1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
6 Purpose: Encapsulates an aircraft
9 ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
11 This program is free software; you can redistribute it and/or modify it under
12 the terms of the GNU Lesser General Public License as published by the Free Software
13 Foundation; either version 2 of the License, or (at your option) any later
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 Lesser General Public License for more
21 You should have received a copy of the GNU Lesser 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.
25 Further information about the GNU Lesser General Public License can also be found on
26 the world wide web at http://www.gnu.org.
28 FUNCTIONAL DESCRIPTION
29 --------------------------------------------------------------------------------
30 Models the aircraft reactions and forces. This class is instantiated by the
31 FGFDMExec class and scheduled as an FDM entry.
33 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
34 COMMENTS, REFERENCES, and NOTES
35 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
37 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
42 #include <sys/types.h>
46 #include "FGAircraft.h"
47 #include "FGMassBalance.h"
48 #include "FGInertial.h"
49 #include "FGGroundReactions.h"
50 #include "FGExternalReactions.h"
51 #include "FGBuoyantForces.h"
52 #include "FGAerodynamics.h"
53 #include "FGFDMExec.h"
54 #include "FGPropagate.h"
55 #include "FGPropulsion.h"
56 #include "input_output/FGPropertyManager.h"
62 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
64 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
66 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
68 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
70 static const char *IdSrc = "$Id: FGAircraft.cpp,v 1.29 2010/11/18 12:38:06 jberndt Exp $";
71 static const char *IdHdr = ID_AIRCRAFT;
73 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
75 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
77 FGAircraft::FGAircraft(FGFDMExec* fdmex) : FGModel(fdmex)
81 HTailArea = VTailArea = 0.0;
82 HTailArm = VTailArm = 0.0;
93 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
95 FGAircraft::~FGAircraft()
100 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
102 bool FGAircraft::InitModel(void)
104 if (!FGModel::InitModel()) return false;
109 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
111 bool FGAircraft::Run(void)
113 if (FGModel::Run()) return true;
114 if (FDMExec->Holding()) return false;
118 vForces.InitMatrix();
120 vForces += FDMExec->GetAerodynamics()->GetForces();
121 vForces += FDMExec->GetPropulsion()->GetForces();
122 vForces += FDMExec->GetGroundReactions()->GetForces();
123 vForces += FDMExec->GetExternalReactions()->GetForces();
124 vForces += FDMExec->GetBuoyantForces()->GetForces();
126 const FGMatrix33& mTl2b = FDMExec->GetPropagate()->GetTl2b();
127 vForces = mTl2b * FGColumnVector3(0,0,-FDMExec->GetMassBalance()->GetWeight());
130 vMoments.InitMatrix();
132 vMoments += FDMExec->GetAerodynamics()->GetMoments();
133 vMoments += FDMExec->GetPropulsion()->GetMoments();
134 vMoments += FDMExec->GetGroundReactions()->GetMoments();
135 vMoments += FDMExec->GetExternalReactions()->GetMoments();
136 vMoments += FDMExec->GetBuoyantForces()->GetMoments();
139 vBodyAccel = vForces/FDMExec->GetMassBalance()->GetMass();
141 vNcg = vBodyAccel/FDMExec->GetInertial()->SLgravity();
143 vNwcg = FDMExec->GetAerodynamics()->GetTb2w() * vNcg;
144 vNwcg(3) = 1.0 - vNwcg(3);
151 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
153 double FGAircraft::GetNlf(void) const
155 return (-FDMExec->GetAerodynamics()->GetvFw(3))/FDMExec->GetMassBalance()->GetWeight();
158 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
160 bool FGAircraft::Load(Element* el)
167 if (el->FindElement("wingarea"))
168 WingArea = el->FindElementValueAsNumberConvertTo("wingarea", "FT2");
169 if (el->FindElement("wingspan"))
170 WingSpan = el->FindElementValueAsNumberConvertTo("wingspan", "FT");
171 if (el->FindElement("chord"))
172 cbar = el->FindElementValueAsNumberConvertTo("chord", "FT");
173 if (el->FindElement("wing_incidence"))
174 WingIncidence = el->FindElementValueAsNumberConvertTo("wing_incidence", "RAD");
175 if (el->FindElement("htailarea"))
176 HTailArea = el->FindElementValueAsNumberConvertTo("htailarea", "FT2");
177 if (el->FindElement("htailarm"))
178 HTailArm = el->FindElementValueAsNumberConvertTo("htailarm", "FT");
179 if (el->FindElement("vtailarea"))
180 VTailArea = el->FindElementValueAsNumberConvertTo("vtailarea", "FT2");
181 if (el->FindElement("vtailarm"))
182 VTailArm = el->FindElementValueAsNumberConvertTo("vtailarm", "FT");
184 // Find all LOCATION elements that descend from this METRICS branch of the
185 // config file. This would be CG location, eyepoint, etc.
187 element = el->FindElement("location");
189 element_name = element->GetAttributeValue("name");
191 if (element_name == "AERORP") vXYZrp = element->FindElementTripletConvertTo("IN");
192 else if (element_name == "EYEPOINT") vXYZep = element->FindElementTripletConvertTo("IN");
193 else if (element_name == "VRP") vXYZvrp = element->FindElementTripletConvertTo("IN");
195 element = el->FindNextElement("location");
198 // calculate some derived parameters
200 lbarh = HTailArm/cbar;
201 lbarv = VTailArm/cbar;
202 if (WingArea != 0.0) {
203 vbarh = HTailArm*HTailArea / (cbar*WingArea);
204 vbarv = VTailArm*VTailArea / (WingSpan*WingArea);
208 PostLoad(el, PropertyManager);
215 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
217 void FGAircraft::bind(void)
219 typedef double (FGAircraft::*PMF)(int) const;
220 PropertyManager->Tie("metrics/Sw-sqft", this, &FGAircraft::GetWingArea, &FGAircraft::SetWingArea);
221 PropertyManager->Tie("metrics/bw-ft", this, &FGAircraft::GetWingSpan);
222 PropertyManager->Tie("metrics/cbarw-ft", this, &FGAircraft::Getcbar);
223 PropertyManager->Tie("metrics/iw-rad", this, &FGAircraft::GetWingIncidence);
224 PropertyManager->Tie("metrics/iw-deg", this, &FGAircraft::GetWingIncidenceDeg);
225 PropertyManager->Tie("metrics/Sh-sqft", this, &FGAircraft::GetHTailArea);
226 PropertyManager->Tie("metrics/lh-ft", this, &FGAircraft::GetHTailArm);
227 PropertyManager->Tie("metrics/Sv-sqft", this, &FGAircraft::GetVTailArea);
228 PropertyManager->Tie("metrics/lv-ft", this, &FGAircraft::GetVTailArm);
229 PropertyManager->Tie("metrics/lh-norm", this, &FGAircraft::Getlbarh);
230 PropertyManager->Tie("metrics/lv-norm", this, &FGAircraft::Getlbarv);
231 PropertyManager->Tie("metrics/vbarh-norm", this, &FGAircraft::Getvbarh);
232 PropertyManager->Tie("metrics/vbarv-norm", this, &FGAircraft::Getvbarv);
233 PropertyManager->Tie("metrics/aero-rp-x-in", this, eX, (PMF)&FGAircraft::GetXYZrp);
234 PropertyManager->Tie("metrics/aero-rp-y-in", this, eY, (PMF)&FGAircraft::GetXYZrp);
235 PropertyManager->Tie("metrics/aero-rp-z-in", this, eZ, (PMF)&FGAircraft::GetXYZrp);
236 PropertyManager->Tie("metrics/eyepoint-x-in", this, eX, (PMF)&FGAircraft::GetXYZep);
237 PropertyManager->Tie("metrics/eyepoint-y-in", this, eY,(PMF)&FGAircraft::GetXYZep);
238 PropertyManager->Tie("metrics/eyepoint-z-in", this, eZ, (PMF)&FGAircraft::GetXYZep);
239 PropertyManager->Tie("metrics/visualrefpoint-x-in", this, eX, (PMF)&FGAircraft::GetXYZvrp);
240 PropertyManager->Tie("metrics/visualrefpoint-y-in", this, eY, (PMF)&FGAircraft::GetXYZvrp);
241 PropertyManager->Tie("metrics/visualrefpoint-z-in", this, eZ, (PMF)&FGAircraft::GetXYZvrp);
242 PropertyManager->Tie("forces/fbx-total-lbs", this, eX, (PMF)&FGAircraft::GetForces);
243 PropertyManager->Tie("forces/fby-total-lbs", this, eY, (PMF)&FGAircraft::GetForces);
244 PropertyManager->Tie("forces/fbz-total-lbs", this, eZ, (PMF)&FGAircraft::GetForces);
245 PropertyManager->Tie("forces/load-factor", this, &FGAircraft::GetNlf);
246 PropertyManager->Tie("forces/hold-down", this, &FGAircraft::GetHoldDown, &FGAircraft::SetHoldDown);
247 PropertyManager->Tie("moments/l-total-lbsft", this, eL, (PMF)&FGAircraft::GetMoments);
248 PropertyManager->Tie("moments/m-total-lbsft", this, eM, (PMF)&FGAircraft::GetMoments);
249 PropertyManager->Tie("moments/n-total-lbsft", this, eN, (PMF)&FGAircraft::GetMoments);
252 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
253 // The bitmasked value choices are as follows:
254 // unset: In this case (the default) JSBSim would only print
255 // out the normally expected messages, essentially echoing
256 // the config files as they are read. If the environment
257 // variable is not set, debug_lvl is set to 1 internally
258 // 0: This requests JSBSim not to output any messages
260 // 1: This value explicity requests the normal JSBSim
262 // 2: This value asks for a message to be printed out when
263 // a class is instantiated
264 // 4: When this value is set, a message is displayed when a
265 // FGModel object executes its Run() method
266 // 8: When this value is set, various runtime state variables
267 // are printed out periodically
268 // 16: When set various parameters are sanity checked and
269 // a message is printed out when they go out of bounds
271 void FGAircraft::Debug(int from)
273 if (debug_lvl <= 0) return;
275 if (debug_lvl & 1) { // Standard console startup message output
276 if (from == 2) { // Loading
277 cout << endl << " Aircraft Metrics:" << endl;
278 cout << " WingArea: " << WingArea << endl;
279 cout << " WingSpan: " << WingSpan << endl;
280 cout << " Incidence: " << WingIncidence << endl;
281 cout << " Chord: " << cbar << endl;
282 cout << " H. Tail Area: " << HTailArea << endl;
283 cout << " H. Tail Arm: " << HTailArm << endl;
284 cout << " V. Tail Area: " << VTailArea << endl;
285 cout << " V. Tail Arm: " << VTailArm << endl;
286 cout << " Eyepoint (x, y, z): " << vXYZep << endl;
287 cout << " Ref Pt (x, y, z): " << vXYZrp << endl;
288 cout << " Visual Ref Pt (x, y, z): " << vXYZvrp << endl;
291 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
292 if (from == 0) cout << "Instantiated: FGAircraft" << endl;
293 if (from == 1) cout << "Destroyed: FGAircraft" << endl;
295 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
297 if (debug_lvl & 8 ) { // Runtime state variables
299 if (debug_lvl & 16) { // Sanity checking
301 if (debug_lvl & 64) {
302 if (from == 0) { // Constructor
303 cout << IdSrc << endl;
304 cout << IdHdr << endl;
309 } // namespace JSBSim