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 "FGFDMExec.h"
  48 #include "input_output/FGPropertyManager.h"
  49
  50 using namespace std;
  51
  52 namespace JSBSim {
  53
  54 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  55 DEFINITIONS
  56 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  57
  58 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  59 GLOBAL DATA
  60 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  61
  62 static const char *IdSrc = "$Id: FGAircraft.cpp,v 1.33 2011/08/21 15:06:38 bcoconni Exp $";
  63 static const char *IdHdr = ID_AIRCRAFT;
  64
  65 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  66 CLASS IMPLEMENTATION
  67 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  68
  69 FGAircraft::FGAircraft(FGFDMExec* fdmex) : FGModel(fdmex)
  70 {
  71   Name = "FGAircraft";
  72   WingSpan = 0.0;
  73   WingArea = 0.0;
  74   cbar = 0.0;
  75   HTailArea = VTailArea = 0.0;
  76   HTailArm  = VTailArm  = 0.0;
  77   lbarh = lbarv = 0.0;
  78   vbarh = vbarv = 0.0;
  79   WingIncidence = 0.0;
  80   HoldDown = 0;
  81
  82   bind();
  83
  84   Debug(0);
  85 }
  86
  87 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  88
  89 FGAircraft::~FGAircraft()
  90 {
  91   Debug(1);
  92 }
  93
  94 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  95
  96 bool FGAircraft::InitModel(void)
  97 {
  98   return true;
  99 }
 100
 101 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 102
 103 bool FGAircraft::Run(bool Holding)
 104 {
 105   if (FGModel::Run(Holding)) return true;
 106   if (Holding) return false;
 107
 108   RunPreFunctions();
 109
 110   vForces.InitMatrix();
 111   if (!HoldDown) {
 112     vForces += in.AeroForce;
 113     vForces += in.PropForce;
 114     vForces += in.GroundForce;
 115     vForces += in.ExternalForce;
 116     vForces += in.BuoyantForce;
 117   } else {
 118     vForces = in.Tl2b * FGColumnVector3(0,0,-in.Weight);
 119   }
 120
 121   vMoments.InitMatrix();
 122   if (!HoldDown) {
 123     vMoments += in.AeroMoment;
 124     vMoments += in.PropMoment;
 125     vMoments += in.GroundMoment;
 126     vMoments += in.ExternalMoment;
 127     vMoments += in.BuoyantMoment;
 128   }
 129
 130   RunPostFunctions();
 131
 132   return false;
 133 }
 134
 135 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 136
 137 bool FGAircraft::Load(Element* el)
 138 {
 139   string element_name;
 140   Element* element;
 141
 142   FGModel::Load(el);
 143
 144   if (el->FindElement("wingarea"))
 145     WingArea = el->FindElementValueAsNumberConvertTo("wingarea", "FT2");
 146   if (el->FindElement("wingspan"))
 147     WingSpan = el->FindElementValueAsNumberConvertTo("wingspan", "FT");
 148   if (el->FindElement("chord"))
 149     cbar = el->FindElementValueAsNumberConvertTo("chord", "FT");
 150   if (el->FindElement("wing_incidence"))
 151     WingIncidence = el->FindElementValueAsNumberConvertTo("wing_incidence", "RAD");
 152   if (el->FindElement("htailarea"))
 153     HTailArea = el->FindElementValueAsNumberConvertTo("htailarea", "FT2");
 154   if (el->FindElement("htailarm"))
 155     HTailArm = el->FindElementValueAsNumberConvertTo("htailarm", "FT");
 156   if (el->FindElement("vtailarea"))
 157     VTailArea = el->FindElementValueAsNumberConvertTo("vtailarea", "FT2");
 158   if (el->FindElement("vtailarm"))
 159     VTailArm = el->FindElementValueAsNumberConvertTo("vtailarm", "FT");
 160
 161   // Find all LOCATION elements that descend from this METRICS branch of the
 162   // config file. This would be CG location, eyepoint, etc.
 163
 164   element = el->FindElement("location");
 165   while (element) {
 166     element_name = element->GetAttributeValue("name");
 167
 168     if (element_name == "AERORP") vXYZrp = element->FindElementTripletConvertTo("IN");
 169     else if (element_name == "EYEPOINT") vXYZep = element->FindElementTripletConvertTo("IN");
 170     else if (element_name == "VRP") vXYZvrp = element->FindElementTripletConvertTo("IN");
 171
 172     element = el->FindNextElement("location");
 173   }
 174
 175   // calculate some derived parameters
 176   if (cbar != 0.0) {
 177     lbarh = HTailArm/cbar;
 178     lbarv = VTailArm/cbar;
 179     if (WingArea != 0.0) {
 180       vbarh = HTailArm*HTailArea / (cbar*WingArea);
 181       vbarv = VTailArm*VTailArea / (WingSpan*WingArea);
 182     }
 183   }
 184
 185   PostLoad(el, PropertyManager);
 186
 187   Debug(2);
 188
 189   return true;
 190 }
 191
 192 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 193
 194 void FGAircraft::bind(void)
 195 {
 196   typedef double (FGAircraft::*PMF)(int) const;
 197   PropertyManager->Tie("metrics/Sw-sqft", this, &FGAircraft::GetWingArea, &FGAircraft::SetWingArea);
 198   PropertyManager->Tie("metrics/bw-ft", this, &FGAircraft::GetWingSpan);
 199   PropertyManager->Tie("metrics/cbarw-ft", this, &FGAircraft::Getcbar);
 200   PropertyManager->Tie("metrics/iw-rad", this, &FGAircraft::GetWingIncidence);
 201   PropertyManager->Tie("metrics/iw-deg", this, &FGAircraft::GetWingIncidenceDeg);
 202   PropertyManager->Tie("metrics/Sh-sqft", this, &FGAircraft::GetHTailArea);
 203   PropertyManager->Tie("metrics/lh-ft", this, &FGAircraft::GetHTailArm);
 204   PropertyManager->Tie("metrics/Sv-sqft", this, &FGAircraft::GetVTailArea);
 205   PropertyManager->Tie("metrics/lv-ft", this, &FGAircraft::GetVTailArm);
 206   PropertyManager->Tie("metrics/lh-norm", this, &FGAircraft::Getlbarh);
 207   PropertyManager->Tie("metrics/lv-norm", this, &FGAircraft::Getlbarv);
 208   PropertyManager->Tie("metrics/vbarh-norm", this, &FGAircraft::Getvbarh);
 209   PropertyManager->Tie("metrics/vbarv-norm", this, &FGAircraft::Getvbarv);
 210   PropertyManager->Tie("metrics/aero-rp-x-in", this, eX, (PMF)&FGAircraft::GetXYZrp);
 211   PropertyManager->Tie("metrics/aero-rp-y-in", this, eY, (PMF)&FGAircraft::GetXYZrp);
 212   PropertyManager->Tie("metrics/aero-rp-z-in", this, eZ, (PMF)&FGAircraft::GetXYZrp);
 213   PropertyManager->Tie("metrics/eyepoint-x-in", this, eX, (PMF)&FGAircraft::GetXYZep);
 214   PropertyManager->Tie("metrics/eyepoint-y-in", this, eY,(PMF)&FGAircraft::GetXYZep);
 215   PropertyManager->Tie("metrics/eyepoint-z-in", this, eZ, (PMF)&FGAircraft::GetXYZep);
 216   PropertyManager->Tie("metrics/visualrefpoint-x-in", this, eX, (PMF)&FGAircraft::GetXYZvrp);
 217   PropertyManager->Tie("metrics/visualrefpoint-y-in", this, eY, (PMF)&FGAircraft::GetXYZvrp);
 218   PropertyManager->Tie("metrics/visualrefpoint-z-in", this, eZ, (PMF)&FGAircraft::GetXYZvrp);
 219   PropertyManager->Tie("forces/hold-down", this, &FGAircraft::GetHoldDown, &FGAircraft::SetHoldDown);
 220 }
 221
 222 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 223 //    The bitmasked value choices are as follows:
 224 //    unset: In this case (the default) JSBSim would only print
 225 //       out the normally expected messages, essentially echoing
 226 //       the config files as they are read. If the environment
 227 //       variable is not set, debug_lvl is set to 1 internally
 228 //    0: This requests JSBSim not to output any messages
 229 //       whatsoever.
 230 //    1: This value explicity requests the normal JSBSim
 231 //       startup messages
 232 //    2: This value asks for a message to be printed out when
 233 //       a class is instantiated
 234 //    4: When this value is set, a message is displayed when a
 235 //       FGModel object executes its Run() method
 236 //    8: When this value is set, various runtime state variables
 237 //       are printed out periodically
 238 //    16: When set various parameters are sanity checked and
 239 //       a message is printed out when they go out of bounds
 240
 241 void FGAircraft::Debug(int from)
 242 {
 243   if (debug_lvl <= 0) return;
 244
 245   if (debug_lvl & 1) { // Standard console startup message output
 246     if (from == 2) { // Loading
 247       cout << endl << "  Aircraft Metrics:" << endl;
 248       cout << "    WingArea: " << WingArea  << endl;
 249       cout << "    WingSpan: " << WingSpan  << endl;
 250       cout << "    Incidence: " << WingIncidence << endl;
 251       cout << "    Chord: " << cbar << endl;
 252       cout << "    H. Tail Area: " << HTailArea << endl;
 253       cout << "    H. Tail Arm: " << HTailArm << endl;
 254       cout << "    V. Tail Area: " << VTailArea << endl;
 255       cout << "    V. Tail Arm: " << VTailArm << endl;
 256       cout << "    Eyepoint (x, y, z): " << vXYZep << endl;
 257       cout << "    Ref Pt (x, y, z): " << vXYZrp << endl;
 258       cout << "    Visual Ref Pt (x, y, z): " << vXYZvrp << endl;
 259     }
 260   }
 261   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 262     if (from == 0) cout << "Instantiated: FGAircraft" << endl;
 263     if (from == 1) cout << "Destroyed:    FGAircraft" << endl;
 264   }
 265   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 266   }
 267   if (debug_lvl & 8 ) { // Runtime state variables
 268   }
 269   if (debug_lvl & 16) { // Sanity checking
 270   }
 271   if (debug_lvl & 64) {
 272     if (from == 0) { // Constructor
 273       cout << IdSrc << endl;
 274       cout << IdHdr << endl;
 275     }
 276   }
 277 }
 278
 279 } // namespace JSBSim