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 = "$Id$";
  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   }
 127
 128   vMoments.InitMatrix();
 129   if (!HoldDown) {
 130     vMoments += Aerodynamics->GetMoments();
 131     vMoments += Propulsion->GetMoments();
 132     vMoments += GroundReactions->GetMoments();
 133     vMoments += ExternalReactions->GetMoments();
 134     vMoments += BuoyantForces->GetMoments();
 135   }
 136
 137   vBodyAccel = vForces/MassBalance->GetMass();
 138
 139   vNcg = vBodyAccel/Inertial->gravity();
 140
 141   vNwcg = Aerodynamics->GetTb2w() * vNcg;
 142   vNwcg(3) = -1*vNwcg(3) + 1;
 143
 144   RunPostFunctions();
 145
 146   return false;
 147 }
 148
 149 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 150
 151 double FGAircraft::GetNlf(void) const
 152 {
 153   return -1*Aerodynamics->GetvFw(3)/MassBalance->GetWeight();
 154 }
 155
 156 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 157
 158 bool FGAircraft::Load(Element* el)
 159 {
 160   string element_name;
 161   Element* element;
 162
 163   FGModel::Load(el);
 164
 165   if (el->FindElement("wingarea"))
 166     WingArea = el->FindElementValueAsNumberConvertTo("wingarea", "FT2");
 167   if (el->FindElement("wingspan"))
 168     WingSpan = el->FindElementValueAsNumberConvertTo("wingspan", "FT");
 169   if (el->FindElement("chord"))
 170     cbar = el->FindElementValueAsNumberConvertTo("chord", "FT");
 171   if (el->FindElement("wing_incidence"))
 172     WingIncidence = el->FindElementValueAsNumberConvertTo("wing_incidence", "RAD");
 173   if (el->FindElement("htailarea"))
 174     HTailArea = el->FindElementValueAsNumberConvertTo("htailarea", "FT2");
 175   if (el->FindElement("htailarm"))
 176     HTailArm = el->FindElementValueAsNumberConvertTo("htailarm", "FT");
 177   if (el->FindElement("vtailarea"))
 178     VTailArea = el->FindElementValueAsNumberConvertTo("vtailarea", "FT2");
 179   if (el->FindElement("vtailarm"))
 180     VTailArm = el->FindElementValueAsNumberConvertTo("vtailarm", "FT");
 181
 182   // Find all LOCATION elements that descend from this METRICS branch of the
 183   // config file. This would be CG location, eyepoint, etc.
 184
 185   element = el->FindElement("location");
 186   while (element) {
 187     element_name = element->GetAttributeValue("name");
 188
 189     if (element_name == "AERORP") vXYZrp = element->FindElementTripletConvertTo("IN");
 190     else if (element_name == "EYEPOINT") vXYZep = element->FindElementTripletConvertTo("IN");
 191     else if (element_name == "VRP") vXYZvrp = element->FindElementTripletConvertTo("IN");
 192
 193     element = el->FindNextElement("location");
 194   }
 195
 196   // calculate some derived parameters
 197   if (cbar != 0.0) {
 198     lbarh = HTailArm/cbar;
 199     lbarv = VTailArm/cbar;
 200     if (WingArea != 0.0) {
 201       vbarh = HTailArm*HTailArea / (cbar*WingArea);
 202       vbarv = VTailArm*VTailArea / (WingSpan*WingArea);
 203     }
 204   }
 205
 206   FGModel::PostLoad(el);
 207
 208   Debug(2);
 209
 210   return true;
 211 }
 212
 213 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 214
 215 void FGAircraft::bind(void)
 216 {
 217   typedef double (FGAircraft::*PMF)(int) const;
 218   PropertyManager->Tie("metrics/Sw-sqft", this, &FGAircraft::GetWingArea, &FGAircraft::SetWingArea);
 219   PropertyManager->Tie("metrics/bw-ft", this, &FGAircraft::GetWingSpan);
 220   PropertyManager->Tie("metrics/cbarw-ft", this, &FGAircraft::Getcbar);
 221   PropertyManager->Tie("metrics/iw-rad", this, &FGAircraft::GetWingIncidence);
 222   PropertyManager->Tie("metrics/iw-deg", this, &FGAircraft::GetWingIncidenceDeg);
 223   PropertyManager->Tie("metrics/Sh-sqft", this, &FGAircraft::GetHTailArea);
 224   PropertyManager->Tie("metrics/lh-ft", this, &FGAircraft::GetHTailArm);
 225   PropertyManager->Tie("metrics/Sv-sqft", this, &FGAircraft::GetVTailArea);
 226   PropertyManager->Tie("metrics/lv-ft", this, &FGAircraft::GetVTailArm);
 227   PropertyManager->Tie("metrics/lh-norm", this, &FGAircraft::Getlbarh);
 228   PropertyManager->Tie("metrics/lv-norm", this, &FGAircraft::Getlbarv);
 229   PropertyManager->Tie("metrics/vbarh-norm", this, &FGAircraft::Getvbarh);
 230   PropertyManager->Tie("metrics/vbarv-norm", this, &FGAircraft::Getvbarv);
 231   PropertyManager->Tie("metrics/aero-rp-x-in", this, eX, (PMF)&FGAircraft::GetXYZrp);
 232   PropertyManager->Tie("metrics/aero-rp-y-in", this, eY, (PMF)&FGAircraft::GetXYZrp);
 233   PropertyManager->Tie("metrics/aero-rp-z-in", this, eZ, (PMF)&FGAircraft::GetXYZrp);
 234   PropertyManager->Tie("metrics/eyepoint-x-in", this, eX, (PMF)&FGAircraft::GetXYZep);
 235   PropertyManager->Tie("metrics/eyepoint-y-in", this, eY,(PMF)&FGAircraft::GetXYZep);
 236   PropertyManager->Tie("metrics/eyepoint-z-in", this, eZ, (PMF)&FGAircraft::GetXYZep);
 237   PropertyManager->Tie("metrics/visualrefpoint-x-in", this, eX, (PMF)&FGAircraft::GetXYZvrp);
 238   PropertyManager->Tie("metrics/visualrefpoint-y-in", this, eY, (PMF)&FGAircraft::GetXYZvrp);
 239   PropertyManager->Tie("metrics/visualrefpoint-z-in", this, eZ, (PMF)&FGAircraft::GetXYZvrp);
 240   PropertyManager->Tie("forces/fbx-total-lbs", this, eX, (PMF)&FGAircraft::GetForces);
 241   PropertyManager->Tie("forces/fby-total-lbs", this, eY, (PMF)&FGAircraft::GetForces);
 242   PropertyManager->Tie("forces/fbz-total-lbs", this, eZ, (PMF)&FGAircraft::GetForces);
 243   PropertyManager->Tie("forces/load-factor", this, &FGAircraft::GetNlf);
 244   PropertyManager->Tie("forces/hold-down", this, &FGAircraft::GetHoldDown, &FGAircraft::SetHoldDown);
 245   PropertyManager->Tie("moments/l-total-lbsft", this, eL, (PMF)&FGAircraft::GetMoments);
 246   PropertyManager->Tie("moments/m-total-lbsft", this, eM, (PMF)&FGAircraft::GetMoments);
 247   PropertyManager->Tie("moments/n-total-lbsft", this, eN, (PMF)&FGAircraft::GetMoments);
 248 }
 249
 250 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 251 //    The bitmasked value choices are as follows:
 252 //    unset: In this case (the default) JSBSim would only print
 253 //       out the normally expected messages, essentially echoing
 254 //       the config files as they are read. If the environment
 255 //       variable is not set, debug_lvl is set to 1 internally
 256 //    0: This requests JSBSim not to output any messages
 257 //       whatsoever.
 258 //    1: This value explicity requests the normal JSBSim
 259 //       startup messages
 260 //    2: This value asks for a message to be printed out when
 261 //       a class is instantiated
 262 //    4: When this value is set, a message is displayed when a
 263 //       FGModel object executes its Run() method
 264 //    8: When this value is set, various runtime state variables
 265 //       are printed out periodically
 266 //    16: When set various parameters are sanity checked and
 267 //       a message is printed out when they go out of bounds
 268
 269 void FGAircraft::Debug(int from)
 270 {
 271   if (debug_lvl <= 0) return;
 272
 273   if (debug_lvl & 1) { // Standard console startup message output
 274     if (from == 2) { // Loading
 275       cout << endl << "  Aircraft Metrics:" << endl;
 276       cout << "    WingArea: " << WingArea  << endl;
 277       cout << "    WingSpan: " << WingSpan  << endl;
 278       cout << "    Incidence: " << WingIncidence << endl;
 279       cout << "    Chord: " << cbar << endl;
 280       cout << "    H. Tail Area: " << HTailArea << endl;
 281       cout << "    H. Tail Arm: " << HTailArm << endl;
 282       cout << "    V. Tail Area: " << VTailArea << endl;
 283       cout << "    V. Tail Arm: " << VTailArm << endl;
 284       cout << "    Eyepoint (x, y, z): " << vXYZep << endl;
 285       cout << "    Ref Pt (x, y, z): " << vXYZrp << endl;
 286       cout << "    Visual Ref Pt (x, y, z): " << vXYZvrp << endl;
 287     }
 288   }
 289   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 290     if (from == 0) cout << "Instantiated: FGAircraft" << endl;
 291     if (from == 1) cout << "Destroyed:    FGAircraft" << endl;
 292   }
 293   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 294   }
 295   if (debug_lvl & 8 ) { // Runtime state variables
 296   }
 297   if (debug_lvl & 16) { // Sanity checking
 298   }
 299   if (debug_lvl & 64) {
 300     if (from == 0) { // Constructor
 301       cout << IdSrc << endl;
 302       cout << IdHdr << endl;
 303     }
 304   }
 305 }
 306
 307 } // namespace JSBSim