src/FDM/JSBSim/initialization/FGTrimAxis.h

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGTrimAxis.h
   4  Author:       Tony Peden
   5  Date started: 7/3/00
   6
   7  ------------- Copyright (C) 1999  Anthony K. Peden (apeden@earthlink.net) -------------
   8
   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
  12  version.
  13
  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
  17  details.
  18
  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.
  22
  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.
  25
  26  HISTORY
  27 --------------------------------------------------------------------------------
  28 7/3/00  TP   Created
  29
  30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  31 SENTRY
  32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  33
  34 #ifndef FGTRIMAXIS_H
  35 #define FGTRIMAXIS_H
  36
  37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  38 INCLUDES
  39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  40
  41 #include <string>
  42
  43 #include "FGFDMExec.h"
  44 #include "FGJSBBase.h"
  45 #include "FGInitialCondition.h"
  46
  47 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  48 DEFINITIONS
  49 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  50
  51 #define ID_TRIMAXIS "$Id: FGTrimAxis.h,v 1.4 2006/10/01 22:47:47 jberndt Exp $"
  52
  53 #define DEFAULT_TOLERANCE 0.001
  54
  55 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  56 FORWARD DECLARATIONS
  57 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  58
  59 namespace JSBSim {
  60
  61 const string StateNames[10]=   { "all","udot","vdot","wdot","qdot","pdot","rdot",
  62                                 "hmgt","nlf"
  63                               };
  64 const string ControlNames[14]= { "Throttle","Sideslip","Angle of Attack",
  65                                  "Elevator","Ailerons","Rudder",
  66                                  "Altitude AGL", "Pitch Angle",
  67                                  "Roll Angle", "Flight Path Angle",
  68                                  "Pitch Trim", "Roll Trim", "Yaw Trim",
  69                                  "Heading"
  70                                };
  71
  72 class FGInitialCondition;
  73
  74 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  75 CLASS DOCUMENTATION
  76 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  77
  78 /** Models an aircraft axis for purposes of trimming.
  79   */
  80
  81 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  82 CLASS DECLARATION
  83 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  84
  85 enum State { tAll,tUdot,tVdot,tWdot,tQdot,tPdot,tRdot,tHmgt,tNlf };
  86 enum Control { tThrottle, tBeta, tAlpha, tElevator, tAileron, tRudder, tAltAGL,
  87                tTheta, tPhi, tGamma, tPitchTrim, tRollTrim, tYawTrim, tHeading };
  88
  89 class FGTrimAxis : public FGJSBBase
  90 {
  91 public:
  92   /**  Constructor for Trim Axis class.
  93        @param fdmex FGFDMExec pointer
  94        @param IC pointer to initial conditions instance
  95        @param state a State type (enum)
  96        @param control a Control type (enum) */
  97   FGTrimAxis(FGFDMExec* fdmex,
  98              FGInitialCondition *IC,
  99              State state,
 100              Control control );
 101   /// Destructor
 102   ~FGTrimAxis();
 103
 104   /** This function iterates through a call to the FGFDMExec::RunIC()
 105       function until the desired trimming condition falls inside a tolerance.*/
 106   void Run(void);
 107
 108   double GetState(void) { getState(); return state_value; }
 109   //Accels are not settable
 110   inline void SetControl(double value ) { control_value=value; }
 111   inline double GetControl(void) { return control_value; }
 112
 113   inline State GetStateType(void) { return state; }
 114   inline Control GetControlType(void) { return control; }
 115
 116   inline string GetStateName(void) { return StateNames[state]; }
 117   inline string GetControlName(void) { return ControlNames[control]; }
 118
 119   inline double GetControlMin(void) { return control_min; }
 120   inline double GetControlMax(void) { return control_max; }
 121
 122   inline void SetControlToMin(void) { control_value=control_min; }
 123   inline void SetControlToMax(void) { control_value=control_max; }
 124
 125   inline void SetControlLimits(double min, double max) {
 126       control_min=min;
 127       control_max=max;
 128   }
 129
 130   inline void  SetTolerance(double ff) { tolerance=ff;}
 131   inline double GetTolerance(void) { return tolerance; }
 132
 133   inline double GetSolverEps(void) { return solver_eps; }
 134   inline void SetSolverEps(double ff) { solver_eps=ff; }
 135
 136   inline int  GetIterationLimit(void) { return max_iterations; }
 137   inline void SetIterationLimit(int ii) { max_iterations=ii; }
 138
 139   inline int GetStability(void) { return its_to_stable_value; }
 140   inline int GetRunCount(void) { return total_stability_iterations; }
 141   double GetAvgStability( void );
 142
 143   void SetThetaOnGround(double ff);
 144   void SetPhiOnGround(double ff);
 145
 146   inline void SetStateTarget(double target) { state_target=target; }
 147   inline double GetStateTarget(void) { return state_target; }
 148
 149   bool initTheta(void);
 150
 151   void AxisReport(void);
 152
 153   bool InTolerance(void) { getState(); return (fabs(state_value) <= tolerance); }
 154
 155 private:
 156   FGFDMExec *fdmex;
 157   FGInitialCondition *fgic;
 158
 159   State   state;
 160   Control control;
 161
 162   double state_target;
 163
 164   double state_value;
 165   double control_value;
 166
 167   double control_min;
 168   double control_max;
 169
 170   double tolerance;
 171
 172   double solver_eps;
 173
 174   double state_convert;
 175   double control_convert;
 176
 177   int max_iterations;
 178
 179   int its_to_stable_value;
 180   int total_stability_iterations;
 181   int total_iterations;
 182
 183   void setThrottlesPct(void);
 184
 185   void getState(void);
 186   void getControl(void);
 187   void setControl(void);
 188
 189   double computeHmgt(void);
 190
 191   void Debug(int from);
 192 };
 193 }
 194 #endif