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 #include <iostream>
  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
  58 using namespace std;
  59
  60 namespace JSBSim {
  61
  62 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  63 DEFINITIONS
  64 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  65
  66 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  67 GLOBAL DATA
  68 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  69
  70 static const char *IdSrc = "$Id: FGAircraft.cpp,v 1.30 2010/11/29 12:33:57 jberndt Exp $";
  71 static const char *IdHdr = ID_AIRCRAFT;
  72
  73 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  74 CLASS IMPLEMENTATION
  75 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  76
  77 FGAircraft::FGAircraft(FGFDMExec* fdmex) : FGModel(fdmex)
  78 {
  79   Name = "FGAircraft";
  80   WingSpan = 0.0;
  81   HTailArea = VTailArea = 0.0;
  82   HTailArm  = VTailArm  = 0.0;
  83   lbarh = lbarv = 0.0;
  84   vbarh = vbarv = 0.0;
  85   WingIncidence = 0.0;
  86   HoldDown = 0;
  87
  88   bind();
  89
  90   Debug(0);
  91 }
  92
  93 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  94
  95 FGAircraft::~FGAircraft()
  96 {
  97   Debug(1);
  98 }
  99
 100 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 101
 102 bool FGAircraft::InitModel(void)
 103 {
 104   if (!FGModel::InitModel()) return false;
 105
 106   return true;
 107 }
 108
 109 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 110
 111 bool FGAircraft::Run(void)
 112 {
 113   if (FGModel::Run()) return true;
 114   if (FDMExec->Holding()) return false;
 115
 116   RunPreFunctions();
 117
 118   vForces.InitMatrix();
 119   if (!HoldDown) {
 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();
 125   } else {
 126     const FGMatrix33& mTl2b = FDMExec->GetPropagate()->GetTl2b();
 127     vForces = mTl2b * FGColumnVector3(0,0,-FDMExec->GetMassBalance()->GetWeight());
 128   }
 129
 130   vMoments.InitMatrix();
 131   if (!HoldDown) {
 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();
 137   }
 138
 139   vBodyAccel = vForces/FDMExec->GetMassBalance()->GetMass();
 140
 141   vNcg = vBodyAccel/FDMExec->GetInertial()->SLgravity();
 142
 143   vNwcg = FDMExec->GetAerodynamics()->GetTb2w() * vNcg;
 144   vNwcg(3) = 1.0 - vNwcg(3);
 145
 146   RunPostFunctions();
 147
 148   return false;
 149 }
 150
 151 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 152
 153 double FGAircraft::GetNlf(void) const
 154 {
 155   if (FDMExec->GetMassBalance()->GetWeight() != 0)
 156     return (-FDMExec->GetAerodynamics()->GetvFw(3))/FDMExec->GetMassBalance()->GetWeight();
 157   else
 158     return 0.;
 159 }
 160
 161 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 162
 163 bool FGAircraft::Load(Element* el)
 164 {
 165   string element_name;
 166   Element* element;
 167
 168   FGModel::Load(el);
 169
 170   if (el->FindElement("wingarea"))
 171     WingArea = el->FindElementValueAsNumberConvertTo("wingarea", "FT2");
 172   if (el->FindElement("wingspan"))
 173     WingSpan = el->FindElementValueAsNumberConvertTo("wingspan", "FT");
 174   if (el->FindElement("chord"))
 175     cbar = el->FindElementValueAsNumberConvertTo("chord", "FT");
 176   if (el->FindElement("wing_incidence"))
 177     WingIncidence = el->FindElementValueAsNumberConvertTo("wing_incidence", "RAD");
 178   if (el->FindElement("htailarea"))
 179     HTailArea = el->FindElementValueAsNumberConvertTo("htailarea", "FT2");
 180   if (el->FindElement("htailarm"))
 181     HTailArm = el->FindElementValueAsNumberConvertTo("htailarm", "FT");
 182   if (el->FindElement("vtailarea"))
 183     VTailArea = el->FindElementValueAsNumberConvertTo("vtailarea", "FT2");
 184   if (el->FindElement("vtailarm"))
 185     VTailArm = el->FindElementValueAsNumberConvertTo("vtailarm", "FT");
 186
 187   // Find all LOCATION elements that descend from this METRICS branch of the
 188   // config file. This would be CG location, eyepoint, etc.
 189
 190   element = el->FindElement("location");
 191   while (element) {
 192     element_name = element->GetAttributeValue("name");
 193
 194     if (element_name == "AERORP") vXYZrp = element->FindElementTripletConvertTo("IN");
 195     else if (element_name == "EYEPOINT") vXYZep = element->FindElementTripletConvertTo("IN");
 196     else if (element_name == "VRP") vXYZvrp = element->FindElementTripletConvertTo("IN");
 197
 198     element = el->FindNextElement("location");
 199   }
 200
 201   // calculate some derived parameters
 202   if (cbar != 0.0) {
 203     lbarh = HTailArm/cbar;
 204     lbarv = VTailArm/cbar;
 205     if (WingArea != 0.0) {
 206       vbarh = HTailArm*HTailArea / (cbar*WingArea);
 207       vbarv = VTailArm*VTailArea / (WingSpan*WingArea);
 208     }
 209   }
 210
 211   PostLoad(el, PropertyManager);
 212
 213   Debug(2);
 214
 215   return true;
 216 }
 217
 218 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 219
 220 void FGAircraft::bind(void)
 221 {
 222   typedef double (FGAircraft::*PMF)(int) const;
 223   PropertyManager->Tie("metrics/Sw-sqft", this, &FGAircraft::GetWingArea, &FGAircraft::SetWingArea);
 224   PropertyManager->Tie("metrics/bw-ft", this, &FGAircraft::GetWingSpan);
 225   PropertyManager->Tie("metrics/cbarw-ft", this, &FGAircraft::Getcbar);
 226   PropertyManager->Tie("metrics/iw-rad", this, &FGAircraft::GetWingIncidence);
 227   PropertyManager->Tie("metrics/iw-deg", this, &FGAircraft::GetWingIncidenceDeg);
 228   PropertyManager->Tie("metrics/Sh-sqft", this, &FGAircraft::GetHTailArea);
 229   PropertyManager->Tie("metrics/lh-ft", this, &FGAircraft::GetHTailArm);
 230   PropertyManager->Tie("metrics/Sv-sqft", this, &FGAircraft::GetVTailArea);
 231   PropertyManager->Tie("metrics/lv-ft", this, &FGAircraft::GetVTailArm);
 232   PropertyManager->Tie("metrics/lh-norm", this, &FGAircraft::Getlbarh);
 233   PropertyManager->Tie("metrics/lv-norm", this, &FGAircraft::Getlbarv);
 234   PropertyManager->Tie("metrics/vbarh-norm", this, &FGAircraft::Getvbarh);
 235   PropertyManager->Tie("metrics/vbarv-norm", this, &FGAircraft::Getvbarv);
 236   PropertyManager->Tie("metrics/aero-rp-x-in", this, eX, (PMF)&FGAircraft::GetXYZrp);
 237   PropertyManager->Tie("metrics/aero-rp-y-in", this, eY, (PMF)&FGAircraft::GetXYZrp);
 238   PropertyManager->Tie("metrics/aero-rp-z-in", this, eZ, (PMF)&FGAircraft::GetXYZrp);
 239   PropertyManager->Tie("metrics/eyepoint-x-in", this, eX, (PMF)&FGAircraft::GetXYZep);
 240   PropertyManager->Tie("metrics/eyepoint-y-in", this, eY,(PMF)&FGAircraft::GetXYZep);
 241   PropertyManager->Tie("metrics/eyepoint-z-in", this, eZ, (PMF)&FGAircraft::GetXYZep);
 242   PropertyManager->Tie("metrics/visualrefpoint-x-in", this, eX, (PMF)&FGAircraft::GetXYZvrp);
 243   PropertyManager->Tie("metrics/visualrefpoint-y-in", this, eY, (PMF)&FGAircraft::GetXYZvrp);
 244   PropertyManager->Tie("metrics/visualrefpoint-z-in", this, eZ, (PMF)&FGAircraft::GetXYZvrp);
 245   PropertyManager->Tie("forces/fbx-total-lbs", this, eX, (PMF)&FGAircraft::GetForces);
 246   PropertyManager->Tie("forces/fby-total-lbs", this, eY, (PMF)&FGAircraft::GetForces);
 247   PropertyManager->Tie("forces/fbz-total-lbs", this, eZ, (PMF)&FGAircraft::GetForces);
 248   PropertyManager->Tie("forces/load-factor", this, &FGAircraft::GetNlf);
 249   PropertyManager->Tie("forces/hold-down", this, &FGAircraft::GetHoldDown, &FGAircraft::SetHoldDown);
 250   PropertyManager->Tie("moments/l-total-lbsft", this, eL, (PMF)&FGAircraft::GetMoments);
 251   PropertyManager->Tie("moments/m-total-lbsft", this, eM, (PMF)&FGAircraft::GetMoments);
 252   PropertyManager->Tie("moments/n-total-lbsft", this, eN, (PMF)&FGAircraft::GetMoments);
 253 }
 254
 255 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 256 //    The bitmasked value choices are as follows:
 257 //    unset: In this case (the default) JSBSim would only print
 258 //       out the normally expected messages, essentially echoing
 259 //       the config files as they are read. If the environment
 260 //       variable is not set, debug_lvl is set to 1 internally
 261 //    0: This requests JSBSim not to output any messages
 262 //       whatsoever.
 263 //    1: This value explicity requests the normal JSBSim
 264 //       startup messages
 265 //    2: This value asks for a message to be printed out when
 266 //       a class is instantiated
 267 //    4: When this value is set, a message is displayed when a
 268 //       FGModel object executes its Run() method
 269 //    8: When this value is set, various runtime state variables
 270 //       are printed out periodically
 271 //    16: When set various parameters are sanity checked and
 272 //       a message is printed out when they go out of bounds
 273
 274 void FGAircraft::Debug(int from)
 275 {
 276   if (debug_lvl <= 0) return;
 277
 278   if (debug_lvl & 1) { // Standard console startup message output
 279     if (from == 2) { // Loading
 280       cout << endl << "  Aircraft Metrics:" << endl;
 281       cout << "    WingArea: " << WingArea  << endl;
 282       cout << "    WingSpan: " << WingSpan  << endl;
 283       cout << "    Incidence: " << WingIncidence << endl;
 284       cout << "    Chord: " << cbar << endl;
 285       cout << "    H. Tail Area: " << HTailArea << endl;
 286       cout << "    H. Tail Arm: " << HTailArm << endl;
 287       cout << "    V. Tail Area: " << VTailArea << endl;
 288       cout << "    V. Tail Arm: " << VTailArm << endl;
 289       cout << "    Eyepoint (x, y, z): " << vXYZep << endl;
 290       cout << "    Ref Pt (x, y, z): " << vXYZrp << endl;
 291       cout << "    Visual Ref Pt (x, y, z): " << vXYZvrp << endl;
 292     }
 293   }
 294   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 295     if (from == 0) cout << "Instantiated: FGAircraft" << endl;
 296     if (from == 1) cout << "Destroyed:    FGAircraft" << endl;
 297   }
 298   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 299   }
 300   if (debug_lvl & 8 ) { // Runtime state variables
 301   }
 302   if (debug_lvl & 16) { // Sanity checking
 303   }
 304   if (debug_lvl & 64) {
 305     if (from == 0) { // Constructor
 306       cout << IdSrc << endl;
 307       cout << IdHdr << endl;
 308     }
 309   }
 310 }
 311
 312 } // namespace JSBSim