-/*******************************************************************************
-
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
Header: FGAircraft.h
Author: Jon S. Berndt
Date started: 12/12/98
-
+
------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
-
+
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.
-
+
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
details.
-
+
You should have received a copy of the GNU General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA.
Further information about the GNU General Public License can also be found on
the world wide web at http://www.gnu.org.
-
+
HISTORY
--------------------------------------------------------------------------------
12/12/98 JSB Created
-
-********************************************************************************
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifndef FGAIRCRAFT_H
#define FGAIRCRAFT_H
-/*******************************************************************************
-COMMENTS, REFERENCES, and NOTES
-*******************************************************************************/
-/*
-The aerodynamic coefficients used in this model typically are:
-
-Longitudinal
- CL0 - Reference lift at zero alpha
- CD0 - Reference drag at zero alpha
- CDM - Drag due to Mach
- CLa - Lift curve slope (w.r.t. alpha)
- CDa - Drag curve slope (w.r.t. alpha)
- CLq - Lift due to pitch rate
- CLM - Lift due to Mach
- CLadt - Lift due to alpha rate
-
- Cmadt - Pitching Moment due to alpha rate
- Cm0 - Reference Pitching moment at zero alpha
- Cma - Pitching moment slope (w.r.t. alpha)
- Cmq - Pitch damping (pitch moment due to pitch rate)
- CmM - Pitch Moment due to Mach
-
-Lateral
- Cyb - Side force due to sideslip
- Cyr - Side force due to yaw rate
-
- Clb - Dihedral effect (roll moment due to sideslip)
- Clp - Roll damping (roll moment due to roll rate)
- Clr - Roll moment due to yaw rate
- Cnb - Weathercocking stability (yaw moment due to sideslip)
- Cnp - Rudder adverse yaw (yaw moment due to roll rate)
- Cnr - Yaw damping (yaw moment due to yaw rate)
-
-Control
- CLDe - Lift due to elevator
- CDDe - Drag due to elevator
- CyDr - Side force due to rudder
- CyDa - Side force due to aileron
-
- CmDe - Pitch moment due to elevator
- ClDa - Roll moment due to aileron
- ClDr - Roll moment due to rudder
- CnDr - Yaw moment due to rudder
- CnDa - Yaw moment due to aileron
-
-[1] Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling
- Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420 Naval Postgraduate
- School, January 1994
-[2] D. M. Henderson, "Euler Angles, Quaternions, and Transformation Matrices",
- JSC 12960, July 1977
-[3] Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
- NASA-Ames", NASA CR-2497, January 1975
-[4] Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
- Wiley & Sons, 1979 ISBN 0-471-03032-5
-[5] Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
- 1982 ISBN 0-471-08936-2
-*/
-
-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifdef FGFS
-# include <Include/compiler.h>
-# ifdef FG_HAVE_STD_INCLUDES
-# include <fstream>
+# include <simgear/compiler.h>
+# ifdef SG_HAVE_STD_INCLUDES
+# include <vector>
+# include <iterator>
# else
-# include <fstream.h>
+# include <vector.h>
+# include <iterator.h>
# endif
#else
-# include <fstream>
+# include <vector>
+# include <iterator>
#endif
#include "FGModel.h"
-#include "FGCoefficient.h"
-#include "FGEngine.h"
-#include "FGTank.h"
-
-/*******************************************************************************
+#include "FGPropulsion.h"
+#include "FGConfigFile.h"
+#include "FGMatrix33.h"
+#include "FGColumnVector3.h"
+#include "FGColumnVector4.h"
+#include "FGLGear.h"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
-*******************************************************************************/
-
-using namespace std;
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#define ID_AIRCRAFT "$Id$"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+FORWARD DECLARATIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DOCUMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/** Encapsulates an Aircraft and its systems.
+ Owns all the parts (other classes) which make up this aircraft. This includes
+ the Engines, Tanks, Propellers, Nozzles, Aerodynamic and Mass properties,
+ landing gear, etc. These constituent parts may actually run as separate
+ JSBSim models themselves, but the responsibility for initializing them and
+ for retrieving their force and moment contributions falls to FGAircraft.<br>
+
+ @author Jon S. Berndt
+ @version $Id$
+ @see
+ <ol><li>Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling
+ Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420 Naval Postgraduate
+ School, January 1994</li>
+ <li>D. M. Henderson, "Euler Angles, Quaternions, and Transformation Matrices",
+ JSC 12960, July 1977</li>
+ <li>Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
+ NASA-Ames", NASA CR-2497, January 1975</li>
+ <li>Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
+ Wiley & Sons, 1979 ISBN 0-471-03032-5</li>
+ <li>Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
+ 1982 ISBN 0-471-08936-2</li></ol>
+ @see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/FGAircraft.h?rev=HEAD&content-type=text/vnd.viewcvs-markup">
+ Header File </a>
+ @see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/FGAircraft.cpp?rev=HEAD&content-type=text/vnd.viewcvs-markup">
+ Source File </a>
+*/
-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGAircraft : public FGModel
-{
+class FGAircraft : public FGModel {
public:
- FGAircraft(FGFDMExec*);
- ~FGAircraft(void);
-
+ /** Constructor
+ @param Executive a pointer to the parent executive object */
+ FGAircraft(FGFDMExec *Executive);
+
+ /// Destructor
+ ~FGAircraft();
+
+ /** Runs the Aircraft model; called by the Executive
+ @see JSBSim.cpp documentation
+ @return false if no error */
bool Run(void);
- bool LoadAircraft(string, string, string);
- inline string GetAircraftName(void) {return AircraftName;}
- inline void SetGearUp(bool tt) {GearUp = tt;}
- inline bool GetGearUp(void) {return GearUp;}
- inline float GetWingArea(void) {return WingArea;}
- inline float GetWingSpan(void) {return WingSpan;}
- inline float Getcbar(void) {return cbar;}
- inline FGEngine* GetEngine(int tt) {return Engine[tt];}
- inline FGTank* GetTank(int tt) {return Tank[tt];}
- inline float GetWeight(void) {return Weight;}
- inline float GetMass(void) {return Mass;}
- inline float GetL(void) {return Moments[0];}
- inline float GetM(void) {return Moments[1];}
- inline float GetN(void) {return Moments[2];}
- inline float GetFx(void) {return Forces[0];}
- inline float GetFy(void) {return Forces[1];}
- inline float GetFz(void) {return Forces[2];}
- inline float GetIxx(void) {return Ixx;}
- inline float GetIyy(void) {return Iyy;}
- inline float GetIzz(void) {return Izz;}
- inline float GetIxz(void) {return Ixz;}
+
+ /** Loads the aircraft.
+ The executive calls this method to load the aircraft into JSBSim.
+ @param AC_cfg a pointer to the config file instance
+ @return true if successful */
+ bool Load(FGConfigFile* AC_cfg);
+
+ /** Gets the aircraft name
+ @return the name of the aircraft as a string type */
+ inline string GetAircraftName(void) { return AircraftName; }
+
+ /// Gets the wing area
+ double GetWingArea(void) const { return WingArea; }
+ /// Gets the wing span
+ double GetWingSpan(void) const { return WingSpan; }
+ /// Gets the average wing chord
+ double Getcbar(void) const { return cbar; }
+ inline double GetWingIncidence(void) const { return WingIncidence; }
+ inline double GetHTailArea(void) const { return HTailArea; }
+ inline double GetHTailArm(void) const { return HTailArm; }
+ inline double GetVTailArea(void) const { return VTailArea; }
+ inline double GetVTailArm(void) const { return VTailArm; }
+ inline double Getlbarh(void) const { return lbarh; } // HTailArm / cbar
+ inline double Getlbarv(void) const { return lbarv; } // VTailArm / cbar
+ inline double Getvbarh(void) const { return vbarh; } // H. Tail Volume
+ inline double Getvbarv(void) const { return vbarv; } // V. Tail Volume
+ inline FGColumnVector3& GetMoments(void) { return vMoments; }
+ inline double GetMoments(int idx) const { return vMoments(idx); }
+ inline FGColumnVector3& GetForces(void) { return vForces; }
+ inline double GetForces(int idx) const { return vForces(idx); }
+ inline FGColumnVector3& GetBodyAccel(void) { return vBodyAccel; }
+ inline FGColumnVector3& GetNcg (void) { return vNcg; }
+ inline FGColumnVector3& GetXYZrp(void) { return vXYZrp; }
+ inline FGColumnVector3& GetXYZep(void) { return vXYZep; }
+ inline double GetXYZrp(int idx) const { return vXYZrp(idx); }
+ inline double GetXYZep(int idx) const { return vXYZep(idx); }
+ inline void SetAircraftName(string name) {AircraftName = name;}
+
+ float GetNlf(void);
+
+ inline FGColumnVector3& GetNwcg(void) { return vNwcg; }
+
+ void bind(void);
+ void unbind(void);
private:
- void GetState(void);
- void PutState(void);
- void FAero(void);
- void FGear(void);
- void FMass(void);
- void FProp(void);
- void MAero(void);
- void MGear(void);
- void MMass(void);
- void MProp(void);
- void MassChange(void);
- float Moments[3];
- float Forces[3];
+ FGColumnVector3 vMoments;
+ FGColumnVector3 vForces;
+ FGColumnVector3 vXYZrp;
+ FGColumnVector3 vXYZep;
+ FGColumnVector3 vEuler;
+ FGColumnVector3 vDXYZcg;
+ FGColumnVector3 vBodyAccel;
+ FGColumnVector3 vNcg;
+ FGColumnVector3 vNwcg;
+
+ double WingArea, WingSpan, cbar, WingIncidence;
+ double HTailArea, VTailArea, HTailArm, VTailArm;
+ double lbarh,lbarv,vbarh,vbarv;
string AircraftName;
- float Ixx, Iyy, Izz, Ixz, EmptyMass, Mass;
- float Xcg, Ycg, Zcg;
- float Xep, Yep, Zep;
- float rho, qbar, Vt;
- float alpha, beta;
- float WingArea, WingSpan, cbar;
- float phi, tht, psi;
- float Weight, EmptyWeight;
- float dt;
-
- int numTanks;
- int numEngines;
- int numSelectedOxiTanks;
- int numSelectedFuelTanks;
- FGTank* Tank[MAX_TANKS];
- FGEngine *Engine[MAX_ENGINES];
-
- FGCoefficient *Coeff[6][10];
- int coeff_ctr[6];
-
- bool GearUp;
-
- enum Param {LiftCoeff,
- DragCoeff,
- SideCoeff,
- RollCoeff,
- PitchCoeff,
- YawCoeff,
- numCoeffs};
-
- string Axis[6];
-
-protected:
+ void Debug(int from);
};
-/******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif
+
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