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 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 General Public License for more
  18  details.
  19
  20  You should have received a copy of the GNU 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 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 #ifdef _MSC_VER
  51 #define snprintf _snprintf
  52 #endif
  53
  54 #include "FGState.h"
  55
  56 static const char *IdSrc = "$Id$";
  57 static const char *IdHdr = ID_STATE;
  58
  59 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  60 MACROS
  61 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  62
  63 #define RegisterVariable(ID,DEF) coeffdef[#ID] = ID; paramdef[ID] = DEF
  64
  65 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  66 CLASS IMPLEMENTATION
  67 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  68
  69 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  70 //
  71 // For every term registered here there must be a corresponding handler in
  72 // GetParameter() below that retrieves that parameter. Also, there must be an
  73 // entry in the enum eParam definition in FGJSBBase.h. The ID is what must be used
  74 // in any config file entry which references that item.
  75
  76 FGState::FGState(FGFDMExec* fdex) : mTb2l(3,3),
  77     mTl2b(3,3),
  78     mTs2b(3,3),
  79     vQtrn(4),
  80     vlastQdot(4),
  81     vQdot(4),
  82     vTmp(4),
  83     vEuler(3),
  84     vUVW(3),
  85     vLocalVelNED(3),
  86     vLocalEuler(3)
  87 {
  88   FDMExec = fdex;
  89
  90   a = 1000.0;
  91   sim_time = 0.0;
  92   dt = 1.0/120.0;
  93   ActiveEngine = -1;
  94
  95   Aircraft     = FDMExec->GetAircraft();
  96   Translation  = FDMExec->GetTranslation();
  97   Rotation     = FDMExec->GetRotation();
  98   Position     = FDMExec->GetPosition();
  99   FCS          = FDMExec->GetFCS();
 100   Output       = FDMExec->GetOutput();
 101   Atmosphere   = FDMExec->GetAtmosphere();
 102   Aerodynamics = FDMExec->GetAerodynamics();
 103   GroundReactions = FDMExec->GetGroundReactions();
 104   Propulsion      = FDMExec->GetPropulsion();
 105
 106   RegisterVariable(FG_TIME,           " time "           );
 107   RegisterVariable(FG_QBAR,           " qbar "           );
 108   RegisterVariable(FG_WINGAREA,       " wing_area "      );
 109   RegisterVariable(FG_WINGSPAN,       " wingspan "       );
 110   RegisterVariable(FG_CBAR,           " cbar "           );
 111   RegisterVariable(FG_ALPHA,          " alpha "          );
 112   RegisterVariable(FG_ALPHADOT,       " alphadot "       );
 113   RegisterVariable(FG_BETA,           " beta "           );
 114   RegisterVariable(FG_ABETA,          " |beta| "         );
 115   RegisterVariable(FG_BETADOT,        " betadot "        );
 116   RegisterVariable(FG_PHI,            " roll_angle "     );
 117   RegisterVariable(FG_THT,            " pitch_angle "    );
 118   RegisterVariable(FG_PSI,            " heading_angle "  );
 119   RegisterVariable(FG_PITCHRATE,      " pitch_rate "     );
 120   RegisterVariable(FG_ROLLRATE,       " roll_rate "      );
 121   RegisterVariable(FG_YAWRATE,        " yaw_rate "       );
 122   RegisterVariable(FG_AEROQ,          " aero_pitch_rate ");
 123   RegisterVariable(FG_AEROP,          " aero_roll_rate " );
 124   RegisterVariable(FG_AEROR,          " aero_yaw_rate "  );
 125   RegisterVariable(FG_CL_SQRD,        " Clift_sqrd "     );
 126   RegisterVariable(FG_MACH,           " mach "           );
 127   RegisterVariable(FG_ALTITUDE,       " altitude "       );
 128   RegisterVariable(FG_BI2VEL,         " BI2Vel "         );
 129   RegisterVariable(FG_CI2VEL,         " CI2Vel "         );
 130   RegisterVariable(FG_ELEVATOR_POS,   " elevator_pos "   );
 131   RegisterVariable(FG_AILERON_POS,    " aileron_pos "    );
 132   RegisterVariable(FG_RUDDER_POS,     " rudder_pos "     );
 133   RegisterVariable(FG_SPDBRAKE_POS,   " speedbrake_pos " );
 134   RegisterVariable(FG_SPOILERS_POS,   " spoiler_pos "    );
 135   RegisterVariable(FG_FLAPS_POS,      " flaps_pos "      );
 136   RegisterVariable(FG_ELEVATOR_CMD,   " elevator_cmd "   );
 137   RegisterVariable(FG_AILERON_CMD,    " aileron_cmd "    );
 138   RegisterVariable(FG_RUDDER_CMD,     " rudder_cmd "     );
 139   RegisterVariable(FG_SPDBRAKE_CMD,   " speedbrake_cmd " );
 140   RegisterVariable(FG_SPOILERS_CMD,   " spoiler_cmd "    );
 141   RegisterVariable(FG_FLAPS_CMD,      " flaps_cmd "      );
 142   RegisterVariable(FG_THROTTLE_CMD,   " throttle_cmd "   );
 143   RegisterVariable(FG_THROTTLE_POS,   " throttle_pos "   );
 144   RegisterVariable(FG_MIXTURE_CMD,    " mixture_cmd "   );
 145   RegisterVariable(FG_MIXTURE_POS,    " mixture_pos "   );
 146   RegisterVariable(FG_MAGNETO_CMD,    " magneto_cmd "   );
 147   RegisterVariable(FG_STARTER_CMD,    " starter_cmd "   );
 148   RegisterVariable(FG_ACTIVE_ENGINE,  " active_engine "  );
 149   RegisterVariable(FG_HOVERB,         " height/span "    );
 150   RegisterVariable(FG_PITCH_TRIM_CMD, " pitch_trim_cmd " );
 151   RegisterVariable(FG_LEFT_BRAKE_CMD, " left_brake_cmd " );
 152   RegisterVariable(FG_RIGHT_BRAKE_CMD," right_brake_cmd ");
 153   RegisterVariable(FG_CENTER_BRAKE_CMD," center_brake_cmd ");
 154   RegisterVariable(FG_ALPHAH,          " h-tail alpha " );
 155   RegisterVariable(FG_ALPHAW,          " wing alpha " );
 156   RegisterVariable(FG_LBARH,           " h-tail arm " );
 157   RegisterVariable(FG_LBARV,           " v-tail arm " );
 158   RegisterVariable(FG_HTAILAREA,       " h-tail area " );
 159   RegisterVariable(FG_VTAILAREA,       " v-tail area " );
 160   RegisterVariable(FG_VBARH,           " h-tail volume " );
 161   RegisterVariable(FG_VBARV,           " v-tail volume " );
 162   RegisterVariable(FG_SET_LOGGING,    " data_logging "   );
 163
 164   if (debug_lvl & 2) cout << "Instantiated: FGState" << endl;
 165 }
 166
 167 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 168
 169 FGState::~FGState()
 170 {
 171   if (debug_lvl & 2) cout << "Destroyed:    FGState" << endl;
 172 }
 173
 174 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 175
 176 double FGState::GetParameter(eParam val_idx) {
 177   double scratch;
 178
 179   switch(val_idx) {
 180   case FG_TIME:
 181     return sim_time;
 182   case FG_QBAR:
 183     return Translation->Getqbar();
 184   case FG_WINGAREA:
 185     return Aircraft->GetWingArea();
 186   case FG_WINGSPAN:
 187     return Aircraft->GetWingSpan();
 188   case FG_CBAR:
 189     return Aircraft->Getcbar();
 190   case FG_LBARH:
 191     return Aircraft->Getlbarh();
 192   case FG_LBARV:
 193     return Aircraft->Getvbarh();
 194   case FG_HTAILAREA:
 195     return Aircraft->GetHTailArea();
 196   case FG_VTAILAREA:
 197     return Aircraft->GetVTailArea();
 198   case FG_VBARH:
 199     return Aircraft->Getvbarh();
 200   case FG_VBARV:
 201     return Aircraft->Getvbarv();
 202   case FG_ALPHA:
 203     return Translation->Getalpha();
 204   case FG_ALPHAW:
 205     return  Translation->Getalpha() + Aircraft->GetWingIncidence();
 206   case FG_ALPHADOT:
 207     return Translation->Getadot();
 208   case FG_BETA:
 209     return Translation->Getbeta();
 210   case FG_ABETA:
 211     return fabs(Translation->Getbeta());
 212   case FG_BETADOT:
 213     return Translation->Getbdot();
 214   case FG_PHI:
 215     return Rotation->Getphi();
 216   case FG_THT:
 217     return Rotation->Gettht();
 218   case FG_PSI:
 219     return Rotation->Getpsi();
 220   case FG_PITCHRATE:
 221     return Rotation->GetPQR(eQ);
 222   case FG_ROLLRATE:
 223     return Rotation->GetPQR(eP);
 224   case FG_YAWRATE:
 225     return Rotation->GetPQR(eR);
 226   case FG_AEROQ:
 227     return Rotation->GetPQR(eQ) + Atmosphere->GetTurbPQR(eQ); // add aero turbulence effects
 228   case FG_AEROP:
 229     return Rotation->GetPQR(eP) + Atmosphere->GetTurbPQR(eP); // add aero turbulence effects
 230   case FG_AEROR:
 231     return Rotation->GetPQR(eR) + Atmosphere->GetTurbPQR(eR); // add aero turbulence effects
 232   case FG_CL_SQRD:
 233     if (Translation->Getqbar() > 0.00)
 234       scratch = Aerodynamics->GetvLastFs(eLift)/(Aircraft->GetWingArea()*Translation->Getqbar());
 235     else
 236       scratch = 0.0;
 237     return scratch*scratch;
 238   case FG_ELEVATOR_POS:
 239     return FCS->GetDePos();
 240   case FG_AILERON_POS:
 241     return FCS->GetDaPos();
 242   case FG_RUDDER_POS:
 243     return FCS->GetDrPos();
 244   case FG_SPDBRAKE_POS:
 245     return FCS->GetDsbPos();
 246   case FG_SPOILERS_POS:
 247     return FCS->GetDspPos();
 248   case FG_FLAPS_POS:
 249     return FCS->GetDfPos();
 250   case FG_ELEVATOR_CMD:
 251     return FCS->GetDeCmd();
 252   case FG_AILERON_CMD:
 253     return FCS->GetDaCmd();
 254   case FG_RUDDER_CMD:
 255     return FCS->GetDrCmd();
 256   case FG_SPDBRAKE_CMD:
 257     return FCS->GetDsbCmd();
 258   case FG_SPOILERS_CMD:
 259     return FCS->GetDspCmd();
 260   case FG_FLAPS_CMD:
 261     return FCS->GetDfCmd();
 262   case FG_MACH:
 263     return Translation->GetMach();
 264   case FG_ALTITUDE:
 265     return Position->Geth();
 266   case FG_BI2VEL:
 267     if(Translation->GetVt() > 0)
 268         return Aircraft->GetWingSpan()/(2.0 * Translation->GetVt());
 269     else
 270         return 0;
 271   case FG_CI2VEL:
 272     if(Translation->GetVt() > 0)
 273         return Aircraft->Getcbar()/(2.0 * Translation->GetVt());
 274     else
 275         return 0;
 276   case FG_THROTTLE_CMD:
 277     if (ActiveEngine < 0) return FCS->GetThrottleCmd(0);
 278     else return FCS->GetThrottleCmd(ActiveEngine);
 279   case FG_THROTTLE_POS:
 280     if (ActiveEngine < 0) return FCS->GetThrottlePos(0);
 281     else return FCS->GetThrottlePos(ActiveEngine);
 282   case FG_MAGNETO_CMD:
 283     if (ActiveEngine < 0) return Propulsion->GetEngine(0)->GetMagnetos();
 284     else return Propulsion->GetEngine(ActiveEngine)->GetMagnetos();
 285   case FG_STARTER_CMD:
 286     if (ActiveEngine < 0) {
 287       if (Propulsion->GetEngine(0)->GetStarter()) return 1.0;
 288       else return 0.0;
 289     } else {
 290       if (Propulsion->GetEngine(ActiveEngine)->GetStarter()) return 1.0;
 291       else return 0.0;
 292     }
 293   case FG_MIXTURE_CMD:
 294     if (ActiveEngine < 0) return FCS->GetMixtureCmd(0);
 295     else return FCS->GetMixtureCmd(ActiveEngine);
 296   case FG_MIXTURE_POS:
 297     if (ActiveEngine < 0) return FCS->GetMixturePos(0);
 298     else return FCS->GetMixturePos(ActiveEngine);
 299   case FG_HOVERB:
 300     return Position->GetHOverB();
 301   case FG_PITCH_TRIM_CMD:
 302     return FCS->GetPitchTrimCmd();
 303   default:
 304     cerr << "FGState::GetParameter() - No handler for parameter " << paramdef[val_idx] << endl;
 305     return 0.0;
 306   }
 307   return 0;
 308 }
 309
 310 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 311
 312 double FGState::GetParameter(string val_string) {
 313   return GetParameter(coeffdef[val_string]);
 314 }
 315
 316 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 317
 318 eParam FGState::GetParameterIndex(string val_string) {
 319   return coeffdef[val_string];
 320 }
 321
 322 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 323
 324 void FGState::SetParameter(eParam val_idx, double val) {
 325   switch(val_idx) {
 326   case FG_ELEVATOR_POS:
 327     FCS->SetDePos(val);
 328     break;
 329   case FG_AILERON_POS:
 330     FCS->SetDaPos(val);
 331     break;
 332   case FG_RUDDER_POS:
 333     FCS->SetDrPos(val);
 334     break;
 335   case FG_SPDBRAKE_POS:
 336     FCS->SetDsbPos(val);
 337     break;
 338   case FG_SPOILERS_POS:
 339     FCS->SetDspPos(val);
 340     break;
 341   case FG_FLAPS_POS:
 342     FCS->SetDfPos(val);
 343     break;
 344   case FG_THROTTLE_POS:
 345     FCS->SetThrottlePos(ActiveEngine,val);
 346     break;
 347   case FG_MIXTURE_POS:
 348     FCS->SetMixturePos(ActiveEngine,val);
 349     break;
 350
 351   case FG_ELEVATOR_CMD:
 352     FCS->SetDeCmd(val);
 353     break;
 354   case FG_AILERON_CMD:
 355     FCS->SetDaCmd(val);
 356     break;
 357   case FG_RUDDER_CMD:
 358     FCS->SetDrCmd(val);
 359     break;
 360   case FG_SPDBRAKE_CMD:
 361     FCS->SetDsbCmd(val);
 362     break;
 363   case FG_SPOILERS_CMD:
 364     FCS->SetDspCmd(val);
 365     break;
 366   case FG_FLAPS_CMD:
 367     FCS->SetDfCmd(val);
 368     break;
 369   case FG_THROTTLE_CMD:
 370     FCS->SetThrottleCmd(ActiveEngine,val);
 371     break;
 372   case FG_MIXTURE_CMD:
 373     FCS->SetMixtureCmd(ActiveEngine,val);
 374     break;
 375   case FG_MAGNETO_CMD:
 376     Propulsion->GetEngine(ActiveEngine)->SetMagnetos(val); // need to account for -1
 377     break;
 378   case FG_STARTER_CMD:
 379     if      (val < 0.001)
 380       Propulsion->GetEngine(ActiveEngine)->SetStarter(false); // need to account for -1
 381     else if (val >=  0.001)
 382       Propulsion->GetEngine(ActiveEngine)->SetStarter(true); // need to account for -1
 383     break;
 384   case FG_ACTIVE_ENGINE:
 385     ActiveEngine = (int)val;
 386     break;
 387
 388   case FG_LEFT_BRAKE_CMD:
 389     FCS->SetLBrake(val);
 390     break;
 391   case FG_CENTER_BRAKE_CMD:
 392     FCS->SetCBrake(val);
 393     break;
 394   case FG_RIGHT_BRAKE_CMD:
 395     FCS->SetRBrake(val);
 396     break;
 397
 398   case FG_SET_LOGGING:
 399     if      (val < -0.01) Output->Disable();
 400     else if (val >  0.01) Output->Enable();
 401     else                  Output->Toggle();
 402     break;
 403
 404   default:
 405     cerr << "Parameter '" << val_idx << "' (" << paramdef[val_idx] << ") not handled" << endl;
 406   }
 407 }
 408
 409 //***************************************************************************
 410 //
 411 // Reset: Assume all angles READ FROM FILE IN DEGREES !!
 412 //
 413
 414 bool FGState::Reset(string path, string acname, string fname)
 415 {
 416   string resetDef;
 417   string token="";
 418
 419   double U, V, W;
 420   double phi, tht, psi;
 421   double latitude, longitude, h;
 422   double wdir, wmag, wnorth, weast;
 423
 424 # ifndef macintosh
 425   resetDef = path + "/" + acname + "/" + fname + ".xml";
 426 # else
 427   resetDef = path + ";" + acname + ";" + fname + ".xml";
 428 # endif
 429
 430   FGConfigFile resetfile(resetDef);
 431   if (!resetfile.IsOpen()) return false;
 432
 433   resetfile.GetNextConfigLine();
 434   token = resetfile.GetValue();
 435   if (token != "initialize") {
 436     cerr << "The reset file " << resetDef
 437          << " does not appear to be a reset file" << endl;
 438     return false;
 439   }
 440
 441   resetfile.GetNextConfigLine();
 442   resetfile >> token;
 443   while (token != "/initialize" && token != "EOF") {
 444     if (token == "UBODY") resetfile >> U;
 445     if (token == "VBODY") resetfile >> V;
 446     if (token == "WBODY") resetfile >> W;
 447     if (token == "LATITUDE") resetfile >> latitude;
 448     if (token == "LONGITUDE") resetfile >> longitude;
 449     if (token == "PHI") resetfile >> phi;
 450     if (token == "THETA") resetfile >> tht;
 451     if (token == "PSI") resetfile >> psi;
 452     if (token == "ALTITUDE") resetfile >> h;
 453     if (token == "WINDDIR") resetfile >> wdir;
 454     if (token == "VWIND") resetfile >> wmag;
 455
 456     resetfile >> token;
 457   }
 458
 459
 460   Position->SetLatitude(latitude*degtorad);
 461   Position->SetLongitude(longitude*degtorad);
 462   Position->Seth(h);
 463
 464   wnorth = wmag*ktstofps*cos(wdir*degtorad);
 465   weast = wmag*ktstofps*sin(wdir*degtorad);
 466
 467   Initialize(U, V, W, phi*degtorad, tht*degtorad, psi*degtorad,
 468                latitude*degtorad, longitude*degtorad, h, wnorth, weast, 0.0);
 469
 470   return true;
 471 }
 472
 473 //***************************************************************************
 474 //
 475 // Initialize: Assume all angles GIVEN IN RADIANS !!
 476 //
 477
 478 void FGState::Initialize(double U, double V, double W,
 479                          double phi, double tht, double psi,
 480                          double Latitude, double Longitude, double H,
 481                          double wnorth, double weast, double wdown)
 482 {
 483   double alpha, beta;
 484   double qbar, Vt;
 485   FGColumnVector3 vAero;
 486
 487   Position->SetLatitude(Latitude);
 488   Position->SetLongitude(Longitude);
 489   Position->Seth(H);
 490
 491   Atmosphere->Run();
 492
 493   vLocalEuler << phi << tht << psi;
 494   Rotation->SetEuler(vLocalEuler);
 495
 496   InitMatrices(phi, tht, psi);
 497
 498   vUVW << U << V << W;
 499   Translation->SetUVW(vUVW);
 500
 501   Atmosphere->SetWindNED(wnorth, weast, wdown);
 502
 503   vAero = vUVW + mTl2b*Atmosphere->GetWindNED();
 504
 505   if (vAero(eW) != 0.0)
 506     alpha = vAero(eU)*vAero(eU) > 0.0 ? atan2(vAero(eW), vAero(eU)) : 0.0;
 507   else
 508     alpha = 0.0;
 509   if (vAero(eV) != 0.0)
 510     beta = vAero(eU)*vAero(eU)+vAero(eW)*vAero(eW) > 0.0 ? atan2(vAero(eV), (fabs(vAero(eU))/vAero(eU))*sqrt(vAero(eU)*vAero(eU) + vAero(eW)*vAero(eW))) : 0.0;
 511   else
 512     beta = 0.0;
 513
 514   Translation->SetAB(alpha, beta);
 515
 516   Vt = sqrt(U*U + V*V + W*W);
 517   Translation->SetVt(Vt);
 518
 519   Translation->SetMach(Vt/Atmosphere->GetSoundSpeed());
 520
 521   qbar = 0.5*(U*U + V*V + W*W)*Atmosphere->GetDensity();
 522   Translation->Setqbar(qbar);
 523
 524   vLocalVelNED = mTb2l*vUVW;
 525   Position->SetvVel(vLocalVelNED);
 526 }
 527
 528 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 529
 530 void FGState::Initialize(FGInitialCondition *FGIC) {
 531
 532   double tht,psi,phi;
 533   double U, V, W, h;
 534   double latitude, longitude;
 535   double wnorth,weast, wdown;
 536
 537   latitude = FGIC->GetLatitudeRadIC();
 538   longitude = FGIC->GetLongitudeRadIC();
 539   h = FGIC->GetAltitudeFtIC();
 540   U = FGIC->GetUBodyFpsIC();
 541   V = FGIC->GetVBodyFpsIC();
 542   W = FGIC->GetWBodyFpsIC();
 543   tht = FGIC->GetThetaRadIC();
 544   phi = FGIC->GetPhiRadIC();
 545   psi = FGIC->GetPsiRadIC();
 546   wnorth = FGIC->GetWindNFpsIC();
 547   weast = FGIC->GetWindEFpsIC();
 548   wdown = FGIC->GetWindDFpsIC();
 549
 550   Position->SetSeaLevelRadius( FGIC->GetSeaLevelRadiusFtIC() );
 551   Position->SetRunwayRadius( FGIC->GetSeaLevelRadiusFtIC() +
 552                                              FGIC->GetTerrainAltitudeFtIC() );
 553
 554   // need to fix the wind speed args, here.
 555   Initialize(U, V, W, phi, tht, psi, latitude, longitude, h, wnorth, weast, wdown);
 556 }
 557
 558 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 559
 560 bool FGState::StoreData(string fname) {
 561   ofstream datafile(fname.c_str());
 562
 563   if (datafile) {
 564     datafile << Translation->GetUVW(eU);
 565     datafile << Translation->GetUVW(eV);
 566     datafile << Translation->GetUVW(eW);
 567     datafile << Position->GetLatitude();
 568     datafile << Position->GetLongitude();
 569     datafile << Rotation->GetEuler(ePhi);
 570     datafile << Rotation->GetEuler(eTht);
 571     datafile << Rotation->GetEuler(ePsi);
 572     datafile << Position->Geth();
 573     datafile.close();
 574     return true;
 575   } else {
 576     cerr << "Could not open dump file " << fname << endl;
 577     return false;
 578   }
 579 }
 580
 581 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 582
 583 void FGState::InitMatrices(double phi, double tht, double psi) {
 584   double thtd2, psid2, phid2;
 585   double Sthtd2, Spsid2, Sphid2;
 586   double Cthtd2, Cpsid2, Cphid2;
 587   double Cphid2Cthtd2;
 588   double Cphid2Sthtd2;
 589   double Sphid2Sthtd2;
 590   double Sphid2Cthtd2;
 591
 592   thtd2 = tht/2.0;
 593   psid2 = psi/2.0;
 594   phid2 = phi/2.0;
 595
 596   Sthtd2 = sin(thtd2);
 597   Spsid2 = sin(psid2);
 598   Sphid2 = sin(phid2);
 599
 600   Cthtd2 = cos(thtd2);
 601   Cpsid2 = cos(psid2);
 602   Cphid2 = cos(phid2);
 603
 604   Cphid2Cthtd2 = Cphid2*Cthtd2;
 605   Cphid2Sthtd2 = Cphid2*Sthtd2;
 606   Sphid2Sthtd2 = Sphid2*Sthtd2;
 607   Sphid2Cthtd2 = Sphid2*Cthtd2;
 608
 609   vQtrn(1) = Cphid2Cthtd2*Cpsid2 + Sphid2Sthtd2*Spsid2;
 610   vQtrn(2) = Sphid2Cthtd2*Cpsid2 - Cphid2Sthtd2*Spsid2;
 611   vQtrn(3) = Cphid2Sthtd2*Cpsid2 + Sphid2Cthtd2*Spsid2;
 612   vQtrn(4) = Cphid2Cthtd2*Spsid2 - Sphid2Sthtd2*Cpsid2;
 613
 614   CalcMatrices();
 615 }
 616
 617 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 618
 619 void FGState::CalcMatrices(void) {
 620   double Q0Q0, Q1Q1, Q2Q2, Q3Q3;
 621   double Q0Q1, Q0Q2, Q0Q3, Q1Q2;
 622   double Q1Q3, Q2Q3;
 623
 624   Q0Q0 = vQtrn(1)*vQtrn(1);
 625   Q1Q1 = vQtrn(2)*vQtrn(2);
 626   Q2Q2 = vQtrn(3)*vQtrn(3);
 627   Q3Q3 = vQtrn(4)*vQtrn(4);
 628   Q0Q1 = vQtrn(1)*vQtrn(2);
 629   Q0Q2 = vQtrn(1)*vQtrn(3);
 630   Q0Q3 = vQtrn(1)*vQtrn(4);
 631   Q1Q2 = vQtrn(2)*vQtrn(3);
 632   Q1Q3 = vQtrn(2)*vQtrn(4);
 633   Q2Q3 = vQtrn(3)*vQtrn(4);
 634
 635   mTl2b(1,1) = Q0Q0 + Q1Q1 - Q2Q2 - Q3Q3;
 636   mTl2b(1,2) = 2*(Q1Q2 + Q0Q3);
 637   mTl2b(1,3) = 2*(Q1Q3 - Q0Q2);
 638   mTl2b(2,1) = 2*(Q1Q2 - Q0Q3);
 639   mTl2b(2,2) = Q0Q0 - Q1Q1 + Q2Q2 - Q3Q3;
 640   mTl2b(2,3) = 2*(Q2Q3 + Q0Q1);
 641   mTl2b(3,1) = 2*(Q1Q3 + Q0Q2);
 642   mTl2b(3,2) = 2*(Q2Q3 - Q0Q1);
 643   mTl2b(3,3) = Q0Q0 - Q1Q1 - Q2Q2 + Q3Q3;
 644
 645   mTb2l = mTl2b;
 646   mTb2l.T();
 647 }
 648
 649 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 650
 651 void FGState::IntegrateQuat(FGColumnVector3 vPQR, int rate) {
 652   vQdot(1) = -0.5*(vQtrn(2)*vPQR(eP) + vQtrn(3)*vPQR(eQ) + vQtrn(4)*vPQR(eR));
 653   vQdot(2) =  0.5*(vQtrn(1)*vPQR(eP) + vQtrn(3)*vPQR(eR) - vQtrn(4)*vPQR(eQ));
 654   vQdot(3) =  0.5*(vQtrn(1)*vPQR(eQ) + vQtrn(4)*vPQR(eP) - vQtrn(2)*vPQR(eR));
 655   vQdot(4) =  0.5*(vQtrn(1)*vPQR(eR) + vQtrn(2)*vPQR(eQ) - vQtrn(3)*vPQR(eP));
 656   vQtrn += 0.5*dt*rate*(vlastQdot + vQdot);
 657
 658   vQtrn.Normalize();
 659
 660   vlastQdot = vQdot;
 661 }
 662
 663 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 664
 665 FGColumnVector3& FGState::CalcEuler(void) {
 666   if (mTl2b(3,3) == 0.0) mTl2b(3,3) = 0.0000001;
 667   if (mTl2b(1,1) == 0.0) mTl2b(1,1) = 0.0000001;
 668
 669   vEuler(ePhi) = atan2(mTl2b(2,3), mTl2b(3,3));
 670   vEuler(eTht) = asin(-mTl2b(1,3));
 671   vEuler(ePsi) = atan2(mTl2b(1,2), mTl2b(1,1));
 672
 673   if (vEuler(ePsi) < 0.0) vEuler(ePsi) += 2*M_PI;
 674
 675   return vEuler;
 676 }
 677
 678 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 679
 680 FGMatrix33& FGState::GetTs2b(void)
 681 {
 682   double ca, cb, sa, sb;
 683
 684   double alpha = Translation->Getalpha();
 685   double beta  = Translation->Getbeta();
 686
 687   ca = cos(alpha);
 688   sa = sin(alpha);
 689   cb = cos(beta);
 690   sb = sin(beta);
 691
 692   mTs2b(1,1) = -ca*cb;
 693   mTs2b(1,2) = -ca*sb;
 694   mTs2b(1,3) = sa;
 695   mTs2b(2,1) = -sb;
 696   mTs2b(2,2) = cb;
 697   mTs2b(2,3) = 0.0;
 698   mTs2b(3,1) = -sa*cb;
 699   mTs2b(3,2) = -sa*sb;
 700   mTs2b(3,3) = -ca;
 701
 702   return mTs2b;
 703 }
 704
 705
 706 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 707
 708 void FGState::ReportState(void) {
 709   char out[80], flap[10], gear[10];
 710
 711   cout << endl << "  JSBSim State" << endl;
 712   snprintf(out,80,"    Weight: %7.0f lbs.  CG: %5.1f, %5.1f, %5.1f inches\n",
 713                    FDMExec->GetMassBalance()->GetWeight(),
 714                    FDMExec->GetMassBalance()->GetXYZcg(1),
 715                    FDMExec->GetMassBalance()->GetXYZcg(2),
 716                    FDMExec->GetMassBalance()->GetXYZcg(3));
 717   cout << out;
 718   if( FCS->GetDfPos() <= 0.01)
 719     snprintf(flap,10,"Up");
 720   else
 721     snprintf(flap,10,"%2.0f",FCS->GetDfPos());
 722   if(GroundReactions->GetGearUp() == true)
 723     snprintf(gear,10,"Up");
 724   else
 725     snprintf(gear,10,"Down");
 726   snprintf(out,80, "    Flaps: %3s  Gear: %4s\n",flap,gear);
 727   cout << out;
 728   snprintf(out,80, "    Speed: %4.0f KCAS  Mach: %5.2f\n",
 729                     FDMExec->GetAuxiliary()->GetVcalibratedKTS(),
 730                     GetParameter(FG_MACH) );
 731   cout << out;
 732   snprintf(out,80, "    Altitude: %7.0f ft.  AGL Altitude: %7.0f ft.\n",
 733                     Position->Geth(),
 734                     Position->GetDistanceAGL() );
 735   cout << out;
 736   snprintf(out,80, "    Angle of Attack: %6.2f deg  Pitch Angle: %6.2f deg\n",
 737                     GetParameter(FG_ALPHA)*radtodeg,
 738                     Rotation->Gettht()*radtodeg );
 739   cout << out;
 740   snprintf(out,80, "    Flight Path Angle: %6.2f deg  Climb Rate: %5.0f ft/min\n",
 741                     Position->GetGamma()*radtodeg,
 742                     Position->Gethdot()*60 );
 743   cout << out;
 744   snprintf(out,80, "    Normal Load Factor: %4.2f g's  Pitch Rate: %5.2f deg/s\n",
 745                     Aerodynamics->GetNlf(),
 746                     GetParameter(FG_PITCHRATE)*radtodeg );
 747   cout << out;
 748   snprintf(out,80, "    Heading: %3.0f deg true  Sideslip: %5.2f deg\n",
 749                     Rotation->Getpsi()*radtodeg,
 750                     GetParameter(FG_BETA)*radtodeg );
 751   cout << out;
 752   snprintf(out,80, "    Bank Angle: %5.2f deg\n",
 753                     Rotation->Getphi()*radtodeg );
 754   cout << out;
 755   snprintf(out,80, "    Elevator: %5.2f deg  Left Aileron: %5.2f deg  Rudder: %5.2f deg\n",
 756                     GetParameter(FG_ELEVATOR_POS)*radtodeg,
 757                     GetParameter(FG_AILERON_POS)*radtodeg,
 758                     GetParameter(FG_RUDDER_POS)*radtodeg );
 759   cout << out;
 760   snprintf(out,80, "    Throttle: %5.2f%c\n",
 761                     FCS->GetThrottlePos(0)*100,'%' );
 762   cout << out;
 763
 764   snprintf(out,80, "    Wind Components: %5.2f kts head wind, %5.2f kts cross wind\n",
 765                     FDMExec->GetAuxiliary()->GetHeadWind()*fpstokts,
 766                     FDMExec->GetAuxiliary()->GetCrossWind()*fpstokts );
 767   cout << out;
 768
 769   snprintf(out,80, "    Ground Speed: %4.0f knots , Ground Track: %3.0f deg true\n",
 770                     Position->GetVground()*fpstokts,
 771                     Position->GetGroundTrack()*radtodeg );
 772   cout << out;
 773
 774 }
 775 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 776
 777 void FGState::Debug(void)
 778 {
 779     //TODO: Add your source code here
 780 }
 781