src/FDM/JSBSim/models/FGAuxiliary.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGAuxiliary.cpp
   4  Author:       Tony Peden, Jon Berndt
   5  Date started: 01/26/99
   6  Purpose:      Calculates additional parameters needed by the visual system, etc.
   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 This class calculates various auxiliary parameters.
  31
  32 REFERENCES
  33   Anderson, John D. "Introduction to Flight", 3rd Edition, McGraw-Hill, 1989
  34                     pgs. 112-126
  35 HISTORY
  36 --------------------------------------------------------------------------------
  37 01/26/99   JSB   Created
  38
  39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  40 INCLUDES
  41 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  42
  43 #include "FGAuxiliary.h"
  44 #include "FGAerodynamics.h"
  45 #include "FGPropagate.h"
  46 #include "FGAtmosphere.h"
  47 #include "FGFDMExec.h"
  48 #include "FGAircraft.h"
  49 #include "FGInertial.h"
  50 #include "FGExternalReactions.h"
  51 #include "FGBuoyantForces.h"
  52 #include "FGGroundReactions.h"
  53 #include "FGPropulsion.h"
  54 #include "FGMassBalance.h"
  55 #include "input_output/FGPropertyManager.h"
  56 #include <iostream>
  57
  58 using namespace std;
  59
  60 namespace JSBSim {
  61
  62 static const char *IdSrc = "$Id: FGAuxiliary.cpp,v 1.49 2011/05/20 03:18:36 jberndt Exp $";
  63 static const char *IdHdr = ID_AUXILIARY;
  64
  65 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  66 CLASS IMPLEMENTATION
  67 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  68
  69
  70 FGAuxiliary::FGAuxiliary(FGFDMExec* fdmex) : FGModel(fdmex)
  71 {
  72   Name = "FGAuxiliary";
  73   pt = p = psl = 1.0;
  74   rho = rhosl = 1.0;
  75   tat = sat = 1.0;
  76   tatc = RankineToCelsius(tat);
  77
  78   vcas = veas = 0.0;
  79   qbar = qbarUW = qbarUV = 0.0;
  80   Mach = MachU = 0.0;
  81   alpha = beta = 0.0;
  82   adot = bdot = 0.0;
  83   gamma = Vt = Vground = 0.0;
  84   psigt = 0.0;
  85   day_of_year = 1;
  86   seconds_in_day = 0.0;
  87   hoverbmac = hoverbcg = 0.0;
  88   Re = 0.0;
  89   Nz = 0.0;
  90   lon_relative_position = lat_relative_position = relative_position = 0.0;
  91
  92   vPilotAccel.InitMatrix();
  93   vPilotAccelN.InitMatrix();
  94   vToEyePt.InitMatrix();
  95   vAeroUVW.InitMatrix();
  96   vAeroPQR.InitMatrix();
  97   vMachUVW.InitMatrix();
  98   vEuler.InitMatrix();
  99   vEulerRates.InitMatrix();
 100   vAircraftAccel.InitMatrix();
 101
 102   bind();
 103
 104   Debug(0);
 105 }
 106
 107 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 108
 109 bool FGAuxiliary::InitModel(void)
 110 {
 111   pt = p = FDMExec->GetAtmosphere()->GetPressure();
 112   rho = FDMExec->GetAtmosphere()->GetDensity();
 113   rhosl = FDMExec->GetAtmosphere()->GetDensitySL();
 114   psl = FDMExec->GetAtmosphere()->GetPressureSL();
 115   tat = sat = FDMExec->GetAtmosphere()->GetTemperature();
 116   tatc = RankineToCelsius(tat);
 117
 118   vcas = veas = 0.0;
 119   qbar = qbarUW = qbarUV = 0.0;
 120   Mach = MachU = 0.0;
 121   alpha = beta = 0.0;
 122   adot = bdot = 0.0;
 123   gamma = Vt = Vground = 0.0;
 124   psigt = 0.0;
 125   day_of_year = 1;
 126   seconds_in_day = 0.0;
 127   hoverbmac = hoverbcg = 0.0;
 128   Re = 0.0;
 129   Nz = 0.0;
 130   lon_relative_position = lat_relative_position = relative_position = 0.0;
 131
 132   vPilotAccel.InitMatrix();
 133   vPilotAccelN.InitMatrix();
 134   vToEyePt.InitMatrix();
 135   vAeroUVW.InitMatrix();
 136   vAeroPQR.InitMatrix();
 137   vMachUVW.InitMatrix();
 138   vEuler.InitMatrix();
 139   vEulerRates.InitMatrix();
 140   vAircraftAccel.InitMatrix();
 141
 142   return true;
 143 }
 144
 145 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 146
 147 FGAuxiliary::~FGAuxiliary()
 148 {
 149   Debug(1);
 150 }
 151
 152 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 153
 154 bool FGAuxiliary::Run(bool Holding)
 155 {
 156   double A,B,D;
 157
 158   if (FGModel::Run(Holding)) return true; // return true if error returned from base class
 159   if (Holding) return false;
 160
 161   RunPreFunctions();
 162
 163   const double density = FDMExec->GetAtmosphere()->GetDensity();
 164   const double soundspeed = FDMExec->GetAtmosphere()->GetSoundSpeed();
 165   const double DistanceAGL = FDMExec->GetPropagate()->GetDistanceAGL();
 166   const double wingspan = FDMExec->GetAircraft()->GetWingSpan();
 167   const FGMatrix33& Tl2b = FDMExec->GetPropagate()->GetTl2b();
 168   const FGMatrix33& Tb2l = FDMExec->GetPropagate()->GetTb2l();
 169
 170   const FGColumnVector3& vPQR = FDMExec->GetPropagate()->GetPQR();
 171   const FGColumnVector3& vUVW = FDMExec->GetPropagate()->GetUVW();
 172   const FGColumnVector3& vUVWdot = FDMExec->GetPropagate()->GetUVWdot();
 173   const FGColumnVector3& vVel = FDMExec->GetPropagate()->GetVel();
 174
 175   p = FDMExec->GetAtmosphere()->GetPressure();
 176   rhosl = FDMExec->GetAtmosphere()->GetDensitySL();
 177   psl = FDMExec->GetAtmosphere()->GetPressureSL();
 178   sat = FDMExec->GetAtmosphere()->GetTemperature();
 179
 180 // Rotation
 181
 182   double cTht = FDMExec->GetPropagate()->GetCosEuler(eTht);
 183   double sTht = FDMExec->GetPropagate()->GetSinEuler(eTht);
 184   double cPhi = FDMExec->GetPropagate()->GetCosEuler(ePhi);
 185   double sPhi = FDMExec->GetPropagate()->GetSinEuler(ePhi);
 186
 187   vEulerRates(eTht) = vPQR(eQ)*cPhi - vPQR(eR)*sPhi;
 188   if (cTht != 0.0) {
 189     vEulerRates(ePsi) = (vPQR(eQ)*sPhi + vPQR(eR)*cPhi)/cTht;
 190     vEulerRates(ePhi) = vPQR(eP) + vEulerRates(ePsi)*sTht;
 191   }
 192
 193 // Combine the wind speed with aircraft speed to obtain wind relative speed
 194   FGColumnVector3 wind = Tl2b*FDMExec->GetAtmosphere()->GetTotalWindNED();
 195   vAeroPQR = vPQR - FDMExec->GetAtmosphere()->GetTurbPQR();
 196   vAeroUVW = vUVW - wind;
 197
 198   Vt = vAeroUVW.Magnitude();
 199   double Vt2 = Vt*Vt;
 200   alpha = beta = adot = bdot = 0;
 201   double mUW = (vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW));
 202
 203   if ( Vt > 1.0 ) {
 204     if (vAeroUVW(eW) != 0.0)
 205       alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
 206     if (vAeroUVW(eV) != 0.0)
 207       beta = mUW > 0.0 ? atan2(vAeroUVW(eV), sqrt(mUW)) : 0.0;
 208
 209     double signU=1;
 210     if (vAeroUVW(eU) < 0.0) signU=-1;
 211
 212     if ( mUW >= 1.0 ) {
 213       adot = (vAeroUVW(eU)*vUVWdot(eW) - vAeroUVW(eW)*vUVWdot(eU))/mUW;
 214       bdot = (signU*mUW*vUVWdot(eV)
 215              - vAeroUVW(eV)*(vAeroUVW(eU)*vUVWdot(eU) + vAeroUVW(eW)*vUVWdot(eW)))/(Vt2*sqrt(mUW));
 216     }
 217   }
 218
 219   Re = Vt * FDMExec->GetAircraft()->Getcbar() / FDMExec->GetAtmosphere()->GetKinematicViscosity();
 220
 221   qbar = 0.5*density*Vt2;
 222   qbarUW = 0.5*density*(mUW);
 223   qbarUV = 0.5*density*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eV)*vAeroUVW(eV));
 224   Mach = Vt / soundspeed;
 225   MachU = vMachUVW(eU) = vAeroUVW(eU) / soundspeed;
 226   vMachUVW(eV) = vAeroUVW(eV) / soundspeed;
 227   vMachUVW(eW) = vAeroUVW(eW) / soundspeed;
 228
 229 // Position
 230
 231   Vground = sqrt( vVel(eNorth)*vVel(eNorth) + vVel(eEast)*vVel(eEast) );
 232
 233   psigt = atan2(vVel(eEast), vVel(eNorth));
 234   if (psigt < 0.0) psigt += 2*M_PI;
 235   gamma = atan2(-vVel(eDown), Vground);
 236
 237   tat = sat*(1 + 0.2*Mach*Mach); // Total Temperature, isentropic flow
 238   tatc = RankineToCelsius(tat);
 239
 240   if (MachU < 1) {   // Calculate total pressure assuming isentropic flow
 241     pt = p*pow((1 + 0.2*MachU*MachU),3.5);
 242   } else {
 243     // Use Rayleigh pitot tube formula for normal shock in front of pitot tube
 244     B = 5.76*MachU*MachU/(5.6*MachU*MachU - 0.8);
 245     D = (2.8*MachU*MachU-0.4)*0.4167;
 246     pt = p*pow(B,3.5)*D;
 247   }
 248
 249   A = pow(((pt-p)/psl+1),0.28571);
 250   if (MachU > 0.0) {
 251     vcas = sqrt(7*psl/rhosl*(A-1));
 252     veas = sqrt(2*qbar/rhosl);
 253   } else {
 254     vcas = veas = 0.0;
 255   }
 256
 257   const double SLgravity = FDMExec->GetInertial()->SLgravity();
 258
 259   vPilotAccel.InitMatrix();
 260   if ( Vt > 1.0 ) {
 261      vAircraftAccel = FDMExec->GetAircraft()->GetBodyAccel();
 262      // Nz is Acceleration in "g's", along normal axis (-Z body axis)
 263      Nz = -vAircraftAccel(eZ)/SLgravity;
 264      vToEyePt = FDMExec->GetMassBalance()->StructuralToBody(FDMExec->GetAircraft()->GetXYZep());
 265      vPilotAccel = vAircraftAccel + FDMExec->GetPropagate()->GetPQRdot() * vToEyePt;
 266      vPilotAccel += vPQR * (vPQR * vToEyePt);
 267   } else {
 268      // The line below handles low velocity (and on-ground) cases, basically
 269      // representing the opposite of the force that the landing gear would
 270      // exert on the ground (which is just the total weight). This eliminates
 271      // any jitter that could be introduced by the landing gear. Theoretically,
 272      // this branch could be eliminated, with a penalty of having a short
 273      // transient at startup (lasting only a fraction of a second).
 274      vPilotAccel = Tl2b * FGColumnVector3( 0.0, 0.0, -SLgravity );
 275      Nz = -vPilotAccel(eZ)/SLgravity;
 276   }
 277
 278   vPilotAccelN = vPilotAccel/SLgravity;
 279
 280   // VRP computation
 281   const FGLocation& vLocation = FDMExec->GetPropagate()->GetLocation();
 282   const FGColumnVector3& vrpStructural = FDMExec->GetAircraft()->GetXYZvrp();
 283   const FGColumnVector3 vrpBody = FDMExec->GetMassBalance()->StructuralToBody( vrpStructural );
 284   const FGColumnVector3 vrpLocal = Tb2l * vrpBody;
 285   vLocationVRP = vLocation.LocalToLocation( vrpLocal );
 286
 287   // Recompute some derived values now that we know the dependent parameters values ...
 288   hoverbcg = DistanceAGL / wingspan;
 289
 290   FGColumnVector3 vMac = Tb2l*FDMExec->GetMassBalance()->StructuralToBody(FDMExec->GetAircraft()->GetXYZrp());
 291   hoverbmac = (DistanceAGL + vMac(3)) / wingspan;
 292
 293   // when all model are executed,
 294   // please calculate the distance from the initial point
 295
 296   CalculateRelativePosition();
 297
 298   RunPostFunctions();
 299
 300   return false;
 301 }
 302
 303 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 304 //
 305 // A positive headwind is blowing with you, a negative headwind is blowing against you.
 306 // psi is the direction the wind is blowing *towards*.
 307 // ToDo: should this simply be in the atmosphere class? Same with Get Crosswind.
 308
 309 double FGAuxiliary::GetHeadWind(void) const
 310 {
 311   double psiw,vw;
 312
 313   psiw = FDMExec->GetAtmosphere()->GetWindPsi();
 314   vw = FDMExec->GetAtmosphere()->GetTotalWindNED().Magnitude();
 315
 316   return vw*cos(psiw - FDMExec->GetPropagate()->GetEuler(ePsi));
 317 }
 318
 319 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 320 //
 321 // A positive crosswind is blowing towards the right (from teh perspective of the
 322 // pilot). A negative crosswind is blowing towards the -Y direction (left).
 323 // psi is the direction the wind is blowing *towards*.
 324
 325 double FGAuxiliary::GetCrossWind(void) const
 326 {
 327   double psiw,vw;
 328
 329   psiw = FDMExec->GetAtmosphere()->GetWindPsi();
 330   vw = FDMExec->GetAtmosphere()->GetTotalWindNED().Magnitude();
 331
 332   return  vw*sin(psiw - FDMExec->GetPropagate()->GetEuler(ePsi));
 333 }
 334
 335 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 336
 337 double FGAuxiliary::GethVRP(void) const
 338 {
 339   return vLocationVRP.GetRadius() - FDMExec->GetPropagate()->GetSeaLevelRadius();
 340 }
 341
 342 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 343
 344 void FGAuxiliary::bind(void)
 345 {
 346   typedef double (FGAuxiliary::*PMF)(int) const;
 347   typedef double (FGAuxiliary::*PF)(void) const;
 348   PropertyManager->Tie("propulsion/tat-r", this, &FGAuxiliary::GetTotalTemperature);
 349   PropertyManager->Tie("propulsion/tat-c", this, &FGAuxiliary::GetTAT_C);
 350   PropertyManager->Tie("propulsion/pt-lbs_sqft", this, &FGAuxiliary::GetTotalPressure);
 351   PropertyManager->Tie("velocities/vc-fps", this, &FGAuxiliary::GetVcalibratedFPS);
 352   PropertyManager->Tie("velocities/vc-kts", this, &FGAuxiliary::GetVcalibratedKTS);
 353   PropertyManager->Tie("velocities/ve-fps", this, &FGAuxiliary::GetVequivalentFPS);
 354   PropertyManager->Tie("velocities/ve-kts", this, &FGAuxiliary::GetVequivalentKTS);
 355   PropertyManager->Tie("velocities/machU", this, &FGAuxiliary::GetMachU);
 356   PropertyManager->Tie("velocities/p-aero-rad_sec", this, eX, (PMF)&FGAuxiliary::GetAeroPQR);
 357   PropertyManager->Tie("velocities/q-aero-rad_sec", this, eY, (PMF)&FGAuxiliary::GetAeroPQR);
 358   PropertyManager->Tie("velocities/r-aero-rad_sec", this, eZ, (PMF)&FGAuxiliary::GetAeroPQR);
 359   PropertyManager->Tie("velocities/phidot-rad_sec", this, ePhi, (PMF)&FGAuxiliary::GetEulerRates);
 360   PropertyManager->Tie("velocities/thetadot-rad_sec", this, eTht, (PMF)&FGAuxiliary::GetEulerRates);
 361   PropertyManager->Tie("velocities/psidot-rad_sec", this, ePsi, (PMF)&FGAuxiliary::GetEulerRates);
 362   PropertyManager->Tie("velocities/u-aero-fps", this, eU, (PMF)&FGAuxiliary::GetAeroUVW);
 363   PropertyManager->Tie("velocities/v-aero-fps", this, eV, (PMF)&FGAuxiliary::GetAeroUVW);
 364   PropertyManager->Tie("velocities/w-aero-fps", this, eW, (PMF)&FGAuxiliary::GetAeroUVW);
 365   PropertyManager->Tie("velocities/vt-fps", this, &FGAuxiliary::GetVt, &FGAuxiliary::SetVt, true);
 366   PropertyManager->Tie("velocities/mach", this, &FGAuxiliary::GetMach, &FGAuxiliary::SetMach, true);
 367   PropertyManager->Tie("velocities/vg-fps", this, &FGAuxiliary::GetVground);
 368   PropertyManager->Tie("accelerations/a-pilot-x-ft_sec2", this, eX, (PMF)&FGAuxiliary::GetPilotAccel);
 369   PropertyManager->Tie("accelerations/a-pilot-y-ft_sec2", this, eY, (PMF)&FGAuxiliary::GetPilotAccel);
 370   PropertyManager->Tie("accelerations/a-pilot-z-ft_sec2", this, eZ, (PMF)&FGAuxiliary::GetPilotAccel);
 371   PropertyManager->Tie("accelerations/n-pilot-x-norm", this, eX, (PMF)&FGAuxiliary::GetNpilot);
 372   PropertyManager->Tie("accelerations/n-pilot-y-norm", this, eY, (PMF)&FGAuxiliary::GetNpilot);
 373   PropertyManager->Tie("accelerations/n-pilot-z-norm", this, eZ, (PMF)&FGAuxiliary::GetNpilot);
 374   PropertyManager->Tie("accelerations/Nz", this, &FGAuxiliary::GetNz);
 375   /* PropertyManager->Tie("atmosphere/headwind-fps", this, &FGAuxiliary::GetHeadWind, true);
 376   PropertyManager->Tie("atmosphere/crosswind-fps", this, &FGAuxiliary::GetCrossWind, true); */
 377   PropertyManager->Tie("aero/alpha-rad", this, (PF)&FGAuxiliary::Getalpha, &FGAuxiliary::Setalpha, true);
 378   PropertyManager->Tie("aero/beta-rad", this, (PF)&FGAuxiliary::Getbeta, &FGAuxiliary::Setbeta, true);
 379   PropertyManager->Tie("aero/mag-beta-rad", this, (PF)&FGAuxiliary::GetMagBeta);
 380   PropertyManager->Tie("aero/alpha-deg", this, inDegrees, (PMF)&FGAuxiliary::Getalpha);
 381   PropertyManager->Tie("aero/beta-deg", this, inDegrees, (PMF)&FGAuxiliary::Getbeta);
 382   PropertyManager->Tie("aero/mag-beta-deg", this, inDegrees, (PMF)&FGAuxiliary::GetMagBeta);
 383   PropertyManager->Tie("aero/Re", this, &FGAuxiliary::GetReynoldsNumber);
 384   PropertyManager->Tie("aero/qbar-psf", this, &FGAuxiliary::Getqbar, &FGAuxiliary::Setqbar, true);
 385   PropertyManager->Tie("aero/qbarUW-psf", this, &FGAuxiliary::GetqbarUW, &FGAuxiliary::SetqbarUW, true);
 386   PropertyManager->Tie("aero/qbarUV-psf", this, &FGAuxiliary::GetqbarUV, &FGAuxiliary::SetqbarUV, true);
 387   PropertyManager->Tie("aero/alphadot-rad_sec", this, (PF)&FGAuxiliary::Getadot, &FGAuxiliary::Setadot, true);
 388   PropertyManager->Tie("aero/betadot-rad_sec", this, (PF)&FGAuxiliary::Getbdot, &FGAuxiliary::Setbdot, true);
 389   PropertyManager->Tie("aero/alphadot-deg_sec", this, inDegrees, (PMF)&FGAuxiliary::Getadot);
 390   PropertyManager->Tie("aero/betadot-deg_sec", this, inDegrees, (PMF)&FGAuxiliary::Getbdot);
 391   PropertyManager->Tie("aero/h_b-cg-ft", this, &FGAuxiliary::GetHOverBCG);
 392   PropertyManager->Tie("aero/h_b-mac-ft", this, &FGAuxiliary::GetHOverBMAC);
 393   PropertyManager->Tie("flight-path/gamma-rad", this, &FGAuxiliary::GetGamma, &FGAuxiliary::SetGamma);
 394   PropertyManager->Tie("flight-path/psi-gt-rad", this, &FGAuxiliary::GetGroundTrack);
 395
 396   PropertyManager->Tie("position/distance-from-start-lon-mt", this, &FGAuxiliary::GetLongitudeRelativePosition);
 397   PropertyManager->Tie("position/distance-from-start-lat-mt", this, &FGAuxiliary::GetLatitudeRelativePosition);
 398   PropertyManager->Tie("position/distance-from-start-mag-mt", this, &FGAuxiliary::GetDistanceRelativePosition);
 399   PropertyManager->Tie("position/vrp-gc-latitude_deg", &vLocationVRP, &FGLocation::GetLatitudeDeg);
 400   PropertyManager->Tie("position/vrp-longitude_deg", &vLocationVRP, &FGLocation::GetLongitudeDeg);
 401   PropertyManager->Tie("position/vrp-radius-ft", &vLocationVRP, &FGLocation::GetRadius);
 402 }
 403
 404 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 405
 406 void FGAuxiliary::CalculateRelativePosition(void)
 407 {
 408   const double earth_radius_mt = FDMExec->GetInertial()->GetRefRadius()*fttom;
 409   lat_relative_position=(FDMExec->GetPropagate()->GetLatitude()  - FDMExec->GetIC()->GetLatitudeDegIC() *degtorad)*earth_radius_mt;
 410   lon_relative_position=(FDMExec->GetPropagate()->GetLongitude() - FDMExec->GetIC()->GetLongitudeDegIC()*degtorad)*earth_radius_mt;
 411   relative_position = sqrt(lat_relative_position*lat_relative_position + lon_relative_position*lon_relative_position);
 412 };
 413
 414 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 415
 416 double FGAuxiliary::BadUnits(void) const
 417 {
 418   cerr << "Bad units" << endl; return 0.0;
 419 }
 420
 421 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 422 //    The bitmasked value choices are as follows:
 423 //    unset: In this case (the default) JSBSim would only print
 424 //       out the normally expected messages, essentially echoing
 425 //       the config files as they are read. If the environment
 426 //       variable is not set, debug_lvl is set to 1 internally
 427 //    0: This requests JSBSim not to output any messages
 428 //       whatsoever.
 429 //    1: This value explicity requests the normal JSBSim
 430 //       startup messages
 431 //    2: This value asks for a message to be printed out when
 432 //       a class is instantiated
 433 //    4: When this value is set, a message is displayed when a
 434 //       FGModel object executes its Run() method
 435 //    8: When this value is set, various runtime state variables
 436 //       are printed out periodically
 437 //    16: When set various parameters are sanity checked and
 438 //       a message is printed out when they go out of bounds
 439
 440 void FGAuxiliary::Debug(int from)
 441 {
 442   if (debug_lvl <= 0) return;
 443
 444   if (debug_lvl & 1) { // Standard console startup message output
 445     if (from == 0) { // Constructor
 446
 447     }
 448   }
 449   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 450     if (from == 0) cout << "Instantiated: FGAuxiliary" << endl;
 451     if (from == 1) cout << "Destroyed:    FGAuxiliary" << endl;
 452   }
 453   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 454   }
 455   if (debug_lvl & 8 ) { // Runtime state variables
 456   }
 457   if (debug_lvl & 16) { // Sanity checking
 458     if (Mach > 100 || Mach < 0.00)
 459       cout << "FGPropagate::Mach is out of bounds: " << Mach << endl;
 460     if (qbar > 1e6 || qbar < 0.00)
 461       cout << "FGPropagate::qbar is out of bounds: " << qbar << endl;
 462   }
 463   if (debug_lvl & 64) {
 464     if (from == 0) { // Constructor
 465       cout << IdSrc << endl;
 466       cout << IdHdr << endl;
 467     }
 468   }
 469 }
 470
 471 } // namespace JSBSim