runtime state variables
193 if (debug_lvl & 16) { // Sanity check variables
195 if (fabs(vPQR(eP)) > 100)
196 cout << "FGRotation::P (Roll Rate) out of bounds: " << vPQR(eP) << endl;
197 if (fabs(vPQR(eQ)) > 100)
198 cout << "FGRotation::Q (Pitch Rate) out of bounds: " << vPQR(eQ) << endl;
199 if (fabs(vPQR(eR)) > 100)
200 cout << "FGRotation::R (Yaw Rate) out of bounds: " << vPQR(eR) << endl;
203 if (debug_lvl & 64) {
204 if (from == 0) { // Constructor
205 cout << IdSrc << endl;
206 cout << IdHdr << endl;
211 void FGRotation::bind(void){
212 PropertyManager->Tie("velocities/p-rad_sec", this,1,
213 &FGRotation::GetPQR);
214 PropertyManager->Tie("velocities/q-rad_sec", this,2,
215 &FGRotation::GetPQR);
216 PropertyManager->Tie("velocities/r-rad_sec", this,3,
217 &FGRotation::GetPQR);
218 PropertyManager->Tie("velocities/p-aero-rad_sec", this,1,
219 &FGRotation::GetAeroPQR);
220 PropertyManager->Tie("velocities/q-aero-rad_sec", this,2,
221 &FGRotation::GetAeroPQR);
222 PropertyManager->Tie("velocities/r-aero-rad_sec", this,3,
223 &FGRotation::GetAeroPQR);
224 PropertyManager->Tie("accelerations/pdot-rad_sec", this,1,
225 &FGRotation::GetPQRdot);
226 PropertyManager->Tie("accelerations/qdot-rad_sec", this,2,
227 &FGRotation::GetPQRdot);
228 PropertyManager->Tie("accelerations/rdot-rad_sec", this,3,
229 &FGRotation::GetPQRdot);
230 PropertyManager->Tie("attitude/roll-rad", this,1,
231 &FGRotation::GetEuler);
232 PropertyManager->Tie("attitude/pitch-rad", this,2,
233 &FGRotation::GetEuler);
234 PropertyManager->Tie("attitude/heading-true-rad", this,3,
235 &FGRotation::GetEuler);
236 PropertyManager->Tie("velocities/phidot-rad_sec", this,1,
237 &FGRotation::GetEulerRates);
238 PropertyManager->Tie("velocities/thetadot-rad_sec", this,2,
239 &FGRotation::GetEulerRates);
240 PropertyManager->Tie("velocities/psidot-rad_sec", this,3,
241 &FGRotation::GetEulerRates);
242 PropertyManager->Tie("attitude/phi-rad", this,
243 &FGRotation::Getphi);
244 PropertyManager->Tie("attitude/theta-rad", this,
245 &FGRotation::Gettht);
246 PropertyManager->Tie("attitude/psi-true-rad", this,
247 &FGRotation::Getpsi);
250 void FGRotation::unbind(void){
251 PropertyManager->Untie("velocities/p-rad_sec");
252 PropertyManager->Untie("velocities/q-rad_sec");
253 PropertyManager->Untie("velocities/r-rad_sec");
254 PropertyManager->Untie("velocities/p-aero-rad_sec");
255 PropertyManager->Untie("velocities/q-aero-rad_sec");
256 PropertyManager->Untie("velocities/r-aero-rad_sec");
257 PropertyManager->Untie("accelerations/pdot-rad_sec");
258 PropertyManager->Untie("accelerations/qdot-rad_sec");
259 PropertyManager->Untie("accelerations/rdot-rad_sec");
260 PropertyManager->Untie("attitude/roll-rad");
261 PropertyManager->Untie("attitude/pitch-rad");
262 PropertyManager->Untie("attitude/heading-true-rad");
263 PropertyManager->Untie("velocities/phidot-rad_sec");
264 PropertyManager->Untie("velocities/thetadot-rad_sec");
265 PropertyManager->Untie("velocities/psidot-rad_sec");
266 PropertyManager->Untie("attitude/phi-rad");
267 PropertyManager->Untie("attitude/theta-rad");
268 PropertyManager->Untie("attitude/psi-true-rad");