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) :
  77     mTb2l(3,3),
  78     mTl2b(3,3),
  79     mTs2b(3,3),
  80     mTb2s(3,3),
  81     vQtrn(4),
  82     vlastQdot(4),
  83     vQdot(4),
  84     vUVW(3),
  85     vLocalVelNED(3),
  86     vLocalEuler(3),
  87     vTmp(4),
  88     vEuler(3)
  89 {
  90   FDMExec = fdex;
  91
  92   a = 1000.0;
  93   sim_time = 0.0;
  94   dt = 1.0/120.0;
  95   ActiveEngine = -1;
  96
  97   Aircraft     = FDMExec->GetAircraft();
  98   Translation  = FDMExec->GetTranslation();
  99   Rotation     = FDMExec->GetRotation();
 100   Position     = FDMExec->GetPosition();
 101   FCS          = FDMExec->GetFCS();
 102   Output       = FDMExec->GetOutput();
 103   Atmosphere   = FDMExec->GetAtmosphere();
 104   Aerodynamics = FDMExec->GetAerodynamics();
 105   GroundReactions = FDMExec->GetGroundReactions();
 106   Propulsion      = FDMExec->GetPropulsion();
 107
 108   RegisterVariable(FG_TIME,           " time "           );
 109   RegisterVariable(FG_QBAR,           " qbar "           );
 110   RegisterVariable(FG_WINGAREA,       " wing_area "      );
 111   RegisterVariable(FG_WINGSPAN,       " wingspan "       );
 112   RegisterVariable(FG_CBAR,           " cbar "           );
 113   RegisterVariable(FG_ALPHA,          " alpha "          );
 114   RegisterVariable(FG_ALPHADOT,       " alphadot "       );
 115   RegisterVariable(FG_BETA,           " beta "           );
 116   RegisterVariable(FG_ABETA,          " |beta| "         );
 117   RegisterVariable(FG_BETADOT,        " betadot "        );
 118   RegisterVariable(FG_PHI,            " roll_angle "     );
 119   RegisterVariable(FG_THT,            " pitch_angle "    );
 120   RegisterVariable(FG_PSI,            " heading_angle "  );
 121   RegisterVariable(FG_PITCHRATE,      " pitch_rate "     );
 122   RegisterVariable(FG_ROLLRATE,       " roll_rate "      );
 123   RegisterVariable(FG_YAWRATE,        " yaw_rate "       );
 124   RegisterVariable(FG_AEROQ,          " aero_pitch_rate ");
 125   RegisterVariable(FG_AEROP,          " aero_roll_rate " );
 126   RegisterVariable(FG_AEROR,          " aero_yaw_rate "  );
 127   RegisterVariable(FG_CL_SQRD,        " Clift_sqrd "     );
 128   RegisterVariable(FG_MACH,           " mach "           );
 129   RegisterVariable(FG_ALTITUDE,       " altitude "       );
 130   RegisterVariable(FG_BI2VEL,         " BI2Vel "         );
 131   RegisterVariable(FG_CI2VEL,         " CI2Vel "         );
 132   RegisterVariable(FG_ELEVATOR_POS,   " elevator_pos "   );
 133   RegisterVariable(FG_AILERON_POS,    " aileron_pos "    );
 134   RegisterVariable(FG_RUDDER_POS,     " rudder_pos "     );
 135   RegisterVariable(FG_SPDBRAKE_POS,   " speedbrake_pos " );
 136   RegisterVariable(FG_SPOILERS_POS,   " spoiler_pos "    );
 137   RegisterVariable(FG_FLAPS_POS,      " flaps_pos "      );
 138   RegisterVariable(FG_GEAR_POS,       " gear_pos "       );
 139   RegisterVariable(FG_ELEVATOR_CMD,   " elevator_cmd "   );
 140   RegisterVariable(FG_AILERON_CMD,    " aileron_cmd "    );
 141   RegisterVariable(FG_RUDDER_CMD,     " rudder_cmd "     );
 142   RegisterVariable(FG_SPDBRAKE_CMD,   " speedbrake_cmd " );
 143   RegisterVariable(FG_SPOILERS_CMD,   " spoiler_cmd "    );
 144   RegisterVariable(FG_FLAPS_CMD,      " flaps_cmd "      );
 145   RegisterVariable(FG_THROTTLE_CMD,   " throttle_cmd "   );
 146   RegisterVariable(FG_GEAR_CMD,       " gear_cmd "       );
 147   RegisterVariable(FG_THROTTLE_POS,   " throttle_pos "   );
 148   RegisterVariable(FG_MIXTURE_CMD,    " mixture_cmd "    );
 149   RegisterVariable(FG_MIXTURE_POS,    " mixture_pos "    );
 150   RegisterVariable(FG_MAGNETO_CMD,    " magneto_cmd "    );
 151   RegisterVariable(FG_STARTER_CMD,    " starter_cmd "    );
 152   RegisterVariable(FG_ACTIVE_ENGINE,  " active_engine "  );
 153   RegisterVariable(FG_HOVERB,         " height/span "    );
 154   RegisterVariable(FG_PITCH_TRIM_CMD, " pitch_trim_cmd " );
 155   RegisterVariable(FG_LEFT_BRAKE_CMD, " left_brake_cmd " );
 156   RegisterVariable(FG_RIGHT_BRAKE_CMD," right_brake_cmd ");
 157   RegisterVariable(FG_CENTER_BRAKE_CMD," center_brake_cmd ");
 158   RegisterVariable(FG_ALPHAH,          " h-tail alpha " );
 159   RegisterVariable(FG_ALPHAW,          " wing alpha " );
 160   RegisterVariable(FG_LBARH,           " h-tail arm " );
 161   RegisterVariable(FG_LBARV,           " v-tail arm " );
 162   RegisterVariable(FG_HTAILAREA,       " h-tail area " );
 163   RegisterVariable(FG_VTAILAREA,       " v-tail area " );
 164   RegisterVariable(FG_VBARH,           " h-tail volume " );
 165   RegisterVariable(FG_VBARV,           " v-tail volume " );
 166   RegisterVariable(FG_SET_LOGGING,    " data_logging "   );
 167
 168   if (debug_lvl & 2) cout << "Instantiated: FGState" << endl;
 169 }
 170
 171 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 172
 173 FGState::~FGState()
 174 {
 175   if (debug_lvl & 2) cout << "Destroyed:    FGState" << endl;
 176 }
 177
 178 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 179
 180 double FGState::GetParameter(eParam val_idx) {
 181   double scratch;
 182
 183   switch(val_idx) {
 184   case FG_TIME:
 185     return sim_time;
 186   case FG_QBAR:
 187     return Translation->Getqbar();
 188   case FG_WINGAREA:
 189     return Aircraft->GetWingArea();
 190   case FG_WINGSPAN:
 191     return Aircraft->GetWingSpan();
 192   case FG_CBAR:
 193     return Aircraft->Getcbar();
 194   case FG_LBARH:
 195     return Aircraft->Getlbarh();
 196   case FG_LBARV:
 197     return Aircraft->Getvbarh();
 198   case FG_HTAILAREA:
 199     return Aircraft->GetHTailArea();
 200   case FG_VTAILAREA:
 201     return Aircraft->GetVTailArea();
 202   case FG_VBARH:
 203     return Aircraft->Getvbarh();
 204   case FG_VBARV:
 205     return Aircraft->Getvbarv();
 206   case FG_ALPHA:
 207     return Translation->Getalpha();
 208   case FG_ALPHAW:
 209     return  Translation->Getalpha() + Aircraft->GetWingIncidence();
 210   case FG_ALPHADOT:
 211     return Translation->Getadot();
 212   case FG_BETA:
 213     return Translation->Getbeta();
 214   case FG_ABETA:
 215     return fabs(Translation->Getbeta());
 216   case FG_BETADOT:
 217     return Translation->Getbdot();
 218   case FG_PHI:
 219     return Rotation->Getphi();
 220   case FG_THT:
 221     return Rotation->Gettht();
 222   case FG_PSI:
 223     return Rotation->Getpsi();
 224   case FG_PITCHRATE:
 225     return Rotation->GetPQR(eQ);
 226   case FG_ROLLRATE:
 227     return Rotation->GetPQR(eP);
 228   case FG_YAWRATE:
 229     return Rotation->GetPQR(eR);
 230   case FG_AEROP:
 231     return Rotation->GetAeroPQR(eP);
 232   case FG_AEROQ:
 233     return Rotation->GetAeroPQR(eQ);
 234   case FG_AEROR:
 235     return Rotation->GetAeroPQR(eR);
 236   case FG_CL_SQRD:
 237     if (Translation->Getqbar() > 0.00)
 238       scratch = Aerodynamics->GetvLastFs(eLift)/(Aircraft->GetWingArea()*Translation->Getqbar());
 239     else
 240       scratch = 0.0;
 241     return scratch*scratch;
 242   case FG_ELEVATOR_POS:
 243     return FCS->GetDePos();
 244   case FG_AILERON_POS:
 245     return FCS->GetDaPos();
 246   case FG_RUDDER_POS:
 247     return FCS->GetDrPos();
 248   case FG_SPDBRAKE_POS:
 249     return FCS->GetDsbPos();
 250   case FG_SPOILERS_POS:
 251     return FCS->GetDspPos();
 252   case FG_FLAPS_POS:
 253     return FCS->GetDfPos();
 254   case FG_ELEVATOR_CMD:
 255     return FCS->GetDeCmd();
 256   case FG_AILERON_CMD:
 257     return FCS->GetDaCmd();
 258   case FG_RUDDER_CMD:
 259     return FCS->GetDrCmd();
 260   case FG_SPDBRAKE_CMD:
 261     return FCS->GetDsbCmd();
 262   case FG_SPOILERS_CMD:
 263     return FCS->GetDspCmd();
 264   case FG_FLAPS_CMD:
 265     return FCS->GetDfCmd();
 266   case FG_MACH:
 267     return Translation->GetMach();
 268   case FG_ALTITUDE:
 269     return Position->Geth();
 270   case FG_BI2VEL:
 271     if(Translation->GetVt() > 0)
 272         return Aircraft->GetWingSpan()/(2.0 * Translation->GetVt());
 273     else
 274         return 0;
 275   case FG_CI2VEL:
 276     if(Translation->GetVt() > 0)
 277         return Aircraft->Getcbar()/(2.0 * Translation->GetVt());
 278     else
 279         return 0;
 280   case FG_THROTTLE_CMD:
 281     if (ActiveEngine < 0) return FCS->GetThrottleCmd(0);
 282     else return FCS->GetThrottleCmd(ActiveEngine);
 283   case FG_THROTTLE_POS:
 284     if (ActiveEngine < 0) return FCS->GetThrottlePos(0);
 285     else return FCS->GetThrottlePos(ActiveEngine);
 286   case FG_MAGNETO_CMD:
 287     if (ActiveEngine < 0) return Propulsion->GetEngine(0)->GetMagnetos();
 288     else return Propulsion->GetEngine(ActiveEngine)->GetMagnetos();
 289   case FG_STARTER_CMD:
 290     if (ActiveEngine < 0) {
 291       if (Propulsion->GetEngine(0)->GetStarter()) return 1.0;
 292       else return 0.0;
 293     } else {
 294       if (Propulsion->GetEngine(ActiveEngine)->GetStarter()) return 1.0;
 295       else return 0.0;
 296     }
 297   case FG_MIXTURE_CMD:
 298     if (ActiveEngine < 0) return FCS->GetMixtureCmd(0);
 299     else return FCS->GetMixtureCmd(ActiveEngine);
 300   case FG_MIXTURE_POS:
 301     if (ActiveEngine < 0) return FCS->GetMixturePos(0);
 302     else return FCS->GetMixturePos(ActiveEngine);
 303   case FG_HOVERB:
 304     return Position->GetHOverBMAC();
 305   case FG_PITCH_TRIM_CMD:
 306     return FCS->GetPitchTrimCmd();
 307   case FG_GEAR_CMD:
 308     return FCS->GetGearCmd();
 309   case FG_GEAR_POS:
 310     return FCS->GetGearPos();
 311   default:
 312     cerr << "FGState::GetParameter() - No handler for parameter " << paramdef[val_idx] << endl;
 313     return 0.0;
 314   }
 315   return 0;
 316 }
 317
 318 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 319
 320 double FGState::GetParameter(string val_string) {
 321   return GetParameter(coeffdef[val_string]);
 322 }
 323
 324 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 325
 326 eParam FGState::GetParameterIndex(string val_string) {
 327   return coeffdef[val_string];
 328 }
 329
 330 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 331
 332 void FGState::SetParameter(eParam val_idx, double val) {
 333   switch(val_idx) {
 334   case FG_ELEVATOR_POS:
 335     FCS->SetDePos(val);
 336     break;
 337   case FG_AILERON_POS:
 338     FCS->SetDaPos(val);
 339     break;
 340   case FG_RUDDER_POS:
 341     FCS->SetDrPos(val);
 342     break;
 343   case FG_SPDBRAKE_POS:
 344     FCS->SetDsbPos(val);
 345     break;
 346   case FG_SPOILERS_POS:
 347     FCS->SetDspPos(val);
 348     break;
 349   case FG_FLAPS_POS:
 350     FCS->SetDfPos(val);
 351     break;
 352   case FG_THROTTLE_POS:
 353     FCS->SetThrottlePos(ActiveEngine,val);
 354     break;
 355   case FG_MIXTURE_POS:
 356     FCS->SetMixturePos(ActiveEngine,val);
 357     break;
 358
 359   case FG_ELEVATOR_CMD:
 360     FCS->SetDeCmd(val);
 361     break;
 362   case FG_AILERON_CMD:
 363     FCS->SetDaCmd(val);
 364     break;
 365   case FG_RUDDER_CMD:
 366     FCS->SetDrCmd(val);
 367     break;
 368   case FG_SPDBRAKE_CMD:
 369     FCS->SetDsbCmd(val);
 370     break;
 371   case FG_SPOILERS_CMD:
 372     FCS->SetDspCmd(val);
 373     break;
 374   case FG_FLAPS_CMD:
 375     FCS->SetDfCmd(val);
 376     break;
 377   case FG_THROTTLE_CMD:
 378     FCS->SetThrottleCmd(ActiveEngine,val);
 379     break;
 380   case FG_MIXTURE_CMD:
 381     FCS->SetMixtureCmd(ActiveEngine,val);
 382     break;
 383   case FG_MAGNETO_CMD:
 384     Propulsion->GetEngine(ActiveEngine)->SetMagnetos((int)val); // need to account for -1
 385     break;
 386   case FG_STARTER_CMD:
 387     if      (val < 0.001)
 388       Propulsion->GetEngine(ActiveEngine)->SetStarter(false); // need to account for -1
 389     else if (val >=  0.001)
 390       Propulsion->GetEngine(ActiveEngine)->SetStarter(true); // need to account for -1
 391     break;
 392   case FG_ACTIVE_ENGINE:
 393     ActiveEngine = (int)val;
 394     break;
 395
 396   case FG_LEFT_BRAKE_CMD:
 397     FCS->SetLBrake(val);
 398     break;
 399   case FG_CENTER_BRAKE_CMD:
 400     FCS->SetCBrake(val);
 401     break;
 402   case FG_RIGHT_BRAKE_CMD:
 403     FCS->SetRBrake(val);
 404     break;
 405   case FG_GEAR_CMD:
 406     FCS->SetGearCmd(val);
 407     break;
 408   case  FG_GEAR_POS:
 409     FCS->SetGearPos(val);
 410     break;
 411   case FG_SET_LOGGING:
 412     if      (val < -0.01) Output->Disable();
 413     else if (val >  0.01) Output->Enable();
 414     else                  Output->Toggle();
 415     break;
 416
 417   default:
 418     cerr << "Parameter '" << val_idx << "' (" << paramdef[val_idx] << ") not handled" << endl;
 419   }
 420 }
 421
 422 //***************************************************************************
 423 //
 424 // Reset: Assume all angles READ FROM FILE IN DEGREES !!
 425 //
 426
 427 bool FGState::Reset(string path, string acname, string fname)
 428 {
 429   string resetDef;
 430   string token="";
 431
 432   double U, V, W;
 433   double phi, tht, psi;
 434   double latitude, longitude, h;
 435   double wdir, wmag, wnorth, weast;
 436
 437 # ifndef macintosh
 438   resetDef = path + "/" + acname + "/" + fname + ".xml";
 439 # else
 440   resetDef = path + ";" + acname + ";" + fname + ".xml";
 441 # endif
 442
 443   FGConfigFile resetfile(resetDef);
 444   if (!resetfile.IsOpen()) return false;
 445
 446   resetfile.GetNextConfigLine();
 447   token = resetfile.GetValue();
 448   if (token != string("initialize")) {
 449     cerr << "The reset file " << resetDef
 450          << " does not appear to be a reset file" << endl;
 451     return false;
 452   }
 453
 454   resetfile.GetNextConfigLine();
 455   resetfile >> token;
 456   while (token != string("/initialize") && token != string("EOF")) {
 457     if (token == "UBODY") resetfile >> U;
 458     if (token == "VBODY") resetfile >> V;
 459     if (token == "WBODY") resetfile >> W;
 460     if (token == "LATITUDE") resetfile >> latitude;
 461     if (token == "LONGITUDE") resetfile >> longitude;
 462     if (token == "PHI") resetfile >> phi;
 463     if (token == "THETA") resetfile >> tht;
 464     if (token == "PSI") resetfile >> psi;
 465     if (token == "ALTITUDE") resetfile >> h;
 466     if (token == "WINDDIR") resetfile >> wdir;
 467     if (token == "VWIND") resetfile >> wmag;
 468
 469     resetfile >> token;
 470   }
 471
 472
 473   Position->SetLatitude(latitude*degtorad);
 474   Position->SetLongitude(longitude*degtorad);
 475   Position->Seth(h);
 476
 477   wnorth = wmag*ktstofps*cos(wdir*degtorad);
 478   weast = wmag*ktstofps*sin(wdir*degtorad);
 479
 480   Initialize(U, V, W, phi*degtorad, tht*degtorad, psi*degtorad,
 481                latitude*degtorad, longitude*degtorad, h, wnorth, weast, 0.0);
 482
 483   return true;
 484 }
 485
 486 //***************************************************************************
 487 //
 488 // Initialize: Assume all angles GIVEN IN RADIANS !!
 489 //
 490
 491 void FGState::Initialize(double U, double V, double W,
 492                          double phi, double tht, double psi,
 493                          double Latitude, double Longitude, double H,
 494                          double wnorth, double weast, double wdown)
 495 {
 496   double alpha, beta;
 497   double qbar, Vt;
 498   FGColumnVector3 vAeroUVW;
 499
 500   Position->SetLatitude(Latitude);
 501   Position->SetLongitude(Longitude);
 502   Position->Seth(H);
 503
 504   Atmosphere->Run();
 505
 506   vLocalEuler << phi << tht << psi;
 507   Rotation->SetEuler(vLocalEuler);
 508
 509   InitMatrices(phi, tht, psi);
 510
 511   vUVW << U << V << W;
 512   Translation->SetUVW(vUVW);
 513
 514   Atmosphere->SetWindNED(wnorth, weast, wdown);
 515
 516   vAeroUVW = vUVW + mTl2b*Atmosphere->GetWindNED();
 517
 518   if (vAeroUVW(eW) != 0.0)
 519     alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
 520   else
 521     alpha = 0.0;
 522   if (vAeroUVW(eV) != 0.0)
 523     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;
 524   else
 525     beta = 0.0;
 526
 527   Translation->SetAB(alpha, beta);
 528
 529   Vt = sqrt(U*U + V*V + W*W);
 530   Translation->SetVt(Vt);
 531
 532   Translation->SetMach(Vt/Atmosphere->GetSoundSpeed());
 533
 534   qbar = 0.5*(U*U + V*V + W*W)*Atmosphere->GetDensity();
 535   Translation->Setqbar(qbar);
 536
 537   vLocalVelNED = mTb2l*vUVW;
 538   Position->SetvVel(vLocalVelNED);
 539 }
 540
 541 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 542
 543 void FGState::Initialize(FGInitialCondition *FGIC) {
 544
 545   double tht,psi,phi;
 546   double U, V, W, h;
 547   double latitude, longitude;
 548   double wnorth,weast, wdown;
 549
 550   latitude = FGIC->GetLatitudeRadIC();
 551   longitude = FGIC->GetLongitudeRadIC();
 552   h = FGIC->GetAltitudeFtIC();
 553   U = FGIC->GetUBodyFpsIC();
 554   V = FGIC->GetVBodyFpsIC();
 555   W = FGIC->GetWBodyFpsIC();
 556   tht = FGIC->GetThetaRadIC();
 557   phi = FGIC->GetPhiRadIC();
 558   psi = FGIC->GetPsiRadIC();
 559   wnorth = FGIC->GetWindNFpsIC();
 560   weast = FGIC->GetWindEFpsIC();
 561   wdown = FGIC->GetWindDFpsIC();
 562
 563   Position->SetSeaLevelRadius( FGIC->GetSeaLevelRadiusFtIC() );
 564   Position->SetRunwayRadius( FGIC->GetSeaLevelRadiusFtIC() +
 565                                              FGIC->GetTerrainAltitudeFtIC() );
 566
 567   // need to fix the wind speed args, here.
 568   Initialize(U, V, W, phi, tht, psi, latitude, longitude, h, wnorth, weast, wdown);
 569 }
 570
 571 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 572
 573 bool FGState::StoreData(string fname) {
 574   ofstream datafile(fname.c_str());
 575
 576   if (datafile) {
 577     datafile << Translation->GetUVW(eU);
 578     datafile << Translation->GetUVW(eV);
 579     datafile << Translation->GetUVW(eW);
 580     datafile << Position->GetLatitude();
 581     datafile << Position->GetLongitude();
 582     datafile << Rotation->GetEuler(ePhi);
 583     datafile << Rotation->GetEuler(eTht);
 584     datafile << Rotation->GetEuler(ePsi);
 585     datafile << Position->Geth();
 586     datafile.close();
 587     return true;
 588   } else {
 589     cerr << "Could not open dump file " << fname << endl;
 590     return false;
 591   }
 592 }
 593
 594 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 595
 596 void FGState::InitMatrices(double phi, double tht, double psi) {
 597   double thtd2, psid2, phid2;
 598   double Sthtd2, Spsid2, Sphid2;
 599   double Cthtd2, Cpsid2, Cphid2;
 600   double Cphid2Cthtd2;
 601   double Cphid2Sthtd2;
 602   double Sphid2Sthtd2;
 603   double Sphid2Cthtd2;
 604
 605   thtd2 = tht/2.0;
 606   psid2 = psi/2.0;
 607   phid2 = phi/2.0;
 608
 609   Sthtd2 = sin(thtd2);
 610   Spsid2 = sin(psid2);
 611   Sphid2 = sin(phid2);
 612
 613   Cthtd2 = cos(thtd2);
 614   Cpsid2 = cos(psid2);
 615   Cphid2 = cos(phid2);
 616
 617   Cphid2Cthtd2 = Cphid2*Cthtd2;
 618   Cphid2Sthtd2 = Cphid2*Sthtd2;
 619   Sphid2Sthtd2 = Sphid2*Sthtd2;
 620   Sphid2Cthtd2 = Sphid2*Cthtd2;
 621
 622   vQtrn(1) = Cphid2Cthtd2*Cpsid2 + Sphid2Sthtd2*Spsid2;
 623   vQtrn(2) = Sphid2Cthtd2*Cpsid2 - Cphid2Sthtd2*Spsid2;
 624   vQtrn(3) = Cphid2Sthtd2*Cpsid2 + Sphid2Cthtd2*Spsid2;
 625   vQtrn(4) = Cphid2Cthtd2*Spsid2 - Sphid2Sthtd2*Cpsid2;
 626
 627   CalcMatrices();
 628 }
 629
 630 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 631
 632 void FGState::CalcMatrices(void) {
 633   double Q0Q0, Q1Q1, Q2Q2, Q3Q3;
 634   double Q0Q1, Q0Q2, Q0Q3, Q1Q2;
 635   double Q1Q3, Q2Q3;
 636
 637   Q0Q0 = vQtrn(1)*vQtrn(1);
 638   Q1Q1 = vQtrn(2)*vQtrn(2);
 639   Q2Q2 = vQtrn(3)*vQtrn(3);
 640   Q3Q3 = vQtrn(4)*vQtrn(4);
 641   Q0Q1 = vQtrn(1)*vQtrn(2);
 642   Q0Q2 = vQtrn(1)*vQtrn(3);
 643   Q0Q3 = vQtrn(1)*vQtrn(4);
 644   Q1Q2 = vQtrn(2)*vQtrn(3);
 645   Q1Q3 = vQtrn(2)*vQtrn(4);
 646   Q2Q3 = vQtrn(3)*vQtrn(4);
 647
 648   mTl2b(1,1) = Q0Q0 + Q1Q1 - Q2Q2 - Q3Q3;
 649   mTl2b(1,2) = 2*(Q1Q2 + Q0Q3);
 650   mTl2b(1,3) = 2*(Q1Q3 - Q0Q2);
 651   mTl2b(2,1) = 2*(Q1Q2 - Q0Q3);
 652   mTl2b(2,2) = Q0Q0 - Q1Q1 + Q2Q2 - Q3Q3;
 653   mTl2b(2,3) = 2*(Q2Q3 + Q0Q1);
 654   mTl2b(3,1) = 2*(Q1Q3 + Q0Q2);
 655   mTl2b(3,2) = 2*(Q2Q3 - Q0Q1);
 656   mTl2b(3,3) = Q0Q0 - Q1Q1 - Q2Q2 + Q3Q3;
 657
 658   mTb2l = mTl2b;
 659   mTb2l.T();
 660 }
 661
 662 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 663
 664 void FGState::IntegrateQuat(FGColumnVector3 vPQR, int rate) {
 665   vQdot(1) = -0.5*(vQtrn(2)*vPQR(eP) + vQtrn(3)*vPQR(eQ) + vQtrn(4)*vPQR(eR));
 666   vQdot(2) =  0.5*(vQtrn(1)*vPQR(eP) + vQtrn(3)*vPQR(eR) - vQtrn(4)*vPQR(eQ));
 667   vQdot(3) =  0.5*(vQtrn(1)*vPQR(eQ) + vQtrn(4)*vPQR(eP) - vQtrn(2)*vPQR(eR));
 668   vQdot(4) =  0.5*(vQtrn(1)*vPQR(eR) + vQtrn(2)*vPQR(eQ) - vQtrn(3)*vPQR(eP));
 669   vQtrn += 0.5*dt*rate*(vlastQdot + vQdot);
 670
 671   vQtrn.Normalize();
 672
 673   vlastQdot = vQdot;
 674 }
 675
 676 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 677
 678 FGColumnVector3& FGState::CalcEuler(void) {
 679   if (mTl2b(3,3) == 0.0) mTl2b(3,3) = 0.0000001;
 680   if (mTl2b(1,1) == 0.0) mTl2b(1,1) = 0.0000001;
 681
 682   vEuler(ePhi) = atan2(mTl2b(2,3), mTl2b(3,3));
 683   vEuler(eTht) = asin(-mTl2b(1,3));
 684   vEuler(ePsi) = atan2(mTl2b(1,2), mTl2b(1,1));
 685
 686   if (vEuler(ePsi) < 0.0) vEuler(ePsi) += 2*M_PI;
 687
 688   return vEuler;
 689 }
 690
 691 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 692
 693 FGMatrix33& FGState::GetTs2b(void)
 694 {
 695   double ca, cb, sa, sb;
 696
 697   double alpha = Translation->Getalpha();
 698   double beta  = Translation->Getbeta();
 699
 700   ca = cos(alpha);
 701   sa = sin(alpha);
 702   cb = cos(beta);
 703   sb = sin(beta);
 704
 705   mTs2b(1,1) = ca*cb;
 706   mTs2b(1,2) = -ca*sb;
 707   mTs2b(1,3) = -sa;
 708   mTs2b(2,1) = sb;
 709   mTs2b(2,2) = cb;
 710   mTs2b(2,3) = 0.0;
 711   mTs2b(3,1) = sa*cb;
 712   mTs2b(3,2) = -sa*sb;
 713   mTs2b(3,3) = ca;
 714
 715   return mTs2b;
 716 }
 717
 718 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 719
 720 FGMatrix33& FGState::GetTb2s(void)
 721 {
 722   float alpha,beta;
 723   float ca, cb, sa, sb;
 724
 725   alpha = Translation->Getalpha();
 726   beta  = Translation->Getbeta();
 727
 728   ca = cos(alpha);
 729   sa = sin(alpha);
 730   cb = cos(beta);
 731   sb = sin(beta);
 732
 733   mTb2s(1,1) = ca*cb;
 734   mTb2s(1,2) = sb;
 735   mTb2s(1,3) = sa*cb;
 736   mTb2s(2,1) = -ca*sb;
 737   mTb2s(2,2) = cb;
 738   mTb2s(2,3) = -sa*sb;
 739   mTb2s(3,1) = -sa;
 740   mTb2s(3,2) = 0.0;
 741   mTb2s(3,3) = ca;
 742
 743   return mTb2s;
 744 }
 745
 746 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 747
 748 void FGState::ReportState(void) {
 749   char out[80], flap[10], gear[12];
 750
 751   cout << endl << "  JSBSim State" << endl;
 752   snprintf(out,80,"    Weight: %7.0f lbs.  CG: %5.1f, %5.1f, %5.1f inches\n",
 753                    FDMExec->GetMassBalance()->GetWeight(),
 754                    FDMExec->GetMassBalance()->GetXYZcg(1),
 755                    FDMExec->GetMassBalance()->GetXYZcg(2),
 756                    FDMExec->GetMassBalance()->GetXYZcg(3));
 757   cout << out;
 758   if( FCS->GetDfPos() <= 0.01)
 759     snprintf(flap,10,"Up");
 760   else
 761     snprintf(flap,10,"%2.0f",FCS->GetDfPos());
 762   if(FCS->GetGearPos() < 0.01)
 763     snprintf(gear,12,"Up");
 764   else if(FCS->GetGearPos() > 0.99)
 765     snprintf(gear,12,"Down");
 766   else
 767     snprintf(gear,12,"In Transit");
 768   snprintf(out,80, "    Flaps: %3s  Gear: %12s\n",flap,gear);
 769   cout << out;
 770   snprintf(out,80, "    Speed: %4.0f KCAS  Mach: %5.2f\n",
 771                     FDMExec->GetAuxiliary()->GetVcalibratedKTS(),
 772                     GetParameter(FG_MACH) );
 773   cout << out;
 774   snprintf(out,80, "    Altitude: %7.0f ft.  AGL Altitude: %7.0f ft.\n",
 775                     Position->Geth(),
 776                     Position->GetDistanceAGL() );
 777   cout << out;
 778   snprintf(out,80, "    Angle of Attack: %6.2f deg  Pitch Angle: %6.2f deg\n",
 779                     GetParameter(FG_ALPHA)*radtodeg,
 780                     Rotation->Gettht()*radtodeg );
 781   cout << out;
 782   snprintf(out,80, "    Flight Path Angle: %6.2f deg  Climb Rate: %5.0f ft/min\n",
 783                     Position->GetGamma()*radtodeg,
 784                     Position->Gethdot()*60 );
 785   cout << out;
 786   snprintf(out,80, "    Normal Load Factor: %4.2f g's  Pitch Rate: %5.2f deg/s\n",
 787                     Aircraft->GetNlf(),
 788                     GetParameter(FG_PITCHRATE)*radtodeg );
 789   cout << out;
 790   snprintf(out,80, "    Heading: %3.0f deg true  Sideslip: %5.2f deg\n",
 791                     Rotation->Getpsi()*radtodeg,
 792                     GetParameter(FG_BETA)*radtodeg );
 793   cout << out;
 794   snprintf(out,80, "    Bank Angle: %5.2f deg\n",
 795                     Rotation->Getphi()*radtodeg );
 796   cout << out;
 797   snprintf(out,80, "    Elevator: %5.2f deg  Left Aileron: %5.2f deg  Rudder: %5.2f deg\n",
 798                     GetParameter(FG_ELEVATOR_POS)*radtodeg,
 799                     GetParameter(FG_AILERON_POS)*radtodeg,
 800                     GetParameter(FG_RUDDER_POS)*radtodeg );
 801   cout << out;
 802   snprintf(out,80, "    Throttle: %5.2f%c\n",
 803                     FCS->GetThrottlePos(0)*100,'%' );
 804   cout << out;
 805
 806   snprintf(out,80, "    Wind Components: %5.2f kts head wind, %5.2f kts cross wind\n",
 807                     FDMExec->GetAuxiliary()->GetHeadWind()*fpstokts,
 808                     FDMExec->GetAuxiliary()->GetCrossWind()*fpstokts );
 809   cout << out;
 810
 811   snprintf(out,80, "    Ground Speed: %4.0f knots , Ground Track: %3.0f deg true\n",
 812                     Position->GetVground()*fpstokts,
 813                     Position->GetGroundTrack()*radtodeg );
 814   cout << out;
 815
 816 }
 817 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 818
 819 void FGState::Debug(void)
 820 {
 821     //TODO: Add your source code here
 822 }
 823