1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
7 --------- Copyright (C) 1999 Anthony K. Peden (apeden@earthlink.net) ---------
9 This program is free software; you can redistribute it and/or modify it under
10 the terms of the GNU Lesser General Public License as published by the Free Software
11 Foundation; either version 2 of the License, or (at your option) any later
14 This program is distributed in the hope that it will be useful, but WITHOUT
15 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
19 You should have received a copy of the GNU Lesser General Public License along with
20 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 Place - Suite 330, Boston, MA 02111-1307, USA.
23 Further information about the GNU Lesser General Public License can also be found on
24 the world wide web at http://www.gnu.org.
28 --------------------------------------------------------------------------------
31 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
33 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
36 # pragma warning (disable : 4786)
42 #include "FGFDMExec.h"
43 #include "models/FGAtmosphere.h"
44 #include "FGInitialCondition.h"
45 #include "FGTrimAxis.h"
46 #include "models/FGPropulsion.h"
47 #include "models/FGAerodynamics.h"
48 #include "models/FGFCS.h"
49 #include "models/propulsion/FGEngine.h"
50 #include "models/FGAuxiliary.h"
51 #include "models/FGGroundReactions.h"
52 #include "models/FGPropagate.h"
53 #include "models/FGAccelerations.h"
59 static const char *IdSrc = "$Id: FGTrimAxis.cpp,v 1.13 2011/07/28 12:48:19 jberndt Exp $";
60 static const char *IdHdr = ID_TRIMAXIS;
62 /*****************************************************************************/
64 FGTrimAxis::FGTrimAxis(FGFDMExec* fdex, FGInitialCondition* ic, State st,
73 its_to_stable_value=0;
75 total_stability_iterations=0;
81 case tUdot: tolerance = DEFAULT_TOLERANCE; break;
82 case tVdot: tolerance = DEFAULT_TOLERANCE; break;
83 case tWdot: tolerance = DEFAULT_TOLERANCE; break;
84 case tQdot: tolerance = DEFAULT_TOLERANCE / 10; break;
85 case tPdot: tolerance = DEFAULT_TOLERANCE / 10; break;
86 case tRdot: tolerance = DEFAULT_TOLERANCE / 10; break;
87 case tHmgt: tolerance = 0.01; break;
88 case tNlf: state_target=1.0; tolerance = 1E-5; break;
100 control_min=-30*degtorad;
101 control_max=30*degtorad;
102 control_convert=radtodeg;
105 control_min=fdmex->GetAerodynamics()->GetAlphaCLMin();
106 control_max=fdmex->GetAerodynamics()->GetAlphaCLMax();
107 if(control_max <= control_min) {
108 control_max=20*degtorad;
109 control_min=-5*degtorad;
111 control_value= (control_min+control_max)/2;
112 control_convert=radtodeg;
113 solver_eps=tolerance/100;
123 state_convert=radtodeg;
124 solver_eps=tolerance/100;
129 control_value=fdmex->GetPropagate()->GetDistanceAGL();
130 solver_eps=tolerance/100;
133 control_min=fdmex->GetPropagate()->GetEuler(eTht) - 5*degtorad;
134 control_max=fdmex->GetPropagate()->GetEuler(eTht) + 5*degtorad;
135 state_convert=radtodeg;
138 control_min=fdmex->GetPropagate()->GetEuler(ePhi) - 30*degtorad;
139 control_max=fdmex->GetPropagate()->GetEuler(ePhi) + 30*degtorad;
140 state_convert=radtodeg;
141 control_convert=radtodeg;
144 solver_eps=tolerance/100;
145 control_min=-80*degtorad;
146 control_max=80*degtorad;
147 control_convert=radtodeg;
150 control_min=fdmex->GetPropagate()->GetEuler(ePsi) - 30*degtorad;
151 control_max=fdmex->GetPropagate()->GetEuler(ePsi) + 30*degtorad;
152 state_convert=radtodeg;
160 /*****************************************************************************/
162 FGTrimAxis::~FGTrimAxis(void)
167 /*****************************************************************************/
169 void FGTrimAxis::getState(void) {
171 case tUdot: state_value=fdmex->GetAccelerations()->GetUVWdot(1)-state_target; break;
172 case tVdot: state_value=fdmex->GetAccelerations()->GetUVWdot(2)-state_target; break;
173 case tWdot: state_value=fdmex->GetAccelerations()->GetUVWdot(3)-state_target; break;
174 case tQdot: state_value=fdmex->GetAccelerations()->GetPQRdot(2)-state_target;break;
175 case tPdot: state_value=fdmex->GetAccelerations()->GetPQRdot(1)-state_target; break;
176 case tRdot: state_value=fdmex->GetAccelerations()->GetPQRdot(3)-state_target; break;
177 case tHmgt: state_value=computeHmgt()-state_target; break;
178 case tNlf: state_value=fdmex->GetAuxiliary()->GetNlf()-state_target; break;
183 /*****************************************************************************/
185 //States are not settable
187 void FGTrimAxis::getControl(void) {
189 case tThrottle: control_value=fdmex->GetFCS()->GetThrottleCmd(0); break;
190 case tBeta: control_value=fdmex->GetAuxiliary()->Getbeta(); break;
191 case tAlpha: control_value=fdmex->GetAuxiliary()->Getalpha(); break;
192 case tPitchTrim: control_value=fdmex->GetFCS() -> GetPitchTrimCmd(); break;
193 case tElevator: control_value=fdmex->GetFCS() -> GetDeCmd(); break;
195 case tAileron: control_value=fdmex->GetFCS() -> GetDaCmd(); break;
197 case tRudder: control_value=fdmex->GetFCS() -> GetDrCmd(); break;
198 case tAltAGL: control_value=fdmex->GetPropagate()->GetDistanceAGL();break;
199 case tTheta: control_value=fdmex->GetPropagate()->GetEuler(eTht); break;
200 case tPhi: control_value=fdmex->GetPropagate()->GetEuler(ePhi); break;
201 case tGamma: control_value=fdmex->GetAuxiliary()->GetGamma();break;
202 case tHeading: control_value=fdmex->GetPropagate()->GetEuler(ePsi); break;
206 /*****************************************************************************/
208 double FGTrimAxis::computeHmgt(void) {
211 diff = fdmex->GetPropagate()->GetEuler(ePsi) -
212 fdmex->GetAuxiliary()->GetGroundTrack();
215 return (diff + 2*M_PI);
216 } else if( diff > M_PI ) {
217 return (diff - 2*M_PI);
224 /*****************************************************************************/
227 void FGTrimAxis::setControl(void) {
229 case tThrottle: setThrottlesPct(); break;
230 case tBeta: fgic->SetBetaRadIC(control_value); break;
231 case tAlpha: fgic->SetAlphaRadIC(control_value); break;
232 case tPitchTrim: fdmex->GetFCS()->SetPitchTrimCmd(control_value); break;
233 case tElevator: fdmex->GetFCS()->SetDeCmd(control_value); break;
235 case tAileron: fdmex->GetFCS()->SetDaCmd(control_value); break;
237 case tRudder: fdmex->GetFCS()->SetDrCmd(control_value); break;
238 case tAltAGL: fgic->SetAltitudeAGLFtIC(control_value); break;
239 case tTheta: fgic->SetThetaRadIC(control_value); break;
240 case tPhi: fgic->SetPhiRadIC(control_value); break;
241 case tGamma: fgic->SetFlightPathAngleRadIC(control_value); break;
242 case tHeading: fgic->SetPsiRadIC(control_value); break;
250 /*****************************************************************************/
252 // the aircraft center of rotation is no longer the cg once the gear
253 // contact the ground so the altitude needs to be changed when pitch
254 // and roll angle are adjusted. Instead of attempting to calculate the
255 // new center of rotation, pick a gear unit as a reference and use its
256 // location vector to calculate the new height change. i.e. new altitude =
257 // earth z component of that vector (which is in body axes )
258 void FGTrimAxis::SetThetaOnGround(double ff) {
261 // favor an off-center unit so that the same one can be used for both
262 // pitch and roll. An on-center unit is used (for pitch)if that's all
263 // that's in contact with the ground.
264 i=0; ref=-1; center=-1;
265 while( (ref < 0) && (i < fdmex->GetGroundReactions()->GetNumGearUnits()) ) {
266 if(fdmex->GetGroundReactions()->GetGearUnit(i)->GetWOW()) {
267 if(fabs(fdmex->GetGroundReactions()->GetGearUnit(i)->GetBodyLocation(2)) > 0.01)
274 if((ref < 0) && (center >= 0)) {
277 cout << "SetThetaOnGround ref gear: " << ref << endl;
279 double sp = fdmex->GetPropagate()->GetSinEuler(ePhi);
280 double cp = fdmex->GetPropagate()->GetCosEuler(ePhi);
281 double lx = fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(1);
282 double ly = fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(2);
283 double lz = fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(3);
284 double hagl = -1*lx*sin(ff) +
288 fgic->SetAltitudeAGLFtIC(hagl);
289 cout << "SetThetaOnGround new alt: " << hagl << endl;
291 fgic->SetThetaRadIC(ff);
292 cout << "SetThetaOnGround new theta: " << ff << endl;
295 /*****************************************************************************/
297 bool FGTrimAxis::initTheta(void) {
301 double zAft,zForward,zDiff,theta;
302 double xAft,xForward,xDiff;
306 saveAlt=fgic->GetAltitudeAGLFtIC();
307 fgic->SetAltitudeAGLFtIC(100);
310 N=fdmex->GetGroundReactions()->GetNumGearUnits();
312 //find the first wheel unit forward of the cg
313 //the list is short so a simple linear search is fine
314 for( i=0; i<N; i++ ) {
315 if(fdmex->GetGroundReactions()->GetGearUnit(i)->GetBodyLocation(1) > 0 ) {
320 //now find the first wheel unit aft of the cg
321 for( i=0; i<N; i++ ) {
322 if(fdmex->GetGroundReactions()->GetGearUnit(i)->GetBodyLocation(1) < 0 ) {
328 // now adjust theta till the wheels are the same distance from the ground
329 xAft=fdmex->GetGroundReactions()->GetGearUnit(iAft)->GetBodyLocation(1);
330 xForward=fdmex->GetGroundReactions()->GetGearUnit(iForward)->GetBodyLocation(1);
331 xDiff = xForward - xAft;
332 zAft=fdmex->GetGroundReactions()->GetGearUnit(iAft)->GetLocalGear(3);
333 zForward=fdmex->GetGroundReactions()->GetGearUnit(iForward)->GetLocalGear(3);
334 zDiff = zForward - zAft;
336 theta=fgic->GetThetaDegIC();
337 while(!level && (i < 100)) {
338 theta+=radtodeg*atan(zDiff/xDiff);
339 fgic->SetThetaDegIC(theta);
341 zAft=fdmex->GetGroundReactions()->GetGearUnit(iAft)->GetLocalGear(3);
342 zForward=fdmex->GetGroundReactions()->GetGearUnit(iForward)->GetLocalGear(3);
343 zDiff = zForward - zAft;
344 //cout << endl << theta << " " << zDiff << endl;
345 //cout << "0: " << fdmex->GetGroundReactions()->GetGearUnit(0)->GetLocalGear() << endl;
346 //cout << "1: " << fdmex->GetGroundReactions()->GetGearUnit(1)->GetLocalGear() << endl;
347 if(fabs(zDiff ) < 0.1)
353 cout << " Initial Theta: " << fdmex->GetPropagate()->GetEuler(eTht)*radtodeg << endl;
354 cout << " Used gear unit " << iAft << " as aft and " << iForward << " as forward" << endl;
356 control_min=(theta+5)*degtorad;
357 control_max=(theta-5)*degtorad;
358 fgic->SetAltitudeAGLFtIC(saveAlt);
365 /*****************************************************************************/
367 void FGTrimAxis::SetPhiOnGround(double ff) {
371 //must have an off-center unit here
372 while ( (ref < 0) && (i < fdmex->GetGroundReactions()->GetNumGearUnits()) ) {
373 if ( (fdmex->GetGroundReactions()->GetGearUnit(i)->GetWOW()) &&
374 (fabs(fdmex->GetGroundReactions()->GetGearUnit(i)->GetBodyLocation(2)) > 0.01))
379 double st = fdmex->GetPropagate()->GetSinEuler(eTht);
380 double ct = fdmex->GetPropagate()->GetCosEuler(eTht);
381 double lx = fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(1);
382 double ly = fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(2);
383 double lz = fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(3);
384 double hagl = -1*lx*st +
388 fgic->SetAltitudeAGLFtIC(hagl);
390 fgic->SetPhiRadIC(ff);
394 /*****************************************************************************/
396 void FGTrimAxis::Run(void) {
398 double last_state_value;
401 //cout << "FGTrimAxis::Run: " << control_value << endl;
406 last_state_value=state_value;
410 if((fabs(last_state_value - state_value) < tolerance) || (i >= 100) )
415 its_to_stable_value=i;
416 total_stability_iterations+=its_to_stable_value;
420 /*****************************************************************************/
422 void FGTrimAxis::setThrottlesPct(void) {
424 for(unsigned i=0;i<fdmex->GetPropulsion()->GetNumEngines();i++) {
425 tMin=fdmex->GetPropulsion()->GetEngine(i)->GetThrottleMin();
426 tMax=fdmex->GetPropulsion()->GetEngine(i)->GetThrottleMax();
428 // Both the main throttle setting in FGFCS and the copy of the position
429 // in the Propulsion::Inputs structure need to be set at this time.
430 fdmex->GetFCS()->SetThrottleCmd(i,tMin+control_value*(tMax-tMin));
431 fdmex->GetPropulsion()->in.ThrottlePos[i] = tMin +control_value*(tMax - tMin);
433 fdmex->RunIC(); //apply throttle change
434 fdmex->GetPropulsion()->GetSteadyState();
438 /*****************************************************************************/
440 void FGTrimAxis::AxisReport(void) {
441 // Save original cout format characteristics
442 std::ios_base::fmtflags originalFormat = cout.flags();
443 std::streamsize originalPrecision = cout.precision();
444 std::streamsize originalWidth = cout.width();
445 cout << " " << setw(20) << GetControlName() << ": ";
446 cout << setw(6) << setprecision(2) << GetControl()*control_convert << ' ';
447 cout << setw(5) << GetStateName() << ": ";
448 cout << setw(9) << setprecision(2) << scientific << GetState()+state_target;
449 cout << " Tolerance: " << setw(3) << setprecision(0) << scientific << GetTolerance();
451 if( fabs(GetState()+state_target) < fabs(GetTolerance()) )
452 cout << " Passed" << endl;
454 cout << " Failed" << endl;
455 // Restore original cout format characteristics
456 cout.flags(originalFormat);
457 cout.precision(originalPrecision);
458 cout.width(originalWidth);
461 /*****************************************************************************/
463 double FGTrimAxis::GetAvgStability( void ) {
464 if(total_iterations > 0) {
465 return double(total_stability_iterations)/double(total_iterations);
470 /*****************************************************************************/
471 // The bitmasked value choices are as follows:
472 // unset: In this case (the default) JSBSim would only print
473 // out the normally expected messages, essentially echoing
474 // the config files as they are read. If the environment
475 // variable is not set, debug_lvl is set to 1 internally
476 // 0: This requests JSBSim not to output any messages
478 // 1: This value explicity requests the normal JSBSim
480 // 2: This value asks for a message to be printed out when
481 // a class is instantiated
482 // 4: When this value is set, a message is displayed when a
483 // FGModel object executes its Run() method
484 // 8: When this value is set, various runtime state variables
485 // are printed out periodically
486 // 16: When set various parameters are sanity checked and
487 // a message is printed out when they go out of bounds
489 void FGTrimAxis::Debug(int from)
492 if (debug_lvl <= 0) return;
493 if (debug_lvl & 1 ) { // Standard console startup message output
494 if (from == 0) { // Constructor
498 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
499 if (from == 0) cout << "Instantiated: FGTrimAxis" << endl;
500 if (from == 1) cout << "Destroyed: FGTrimAxis" << endl;
502 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
504 if (debug_lvl & 8 ) { // Runtime state variables
506 if (debug_lvl & 16) { // Sanity checking
508 if (debug_lvl & 64) {
509 if (from == 0) { // Constructor
510 cout << IdSrc << endl;
511 cout << IdHdr << endl;