1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
7 ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.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 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
40 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
43 #include <math/FGColumnVector3.h>
44 #include <math/FGLocation.h>
45 #include "FGPropagate.h"
47 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
49 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
51 #define ID_AUXILIARY "$Id$"
53 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
55 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
59 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
61 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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
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 cerr << "Bad units" << endl; return 0.0;}
175 double Getbeta (int unit) const { if (unit == inDegrees) return beta*radtodeg;
176 else cerr << "Bad units" << endl; return 0.0;}
177 double Getadot (int unit) const { if (unit == inDegrees) return adot*radtodeg;
178 else cerr << "Bad units" << endl; return 0.0;}
179 double Getbdot (int unit) const { if (unit == inDegrees) return bdot*radtodeg;
180 else cerr << "Bad units" << endl; return 0.0;}
181 double GetMagBeta (int unit) const { if (unit == inDegrees) return fabs(beta)*radtodeg;
182 else cerr << "Bad units" << endl; return 0.0;}
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; }
188 double GetVt (void) const { return Vt; }
189 double GetVground (void) const { return Vground; }
190 double GetMach (void) const { return Mach; }
191 double GetMachU (void) const { return MachU; }
192 double GetNz (void) const { return Nz; }
194 double GetHOverBCG(void) const { return hoverbcg; }
195 double GetHOverBMAC(void) const { return hoverbmac; }
197 double GetGamma(void) const { return gamma; }
198 double GetGroundTrack(void) const { return psigt; }
200 double GetHeadWind(void) const;
201 double GetCrossWind(void) const;
205 void SetAeroUVW(FGColumnVector3 tt) { vAeroUVW = tt; }
207 void Setalpha (double tt) { alpha = tt; }
208 void Setbeta (double tt) { beta = tt; }
209 void Setqbar (double tt) { qbar = tt; }
210 void SetqbarUW (double tt) { qbarUW = tt; }
211 void SetqbarUV (double tt) { qbarUV = tt; }
212 void SetVt (double tt) { Vt = tt; }
213 void SetMach (double tt) { Mach=tt; }
214 void Setadot (double tt) { adot = tt; }
215 void Setbdot (double tt) { bdot = tt; }
217 void SetAB (double t1, double t2) { alpha=t1; beta=t2; }
218 void SetGamma (double tt) { gamma = tt; }
220 // Time routines, SET and GET functions, used by FGMSIS atmosphere
222 void SetDayOfYear (int doy) { day_of_year = doy; }
223 void SetSecondsInDay (double sid) { seconds_in_day = sid; }
225 int GetDayOfYear (void) const { return day_of_year; }
226 double GetSecondsInDay (void) const { return seconds_in_day; }
228 double GetLongitudeRelativePosition (void) const { return lon_relative_position; }
229 double GetLatitudeRelativePosition (void) const { return lat_relative_position; }
230 double GetDistanceRelativePosition (void) const { return relative_position; }
232 void SetAeroPQR(FGColumnVector3 tt) { vAeroPQR = tt; }
236 double rhosl, rho, p, psl, pt, tat, sat, tatc; // Don't add a getter for pt!
238 FGColumnVector3 vPilotAccel;
239 FGColumnVector3 vPilotAccelN;
240 FGColumnVector3 vToEyePt;
241 FGColumnVector3 vAeroPQR;
242 FGColumnVector3 vAeroUVW;
243 FGColumnVector3 vEuler;
244 FGColumnVector3 vEulerRates;
245 FGColumnVector3 vMachUVW;
246 FGColumnVector3 vAircraftAccel;
247 FGLocation vLocationVRP;
249 double Vt, Vground, Mach, MachU;
250 double qbar, qbarUW, qbarUV;
251 double Re; // Reynolds Number = V*c/mu
256 double seconds_in_day; // seconds since current GMT day began
257 int day_of_year; // GMT day, 1 .. 366
259 double hoverbcg, hoverbmac;
261 // helper data, calculation of distance from initial position
263 double lon_relative_position;
264 double lat_relative_position;
265 double relative_position;
267 void CalculateRelativePosition(void);
270 void Debug(int from);
273 } // namespace JSBSim
275 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%