Rob Deters: UIUC updates from March 1, 2004.

[flightgear.git] / src / FDM / JSBSim / FGTrim.h

diff --git a/src/FDM/JSBSim/FGTrim.h b/src/FDM/JSBSim/FGTrim.h
index bdd3316becc379a47841710d393ca1d973dadb73..6d8069813705b390642b406414e2d1ab678930a3 100644 (file)
--- a/src/FDM/JSBSim/FGTrim.h
+++ b/src/FDM/JSBSim/FGTrim.h
@@ -32,10 +32,12 @@
 FUNCTIONAL DESCRIPTION
 --------------------------------------------------------------------------------
  
 FUNCTIONAL DESCRIPTION
 --------------------------------------------------------------------------------
  

-This class takes the given set of IC's and finds the angle of attack, elevator,
-and throttle setting required to fly steady level. This is currently for in-air
-conditions only.  It is implemented using an iterative, one-axis-at-a-time 
-scheme.  
+This class takes the given set of IC's and finds the aircraft state required to
+maintain a specified flight condition.  This flight condition can be 
+steady-level with non-zero sideslip, a steady turn, a pull-up or pushover.
+On-ground conditions can be trimmed as well, but this is currently limited to
+adjusting altitude and pitch angle only. It is implemented using an iterative,
+one-axis-at-a-time scheme.  

  
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 SENTRY
  
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 SENTRY


@@ -50,16 +52,6 @@ INCLUDES
 
 #include "FGFDMExec.h"
 #include "FGJSBBase.h"
 
 #include "FGFDMExec.h"
 #include "FGJSBBase.h"

-#include "FGRotation.h"
-#include "FGAtmosphere.h"
-#include "FGState.h"
-#include "FGFCS.h"
-#include "FGAircraft.h"
-#include "FGTranslation.h"
-#include "FGPosition.h"
-#include "FGAuxiliary.h"
-#include "FGOutput.h"
-#include "FGTrim.h"

 #include "FGTrimAxis.h"
 
 #include <vector>
 #include "FGTrimAxis.h"
 
 #include <vector>


@@ -70,15 +62,19 @@ DEFINITIONS
 
 #define ID_TRIM "$Id$"
 
 
 #define ID_TRIM "$Id$"
 

-typedef enum { tLongitudinal, tFull, tGround, tCustom, tNone } TrimMode;
+#if defined(_WIN32) && !defined(__CYGWIN__)
+  #define snprintf _snprintf
+#endif

 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 

-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+namespace JSBSim {
+
+typedef enum { tLongitudinal, tFull, tGround, tPullup, 
+               tCustom, tNone, tTurn 
+             } TrimMode;

 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION


@@ -97,28 +93,25 @@ CLASS DOCUMENTATION
     last three are used for on-ground trimming. The state-control pairs used in
     a given trim are completely user configurable and several pre-defined modes
     are provided as well. They are:
     last three are used for on-ground trimming. The state-control pairs used in
     a given trim are completely user configurable and several pre-defined modes
     are provided as well. They are:

-    <ul>
-    <li> tLongitudinal: Trim wdot with alpha, udot with thrust, qdot with elevator</li>
-    <li> tFull: tLongitudinal + vdot with phi, pdot with aileron, rdot with rudder
-                and heading minus ground track (hmgt) with beta</li>
-    <li> tGround: wdot with altitude, qdot with theta, and pdot with phi</li>
+    - tLongitudinal: Trim wdot with alpha, udot with thrust, qdot with elevator
+    - tFull: tLongitudinal + vdot with phi, pdot with aileron, rdot with rudder
+             and heading minus ground track (hmgt) with beta
+    - tPullup: tLongitudinal but adjust alpha to achieve load factor input
+               with SetTargetNlf()
+    - tGround: wdot with altitude, qdot with theta, and pdot with phi
+    

     The remaining modes include <b>tCustom</b>, which is completely user defined and
     <b>tNone</b>.
     The remaining modes include <b>tCustom</b>, which is completely user defined and
     <b>tNone</b>.

-    </ul>
-    Currently, this class cannot trim a non-1g condition and is limited to 
-    trimming for constant true airspeed in climbs and descents.
-    
+

     Note that trims can (and do) fail for reasons that are completely outside
     the control of the trimming routine itself. The most common problem is the 
     initial conditions: is the model capable of steady state flight
     at those conditions?  Check the speed, altitude, configuration (flaps,
     gear, etc.), weight, cg, and anything else that may be relevant.
     
     Note that trims can (and do) fail for reasons that are completely outside
     the control of the trimming routine itself. The most common problem is the 
     initial conditions: is the model capable of steady state flight
     at those conditions?  Check the speed, altitude, configuration (flaps,
     gear, etc.), weight, cg, and anything else that may be relevant.
     

-    Example usage:
+    Example usage:<pre>

     FGFDMExec* FDMExec = new FGFDMExec();
     FGFDMExec* FDMExec = new FGFDMExec();

-    .
-    .
-    .
+

     FGInitialCondition* fgic = new FGInitialCondition(FDMExec);
     FGTrim *fgt(FDMExec,fgic,tFull);
     fgic->SetVcaibratedKtsIC(100);
     FGInitialCondition* fgic = new FGInitialCondition(FDMExec);
     FGTrim *fgt(FDMExec,fgic,tFull);
     fgic->SetVcaibratedKtsIC(100);


@@ -127,9 +120,9 @@ CLASS DOCUMENTATION
     if( !fgt->DoTrim() ) {
       cout << "Trim Failed" << endl;
     }
     if( !fgt->DoTrim() ) {
       cout << "Trim Failed" << endl;
     }

-    fgt->ReportState();  
+    fgt->ReportState(); </pre>  

     @author Tony Peden
     @author Tony Peden

-    @version $Id$
+    @version "$Id$"

 */       
   
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 */       
   
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


@@ -141,15 +134,15 @@ class FGTrim : public FGJSBBase
 private:
 
   vector<FGTrimAxis*> TrimAxes;
 private:
 
   vector<FGTrimAxis*> TrimAxes;

-  int current_axis;
+  unsigned int current_axis;

   int N, Nsub;
   TrimMode mode;
   int N, Nsub;
   TrimMode mode;

-  int Debug;
-  float Tolerance, A_Tolerance;
-  float wdot,udot,qdot;
-  float dth;
-  float *sub_iterations;
-  float *successful;
+  int DebugLevel, Debug;
+  double Tolerance, A_Tolerance;
+  double wdot,udot,qdot;
+  double dth;
+  double *sub_iterations;
+  double *successful;

   bool *solution;
   int max_sub_iterations;
   int max_iterations;
   bool *solution;
   int max_sub_iterations;
   int max_iterations;


@@ -157,9 +150,13 @@ private:
   bool trimudot;
   bool gamma_fallback;
   bool trim_failed;
   bool trimudot;
   bool gamma_fallback;
   bool trim_failed;

-  int axis_count;
+  unsigned int axis_count;

   int solutionDomain;
   int solutionDomain;

-  float xlo,xhi,alo,ahi;
+  double xlo,xhi,alo,ahi;
+  double targetNlf;
+  int debug_axis;
+  
+  double psidot,thetadot;

 
   FGFDMExec* fdmex;
   FGInitialCondition* fgic;
 
   FGFDMExec* fdmex;
   FGInitialCondition* fgic;


@@ -176,17 +173,22 @@ private:
   bool findInterval(void);
 
   bool checkLimits(void);
   bool findInterval(void);
 
   bool checkLimits(void);

+  
+  void setupPullup(void);
+  void setupTurn(void);
+  
+  void updateRates(void);
+
+  void setDebug(void);

 
 public:
   /** Initializes the trimming class
       @param FDMExec pointer to a JSBSim executive object.
 
 public:
   /** Initializes the trimming class
       @param FDMExec pointer to a JSBSim executive object.

-      @param FGIC pointer to a FGInitialCondition object
-      @param TrimMode the set of axes to trim. Can be:
-             tLongitudinal, tFull, tGround, tCustom, or tNone
+      @param tm trim mode

   */
   */

-  FGTrim(FGFDMExec *FDMExec, FGInitialCondition *FGIC, TrimMode tt);
+  FGTrim(FGFDMExec *FDMExec, TrimMode tm=tGround );

 
 

-    ~FGTrim(void);
+  ~FGTrim(void);

 
   /** Execute the trim
   */
 
   /** Execute the trim
   */


@@ -202,6 +204,12 @@ public:
   /** Iteration statistics
   */
   void TrimStats();
   /** Iteration statistics
   */
   void TrimStats();

+  
+  /** Clear all state-control pairs and set a predefined trim mode
+      @param tm the set of axes to trim. Can be:
+             tLongitudinal, tFull, tGround, tCustom, or tNone
+  */
+  void SetMode(TrimMode tm);

 
   /** Clear all state-control pairs from the current configuration.
       The trimming routine must have at least one state-control pair
 
   /** Clear all state-control pairs from the current configuration.
       The trimming routine must have at least one state-control pair


@@ -226,16 +234,16 @@ public:
   
   /** Change the control used to zero a state previously configured
       @param state the accel or other condition to zero 
   
   /** Change the control used to zero a state previously configured
       @param state the accel or other condition to zero 

-      @param control the control used to zero the state
+      @param new_control the control used to zero the state

   */
   bool EditState( State state, Control new_control );
 
   /** automatically switch to trimming longitudinal acceleration with
       flight path angle (gamma) once it becomes apparent that there
       is not enough/too much thrust.
   */
   bool EditState( State state, Control new_control );
 
   /** automatically switch to trimming longitudinal acceleration with
       flight path angle (gamma) once it becomes apparent that there
       is not enough/too much thrust.

-      @param gamma_fallback true to enable fallback
+      @param bb true to enable fallback

   */     
   */     

-  inline void SetGammaFallback(bool bb) { gamma_fallback=true; }
+  inline void SetGammaFallback(bool bb) { gamma_fallback=bb; }

   
   /** query the fallback state
       @return true if fallback is enabled.
   
   /** query the fallback state
       @return true if fallback is enabled.


@@ -261,26 +269,28 @@ public:
       held to a tolerance of 1/10th of the given.  The default is 
       0.001 for the recti-linear accelerations and 0.0001 for the angular.
   */         
       held to a tolerance of 1/10th of the given.  The default is 
       0.001 for the recti-linear accelerations and 0.0001 for the angular.
   */         

-  inline void SetTolerance(float tt) {
+  inline void SetTolerance(double tt) {

     Tolerance = tt;
     A_Tolerance = tt / 10;
   }
   
     Tolerance = tt;
     A_Tolerance = tt / 10;
   }
   

-  //Debug level 1 shows results of each top-level iteration
-  //Debug level 2 shows level 1 & results of each per-axis iteration
-  inline void SetDebug(int level) { Debug = level; }
-  inline void ClearDebug(void) { Debug = 0; }
+  /** 
+    Debug level 1 shows results of each top-level iteration
+    Debug level 2 shows level 1 & results of each per-axis iteration
+  */  
+  inline void SetDebug(int level) { DebugLevel = level; }
+  inline void ClearDebug(void) { DebugLevel = 0; }
+  
+  /**
+    Output debug data for one of the axes
+    The State enum is defined in FGTrimAxis.h
+  */  
+  inline void DebugState(State state) { debug_axis=state; }
+  
+  inline void SetTargetNlf(float nlf) { targetNlf=nlf; }
+  inline double GetTargetNlf(void) { return targetNlf; }

 
 };
 
 };

-
+}

 
 #endif
 
 #endif

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