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 (jsb@hal-pc.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 #ifdef FGFS
  45 #  ifndef __BORLANDC__
  46 #    include <simgear/compiler.h>
  47 #  endif
  48 #  ifdef SG_HAVE_STD_INCLUDES
  49 #    include <cmath>
  50 #  else
  51 #    include <math.h>
  52 #  endif
  53 #else
  54 #  if defined (sgi) && !defined(__GNUC__)
  55 #    include <math.h>
  56 #  else
  57 #    include <cmath>
  58 #  endif
  59 #endif
  60
  61 #include "FGAircraft.h"
  62 #include "FGMassBalance.h"
  63 #include "FGInertial.h"
  64 #include "FGGroundReactions.h"
  65 #include "FGExternalReactions.h"
  66 #include "FGBuoyantForces.h"
  67 #include "FGAerodynamics.h"
  68 #include <FGFDMExec.h>
  69 #include "FGPropagate.h"
  70 #include <input_output/FGPropertyManager.h>
  71
  72 namespace JSBSim {
  73
  74 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  75 DEFINITIONS
  76 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  77
  78 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  79 GLOBAL DATA
  80 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  81
  82 static const char *IdSrc = "$Id$";
  83 static const char *IdHdr = ID_AIRCRAFT;
  84
  85 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  86 CLASS IMPLEMENTATION
  87 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  88
  89 FGAircraft::FGAircraft(FGFDMExec* fdmex) : FGModel(fdmex)
  90 {
  91   Name = "FGAircraft";
  92   WingSpan = 0.0;
  93   HTailArea = VTailArea = 0.0;
  94   HTailArm  = VTailArm  = 0.0;
  95   lbarh = lbarv = 0.0;
  96   vbarh = vbarv = 0.0;
  97   WingIncidence = 0.0;
  98   HoldDown = 0;
  99
 100   bind();
 101
 102   Debug(0);
 103 }
 104
 105 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 106
 107 FGAircraft::~FGAircraft()
 108 {
 109   Debug(1);
 110 }
 111
 112 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 113
 114 bool FGAircraft::InitModel(void)
 115 {
 116   if (!FGModel::InitModel()) return false;
 117
 118   return true;
 119 }
 120
 121 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 122
 123 bool FGAircraft::Run(void)
 124 {
 125   if (FGModel::Run()) return true;
 126   if (FDMExec->Holding()) return false;
 127
 128   vForces.InitMatrix();
 129   if (!HoldDown) {
 130     vForces += Aerodynamics->GetForces();
 131     vForces += Propulsion->GetForces();
 132     vForces += GroundReactions->GetForces();
 133     vForces += ExternalReactions->GetForces();
 134     vForces += BuoyantForces->GetForces();
 135   }
 136
 137   vMoments.InitMatrix();
 138   if (!HoldDown) {
 139     vMoments += Aerodynamics->GetMoments();
 140     vMoments += Propulsion->GetMoments();
 141     vMoments += GroundReactions->GetMoments();
 142     vMoments += ExternalReactions->GetMoments();
 143     vMoments += BuoyantForces->GetMoments();
 144   }
 145
 146   vBodyAccel = vForces/MassBalance->GetMass();
 147
 148   vNcg = vBodyAccel/Inertial->gravity();
 149
 150   vNwcg = Aerodynamics->GetTb2w() * vNcg;
 151   vNwcg(3) = -1*vNwcg(3) + 1;
 152
 153   return false;
 154 }
 155
 156 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 157
 158 double FGAircraft::GetNlf(void)
 159 {
 160   return -1*Aerodynamics->GetvFw(3)/MassBalance->GetWeight();
 161 }
 162
 163 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 164
 165 bool FGAircraft::Load(Element* el)
 166 {
 167   string element_name;
 168   Element* element;
 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   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("forces/hold-down", this, &FGAircraft::GetHoldDown, &FGAircraft::SetHoldDown);
 235   PropertyManager->Tie("moments/l-total-lbsft", this, eL, (PMF)&FGAircraft::GetMoments);
 236   PropertyManager->Tie("moments/m-total-lbsft", this, eM, (PMF)&FGAircraft::GetMoments);
 237   PropertyManager->Tie("moments/n-total-lbsft", this, eN, (PMF)&FGAircraft::GetMoments);
 238   PropertyManager->Tie("forces/fbx-total-lbs", this, eX, (PMF)&FGAircraft::GetForces);
 239   PropertyManager->Tie("forces/fby-total-lbs", this, eY, (PMF)&FGAircraft::GetForces);
 240   PropertyManager->Tie("forces/fbz-total-lbs", this, eZ, (PMF)&FGAircraft::GetForces);
 241   PropertyManager->Tie("metrics/aero-rp-x-in", this, eX, (PMF)&FGAircraft::GetXYZrp);
 242   PropertyManager->Tie("metrics/aero-rp-y-in", this, eY, (PMF)&FGAircraft::GetXYZrp);
 243   PropertyManager->Tie("metrics/aero-rp-z-in", this, eZ, (PMF)&FGAircraft::GetXYZrp);
 244   PropertyManager->Tie("metrics/eyepoint-x-in", this, eX, (PMF)&FGAircraft::GetXYZep);
 245   PropertyManager->Tie("metrics/eyepoint-y-in", this, eY,(PMF)&FGAircraft::GetXYZep);
 246   PropertyManager->Tie("metrics/eyepoint-z-in", this, eZ, (PMF)&FGAircraft::GetXYZep);
 247   PropertyManager->Tie("metrics/visualrefpoint-x-in", this, eX, (PMF)&FGAircraft::GetXYZvrp);
 248   PropertyManager->Tie("metrics/visualrefpoint-y-in", this, eY, (PMF)&FGAircraft::GetXYZvrp);
 249   PropertyManager->Tie("metrics/visualrefpoint-z-in", this, eZ, (PMF)&FGAircraft::GetXYZvrp);
 250 }
 251
 252 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 253 //    The bitmasked value choices are as follows:
 254 //    unset: In this case (the default) JSBSim would only print
 255 //       out the normally expected messages, essentially echoing
 256 //       the config files as they are read. If the environment
 257 //       variable is not set, debug_lvl is set to 1 internally
 258 //    0: This requests JSBSim not to output any messages
 259 //       whatsoever.
 260 //    1: This value explicity requests the normal JSBSim
 261 //       startup messages
 262 //    2: This value asks for a message to be printed out when
 263 //       a class is instantiated
 264 //    4: When this value is set, a message is displayed when a
 265 //       FGModel object executes its Run() method
 266 //    8: When this value is set, various runtime state variables
 267 //       are printed out periodically
 268 //    16: When set various parameters are sanity checked and
 269 //       a message is printed out when they go out of bounds
 270
 271 void FGAircraft::Debug(int from)
 272 {
 273   if (debug_lvl <= 0) return;
 274
 275   if (debug_lvl & 1) { // Standard console startup message output
 276     if (from == 2) { // Loading
 277       cout << endl << "  Aircraft Metrics:" << endl;
 278       cout << "    WingArea: " << WingArea  << endl;
 279       cout << "    WingSpan: " << WingSpan  << endl;
 280       cout << "    Incidence: " << WingIncidence << endl;
 281       cout << "    Chord: " << cbar << endl;
 282       cout << "    H. Tail Area: " << HTailArea << endl;
 283       cout << "    H. Tail Arm: " << HTailArm << endl;
 284       cout << "    V. Tail Area: " << VTailArea << endl;
 285       cout << "    V. Tail Arm: " << VTailArm << endl;
 286       cout << "    Eyepoint (x, y, z): " << vXYZep << endl;
 287       cout << "    Ref Pt (x, y, z): " << vXYZrp << endl;
 288       cout << "    Visual Ref Pt (x, y, z): " << vXYZvrp << endl;
 289     }
 290   }
 291   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 292     if (from == 0) cout << "Instantiated: FGAircraft" << endl;
 293     if (from == 1) cout << "Destroyed:    FGAircraft" << endl;
 294   }
 295   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 296   }
 297   if (debug_lvl & 8 ) { // Runtime state variables
 298   }
 299   if (debug_lvl & 16) { // Sanity checking
 300   }
 301   if (debug_lvl & 64) {
 302     if (from == 0) { // Constructor
 303       cout << IdSrc << endl;
 304       cout << IdHdr << endl;
 305     }
 306   }
 307 }
 308
 309 } // namespace JSBSim