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1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2
3  Module:       FGTranslation.cpp
4  Author:       Jon Berndt
5  Date started: 12/02/98
6  Purpose:      Integrates the translational EOM
7  Called by:    FDMExec
8
9  ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------
10
11  This program is free software; you can redistribute it and/or modify it under
12  the terms of the GNU General Public License as published by the Free Software
13  Foundation; either version 2 of the License, or (at your option) any later
14  version.
15
16  This program is distributed in the hope that it will be useful, but WITHOUT
17  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
18  FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
19  details.
20
21  You should have received a copy of the GNU General Public License along with
22  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
23  Place - Suite 330, Boston, MA  02111-1307, USA.
24
25  Further information about the GNU General Public License can also be found on
26  the world wide web at http://www.gnu.org.
27
28 FUNCTIONAL DESCRIPTION
29 --------------------------------------------------------------------------------
30 This class integrates the translational EOM.
31
32 HISTORY
33 --------------------------------------------------------------------------------
34 12/02/98   JSB   Created
35  7/23/99   TP    Added data member and modified Run and PutState to calcuate
36                  Mach number
37
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
39 COMMENTS, REFERENCES,  and NOTES
40 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
41 [1] Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling
42     Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420  Naval Postgraduate
43     School, January 1994
44 [2] D. M. Henderson, "Euler Angles, Quaternions, and Transformation Matrices",
45     JSC 12960, July 1977
46 [3] Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
47     NASA-Ames", NASA CR-2497, January 1975
48 [4] Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
49     Wiley & Sons, 1979 ISBN 0-471-03032-5
50 [5] Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
51     1982 ISBN 0-471-08936-2
52
53   The order of rotations used in this class corresponds to a 3-2-1 sequence,
54   or Y-P-R, or Z-Y-X, if you prefer.
55
56 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
57 INCLUDES
58 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
59
60 #include "FGTranslation.h"
61 #include "FGRotation.h"
62 #include "FGAtmosphere.h"
63 #include "FGState.h"
64 #include "FGFDMExec.h"
65 #include "FGFCS.h"
66 #include "FGMassBalance.h"
67 #include "FGAircraft.h"
68 #include "FGPosition.h"
69 #include "FGAuxiliary.h"
70 #include "FGOutput.h"
71 #include "FGPropertyManager.h"
72
73 static const char *IdSrc = "$Id$";
74 static const char *IdHdr = ID_TRANSLATION;
75
76 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
77 CLASS IMPLEMENTATION
78 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
79
80
81 FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex)
82 {
83   Name = "FGTranslation";
84   qbar = 0;
85   Vt = 0.0;
86   Mach = 0.0;
87   alpha = beta = 0.0;
88   adot = bdot = 0.0;
89   bind();
90   Debug(0);
91 }
92
93 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
94
95 FGTranslation::~FGTranslation(void)
96 {
97   unbind();
98   Debug(1);
99 }
100
101 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
102
103 bool FGTranslation::Run(void)
104 {
105   double Tc = 0.5*State->Getdt()*rate;
106
107   if (!FGModel::Run()) {
108
109     mVel(1,1) =  0.0;
110     mVel(1,2) = -vUVW(eW);
111     mVel(1,3) =  vUVW(eV);
112     mVel(2,1) =  vUVW(eW);
113     mVel(2,2) =  0.0;
114     mVel(2,3) = -vUVW(eU);
115     mVel(3,1) = -vUVW(eV);
116     mVel(3,2) =  vUVW(eU);
117     mVel(3,3) =  0.0;
118
119     vUVWdot = mVel*Rotation->GetPQR() + Aircraft->GetBodyAccel();
120
121     vUVW += Tc*(vUVWdot + vlastUVWdot);
122
123     vAeroUVW = vUVW + State->GetTl2b()*Atmosphere->GetWindNED();
124
125     Vt = vAeroUVW.Magnitude();
126     if ( Vt > 1) {
127       if (vAeroUVW(eW) != 0.0)
128         alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
129       if (vAeroUVW(eV) != 0.0)
130         beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV),
131                sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;
132
133       // stolen, quite shamelessly, from LaRCsim
134       double mUW = (vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW));
135       double signU=1;
136       if (vAeroUVW(eU) != 0.0)
137         signU = vAeroUVW(eU)/fabs(vAeroUVW(eU));
138
139       if ( (mUW == 0.0) || (Vt == 0.0) ) {
140         adot = 0.0;
141         bdot = 0.0;
142       } else {
143         adot = (vAeroUVW(eU)*vAeroUVW(eW) - vAeroUVW(eW)*vUVWdot(eU))/mUW;
144         bdot = (signU*mUW*vUVWdot(eV) - vAeroUVW(eV)*(vAeroUVW(eU)*vUVWdot(eU)
145                 + vAeroUVW(eW)*vUVWdot(eW)))/(Vt*Vt*sqrt(mUW));
146       }
147     } else {
148       alpha = beta = adot = bdot = 0;
149     }
150
151     qbar = 0.5*Atmosphere->GetDensity()*Vt*Vt;
152     qbarUW = 0.5*Atmosphere->GetDensity()*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW));
153     qbarUV = 0.5*Atmosphere->GetDensity()*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eV)*vAeroUVW(eV));
154     Mach = Vt / State->Geta();
155
156     vlastUVWdot = vUVWdot;
157
158     if (debug_lvl > 1) Debug(1);
159
160     return false;
161   } else {
162     return true;
163   }
164 }
165
166 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
167
168 void FGTranslation::bind(void)
169 {
170   typedef double (FGTranslation::*PMF)(int) const;
171   PropertyManager->Tie("velocities/u-fps", this,1,
172                        (PMF)&FGTranslation::GetUVW /*,
173                        &FGTranslation::SetUVW,
174                        true */);
175   PropertyManager->Tie("velocities/v-fps", this,2,
176                        (PMF)&FGTranslation::GetUVW /*,
177                        &FGTranslation::SetUVW,
178                        true*/);
179   PropertyManager->Tie("velocities/w-fps", this,3,
180                        (PMF)&FGTranslation::GetUVW /*,
181                        &FGTranslation::SetUVW,
182                        true*/);
183   PropertyManager->Tie("accelerations/udot-fps", this,1,
184                        (PMF)&FGTranslation::GetUVWdot);
185   PropertyManager->Tie("accelerations/vdot-fps", this,2,
186                        (PMF)&FGTranslation::GetUVWdot);
187   PropertyManager->Tie("accelerations/wdot-fps", this,3,
188                        (PMF)&FGTranslation::GetUVWdot);
189   PropertyManager->Tie("velocities/u-aero-fps", this,1,
190                        (PMF)&FGTranslation::GetAeroUVW);
191   PropertyManager->Tie("velocities/v-aero-fps", this,2,
192                        (PMF)&FGTranslation::GetAeroUVW);
193   PropertyManager->Tie("velocities/w-aero-fps", this,3,
194                        (PMF)&FGTranslation::GetAeroUVW);
195   PropertyManager->Tie("aero/alpha-rad", this,
196                        &FGTranslation::Getalpha,
197                        &FGTranslation::Setalpha,
198                        true);
199   PropertyManager->Tie("aero/beta-rad", this,
200                        &FGTranslation::Getbeta,
201                        &FGTranslation::Setbeta,
202                        true);
203   PropertyManager->Tie("aero/mag-beta-rad", this,
204                        &FGTranslation::GetMagBeta);
205   PropertyManager->Tie("aero/qbar-psf", this,
206                        &FGTranslation::Getqbar,
207                        &FGTranslation::Setqbar,
208                        true);
209   PropertyManager->Tie("aero/qbarUW-psf", this,
210                        &FGTranslation::GetqbarUW,
211                        &FGTranslation::SetqbarUW,
212                        true);
213   PropertyManager->Tie("aero/qbarUV-psf", this,
214                        &FGTranslation::GetqbarUV,
215                        &FGTranslation::SetqbarUV,
216                        true);
217   PropertyManager->Tie("velocities/vt-fps", this,
218                        &FGTranslation::GetVt,
219                        &FGTranslation::SetVt,
220                        true);
221   PropertyManager->Tie("velocities/mach-norm", this,
222                        &FGTranslation::GetMach,
223                        &FGTranslation::SetMach,
224                        true);
225   PropertyManager->Tie("aero/alphadot-rad_sec", this,
226                        &FGTranslation::Getadot,
227                        &FGTranslation::Setadot,
228                        true);
229   PropertyManager->Tie("aero/betadot-rad_sec", this,
230                        &FGTranslation::Getbdot,
231                        &FGTranslation::Setbdot,
232                        true);
233 }
234
235 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
236
237 void FGTranslation::unbind(void)
238 {
239   PropertyManager->Untie("velocities/u-fps");
240   PropertyManager->Untie("velocities/v-fps");
241   PropertyManager->Untie("velocities/w-fps");
242   PropertyManager->Untie("accelerations/udot-fps");
243   PropertyManager->Untie("accelerations/vdot-fps");
244   PropertyManager->Untie("accelerations/wdot-fps");
245   PropertyManager->Untie("velocities/u-aero-fps");
246   PropertyManager->Untie("velocities/v-aero-fps");
247   PropertyManager->Untie("velocities/w-aero-fps");
248   PropertyManager->Untie("aero/alpha-rad");
249   PropertyManager->Untie("aero/beta-rad");
250   PropertyManager->Untie("aero/qbar-psf");
251   PropertyManager->Untie("aero/qbarUW-psf");
252   PropertyManager->Untie("aero/qbarUV-psf");
253   PropertyManager->Untie("velocities/vt-fps");
254   PropertyManager->Untie("velocities/mach-norm");
255   PropertyManager->Untie("aero/alphadot-rad_sec");
256   PropertyManager->Untie("aero/betadot-rad_sec");
257 }
258
259 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
260 //    The bitmasked value choices are as follows:
261 //    unset: In this case (the default) JSBSim would only print
262 //       out the normally expected messages, essentially echoing
263 //       the config files as they are read. If the environment
264 //       variable is not set, debug_lvl is set to 1 internally
265 //    0: This requests JSBSim not to output any messages
266 //       whatsoever.
267 //    1: This value explicity requests the normal JSBSim
268 //       startup messages
269 //    2: This value asks for a message to be printed out when
270 //       a class is instantiated
271 //    4: When this value is set, a message is displayed when a
272 //       FGModel object executes its Run() method
273 //    8: When this value is set, various runtime state variables
274 //       are printed out periodically
275 //    16: When set various parameters are sanity checked and
276 //       a message is printed out when they go out of bounds
277
278 void FGTranslation::Debug(int from)
279 {
280   if (debug_lvl <= 0) return;
281
282   if (debug_lvl & 1) { // Standard console startup message output
283     if (from == 0) { // Constructor
284
285     }
286   }
287   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
288     if (from == 0) cout << "Instantiated: FGTranslation" << endl;
289     if (from == 1) cout << "Destroyed:    FGTranslation" << endl;
290   }
291   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
292   }
293   if (debug_lvl & 8 ) { // Runtime state variables
294   }
295   if (debug_lvl & 16) { // Sanity checking
296     if (fabs(vUVW(eU)) > 1e6)
297       cout << "FGTranslation::U velocity out of bounds: " << vUVW(eU) << endl;
298     if (fabs(vUVW(eV)) > 1e6)
299       cout << "FGTranslation::V velocity out of bounds: " << vUVW(eV) << endl;
300     if (fabs(vUVW(eW)) > 1e6)
301       cout << "FGTranslation::W velocity out of bounds: " << vUVW(eW) << endl;
302     if (fabs(vUVWdot(eU)) > 1e4)
303       cout << "FGTranslation::U acceleration out of bounds: " << vUVWdot(eU) << endl;
304     if (fabs(vUVWdot(eV)) > 1e4)
305       cout << "FGTranslation::V acceleration out of bounds: " << vUVWdot(eV) << endl;
306     if (fabs(vUVWdot(eW)) > 1e4)
307       cout << "FGTranslation::W acceleration out of bounds: " << vUVWdot(eW) << endl;
308     if (Mach > 100 || Mach < 0.00)
309       cout << "FGTranslation::Mach is out of bounds: " << Mach << endl;
310     if (qbar > 1e6 || qbar < 0.00)
311       cout << "FGTranslation::qbar is out of bounds: " << qbar << endl;
312   }
313   if (debug_lvl & 64) {
314     if (from == 0) { // Constructor
315       cout << IdSrc << endl;
316       cout << IdHdr << endl;
317     }
318   }
319 }
320