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"
63 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
65 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
67 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
69 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
71 static const char *IdSrc = "$Id: FGAircraft.cpp,v 1.26 2010/02/15 03:28:24 jberndt Exp $";
72 static const char *IdHdr = ID_AIRCRAFT;
74 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
76 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
78 FGAircraft::FGAircraft(FGFDMExec* fdmex) : FGModel(fdmex)
82 HTailArea = VTailArea = 0.0;
83 HTailArm = VTailArm = 0.0;
94 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
96 FGAircraft::~FGAircraft()
101 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
103 bool FGAircraft::InitModel(void)
105 if (!FGModel::InitModel()) return false;
110 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
112 bool FGAircraft::Run(void)
114 if (FGModel::Run()) return true;
115 if (FDMExec->Holding()) return false;
119 vForces.InitMatrix();
121 vForces += Aerodynamics->GetForces();
122 vForces += Propulsion->GetForces();
123 vForces += GroundReactions->GetForces();
124 vForces += ExternalReactions->GetForces();
125 vForces += BuoyantForces->GetForces();
127 const FGMatrix33& mTl2b = Propagate->GetTl2b();
128 vForces = mTl2b * FGColumnVector3(0,0,-MassBalance->GetWeight());
131 vMoments.InitMatrix();
133 vMoments += Aerodynamics->GetMoments();
134 vMoments += Propulsion->GetMoments();
135 vMoments += GroundReactions->GetMoments();
136 vMoments += ExternalReactions->GetMoments();
137 vMoments += BuoyantForces->GetMoments();
140 vBodyAccel = vForces/MassBalance->GetMass();
142 vNcg = vBodyAccel/Inertial->gravity();
144 vNwcg = Aerodynamics->GetTb2w() * vNcg;
145 vNwcg(3) = -1*vNwcg(3) + 1;
152 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
154 double FGAircraft::GetNlf(void) const
156 return -1*Aerodynamics->GetvFw(3)/MassBalance->GetWeight();
159 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
161 bool FGAircraft::Load(Element* el)
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");
185 // Find all LOCATION elements that descend from this METRICS branch of the
186 // config file. This would be CG location, eyepoint, etc.
188 element = el->FindElement("location");
190 element_name = element->GetAttributeValue("name");
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");
196 element = el->FindNextElement("location");
199 // calculate some derived parameters
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);
209 FGModel::PostLoad(el);
216 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
218 void FGAircraft::bind(void)
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);
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
261 // 1: This value explicity requests the normal JSBSim
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
272 void FGAircraft::Debug(int from)
274 if (debug_lvl <= 0) return;
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;
292 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
293 if (from == 0) cout << "Instantiated: FGAircraft" << endl;
294 if (from == 1) cout << "Destroyed: FGAircraft" << endl;
296 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
298 if (debug_lvl & 8 ) { // Runtime state variables
300 if (debug_lvl & 16) { // Sanity checking
302 if (debug_lvl & 64) {
303 if (from == 0) { // Constructor
304 cout << IdSrc << endl;
305 cout << IdHdr << endl;
310 } // namespace JSBSim