1 /*******************************************************************************
6 Called by: FGFDMExec and accessed by all models.
8 ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
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
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
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.
24 Further information about the GNU General Public License can also be found on
25 the world wide web at http://www.gnu.org.
27 FUNCTIONAL DESCRIPTION
28 --------------------------------------------------------------------------------
32 --------------------------------------------------------------------------------
35 ********************************************************************************
37 *******************************************************************************/
40 # include <simgear/compiler.h>
41 # ifdef FG_HAVE_STD_INCLUDES
51 #include "FGFDMExec.h"
52 #include "FGAtmosphere.h"
54 #include "FGAircraft.h"
55 #include "FGTranslation.h"
56 #include "FGRotation.h"
57 #include "FGPosition.h"
58 #include "FGAuxiliary.h"
61 /*******************************************************************************
62 ************************************ CODE **************************************
63 *******************************************************************************/
66 FGState::FGState(FGFDMExec* fdex) : mTb2l(3,3),
77 coeffdef["FG_QBAR"] = 1 ;
78 coeffdef["FG_WINGAREA"] = 2 ;
79 coeffdef["FG_WINGSPAN"] = 4 ;
80 coeffdef["FG_CBAR"] = 8 ;
81 coeffdef["FG_ALPHA"] = 16 ;
82 coeffdef["FG_ALPHADOT"] = 32 ;
83 coeffdef["FG_BETA"] = 64 ;
84 coeffdef["FG_BETADOT"] = 128 ;
85 coeffdef["FG_PITCHRATE"] = 256 ;
86 coeffdef["FG_ROLLRATE"] = 512 ;
87 coeffdef["FG_YAWRATE"] = 1024 ;
88 coeffdef["FG_MACH"] = 2048 ;
89 coeffdef["FG_ALTITUDE"] = 4096 ;
90 coeffdef["FG_BI2VEL"] = 8192 ;
91 coeffdef["FG_CI2VEL"] = 16384 ;
92 coeffdef["FG_ELEVATOR_POS"] = 32768L ;
93 coeffdef["FG_AILERON_POS"] = 65536L ;
94 coeffdef["FG_RUDDER_POS"] = 131072L ;
95 coeffdef["FG_SPDBRAKE_POS"] = 262144L ;
96 coeffdef["FG_SPOILERS_POS"] = 524288L ;
97 coeffdef["FG_FLAPS_POS"] = 1048576L ;
98 coeffdef["FG_ELEVATOR_CMD"] = 2097152L ;
99 coeffdef["FG_AILERON_CMD"] = 4194304L ;
100 coeffdef["FG_RUDDER_CMD"] = 8388608L ;
101 coeffdef["FG_SPDBRAKE_CMD"] = 16777216L ;
102 coeffdef["FG_SPOILERS_CMD"] = 33554432L ;
103 coeffdef["FG_FLAPS_CMD"] = 67108864L ;
104 coeffdef["FG_THROTTLE_CMD"] = 134217728L ;
105 coeffdef["FG_THROTTLE_POS"] = 268435456L ;
106 coeffdef["FG_HOVERB"] = 536870912L ;
107 coeffdef["FG_PITCH_TRIM_CMD"] = 1073741824L ;
110 /******************************************************************************/
112 FGState::~FGState(void) {}
114 //***************************************************************************
116 // Reset: Assume all angles READ FROM FILE IN DEGREES !!
121 bool FGState::Reset(string path, string acname, string fname) {
125 float latitude, longitude, h;
127 resetDef = path + "/" + acname + "/" + fname;
129 ifstream resetfile(resetDef.c_str());
135 resetfile >> latitude;
136 resetfile >> longitude;
143 FDMExec->GetPosition()->SetLatitude(latitude*DEGTORAD);
144 FDMExec->GetPosition()->SetLongitude(longitude*DEGTORAD);
145 FDMExec->GetPosition()->Seth(h);
147 Initialize(U, V, W, phi*DEGTORAD, tht*DEGTORAD, psi*DEGTORAD,
148 latitude*DEGTORAD, longitude*DEGTORAD, h);
152 cerr << "Unable to load reset file " << fname << endl;
157 //***************************************************************************
159 // Initialize: Assume all angles GIVEN IN RADIANS !!
162 void FGState::Initialize(float U, float V, float W,
163 float phi, float tht, float psi,
164 float Latitude, float Longitude, float H) {
165 FGColumnVector vUVW(3);
166 FGColumnVector vLocalVelNED(3);
167 FGColumnVector vEuler(3);
171 FDMExec->GetPosition()->SetLatitude(Latitude);
172 FDMExec->GetPosition()->SetLongitude(Longitude);
173 FDMExec->GetPosition()->Seth(H);
175 FDMExec->GetAtmosphere()->Run();
178 alpha = U*U > 0.0 ? atan2(W, U) : 0.0;
182 beta = U*U+W*W > 0.0 ? atan2(V, (fabs(U)/U)*sqrt(U*U + W*W)) : 0.0;
187 FDMExec->GetTranslation()->SetUVW(vUVW);
189 vEuler << phi << tht << psi;
190 FDMExec->GetRotation()->SetEuler(vEuler);
192 FDMExec->GetTranslation()->SetAB(alpha, beta);
194 Vt = sqrt(U*U + V*V + W*W);
195 FDMExec->GetTranslation()->SetVt(Vt);
197 qbar = 0.5*(U*U + V*V + W*W)*FDMExec->GetAtmosphere()->GetDensity();
198 FDMExec->GetTranslation()->Setqbar(qbar);
200 InitMatrices(phi, tht, psi);
202 vLocalVelNED = mTb2l*vUVW;
203 FDMExec->GetPosition()->SetvVel(vLocalVelNED);
206 /******************************************************************************/
208 void FGState::Initialize(FGInitialCondition *FGIC) {
212 float latitude, longitude;
214 latitude = FGIC->GetLatitudeRadIC();
215 longitude = FGIC->GetLongitudeRadIC();
216 h = FGIC->GetAltitudeFtIC();
217 U = FGIC->GetUBodyFpsIC();
218 V = FGIC->GetVBodyFpsIC();
219 W = FGIC->GetWBodyFpsIC();
220 tht = FGIC->GetThetaRadIC();
221 phi = FGIC->GetPhiRadIC();
222 psi = FGIC->GetPsiRadIC();
224 Initialize(U, V, W, phi, tht, psi, latitude, longitude, h);
227 /******************************************************************************/
229 bool FGState::StoreData(string fname) {
230 ofstream datafile(fname.c_str());
233 datafile << (FDMExec->GetTranslation()->GetUVW())(1);
234 datafile << (FDMExec->GetTranslation()->GetUVW())(2);
235 datafile << (FDMExec->GetTranslation()->GetUVW())(3);
236 datafile << FDMExec->GetPosition()->GetLatitude();
237 datafile << FDMExec->GetPosition()->GetLongitude();
238 datafile << (FDMExec->GetRotation()->GetEuler())(1);
239 datafile << (FDMExec->GetRotation()->GetEuler())(2);
240 datafile << (FDMExec->GetRotation()->GetEuler())(3);
241 datafile << FDMExec->GetPosition()->Geth();
245 cerr << "Could not open dump file " << fname << endl;
250 /******************************************************************************/
252 float FGState::GetParameter(string val_string) {
253 return GetParameter(coeffdef[val_string]);
256 /******************************************************************************/
258 int FGState::GetParameterIndex(string val_string) {
259 return coeffdef[val_string];
262 /******************************************************************************/
264 // NEED WORK BELOW TO ADD NEW PARAMETERS !!!
266 float FGState::GetParameter(int val_idx) {
269 return FDMExec->GetTranslation()->Getqbar();
271 return FDMExec->GetAircraft()->GetWingArea();
273 return FDMExec->GetAircraft()->GetWingSpan();
275 return FDMExec->GetAircraft()->Getcbar();
277 return FDMExec->GetTranslation()->Getalpha();
281 return FDMExec->GetTranslation()->Getbeta();
285 return (FDMExec->GetRotation()->GetPQR())(2);
287 return (FDMExec->GetRotation()->GetPQR())(1);
289 return (FDMExec->GetRotation()->GetPQR())(3);
290 case FG_ELEVATOR_POS:
291 return FDMExec->GetFCS()->GetDePos();
293 return FDMExec->GetFCS()->GetDaPos();
295 return FDMExec->GetFCS()->GetDrPos();
296 case FG_SPDBRAKE_POS:
297 return FDMExec->GetFCS()->GetDsbPos();
298 case FG_SPOILERS_POS:
299 return FDMExec->GetFCS()->GetDspPos();
301 return FDMExec->GetFCS()->GetDfPos();
302 case FG_ELEVATOR_CMD:
303 return FDMExec->GetFCS()->GetDeCmd();
305 return FDMExec->GetFCS()->GetDaCmd();
307 return FDMExec->GetFCS()->GetDrCmd();
308 case FG_SPDBRAKE_CMD:
309 return FDMExec->GetFCS()->GetDsbCmd();
310 case FG_SPOILERS_CMD:
311 return FDMExec->GetFCS()->GetDspCmd();
313 return FDMExec->GetFCS()->GetDfCmd();
315 return FDMExec->GetTranslation()->GetMach();
317 return FDMExec->GetPosition()->Geth();
319 return FDMExec->GetAircraft()->GetWingSpan()/(2.0 * FDMExec->GetTranslation()->GetVt());
321 return FDMExec->GetAircraft()->Getcbar()/(2.0 * FDMExec->GetTranslation()->GetVt());
322 case FG_THROTTLE_CMD:
323 return FDMExec->GetFCS()->GetThrottleCmd(0);
324 case FG_THROTTLE_POS:
325 return FDMExec->GetFCS()->GetThrottlePos(0);
327 return FDMExec->GetPosition()->GetHOverB();
328 case FG_PITCH_TRIM_CMD:
329 return FDMExec->GetFCS()->GetPitchTrimCmd();
334 /******************************************************************************/
336 void FGState::SetParameter(int val_idx, float val) {
338 case FG_ELEVATOR_POS:
339 FDMExec->GetFCS()->SetDePos(val);
342 FDMExec->GetFCS()->SetDaPos(val);
345 FDMExec->GetFCS()->SetDrPos(val);
347 case FG_SPDBRAKE_POS:
348 FDMExec->GetFCS()->SetDsbPos(val);
350 case FG_SPOILERS_POS:
351 FDMExec->GetFCS()->SetDspPos(val);
354 FDMExec->GetFCS()->SetDfPos(val);
356 case FG_THROTTLE_POS:
357 FDMExec->GetFCS()->SetThrottlePos(-1,val);
361 /******************************************************************************/
363 void FGState::InitMatrices(float phi, float tht, float psi) {
364 float thtd2, psid2, phid2;
365 float Sthtd2, Spsid2, Sphid2;
366 float Cthtd2, Cpsid2, Cphid2;
384 Cphid2Cthtd2 = Cphid2*Cthtd2;
385 Cphid2Sthtd2 = Cphid2*Sthtd2;
386 Sphid2Sthtd2 = Sphid2*Sthtd2;
387 Sphid2Cthtd2 = Sphid2*Cthtd2;
389 vQtrn(1) = Cphid2Cthtd2*Cpsid2 + Sphid2Sthtd2*Spsid2;
390 vQtrn(2) = Sphid2Cthtd2*Cpsid2 - Cphid2Sthtd2*Spsid2;
391 vQtrn(3) = Cphid2Sthtd2*Cpsid2 + Sphid2Cthtd2*Spsid2;
392 vQtrn(4) = Cphid2Cthtd2*Spsid2 - Sphid2Sthtd2*Cpsid2;
397 /******************************************************************************/
399 void FGState::CalcMatrices(void) {
400 float Q0Q0, Q1Q1, Q2Q2, Q3Q3;
401 float Q0Q1, Q0Q2, Q0Q3, Q1Q2;
404 Q0Q0 = vQtrn(1)*vQtrn(1);
405 Q1Q1 = vQtrn(2)*vQtrn(2);
406 Q2Q2 = vQtrn(3)*vQtrn(3);
407 Q3Q3 = vQtrn(4)*vQtrn(4);
408 Q0Q1 = vQtrn(1)*vQtrn(2);
409 Q0Q2 = vQtrn(1)*vQtrn(3);
410 Q0Q3 = vQtrn(1)*vQtrn(4);
411 Q1Q2 = vQtrn(2)*vQtrn(3);
412 Q1Q3 = vQtrn(2)*vQtrn(4);
413 Q2Q3 = vQtrn(3)*vQtrn(4);
415 mTb2l(1,1) = Q0Q0 + Q1Q1 - Q2Q2 - Q3Q3;
416 mTb2l(1,2) = 2*(Q1Q2 + Q0Q3);
417 mTb2l(1,3) = 2*(Q1Q3 - Q0Q2);
418 mTb2l(2,1) = 2*(Q1Q2 - Q0Q3);
419 mTb2l(2,2) = Q0Q0 - Q1Q1 + Q2Q2 - Q3Q3;
420 mTb2l(2,3) = 2*(Q2Q3 + Q0Q1);
421 mTb2l(3,1) = 2*(Q1Q3 + Q0Q2);
422 mTb2l(3,2) = 2*(Q2Q3 - Q0Q1);
423 mTb2l(3,3) = Q0Q0 - Q1Q1 - Q2Q2 + Q3Q3;
429 /******************************************************************************/
431 void FGState::IntegrateQuat(FGColumnVector vPQR, int rate) {
432 static FGColumnVector vlastQdot(4);
433 static FGColumnVector vQdot(4);
435 vQdot(1) = -0.5*(vQtrn(2)*vPQR(eP) + vQtrn(3)*vPQR(eQ) + vQtrn(4)*vPQR(eR));
436 vQdot(2) = 0.5*(vQtrn(1)*vPQR(eP) + vQtrn(3)*vPQR(eR) - vQtrn(4)*vPQR(eQ));
437 vQdot(3) = 0.5*(vQtrn(1)*vPQR(eQ) + vQtrn(4)*vPQR(eP) - vQtrn(2)*vPQR(eR));
438 vQdot(4) = 0.5*(vQtrn(1)*vPQR(eR) + vQtrn(2)*vPQR(eQ) - vQtrn(3)*vPQR(eP));
440 vQtrn += 0.5*dt*rate*(vlastQdot + vQdot);
447 /******************************************************************************/
449 FGColumnVector FGState::CalcEuler(void) {
450 static FGColumnVector vEuler(3);
452 if (mTb2l(3,3) == 0) vEuler(ePhi) = 0.0;
453 else vEuler(ePhi) = atan2(mTb2l(2,3), mTb2l(3,3));
455 vEuler(eTht) = asin(-mTb2l(1,3));
457 if (mTb2l(1,1) == 0.0) vEuler(ePsi) = 0.0;
458 else vEuler(ePsi) = atan2(mTb2l(1,2), mTb2l(1,1));
460 if (vEuler(ePsi) < 0.0) vEuler(ePsi) += 2*M_PI;
465 /******************************************************************************/
467 FGMatrix FGState::GetTs2b(float alpha, float beta) {
468 float ca, cb, sa, sb;
488 /******************************************************************************/