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 1.45 2010/11/18 12:38:06 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   vcas = veas = pt = tat = 0;
  74   psl = rhosl = 1;
  75   qbar = 0;
  76   qbarUW = 0.0;
  77   qbarUV = 0.0;
  78   Re = 0.0;
  79   Mach = 0.0;
  80   alpha = beta = 0.0;
  81   adot = bdot = 0.0;
  82   gamma = Vt = Vground = 0.0;
  83   psigt = 0.0;
  84   day_of_year = 1;
  85   seconds_in_day = 0.0;
  86   hoverbmac = hoverbcg = 0.0;
  87   tatc = RankineToCelsius(tat);
  88
  89   vPilotAccel.InitMatrix();
  90   vPilotAccelN.InitMatrix();
  91   vToEyePt.InitMatrix();
  92   vAeroPQR.InitMatrix();
  93   vEulerRates.InitMatrix();
  94
  95   bind();
  96
  97   Debug(0);
  98 }
  99
 100 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 101
 102 bool FGAuxiliary::InitModel(void)
 103 {
 104   if (!FGModel::InitModel()) return false;
 105
 106   vcas = veas = pt = tat = 0;
 107   psl = rhosl = 1;
 108   qbar = 0;
 109   qbarUW = 0.0;
 110   qbarUV = 0.0;
 111   Mach = 0.0;
 112   alpha = beta = 0.0;
 113   adot = bdot = 0.0;
 114   gamma = Vt = Vground = 0.0;
 115   psigt = 0.0;
 116   day_of_year = 1;
 117   seconds_in_day = 0.0;
 118   hoverbmac = hoverbcg = 0.0;
 119
 120   vPilotAccel.InitMatrix();
 121   vPilotAccelN.InitMatrix();
 122   vToEyePt.InitMatrix();
 123   vAeroPQR.InitMatrix();
 124   vEulerRates.InitMatrix();
 125
 126   return true;
 127 }
 128
 129 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 130
 131 FGAuxiliary::~FGAuxiliary()
 132 {
 133   Debug(1);
 134 }
 135
 136 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 137
 138 bool FGAuxiliary::Run()
 139 {
 140   double A,B,D;
 141
 142   if (FGModel::Run()) return true; // return true if error returned from base class
 143   if (FDMExec->Holding()) return false;
 144
 145   RunPreFunctions();
 146
 147   const double density = FDMExec->GetAtmosphere()->GetDensity();
 148   const double soundspeed = FDMExec->GetAtmosphere()->GetSoundSpeed();
 149   const double DistanceAGL = FDMExec->GetPropagate()->GetDistanceAGL();
 150   const double wingspan = FDMExec->GetAircraft()->GetWingSpan();
 151   const FGMatrix33& Tl2b = FDMExec->GetPropagate()->GetTl2b();
 152   const FGMatrix33& Tb2l = FDMExec->GetPropagate()->GetTb2l();
 153
 154   const FGColumnVector3& vPQR = FDMExec->GetPropagate()->GetPQR();
 155   const FGColumnVector3& vUVW = FDMExec->GetPropagate()->GetUVW();
 156   const FGColumnVector3& vUVWdot = FDMExec->GetPropagate()->GetUVWdot();
 157   const FGColumnVector3& vVel = FDMExec->GetPropagate()->GetVel();
 158
 159   p = FDMExec->GetAtmosphere()->GetPressure();
 160   rhosl = FDMExec->GetAtmosphere()->GetDensitySL();
 161   psl = FDMExec->GetAtmosphere()->GetPressureSL();
 162   sat = FDMExec->GetAtmosphere()->GetTemperature();
 163
 164 // Rotation
 165
 166   double cTht = FDMExec->GetPropagate()->GetCosEuler(eTht);
 167   double sTht = FDMExec->GetPropagate()->GetSinEuler(eTht);
 168   double cPhi = FDMExec->GetPropagate()->GetCosEuler(ePhi);
 169   double sPhi = FDMExec->GetPropagate()->GetSinEuler(ePhi);
 170
 171   vEulerRates(eTht) = vPQR(eQ)*cPhi - vPQR(eR)*sPhi;
 172   if (cTht != 0.0) {
 173     vEulerRates(ePsi) = (vPQR(eQ)*sPhi + vPQR(eR)*cPhi)/cTht;
 174     vEulerRates(ePhi) = vPQR(eP) + vEulerRates(ePsi)*sTht;
 175   }
 176
 177 // Combine the wind speed with aircraft speed to obtain wind relative speed
 178   FGColumnVector3 wind = Tl2b*FDMExec->GetAtmosphere()->GetTotalWindNED();
 179   vAeroPQR = vPQR - FDMExec->GetAtmosphere()->GetTurbPQR();
 180   vAeroUVW = vUVW - wind;
 181
 182   Vt = vAeroUVW.Magnitude();
 183   if ( Vt > 1.0 ) {
 184     if (vAeroUVW(eW) != 0.0)
 185       alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
 186     if (vAeroUVW(eV) != 0.0)
 187       beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV),
 188              sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;
 189
 190     double mUW = (vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW));
 191     double signU=1;
 192     if (vAeroUVW(eU) < 0.0) signU=-1;
 193
 194     if ( mUW < 1.0 ) {
 195       adot = 0.0;
 196       bdot = 0.0;
 197     } else {
 198       adot = (vAeroUVW(eU)*vUVWdot(eW) - vAeroUVW(eW)*vUVWdot(eU))/mUW;
 199       bdot = (signU*mUW*vUVWdot(eV) - vAeroUVW(eV)*(vAeroUVW(eU)*vUVWdot(eU)
 200               + vAeroUVW(eW)*vUVWdot(eW)))/(Vt*Vt*sqrt(mUW));
 201     }
 202   } else {
 203     alpha = beta = adot = bdot = 0;
 204   }
 205
 206   Re = Vt * FDMExec->GetAircraft()->Getcbar() / FDMExec->GetAtmosphere()->GetKinematicViscosity();
 207
 208   qbar = 0.5*density*Vt*Vt;
 209   qbarUW = 0.5*density*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW));
 210   qbarUV = 0.5*density*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eV)*vAeroUVW(eV));
 211   Mach = Vt / soundspeed;
 212   MachU = vMachUVW(eU) = vAeroUVW(eU) / soundspeed;
 213   vMachUVW(eV) = vAeroUVW(eV) / soundspeed;
 214   vMachUVW(eW) = vAeroUVW(eW) / soundspeed;
 215
 216 // Position
 217
 218   Vground = sqrt( vVel(eNorth)*vVel(eNorth) + vVel(eEast)*vVel(eEast) );
 219
 220   psigt = atan2(vVel(eEast), vVel(eNorth));
 221   if (psigt < 0.0) psigt += 2*M_PI;
 222   gamma = atan2(-vVel(eDown), Vground);
 223
 224   tat = sat*(1 + 0.2*Mach*Mach); // Total Temperature, isentropic flow
 225   tatc = RankineToCelsius(tat);
 226
 227   if (MachU < 1) {   // Calculate total pressure assuming isentropic flow
 228     pt = p*pow((1 + 0.2*MachU*MachU),3.5);
 229   } else {
 230     // Use Rayleigh pitot tube formula for normal shock in front of pitot tube
 231     B = 5.76*MachU*MachU/(5.6*MachU*MachU - 0.8);
 232     D = (2.8*MachU*MachU-0.4)*0.4167;
 233     pt = p*pow(B,3.5)*D;
 234   }
 235
 236   A = pow(((pt-p)/psl+1),0.28571);
 237   if (MachU > 0.0) {
 238     vcas = sqrt(7*psl/rhosl*(A-1));
 239     veas = sqrt(2*qbar/rhosl);
 240   } else {
 241     vcas = veas = 0.0;
 242   }
 243
 244   const double SLgravity = FDMExec->GetInertial()->SLgravity();
 245
 246   vPilotAccel.InitMatrix();
 247   if ( Vt > 1.0 ) {
 248      vAircraftAccel = FDMExec->GetAircraft()->GetBodyAccel();
 249      // Nz is Acceleration in "g's", along normal axis (-Z body axis)
 250      Nz = -vAircraftAccel(eZ)/SLgravity;
 251      vToEyePt = FDMExec->GetMassBalance()->StructuralToBody(FDMExec->GetAircraft()->GetXYZep());
 252      vPilotAccel = vAircraftAccel + FDMExec->GetPropagate()->GetPQRdot() * vToEyePt;
 253      vPilotAccel += vPQR * (vPQR * vToEyePt);
 254   } else {
 255      // The line below handles low velocity (and on-ground) cases, basically
 256      // representing the opposite of the force that the landing gear would
 257      // exert on the ground (which is just the total weight). This eliminates
 258      // any jitter that could be introduced by the landing gear. Theoretically,
 259      // this branch could be eliminated, with a penalty of having a short
 260      // transient at startup (lasting only a fraction of a second).
 261      vPilotAccel = Tl2b * FGColumnVector3( 0.0, 0.0, -SLgravity );
 262      Nz = -vPilotAccel(eZ)/SLgravity;
 263   }
 264
 265   vPilotAccelN = vPilotAccel/SLgravity;
 266
 267   // VRP computation
 268   const FGLocation& vLocation = FDMExec->GetPropagate()->GetLocation();
 269   const FGColumnVector3& vrpStructural = FDMExec->GetAircraft()->GetXYZvrp();
 270   const FGColumnVector3 vrpBody = FDMExec->GetMassBalance()->StructuralToBody( vrpStructural );
 271   const FGColumnVector3 vrpLocal = Tb2l * vrpBody;
 272   vLocationVRP = vLocation.LocalToLocation( vrpLocal );
 273
 274   // Recompute some derived values now that we know the dependent parameters values ...
 275   hoverbcg = DistanceAGL / wingspan;
 276
 277   FGColumnVector3 vMac = Tb2l*FDMExec->GetMassBalance()->StructuralToBody(FDMExec->GetAircraft()->GetXYZrp());
 278   hoverbmac = (DistanceAGL + vMac(3)) / wingspan;
 279
 280   // when all model are executed,
 281   // please calculate the distance from the initial point
 282
 283   CalculateRelativePosition();
 284
 285   RunPostFunctions();
 286
 287   return false;
 288 }
 289
 290 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 291 //
 292 // A positive headwind is blowing with you, a negative headwind is blowing against you.
 293 // psi is the direction the wind is blowing *towards*.
 294
 295 double FGAuxiliary::GetHeadWind(void) const
 296 {
 297   double psiw,vw;
 298
 299   psiw = FDMExec->GetAtmosphere()->GetWindPsi();
 300   vw = FDMExec->GetAtmosphere()->GetTotalWindNED().Magnitude();
 301
 302   return vw*cos(psiw - FDMExec->GetPropagate()->GetEuler(ePsi));
 303 }
 304
 305 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 306 //
 307 // A positive crosswind is blowing towards the right (from teh perspective of the
 308 // pilot). A negative crosswind is blowing towards the -Y direction (left).
 309 // psi is the direction the wind is blowing *towards*.
 310
 311 double FGAuxiliary::GetCrossWind(void) const
 312 {
 313   double psiw,vw;
 314
 315   psiw = FDMExec->GetAtmosphere()->GetWindPsi();
 316   vw = FDMExec->GetAtmosphere()->GetTotalWindNED().Magnitude();
 317
 318   return  vw*sin(psiw - FDMExec->GetPropagate()->GetEuler(ePsi));
 319 }
 320
 321 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 322
 323 double FGAuxiliary::GethVRP(void) const
 324 {
 325   return vLocationVRP.GetRadius() - FDMExec->GetPropagate()->GetSeaLevelRadius();
 326 }
 327
 328 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 329
 330 void FGAuxiliary::bind(void)
 331 {
 332   typedef double (FGAuxiliary::*PMF)(int) const;
 333   typedef double (FGAuxiliary::*PF)(void) const;
 334   PropertyManager->Tie("propulsion/tat-r", this, &FGAuxiliary::GetTotalTemperature);
 335   PropertyManager->Tie("propulsion/tat-c", this, &FGAuxiliary::GetTAT_C);
 336   PropertyManager->Tie("propulsion/pt-lbs_sqft", this, &FGAuxiliary::GetTotalPressure);
 337   PropertyManager->Tie("velocities/vc-fps", this, &FGAuxiliary::GetVcalibratedFPS);
 338   PropertyManager->Tie("velocities/vc-kts", this, &FGAuxiliary::GetVcalibratedKTS);
 339   PropertyManager->Tie("velocities/ve-fps", this, &FGAuxiliary::GetVequivalentFPS);
 340   PropertyManager->Tie("velocities/ve-kts", this, &FGAuxiliary::GetVequivalentKTS);
 341   PropertyManager->Tie("velocities/machU", this, &FGAuxiliary::GetMachU);
 342   PropertyManager->Tie("velocities/p-aero-rad_sec", this, eX, (PMF)&FGAuxiliary::GetAeroPQR);
 343   PropertyManager->Tie("velocities/q-aero-rad_sec", this, eY, (PMF)&FGAuxiliary::GetAeroPQR);
 344   PropertyManager->Tie("velocities/r-aero-rad_sec", this, eZ, (PMF)&FGAuxiliary::GetAeroPQR);
 345   PropertyManager->Tie("velocities/phidot-rad_sec", this, ePhi, (PMF)&FGAuxiliary::GetEulerRates);
 346   PropertyManager->Tie("velocities/thetadot-rad_sec", this, eTht, (PMF)&FGAuxiliary::GetEulerRates);
 347   PropertyManager->Tie("velocities/psidot-rad_sec", this, ePsi, (PMF)&FGAuxiliary::GetEulerRates);
 348   PropertyManager->Tie("velocities/u-aero-fps", this, eU, (PMF)&FGAuxiliary::GetAeroUVW);
 349   PropertyManager->Tie("velocities/v-aero-fps", this, eV, (PMF)&FGAuxiliary::GetAeroUVW);
 350   PropertyManager->Tie("velocities/w-aero-fps", this, eW, (PMF)&FGAuxiliary::GetAeroUVW);
 351   PropertyManager->Tie("velocities/vt-fps", this, &FGAuxiliary::GetVt, &FGAuxiliary::SetVt, true);
 352   PropertyManager->Tie("velocities/mach", this, &FGAuxiliary::GetMach, &FGAuxiliary::SetMach, true);
 353   PropertyManager->Tie("velocities/vg-fps", this, &FGAuxiliary::GetVground);
 354   PropertyManager->Tie("accelerations/a-pilot-x-ft_sec2", this, eX, (PMF)&FGAuxiliary::GetPilotAccel);
 355   PropertyManager->Tie("accelerations/a-pilot-y-ft_sec2", this, eY, (PMF)&FGAuxiliary::GetPilotAccel);
 356   PropertyManager->Tie("accelerations/a-pilot-z-ft_sec2", this, eZ, (PMF)&FGAuxiliary::GetPilotAccel);
 357   PropertyManager->Tie("accelerations/n-pilot-x-norm", this, eX, (PMF)&FGAuxiliary::GetNpilot);
 358   PropertyManager->Tie("accelerations/n-pilot-y-norm", this, eY, (PMF)&FGAuxiliary::GetNpilot);
 359   PropertyManager->Tie("accelerations/n-pilot-z-norm", this, eZ, (PMF)&FGAuxiliary::GetNpilot);
 360   PropertyManager->Tie("accelerations/Nz", this, &FGAuxiliary::GetNz);
 361   /* PropertyManager->Tie("atmosphere/headwind-fps", this, &FGAuxiliary::GetHeadWind, true);
 362   PropertyManager->Tie("atmosphere/crosswind-fps", this, &FGAuxiliary::GetCrossWind, true); */
 363   PropertyManager->Tie("aero/alpha-rad", this, (PF)&FGAuxiliary::Getalpha, &FGAuxiliary::Setalpha, true);
 364   PropertyManager->Tie("aero/beta-rad", this, (PF)&FGAuxiliary::Getbeta, &FGAuxiliary::Setbeta, true);
 365   PropertyManager->Tie("aero/mag-beta-rad", this, (PF)&FGAuxiliary::GetMagBeta);
 366   PropertyManager->Tie("aero/alpha-deg", this, inDegrees, (PMF)&FGAuxiliary::Getalpha);
 367   PropertyManager->Tie("aero/beta-deg", this, inDegrees, (PMF)&FGAuxiliary::Getbeta);
 368   PropertyManager->Tie("aero/mag-beta-deg", this, inDegrees, (PMF)&FGAuxiliary::GetMagBeta);
 369   PropertyManager->Tie("aero/Re", this, &FGAuxiliary::GetReynoldsNumber);
 370   PropertyManager->Tie("aero/qbar-psf", this, &FGAuxiliary::Getqbar, &FGAuxiliary::Setqbar, true);
 371   PropertyManager->Tie("aero/qbarUW-psf", this, &FGAuxiliary::GetqbarUW, &FGAuxiliary::SetqbarUW, true);
 372   PropertyManager->Tie("aero/qbarUV-psf", this, &FGAuxiliary::GetqbarUV, &FGAuxiliary::SetqbarUV, true);
 373   PropertyManager->Tie("aero/alphadot-rad_sec", this, (PF)&FGAuxiliary::Getadot, &FGAuxiliary::Setadot, true);
 374   PropertyManager->Tie("aero/betadot-rad_sec", this, (PF)&FGAuxiliary::Getbdot, &FGAuxiliary::Setbdot, true);
 375   PropertyManager->Tie("aero/alphadot-deg_sec", this, inDegrees, (PMF)&FGAuxiliary::Getadot);
 376   PropertyManager->Tie("aero/betadot-deg_sec", this, inDegrees, (PMF)&FGAuxiliary::Getbdot);
 377   PropertyManager->Tie("aero/h_b-cg-ft", this, &FGAuxiliary::GetHOverBCG);
 378   PropertyManager->Tie("aero/h_b-mac-ft", this, &FGAuxiliary::GetHOverBMAC);
 379   PropertyManager->Tie("flight-path/gamma-rad", this, &FGAuxiliary::GetGamma, &FGAuxiliary::SetGamma);
 380   PropertyManager->Tie("flight-path/psi-gt-rad", this, &FGAuxiliary::GetGroundTrack);
 381
 382   PropertyManager->Tie("position/distance-from-start-lon-mt", this, &FGAuxiliary::GetLongitudeRelativePosition);
 383   PropertyManager->Tie("position/distance-from-start-lat-mt", this, &FGAuxiliary::GetLatitudeRelativePosition);
 384   PropertyManager->Tie("position/distance-from-start-mag-mt", this, &FGAuxiliary::GetDistanceRelativePosition);
 385   PropertyManager->Tie("position/vrp-gc-latitude_deg", &vLocationVRP, &FGLocation::GetLatitudeDeg);
 386   PropertyManager->Tie("position/vrp-longitude_deg", &vLocationVRP, &FGLocation::GetLongitudeDeg);
 387   PropertyManager->Tie("position/vrp-radius-ft", &vLocationVRP, &FGLocation::GetRadius);
 388 }
 389
 390 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 391
 392 void FGAuxiliary::CalculateRelativePosition(void)
 393 {
 394   const double earth_radius_mt = FDMExec->GetInertial()->GetRefRadius()*fttom;
 395   lat_relative_position=(FDMExec->GetPropagate()->GetLatitude()  - FDMExec->GetIC()->GetLatitudeDegIC() *degtorad)*earth_radius_mt;
 396   lon_relative_position=(FDMExec->GetPropagate()->GetLongitude() - FDMExec->GetIC()->GetLongitudeDegIC()*degtorad)*earth_radius_mt;
 397   relative_position = sqrt(lat_relative_position*lat_relative_position + lon_relative_position*lon_relative_position);
 398 };
 399
 400 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 401
 402 double FGAuxiliary::BadUnits(void) const
 403 {
 404   cerr << "Bad units" << endl; return 0.0;
 405 }
 406
 407 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 408 //    The bitmasked value choices are as follows:
 409 //    unset: In this case (the default) JSBSim would only print
 410 //       out the normally expected messages, essentially echoing
 411 //       the config files as they are read. If the environment
 412 //       variable is not set, debug_lvl is set to 1 internally
 413 //    0: This requests JSBSim not to output any messages
 414 //       whatsoever.
 415 //    1: This value explicity requests the normal JSBSim
 416 //       startup messages
 417 //    2: This value asks for a message to be printed out when
 418 //       a class is instantiated
 419 //    4: When this value is set, a message is displayed when a
 420 //       FGModel object executes its Run() method
 421 //    8: When this value is set, various runtime state variables
 422 //       are printed out periodically
 423 //    16: When set various parameters are sanity checked and
 424 //       a message is printed out when they go out of bounds
 425
 426 void FGAuxiliary::Debug(int from)
 427 {
 428   if (debug_lvl <= 0) return;
 429
 430   if (debug_lvl & 1) { // Standard console startup message output
 431     if (from == 0) { // Constructor
 432
 433     }
 434   }
 435   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 436     if (from == 0) cout << "Instantiated: FGAuxiliary" << endl;
 437     if (from == 1) cout << "Destroyed:    FGAuxiliary" << endl;
 438   }
 439   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 440   }
 441   if (debug_lvl & 8 ) { // Runtime state variables
 442   }
 443   if (debug_lvl & 16) { // Sanity checking
 444     if (Mach > 100 || Mach < 0.00)
 445       cout << "FGPropagate::Mach is out of bounds: " << Mach << endl;
 446     if (qbar > 1e6 || qbar < 0.00)
 447       cout << "FGPropagate::qbar is out of bounds: " << qbar << endl;
 448   }
 449   if (debug_lvl & 64) {
 450     if (from == 0) { // Constructor
 451       cout << IdSrc << endl;
 452       cout << IdHdr << endl;
 453     }
 454   }
 455 }
 456
 457 } // namespace JSBSim