src/FDM/JSBSim/FGState.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGState.cpp
   4  Author:       Jon Berndt
   5  Date started: 11/17/98
   6  Called by:    FGFDMExec and accessed by all models.
   7
   8  ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------
   9
  10  This program is free software; you can redistribute it and/or modify it under
  11  the terms of the GNU Lesser General Public License as published by the Free Software
  12  Foundation; either version 2 of the License, or (at your option) any later
  13  version.
  14
  15  This program is distributed in the hope that it will be useful, but WITHOUT
  16  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  17  FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
  18  details.
  19
  20  You should have received a copy of the GNU Lesser General Public License along with
  21  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  22  Place - Suite 330, Boston, MA  02111-1307, USA.
  23
  24  Further information about the GNU Lesser General Public License can also be found on
  25  the world wide web at http://www.gnu.org.
  26
  27 FUNCTIONAL DESCRIPTION
  28 --------------------------------------------------------------------------------
  29 See header file.
  30
  31 HISTORY
  32 --------------------------------------------------------------------------------
  33 11/17/98   JSB   Created
  34
  35 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  36 INCLUDES
  37 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  38
  39 #ifdef FGFS
  40 #  include <simgear/compiler.h>
  41 #  include <math.h>
  42 #else
  43 #  if defined(sgi) && !defined(__GNUC__)
  44 #    include <math.h>
  45 #  else
  46 #    include <cmath>
  47 #  endif
  48 #endif
  49
  50 #include "FGState.h"
  51
  52 namespace JSBSim {
  53
  54 static const char *IdSrc = "$Id$";
  55 static const char *IdHdr = ID_STATE;
  56
  57 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  58 MACROS
  59 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  60
  61 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  62 CLASS IMPLEMENTATION
  63 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  64
  65 FGState::FGState(FGFDMExec* fdex)
  66 {
  67   FDMExec = fdex;
  68
  69   sim_time = 0.0;
  70   dt = 1.0/120.0;
  71
  72   Aircraft     = FDMExec->GetAircraft();
  73   Propagate    = FDMExec->GetPropagate();
  74   Auxiliary    = FDMExec->GetAuxiliary();
  75   FCS          = FDMExec->GetFCS();
  76   Atmosphere   = FDMExec->GetAtmosphere();
  77   Aerodynamics = FDMExec->GetAerodynamics();
  78   GroundReactions = FDMExec->GetGroundReactions();
  79   Propulsion      = FDMExec->GetPropulsion();
  80   PropertyManager = FDMExec->GetPropertyManager();
  81
  82   bind();
  83
  84   Debug(0);
  85 }
  86
  87 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  88
  89 FGState::~FGState()
  90 {
  91   unbind();
  92   Debug(1);
  93 }
  94
  95 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  96
  97 void FGState::Initialize(FGInitialCondition *FGIC)
  98 {
  99   sim_time = 0.0;
 100
 101   Propagate->SetInitialState( FGIC );
 102
 103   Atmosphere->Run();
 104   Atmosphere->SetWindNED( FGIC->GetWindNFpsIC(),
 105                           FGIC->GetWindEFpsIC(),
 106                           FGIC->GetWindDFpsIC() );
 107
 108   FGColumnVector3 vAeroUVW;
 109   vAeroUVW = Propagate->GetUVW() + Propagate->GetTl2b()*Atmosphere->GetWindNED();
 110
 111   double alpha, beta;
 112   if (vAeroUVW(eW) != 0.0)
 113     alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
 114   else
 115     alpha = 0.0;
 116   if (vAeroUVW(eV) != 0.0)
 117     beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV), (fabs(vAeroUVW(eU))/vAeroUVW(eU))*sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;
 118   else
 119     beta = 0.0;
 120
 121   Auxiliary->SetAB(alpha, beta);
 122
 123   double Vt = vAeroUVW.Magnitude();
 124   Auxiliary->SetVt(Vt);
 125
 126   Auxiliary->SetMach(Vt/Atmosphere->GetSoundSpeed());
 127
 128   double qbar = 0.5*Vt*Vt*Atmosphere->GetDensity();
 129   Auxiliary->Setqbar(qbar);
 130 }
 131
 132 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 133
 134 FGMatrix33& FGState::GetTs2b(void)
 135 {
 136   double ca, cb, sa, sb;
 137
 138   double alpha = Auxiliary->Getalpha();
 139   double beta  = Auxiliary->Getbeta();
 140
 141   ca = cos(alpha);
 142   sa = sin(alpha);
 143   cb = cos(beta);
 144   sb = sin(beta);
 145
 146   mTs2b(1,1) = ca*cb;
 147   mTs2b(1,2) = -ca*sb;
 148   mTs2b(1,3) = -sa;
 149   mTs2b(2,1) = sb;
 150   mTs2b(2,2) = cb;
 151   mTs2b(2,3) = 0.0;
 152   mTs2b(3,1) = sa*cb;
 153   mTs2b(3,2) = -sa*sb;
 154   mTs2b(3,3) = ca;
 155
 156   return mTs2b;
 157 }
 158
 159 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 160
 161 FGMatrix33& FGState::GetTb2s(void)
 162 {
 163   double alpha,beta;
 164   double ca, cb, sa, sb;
 165
 166   alpha = Auxiliary->Getalpha();
 167   beta  = Auxiliary->Getbeta();
 168
 169   ca = cos(alpha);
 170   sa = sin(alpha);
 171   cb = cos(beta);
 172   sb = sin(beta);
 173
 174   mTb2s(1,1) = ca*cb;
 175   mTb2s(1,2) = sb;
 176   mTb2s(1,3) = sa*cb;
 177   mTb2s(2,1) = -ca*sb;
 178   mTb2s(2,2) = cb;
 179   mTb2s(2,3) = -sa*sb;
 180   mTb2s(3,1) = -sa;
 181   mTb2s(3,2) = 0.0;
 182   mTb2s(3,3) = ca;
 183
 184   return mTb2s;
 185 }
 186
 187 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 188
 189 void FGState::bind(void)
 190 {
 191   PropertyManager->Tie("sim-time-sec", this, &FGState::Getsim_time);
 192 }
 193
 194 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 195
 196 void FGState::unbind(void)
 197 {
 198   PropertyManager->Untie("sim-time-sec");
 199 }
 200
 201 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 202 //    The bitmasked value choices are as follows:
 203 //    unset: In this case (the default) JSBSim would only print
 204 //       out the normally expected messages, essentially echoing
 205 //       the config files as they are read. If the environment
 206 //       variable is not set, debug_lvl is set to 1 internally
 207 //    0: This requests JSBSim not to output any messages
 208 //       whatsoever.
 209 //    1: This value explicity requests the normal JSBSim
 210 //       startup messages
 211 //    2: This value asks for a message to be printed out when
 212 //       a class is instantiated
 213 //    4: When this value is set, a message is displayed when a
 214 //       FGModel object executes its Run() method
 215 //    8: When this value is set, various runtime state variables
 216 //       are printed out periodically
 217 //    16: When set various parameters are sanity checked and
 218 //       a message is printed out when they go out of bounds
 219
 220 void FGState::Debug(int from)
 221 {
 222   if (debug_lvl <= 0) return;
 223
 224   if (debug_lvl & 1) { // Standard console startup message output
 225     if (from == 0) { // Constructor
 226
 227     }
 228   }
 229   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 230     if (from == 0) cout << "Instantiated: FGState" << endl;
 231     if (from == 1) cout << "Destroyed:    FGState" << endl;
 232   }
 233   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 234   }
 235   if (debug_lvl & 8 ) { // Runtime state variables
 236   }
 237   if (debug_lvl & 16) { // Sanity checking
 238   }
 239   if (debug_lvl & 64) {
 240     if (from == 0) { // Constructor
 241       cout << IdSrc << endl;
 242       cout << IdHdr << endl;
 243     }
 244   }
 245 }
 246 }