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:    FGSimExec
   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 = "$Id$";
  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   const FGColumnVector3& vPQR = Propagate->GetPQR();
 146   const FGColumnVector3& vUVW = Propagate->GetUVW();
 147   const FGColumnVector3& vUVWdot = Propagate->GetUVWdot();
 148   const FGColumnVector3& vVel = Propagate->GetVel();
 149
 150   p = Atmosphere->GetPressure();
 151   rhosl = Atmosphere->GetDensitySL();
 152   psl = Atmosphere->GetPressureSL();
 153   sat = Atmosphere->GetTemperature();
 154
 155 // Rotation
 156
 157   double cTht = Propagate->GetCosEuler(eTht);
 158   double sTht = Propagate->GetSinEuler(eTht);
 159   double cPhi = Propagate->GetCosEuler(ePhi);
 160   double sPhi = Propagate->GetSinEuler(ePhi);
 161
 162   vEulerRates(eTht) = vPQR(eQ)*cPhi - vPQR(eR)*sPhi;
 163   if (cTht != 0.0) {
 164     vEulerRates(ePsi) = (vPQR(eQ)*sPhi + vPQR(eR)*cPhi)/cTht;
 165     vEulerRates(ePhi) = vPQR(eP) + vEulerRates(ePsi)*sTht;
 166   }
 167
 168 // 12/16/2005, JSB: For ground handling purposes, at this time, let's ramp
 169 // in the effects of wind from 10 fps to 30 fps when there is weight on the
 170 // landing gear wheels.
 171
 172   if (GroundReactions->GetWOW() && vUVW(eU) < 10) {
 173     vAeroPQR = vPQR;
 174     vAeroUVW = vUVW;
 175   } else if (GroundReactions->GetWOW() && vUVW(eU) < 30) {
 176     double factor = (vUVW(eU) - 10.0)/20.0;
 177     vAeroPQR = vPQR - factor*Atmosphere->GetTurbPQR();
 178     vAeroUVW = vUVW - factor*Propagate->GetTl2b()*Atmosphere->GetTotalWindNED();
 179   } else {
 180     FGColumnVector3 wind = Propagate->GetTl2b()*Atmosphere->GetTotalWindNED();
 181     vAeroPQR = vPQR - Atmosphere->GetTurbPQR();
 182     vAeroUVW = vUVW - wind;
 183   }
 184
 185   Vt = vAeroUVW.Magnitude();
 186   if ( Vt > 0.05) {
 187     if (vAeroUVW(eW) != 0.0)
 188       alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
 189     if (vAeroUVW(eV) != 0.0)
 190       beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV),
 191              sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;
 192
 193     double mUW = (vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW));
 194     double signU=1;
 195     if (vAeroUVW(eU) != 0.0)
 196       signU = vAeroUVW(eU)/fabs(vAeroUVW(eU));
 197
 198     if ( (mUW == 0.0) || (Vt == 0.0) ) {
 199       adot = 0.0;
 200       bdot = 0.0;
 201     } else {
 202       adot = (vAeroUVW(eU)*vUVWdot(eW) - vAeroUVW(eW)*vUVWdot(eU))/mUW;
 203       bdot = (signU*mUW*vUVWdot(eV) - vAeroUVW(eV)*(vAeroUVW(eU)*vUVWdot(eU)
 204               + vAeroUVW(eW)*vUVWdot(eW)))/(Vt*Vt*sqrt(mUW));
 205     }
 206   } else {
 207     alpha = beta = adot = bdot = 0;
 208   }
 209
 210   Re = Vt * Aircraft->Getcbar() / Atmosphere->GetKinematicViscosity();
 211
 212   qbar = 0.5*Atmosphere->GetDensity()*Vt*Vt;
 213   qbarUW = 0.5*Atmosphere->GetDensity()*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW));
 214   qbarUV = 0.5*Atmosphere->GetDensity()*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eV)*vAeroUVW(eV));
 215   Mach = Vt / Atmosphere->GetSoundSpeed();
 216   MachU = vMachUVW(eU) = vAeroUVW(eU) / Atmosphere->GetSoundSpeed();
 217   vMachUVW(eV) = vAeroUVW(eV) / Atmosphere->GetSoundSpeed();
 218   vMachUVW(eW) = vAeroUVW(eW) / Atmosphere->GetSoundSpeed();
 219
 220 // Position
 221
 222   Vground = sqrt( vVel(eNorth)*vVel(eNorth) + vVel(eEast)*vVel(eEast) );
 223
 224   psigt = atan2(vVel(eEast), vVel(eNorth));
 225   if (psigt < 0.0) psigt += 2*M_PI;
 226   gamma = atan2(-vVel(eDown), Vground);
 227
 228   tat = sat*(1 + 0.2*Mach*Mach); // Total Temperature, isentropic flow
 229   tatc = RankineToCelsius(tat);
 230
 231   if (MachU < 1) {   // Calculate total pressure assuming isentropic flow
 232     pt = p*pow((1 + 0.2*MachU*MachU),3.5);
 233   } else {
 234     // Use Rayleigh pitot tube formula for normal shock in front of pitot tube
 235     B = 5.76*MachU*MachU/(5.6*MachU*MachU - 0.8);
 236     D = (2.8*MachU*MachU-0.4)*0.4167;
 237     pt = p*pow(B,3.5)*D;
 238   }
 239
 240   A = pow(((pt-p)/psl+1),0.28571);
 241   if (MachU > 0.0) {
 242     vcas = sqrt(7*psl/rhosl*(A-1));
 243     veas = sqrt(2*qbar/rhosl);
 244   } else {
 245     vcas = veas = 0.0;
 246   }
 247
 248   vPilotAccel.InitMatrix();
 249   if ( Vt > 1.0 ) {
 250      vAircraftAccel = Aerodynamics->GetForces()
 251                     + Propulsion->GetForces()
 252                     + GroundReactions->GetForces()
 253                     + ExternalReactions->GetForces()
 254                     + BuoyantForces->GetForces();
 255
 256      vAircraftAccel /= MassBalance->GetMass();
 257      // Nz is Acceleration in "g's", along normal axis (-Z body axis)
 258      Nz = -vAircraftAccel(eZ)/Inertial->gravity();
 259      vToEyePt = MassBalance->StructuralToBody(Aircraft->GetXYZep());
 260      vPilotAccel = vAircraftAccel + Propagate->GetPQRdot() * vToEyePt;
 261      vPilotAccel += vPQR * (vPQR * vToEyePt);
 262   } else {
 263      // The line below handles low velocity (and on-ground) cases, basically
 264      // representing the opposite of the force that the landing gear would
 265      // exert on the ground (which is just the total weight). This eliminates
 266      // any jitter that could be introduced by the landing gear. Theoretically,
 267      // this branch could be eliminated, with a penalty of having a short
 268      // transient at startup (lasting only a fraction of a second).
 269      vPilotAccel = Propagate->GetTl2b() * FGColumnVector3( 0.0, 0.0, -Inertial->gravity() );
 270      Nz = -vPilotAccel(eZ)/Inertial->gravity();
 271   }
 272
 273   vPilotAccelN = vPilotAccel/Inertial->gravity();
 274
 275   // VRP computation
 276   const FGLocation& vLocation = Propagate->GetLocation();
 277   FGColumnVector3 vrpStructural = Aircraft->GetXYZvrp();
 278   FGColumnVector3 vrpBody = MassBalance->StructuralToBody( vrpStructural );
 279   FGColumnVector3 vrpLocal = Propagate->GetTb2l() * vrpBody;
 280   vLocationVRP = vLocation.LocalToLocation( vrpLocal );
 281
 282   // Recompute some derived values now that we know the dependent parameters values ...
 283   hoverbcg = Propagate->GetDistanceAGL() / Aircraft->GetWingSpan();
 284
 285   FGColumnVector3 vMac = Propagate->GetTb2l()*MassBalance->StructuralToBody(Aircraft->GetXYZrp());
 286   hoverbmac = (Propagate->GetDistanceAGL() + vMac(3)) / Aircraft->GetWingSpan();
 287
 288   // when all model are executed,
 289   // please calculate the distance from the initial point
 290
 291   CalculateRelativePosition();
 292
 293   return false;
 294 }
 295
 296 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 297 //
 298 // A positive headwind is blowing with you, a negative headwind is blowing against you.
 299 // psi is the direction the wind is blowing *towards*.
 300
 301 double FGAuxiliary::GetHeadWind(void) const
 302 {
 303   double psiw,vw;
 304
 305   psiw = Atmosphere->GetWindPsi();
 306   vw = Atmosphere->GetTotalWindNED().Magnitude();
 307
 308   return vw*cos(psiw - Propagate->GetEuler(ePsi));
 309 }
 310
 311 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 312 //
 313 // A positive crosswind is blowing towards the right (from teh perspective of the
 314 // pilot). A negative crosswind is blowing towards the -Y direction (left).
 315 // psi is the direction the wind is blowing *towards*.
 316
 317 double FGAuxiliary::GetCrossWind(void) const
 318 {
 319   double psiw,vw;
 320
 321   psiw = Atmosphere->GetWindPsi();
 322   vw = Atmosphere->GetTotalWindNED().Magnitude();
 323
 324   return  vw*sin(psiw - Propagate->GetEuler(ePsi));
 325 }
 326
 327 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 328
 329 void FGAuxiliary::bind(void)
 330 {
 331   typedef double (FGAuxiliary::*PMF)(int) const;
 332   typedef double (FGAuxiliary::*PF)(void) const;
 333   PropertyManager->Tie("propulsion/tat-r", this, &FGAuxiliary::GetTotalTemperature);
 334   PropertyManager->Tie("propulsion/tat-c", this, &FGAuxiliary::GetTAT_C);
 335   PropertyManager->Tie("propulsion/pt-lbs_sqft", this, &FGAuxiliary::GetTotalPressure);
 336   PropertyManager->Tie("velocities/vc-fps", this, &FGAuxiliary::GetVcalibratedFPS);
 337   PropertyManager->Tie("velocities/vc-kts", this, &FGAuxiliary::GetVcalibratedKTS);
 338   PropertyManager->Tie("velocities/ve-fps", this, &FGAuxiliary::GetVequivalentFPS);
 339   PropertyManager->Tie("velocities/ve-kts", this, &FGAuxiliary::GetVequivalentKTS);
 340   PropertyManager->Tie("velocities/machU", this, &FGAuxiliary::GetMachU);
 341   PropertyManager->Tie("velocities/p-aero-rad_sec", this, eX, (PMF)&FGAuxiliary::GetAeroPQR);
 342   PropertyManager->Tie("velocities/q-aero-rad_sec", this, eY, (PMF)&FGAuxiliary::GetAeroPQR);
 343   PropertyManager->Tie("velocities/r-aero-rad_sec", this, eZ, (PMF)&FGAuxiliary::GetAeroPQR);
 344   PropertyManager->Tie("velocities/phidot-rad_sec", this, ePhi, (PMF)&FGAuxiliary::GetEulerRates);
 345   PropertyManager->Tie("velocities/thetadot-rad_sec", this, eTht, (PMF)&FGAuxiliary::GetEulerRates);
 346   PropertyManager->Tie("velocities/psidot-rad_sec", this, ePsi, (PMF)&FGAuxiliary::GetEulerRates);
 347   PropertyManager->Tie("velocities/u-aero-fps", this, eU, (PMF)&FGAuxiliary::GetAeroUVW);
 348   PropertyManager->Tie("velocities/v-aero-fps", this, eV, (PMF)&FGAuxiliary::GetAeroUVW);
 349   PropertyManager->Tie("velocities/w-aero-fps", this, eW, (PMF)&FGAuxiliary::GetAeroUVW);
 350   PropertyManager->Tie("velocities/vt-fps", this, &FGAuxiliary::GetVt, &FGAuxiliary::SetVt, true);
 351   PropertyManager->Tie("velocities/mach", this, &FGAuxiliary::GetMach, &FGAuxiliary::SetMach, true);
 352   PropertyManager->Tie("velocities/vg-fps", this, &FGAuxiliary::GetVground);
 353   PropertyManager->Tie("accelerations/a-pilot-x-ft_sec2", this, eX, (PMF)&FGAuxiliary::GetPilotAccel);
 354   PropertyManager->Tie("accelerations/a-pilot-y-ft_sec2", this, eY, (PMF)&FGAuxiliary::GetPilotAccel);
 355   PropertyManager->Tie("accelerations/a-pilot-z-ft_sec2", this, eZ, (PMF)&FGAuxiliary::GetPilotAccel);
 356   PropertyManager->Tie("accelerations/n-pilot-x-norm", this, eX, (PMF)&FGAuxiliary::GetNpilot);
 357   PropertyManager->Tie("accelerations/n-pilot-y-norm", this, eY, (PMF)&FGAuxiliary::GetNpilot);
 358   PropertyManager->Tie("accelerations/n-pilot-z-norm", this, eZ, (PMF)&FGAuxiliary::GetNpilot);
 359   PropertyManager->Tie("accelerations/Nz", this, &FGAuxiliary::GetNz);
 360   /* PropertyManager->Tie("atmosphere/headwind-fps", this, &FGAuxiliary::GetHeadWind, true);
 361   PropertyManager->Tie("atmosphere/crosswind-fps", this, &FGAuxiliary::GetCrossWind, true); */
 362   PropertyManager->Tie("aero/alpha-rad", this, (PF)&FGAuxiliary::Getalpha, &FGAuxiliary::Setalpha, true);
 363   PropertyManager->Tie("aero/beta-rad", this, (PF)&FGAuxiliary::Getbeta, &FGAuxiliary::Setbeta, true);
 364   PropertyManager->Tie("aero/mag-beta-rad", this, (PF)&FGAuxiliary::GetMagBeta);
 365   PropertyManager->Tie("aero/alpha-deg", this, inDegrees, (PMF)&FGAuxiliary::Getalpha);
 366   PropertyManager->Tie("aero/beta-deg", this, inDegrees, (PMF)&FGAuxiliary::Getbeta);
 367   PropertyManager->Tie("aero/mag-beta-deg", this, inDegrees, (PMF)&FGAuxiliary::GetMagBeta);
 368   PropertyManager->Tie("aero/Re", this, &FGAuxiliary::GetReynoldsNumber);
 369   PropertyManager->Tie("aero/qbar-psf", this, &FGAuxiliary::Getqbar, &FGAuxiliary::Setqbar, true);
 370   PropertyManager->Tie("aero/qbarUW-psf", this, &FGAuxiliary::GetqbarUW, &FGAuxiliary::SetqbarUW, true);
 371   PropertyManager->Tie("aero/qbarUV-psf", this, &FGAuxiliary::GetqbarUV, &FGAuxiliary::SetqbarUV, true);
 372   PropertyManager->Tie("aero/alphadot-rad_sec", this, (PF)&FGAuxiliary::Getadot, &FGAuxiliary::Setadot, true);
 373   PropertyManager->Tie("aero/betadot-rad_sec", this, (PF)&FGAuxiliary::Getbdot, &FGAuxiliary::Setbdot, true);
 374   PropertyManager->Tie("aero/alphadot-deg_sec", this, inDegrees, (PMF)&FGAuxiliary::Getadot);
 375   PropertyManager->Tie("aero/betadot-deg_sec", this, inDegrees, (PMF)&FGAuxiliary::Getbdot);
 376   PropertyManager->Tie("aero/h_b-cg-ft", this, &FGAuxiliary::GetHOverBCG);
 377   PropertyManager->Tie("aero/h_b-mac-ft", this, &FGAuxiliary::GetHOverBMAC);
 378   PropertyManager->Tie("flight-path/gamma-rad", this, &FGAuxiliary::GetGamma, &FGAuxiliary::SetGamma);
 379   PropertyManager->Tie("flight-path/psi-gt-rad", this, &FGAuxiliary::GetGroundTrack);
 380
 381   PropertyManager->Tie("position/distance-from-start-lon-mt", this, &FGAuxiliary::GetLongitudeRelativePosition);
 382   PropertyManager->Tie("position/distance-from-start-lat-mt", this, &FGAuxiliary::GetLatitudeRelativePosition);
 383   PropertyManager->Tie("position/distance-from-start-mag-mt", this, &FGAuxiliary::GetDistanceRelativePosition);
 384   PropertyManager->Tie("position/vrp-gc-latitude_deg", &vLocationVRP, &FGLocation::GetLatitudeDeg);
 385   PropertyManager->Tie("position/vrp-longitude_deg", &vLocationVRP, &FGLocation::GetLongitudeDeg);
 386   PropertyManager->Tie("position/vrp-radius-ft", &vLocationVRP, &FGLocation::GetRadius);
 387 }
 388
 389 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 390
 391 void FGAuxiliary::CalculateRelativePosition(void)
 392 {
 393   const double earth_radius_mt = Inertial->GetRefRadius()*fttom;
 394   lat_relative_position=(FDMExec->GetPropagate()->GetLatitude()  - FDMExec->GetIC()->GetLatitudeDegIC() *degtorad)*earth_radius_mt;
 395   lon_relative_position=(FDMExec->GetPropagate()->GetLongitude() - FDMExec->GetIC()->GetLongitudeDegIC()*degtorad)*earth_radius_mt;
 396   relative_position = sqrt(lat_relative_position*lat_relative_position + lon_relative_position*lon_relative_position);
 397 };
 398
 399 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 400
 401 double FGAuxiliary::BadUnits(void) const
 402 {
 403   cerr << "Bad units" << endl; return 0.0;
 404 }
 405
 406 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 407 //    The bitmasked value choices are as follows:
 408 //    unset: In this case (the default) JSBSim would only print
 409 //       out the normally expected messages, essentially echoing
 410 //       the config files as they are read. If the environment
 411 //       variable is not set, debug_lvl is set to 1 internally
 412 //    0: This requests JSBSim not to output any messages
 413 //       whatsoever.
 414 //    1: This value explicity requests the normal JSBSim
 415 //       startup messages
 416 //    2: This value asks for a message to be printed out when
 417 //       a class is instantiated
 418 //    4: When this value is set, a message is displayed when a
 419 //       FGModel object executes its Run() method
 420 //    8: When this value is set, various runtime state variables
 421 //       are printed out periodically
 422 //    16: When set various parameters are sanity checked and
 423 //       a message is printed out when they go out of bounds
 424
 425 void FGAuxiliary::Debug(int from)
 426 {
 427   if (debug_lvl <= 0) return;
 428
 429   if (debug_lvl & 1) { // Standard console startup message output
 430     if (from == 0) { // Constructor
 431
 432     }
 433   }
 434   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 435     if (from == 0) cout << "Instantiated: FGAuxiliary" << endl;
 436     if (from == 1) cout << "Destroyed:    FGAuxiliary" << endl;
 437   }
 438   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 439   }
 440   if (debug_lvl & 8 ) { // Runtime state variables
 441   }
 442   if (debug_lvl & 16) { // Sanity checking
 443     if (Mach > 100 || Mach < 0.00)
 444       cout << "FGPropagate::Mach is out of bounds: " << Mach << endl;
 445     if (qbar > 1e6 || qbar < 0.00)
 446       cout << "FGPropagate::qbar is out of bounds: " << qbar << endl;
 447   }
 448   if (debug_lvl & 64) {
 449     if (from == 0) { // Constructor
 450       cout << IdSrc << endl;
 451       cout << IdHdr << endl;
 452     }
 453   }
 454 }
 455
 456 } // namespace JSBSim