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