src/FDM/JSBSim/models/FGAircraft.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGAircraft.cpp
   4  Author:       Jon S. Berndt
   5  Date started: 12/12/98
   6  Purpose:      Encapsulates an aircraft
   7  Called by:    FGFDMExec
   8
   9  ------------- Copyright (C) 1999  Jon S. Berndt (jon@jsbsim.org) -------------
  10
  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
  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 Lesser General Public License for more
  19  details.
  20
  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.
  24
  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.
  27
  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.
  32
  33 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  34 COMMENTS, REFERENCES,  and NOTES
  35 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  36
  37 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  38 INCLUDES
  39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  40
  41 #include <sys/stat.h>
  42 #include <sys/types.h>
  43
  44 #include <cmath>
  45
  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"
  57 #include <iostream>
  58
  59 using namespace std;
  60
  61 namespace JSBSim {
  62
  63 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  64 DEFINITIONS
  65 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  66
  67 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  68 GLOBAL DATA
  69 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  70
  71 static const char *IdSrc = "$Id: FGAircraft.cpp,v 1.28 2010/09/07 00:40:03 jberndt Exp $";
  72 static const char *IdHdr = ID_AIRCRAFT;
  73
  74 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  75 CLASS IMPLEMENTATION
  76 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  77
  78 FGAircraft::FGAircraft(FGFDMExec* fdmex) : FGModel(fdmex)
  79 {
  80   Name = "FGAircraft";
  81   WingSpan = 0.0;
  82   HTailArea = VTailArea = 0.0;
  83   HTailArm  = VTailArm  = 0.0;
  84   lbarh = lbarv = 0.0;
  85   vbarh = vbarv = 0.0;
  86   WingIncidence = 0.0;
  87   HoldDown = 0;
  88
  89   bind();
  90
  91   Debug(0);
  92 }
  93
  94 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  95
  96 FGAircraft::~FGAircraft()
  97 {
  98   Debug(1);
  99 }
 100
 101 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 102
 103 bool FGAircraft::InitModel(void)
 104 {
 105   if (!FGModel::InitModel()) return false;
 106
 107   return true;
 108 }
 109
 110 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 111
 112 bool FGAircraft::Run(void)
 113 {
 114   if (FGModel::Run()) return true;
 115   if (FDMExec->Holding()) return false;
 116
 117   RunPreFunctions();
 118
 119   vForces.InitMatrix();
 120   if (!HoldDown) {
 121     vForces += Aerodynamics->GetForces();
 122     vForces += Propulsion->GetForces();
 123     vForces += GroundReactions->GetForces();
 124     vForces += ExternalReactions->GetForces();
 125     vForces += BuoyantForces->GetForces();
 126   } else {
 127     const FGMatrix33& mTl2b = Propagate->GetTl2b();
 128     vForces = mTl2b * FGColumnVector3(0,0,-MassBalance->GetWeight());
 129   }
 130
 131   vMoments.InitMatrix();
 132   if (!HoldDown) {
 133     vMoments += Aerodynamics->GetMoments();
 134     vMoments += Propulsion->GetMoments();
 135     vMoments += GroundReactions->GetMoments();
 136     vMoments += ExternalReactions->GetMoments();
 137     vMoments += BuoyantForces->GetMoments();
 138   }
 139
 140   vBodyAccel = vForces/MassBalance->GetMass();
 141
 142   vNcg = vBodyAccel/Inertial->SLgravity();
 143
 144   vNwcg = Aerodynamics->GetTb2w() * vNcg;
 145   vNwcg(3) = 1.0 - vNwcg(3);
 146
 147   RunPostFunctions();
 148
 149   return false;
 150 }
 151
 152 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 153
 154 double FGAircraft::GetNlf(void) const
 155 {
 156   return -1*Aerodynamics->GetvFw(3)/MassBalance->GetWeight();
 157 }
 158
 159 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 160
 161 bool FGAircraft::Load(Element* el)
 162 {
 163   string element_name;
 164   Element* element;
 165
 166   FGModel::Load(el);
 167
 168   if (el->FindElement("wingarea"))
 169     WingArea = el->FindElementValueAsNumberConvertTo("wingarea", "FT2");
 170   if (el->FindElement("wingspan"))
 171     WingSpan = el->FindElementValueAsNumberConvertTo("wingspan", "FT");
 172   if (el->FindElement("chord"))
 173     cbar = el->FindElementValueAsNumberConvertTo("chord", "FT");
 174   if (el->FindElement("wing_incidence"))
 175     WingIncidence = el->FindElementValueAsNumberConvertTo("wing_incidence", "RAD");
 176   if (el->FindElement("htailarea"))
 177     HTailArea = el->FindElementValueAsNumberConvertTo("htailarea", "FT2");
 178   if (el->FindElement("htailarm"))
 179     HTailArm = el->FindElementValueAsNumberConvertTo("htailarm", "FT");
 180   if (el->FindElement("vtailarea"))
 181     VTailArea = el->FindElementValueAsNumberConvertTo("vtailarea", "FT2");
 182   if (el->FindElement("vtailarm"))
 183     VTailArm = el->FindElementValueAsNumberConvertTo("vtailarm", "FT");
 184
 185   // Find all LOCATION elements that descend from this METRICS branch of the
 186   // config file. This would be CG location, eyepoint, etc.
 187
 188   element = el->FindElement("location");
 189   while (element) {
 190     element_name = element->GetAttributeValue("name");
 191
 192     if (element_name == "AERORP") vXYZrp = element->FindElementTripletConvertTo("IN");
 193     else if (element_name == "EYEPOINT") vXYZep = element->FindElementTripletConvertTo("IN");
 194     else if (element_name == "VRP") vXYZvrp = element->FindElementTripletConvertTo("IN");
 195
 196     element = el->FindNextElement("location");
 197   }
 198
 199   // calculate some derived parameters
 200   if (cbar != 0.0) {
 201     lbarh = HTailArm/cbar;
 202     lbarv = VTailArm/cbar;
 203     if (WingArea != 0.0) {
 204       vbarh = HTailArm*HTailArea / (cbar*WingArea);
 205       vbarv = VTailArm*VTailArea / (WingSpan*WingArea);
 206     }
 207   }
 208
 209   PostLoad(el, PropertyManager);
 210
 211   Debug(2);
 212
 213   return true;
 214 }
 215
 216 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 217
 218 void FGAircraft::bind(void)
 219 {
 220   typedef double (FGAircraft::*PMF)(int) const;
 221   PropertyManager->Tie("metrics/Sw-sqft", this, &FGAircraft::GetWingArea, &FGAircraft::SetWingArea);
 222   PropertyManager->Tie("metrics/bw-ft", this, &FGAircraft::GetWingSpan);
 223   PropertyManager->Tie("metrics/cbarw-ft", this, &FGAircraft::Getcbar);
 224   PropertyManager->Tie("metrics/iw-rad", this, &FGAircraft::GetWingIncidence);
 225   PropertyManager->Tie("metrics/iw-deg", this, &FGAircraft::GetWingIncidenceDeg);
 226   PropertyManager->Tie("metrics/Sh-sqft", this, &FGAircraft::GetHTailArea);
 227   PropertyManager->Tie("metrics/lh-ft", this, &FGAircraft::GetHTailArm);
 228   PropertyManager->Tie("metrics/Sv-sqft", this, &FGAircraft::GetVTailArea);
 229   PropertyManager->Tie("metrics/lv-ft", this, &FGAircraft::GetVTailArm);
 230   PropertyManager->Tie("metrics/lh-norm", this, &FGAircraft::Getlbarh);
 231   PropertyManager->Tie("metrics/lv-norm", this, &FGAircraft::Getlbarv);
 232   PropertyManager->Tie("metrics/vbarh-norm", this, &FGAircraft::Getvbarh);
 233   PropertyManager->Tie("metrics/vbarv-norm", this, &FGAircraft::Getvbarv);
 234   PropertyManager->Tie("metrics/aero-rp-x-in", this, eX, (PMF)&FGAircraft::GetXYZrp);
 235   PropertyManager->Tie("metrics/aero-rp-y-in", this, eY, (PMF)&FGAircraft::GetXYZrp);
 236   PropertyManager->Tie("metrics/aero-rp-z-in", this, eZ, (PMF)&FGAircraft::GetXYZrp);
 237   PropertyManager->Tie("metrics/eyepoint-x-in", this, eX, (PMF)&FGAircraft::GetXYZep);
 238   PropertyManager->Tie("metrics/eyepoint-y-in", this, eY,(PMF)&FGAircraft::GetXYZep);
 239   PropertyManager->Tie("metrics/eyepoint-z-in", this, eZ, (PMF)&FGAircraft::GetXYZep);
 240   PropertyManager->Tie("metrics/visualrefpoint-x-in", this, eX, (PMF)&FGAircraft::GetXYZvrp);
 241   PropertyManager->Tie("metrics/visualrefpoint-y-in", this, eY, (PMF)&FGAircraft::GetXYZvrp);
 242   PropertyManager->Tie("metrics/visualrefpoint-z-in", this, eZ, (PMF)&FGAircraft::GetXYZvrp);
 243   PropertyManager->Tie("forces/fbx-total-lbs", this, eX, (PMF)&FGAircraft::GetForces);
 244   PropertyManager->Tie("forces/fby-total-lbs", this, eY, (PMF)&FGAircraft::GetForces);
 245   PropertyManager->Tie("forces/fbz-total-lbs", this, eZ, (PMF)&FGAircraft::GetForces);
 246   PropertyManager->Tie("forces/load-factor", this, &FGAircraft::GetNlf);
 247   PropertyManager->Tie("forces/hold-down", this, &FGAircraft::GetHoldDown, &FGAircraft::SetHoldDown);
 248   PropertyManager->Tie("moments/l-total-lbsft", this, eL, (PMF)&FGAircraft::GetMoments);
 249   PropertyManager->Tie("moments/m-total-lbsft", this, eM, (PMF)&FGAircraft::GetMoments);
 250   PropertyManager->Tie("moments/n-total-lbsft", this, eN, (PMF)&FGAircraft::GetMoments);
 251 }
 252
 253 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 254 //    The bitmasked value choices are as follows:
 255 //    unset: In this case (the default) JSBSim would only print
 256 //       out the normally expected messages, essentially echoing
 257 //       the config files as they are read. If the environment
 258 //       variable is not set, debug_lvl is set to 1 internally
 259 //    0: This requests JSBSim not to output any messages
 260 //       whatsoever.
 261 //    1: This value explicity requests the normal JSBSim
 262 //       startup messages
 263 //    2: This value asks for a message to be printed out when
 264 //       a class is instantiated
 265 //    4: When this value is set, a message is displayed when a
 266 //       FGModel object executes its Run() method
 267 //    8: When this value is set, various runtime state variables
 268 //       are printed out periodically
 269 //    16: When set various parameters are sanity checked and
 270 //       a message is printed out when they go out of bounds
 271
 272 void FGAircraft::Debug(int from)
 273 {
 274   if (debug_lvl <= 0) return;
 275
 276   if (debug_lvl & 1) { // Standard console startup message output
 277     if (from == 2) { // Loading
 278       cout << endl << "  Aircraft Metrics:" << endl;
 279       cout << "    WingArea: " << WingArea  << endl;
 280       cout << "    WingSpan: " << WingSpan  << endl;
 281       cout << "    Incidence: " << WingIncidence << endl;
 282       cout << "    Chord: " << cbar << endl;
 283       cout << "    H. Tail Area: " << HTailArea << endl;
 284       cout << "    H. Tail Arm: " << HTailArm << endl;
 285       cout << "    V. Tail Area: " << VTailArea << endl;
 286       cout << "    V. Tail Arm: " << VTailArm << endl;
 287       cout << "    Eyepoint (x, y, z): " << vXYZep << endl;
 288       cout << "    Ref Pt (x, y, z): " << vXYZrp << endl;
 289       cout << "    Visual Ref Pt (x, y, z): " << vXYZvrp << endl;
 290     }
 291   }
 292   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 293     if (from == 0) cout << "Instantiated: FGAircraft" << endl;
 294     if (from == 1) cout << "Destroyed:    FGAircraft" << endl;
 295   }
 296   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 297   }
 298   if (debug_lvl & 8 ) { // Runtime state variables
 299   }
 300   if (debug_lvl & 16) { // Sanity checking
 301   }
 302   if (debug_lvl & 64) {
 303     if (from == 0) { // Constructor
 304       cout << IdSrc << endl;
 305       cout << IdHdr << endl;
 306     }
 307   }
 308 }
 309
 310 } // namespace JSBSim