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