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