1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
7 ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
9 This program is free software; you can redistribute it and/or modify it under
10 the terms of the GNU Lesser General Public License as published by the Free Software
11 Foundation; either version 2 of the License, or (at your option) any later
14 This program is distributed in the hope that it will be useful, but WITHOUT
15 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
19 You should have received a copy of the GNU Lesser General Public License along with
20 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 Place - Suite 330, Boston, MA 02111-1307, USA.
23 Further information about the GNU Lesser General Public License can also be found on
24 the world wide web at http://www.gnu.org.
27 --------------------------------------------------------------------------------
29 1/1/00 TP Added calcs and getters for VTAS, VCAS, VEAS, Vground, in knots
31 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
33 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
38 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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43 #include "math/FGColumnVector3.h"
44 #include "math/FGLocation.h"
45 #include "FGPropagate.h"
47 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
49 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
51 #define ID_AUXILIARY "$Id: FGAuxiliary.h,v 1.17 2009/10/24 22:59:30 jberndt Exp $"
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59 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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63 /** Encapsulates various uncategorized scheduled functions.
64 Pilot sensed accelerations are calculated here. This is used
65 for the coordinated turn ball instrument. Motion base platforms sometimes
66 use the derivative of pilot sensed accelerations as the driving parameter,
67 rather than straight accelerations.
69 The theory behind pilot-sensed calculations is presented:
71 For purposes of discussion and calculation, assume for a minute that the
72 pilot is in space and motionless in inertial space. She will feel
73 no accelerations. If the aircraft begins to accelerate along any axis or
74 axes (without rotating), the pilot will sense those accelerations. If
75 any rotational moment is applied, the pilot will sense an acceleration
76 due to that motion in the amount:
78 [wdot X R] + [w X (w X R)]
83 wdot = omegadot, the rotational acceleration rate vector
84 w = omega, the rotational rate vector
85 R = the vector from the aircraft CG to the pilot eyepoint
87 The sum total of these two terms plus the acceleration of the aircraft
88 body axis gives the acceleration the pilot senses in inertial space.
89 In the presence of a large body such as a planet, a gravity field also
90 provides an accelerating attraction. This acceleration can be transformed
91 from the reference frame of the planet so as to be expressed in the frame
92 of reference of the aircraft. This gravity field accelerating attraction
93 is felt by the pilot as a force on her tushie as she sits in her aircraft
94 on the runway awaiting takeoff clearance.
96 In JSBSim the acceleration of the body frame in inertial space is given
97 by the F = ma relation. If the vForces vector is divided by the aircraft
98 mass, the acceleration vector is calculated. The term wdot is equivalent
99 to the JSBSim vPQRdot vector, and the w parameter is equivalent to vPQR.
100 The radius R is calculated below in the vector vToEyePt.
102 @author Tony Peden, Jon Berndt
103 @version $Id: FGAuxiliary.h,v 1.17 2009/10/24 22:59:30 jberndt Exp $
106 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
108 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
110 class FGAuxiliary : public FGModel {
113 @param Executive a pointer to the parent executive object */
114 FGAuxiliary(FGFDMExec* Executive);
119 bool InitModel(void);
121 /** Runs the Auxiliary routines; called by the Executive
122 @return false if no error */
127 // Atmospheric parameters GET functions
128 /** Returns Calibrated airspeed in feet/second.*/
129 double GetVcalibratedFPS(void) const { return vcas; }
130 /** Returns Calibrated airspeed in knots.*/
131 double GetVcalibratedKTS(void) const { return vcas*fpstokts; }
132 /** Returns equivalent airspeed in feet/second. */
133 double GetVequivalentFPS(void) const { return veas; }
134 /** Returns equivalent airspeed in knots. */
135 double GetVequivalentKTS(void) const { return veas*fpstokts; }
137 /** Returns the total pressure.
138 Total pressure is freestream total pressure for
139 subsonic only. For supersonic it is the 1D total pressure
140 behind a normal shock. */
141 double GetTotalPressure(void) const { return pt; }
143 /** Returns the total temperature.
144 The total temperature ("tat", isentropic flow) is calculated:
146 tat = sat*(1 + 0.2*Mach*Mach)
148 (where "sat" is standard temperature) */
150 double GetTotalTemperature(void) const { return tat; }
151 double GetTAT_C(void) const { return tatc; }
153 double GetPilotAccel(int idx) const { return vPilotAccel(idx); }
154 double GetNpilot(int idx) const { return vPilotAccelN(idx); }
155 double GetAeroPQR(int axis) const { return vAeroPQR(axis); }
156 double GetEulerRates(int axis) const { return vEulerRates(axis); }
158 const FGColumnVector3& GetPilotAccel (void) const { return vPilotAccel; }
159 const FGColumnVector3& GetNpilot (void) const { return vPilotAccelN; }
160 const FGColumnVector3& GetAeroPQR (void) const { return vAeroPQR; }
161 const FGColumnVector3& GetEulerRates (void) const { return vEulerRates; }
162 const FGColumnVector3& GetAeroUVW (void) const { return vAeroUVW; }
163 const FGLocation& GetLocationVRP(void) const { return vLocationVRP; }
165 double GethVRP(void) const { return vLocationVRP.GetRadius() - Propagate->GetSeaLevelRadius(); }
166 double GetAeroUVW (int idx) const { return vAeroUVW(idx); }
167 double Getalpha (void) const { return alpha; }
168 double Getbeta (void) const { return beta; }
169 double Getadot (void) const { return adot; }
170 double Getbdot (void) const { return bdot; }
171 double GetMagBeta (void) const { return fabs(beta); }
173 double Getalpha (int unit) const { if (unit == inDegrees) return alpha*radtodeg;
174 else return BadUnits(); }
175 double Getbeta (int unit) const { if (unit == inDegrees) return beta*radtodeg;
176 else return BadUnits(); }
177 double Getadot (int unit) const { if (unit == inDegrees) return adot*radtodeg;
178 else return BadUnits(); }
179 double Getbdot (int unit) const { if (unit == inDegrees) return bdot*radtodeg;
180 else return BadUnits(); }
181 double GetMagBeta (int unit) const { if (unit == inDegrees) return fabs(beta)*radtodeg;
182 else return BadUnits(); }
184 double Getqbar (void) const { return qbar; }
185 double GetqbarUW (void) const { return qbarUW; }
186 double GetqbarUV (void) const { return qbarUV; }
187 double GetReynoldsNumber(void) const { return Re; }
189 /** Gets the magnitude of total vehicle velocity including wind effects in feet per second. */
190 double GetVt (void) const { return Vt; }
192 /** Gets the ground speed in feet per second.
193 The magnitude is the square root of the sum of the squares (RSS) of the
194 vehicle north and east velocity components.
195 @return The magnitude of the vehicle velocity in the horizontal plane. */
196 double GetVground (void) const { return Vground; }
198 /** Gets the Mach number. */
199 double GetMach (void) const { return Mach; }
201 /** The mach number calculated using the vehicle X axis velocity. */
202 double GetMachU (void) const { return MachU; }
204 /** The vertical acceleration in g's of the aircraft center of gravity. */
205 double GetNz (void) const { return Nz; }
207 double GetHOverBCG(void) const { return hoverbcg; }
208 double GetHOverBMAC(void) const { return hoverbmac; }
210 double GetGamma(void) const { return gamma; }
211 double GetGroundTrack(void) const { return psigt; }
213 double GetHeadWind(void) const;
214 double GetCrossWind(void) const;
218 void SetAeroUVW(FGColumnVector3 tt) { vAeroUVW = tt; }
220 void Setalpha (double tt) { alpha = tt; }
221 void Setbeta (double tt) { beta = tt; }
222 void Setqbar (double tt) { qbar = tt; }
223 void SetqbarUW (double tt) { qbarUW = tt; }
224 void SetqbarUV (double tt) { qbarUV = tt; }
225 void SetVt (double tt) { Vt = tt; }
226 void SetMach (double tt) { Mach=tt; }
227 void Setadot (double tt) { adot = tt; }
228 void Setbdot (double tt) { bdot = tt; }
230 void SetAB (double t1, double t2) { alpha=t1; beta=t2; }
231 void SetGamma (double tt) { gamma = tt; }
233 // Time routines, SET and GET functions, used by FGMSIS atmosphere
235 void SetDayOfYear (int doy) { day_of_year = doy; }
236 void SetSecondsInDay (double sid) { seconds_in_day = sid; }
238 int GetDayOfYear (void) const { return day_of_year; }
239 double GetSecondsInDay (void) const { return seconds_in_day; }
241 double GetLongitudeRelativePosition (void) const { return lon_relative_position; }
242 double GetLatitudeRelativePosition (void) const { return lat_relative_position; }
243 double GetDistanceRelativePosition (void) const { return relative_position; }
245 void SetAeroPQR(FGColumnVector3 tt) { vAeroPQR = tt; }
249 double rhosl, rho, p, psl, pt, tat, sat, tatc; // Don't add a getter for pt!
251 FGColumnVector3 vPilotAccel;
252 FGColumnVector3 vPilotAccelN;
253 FGColumnVector3 vToEyePt;
254 FGColumnVector3 vAeroPQR;
255 FGColumnVector3 vAeroUVW;
256 FGColumnVector3 vEuler;
257 FGColumnVector3 vEulerRates;
258 FGColumnVector3 vMachUVW;
259 FGColumnVector3 vAircraftAccel;
260 FGLocation vLocationVRP;
262 double Vt, Vground, Mach, MachU;
263 double qbar, qbarUW, qbarUV;
264 double Re; // Reynolds Number = V*c/mu
269 double seconds_in_day; // seconds since current GMT day began
270 int day_of_year; // GMT day, 1 .. 366
272 double hoverbcg, hoverbmac;
274 // helper data, calculation of distance from initial position
276 double lon_relative_position;
277 double lat_relative_position;
278 double relative_position;
280 void CalculateRelativePosition(void);
283 double BadUnits(void) const;
284 void Debug(int from);
287 } // namespace JSBSim
289 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%