-/*******************************************************************************
-
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
Header: FGAuxiliary.h
Author: Jon Berndt
Date started: 01/26/99
-
+
------------- 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
--------------------------------------------------------------------------------
11/22/98 JSB Created
1/1/00 TP Added calcs and getters for VTAS, VCAS, VEAS, Vground, in knots
-
-********************************************************************************
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifndef FGAUXILIARY_H
#define FGAUXILIARY_H
-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
#include "FGModel.h"
-#include "FGMatrix.h"
+#include "FGColumnVector3.h"
+#include "FGLocation.h"
+#include "FGPropagate.h"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DEFINITIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#define ID_AUXILIARY "$Id$"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+FORWARD DECLARATIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-/*******************************************************************************
-DEFINES
-*******************************************************************************/
+namespace JSBSim {
-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DOCUMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/** Encapsulates various uncategorized scheduled functions.
+ Pilot sensed accelerations are calculated here. This is used
+ for the coordinated turn ball instrument. Motion base platforms sometimes
+ use the derivative of pilot sensed accelerations as the driving parameter,
+ rather than straight accelerations.
+
+ The theory behind pilot-sensed calculations is presented:
+
+ For purposes of discussion and calculation, assume for a minute that the
+ pilot is in space and motionless in inertial space. She will feel
+ no accelerations. If the aircraft begins to accelerate along any axis or
+ axes (without rotating), the pilot will sense those accelerations. If
+ any rotational moment is applied, the pilot will sense an acceleration
+ due to that motion in the amount:
+
+ [wdot X R] + [w X (w X R)]
+ Term I Term II
+
+ where:
+
+ wdot = omegadot, the rotational acceleration rate vector
+ w = omega, the rotational rate vector
+ R = the vector from the aircraft CG to the pilot eyepoint
+
+ The sum total of these two terms plus the acceleration of the aircraft
+ body axis gives the acceleration the pilot senses in inertial space.
+ In the presence of a large body such as a planet, a gravity field also
+ provides an accelerating attraction. This acceleration can be transformed
+ from the reference frame of the planet so as to be expressed in the frame
+ of reference of the aircraft. This gravity field accelerating attraction
+ is felt by the pilot as a force on her tushie as she sits in her aircraft
+ on the runway awaiting takeoff clearance.
+
+ In JSBSim the acceleration of the body frame in inertial space is given
+ by the F = ma relation. If the vForces vector is divided by the aircraft
+ mass, the acceleration vector is calculated. The term wdot is equivalent
+ to the JSBSim vPQRdot vector, and the w parameter is equivalent to vPQR.
+ The radius R is calculated below in the vector vToEyePt.
+
+ @author Tony Peden, Jon Berndt
+ @version $Id$
+*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGAuxiliary : public FGModel {
public:
- FGAuxiliary(FGFDMExec*);
- ~FGAuxiliary(void);
+ /** Constructor
+ @param Executive a pointer to the parent executive object */
+ FGAuxiliary(FGFDMExec* Executive);
+
+ /// Destructor
+ ~FGAuxiliary();
+ /** Runs the Auxiliary routines; called by the Executive
+ @return false if no error */
bool Run(void);
- //use FGInitialCondition to set these speeds
- inline float GetVcalibratedFPS(void) { return vcas; }
- inline float GetVcalibratedKTS(void) { return vcas*FPSTOKTS; }
- inline float GetVequivalentFPS(void) { return veas; }
- inline float GetVequivalentKTS(void) { return veas*FPSTOKTS; }
-
- inline FGColumnVector GetPilotAccel(void) { return vPilotAccel; }
- inline FGColumnVector GetNpilot(void) { return vPilotAccel*INVGRAVITY; }
-
-
-protected:
+// GET functions
+
+ // Atmospheric parameters GET functions
+ double GetVcalibratedFPS(void) const { return vcas; }
+ double GetVcalibratedKTS(void) const { return vcas*fpstokts; }
+ double GetVequivalentFPS(void) const { return veas; }
+ double GetVequivalentKTS(void) const { return veas*fpstokts; }
+
+ // total pressure above is freestream total pressure for subsonic only
+ // for supersonic it is the 1D total pressure behind a normal shock
+ double GetTotalPressure(void) const { return pt; }
+ double GetTotalTemperature(void) const { return tat; }
+ double GetTAT_C(void) const { return tatc; }
+
+ double GetPilotAccel(int idx) const { return vPilotAccel(idx); }
+ double GetNpilot(int idx) const { return vPilotAccelN(idx); }
+ double GetAeroPQR(int axis) const { return vAeroPQR(axis); }
+ double GetEulerRates(int axis) const { return vEulerRates(axis); }
+
+ const FGColumnVector3& GetPilotAccel (void) const { return vPilotAccel; }
+ const FGColumnVector3& GetNpilot (void) const { return vPilotAccelN; }
+ const FGColumnVector3& GetAeroPQR (void) const { return vAeroPQR; }
+ const FGColumnVector3& GetEulerRates (void) const { return vEulerRates; }
+ const FGColumnVector3& GetAeroUVW (void) const { return vAeroUVW; }
+ const FGLocation& GetLocationVRP(void) const { return vLocationVRP; }
+
+ double GethVRP(void) const { return vLocationVRP.GetRadius() - Propagate->GetSeaLevelRadius(); }
+ double GetAeroUVW (int idx) const { return vAeroUVW(idx); }
+ double Getalpha (void) const { return alpha; }
+ double Getbeta (void) const { return beta; }
+ double Getadot (void) const { return adot; }
+ double Getbdot (void) const { return bdot; }
+ double GetMagBeta (void) const { return fabs(beta); }
+
+ double Getalpha (int unit) const { if (unit == inDegrees) return alpha*radtodeg;
+ else cerr << "Bad units" << endl; return 0.0;}
+ double Getbeta (int unit) const { if (unit == inDegrees) return beta*radtodeg;
+ else cerr << "Bad units" << endl; return 0.0;}
+ double Getadot (int unit) const { if (unit == inDegrees) return adot*radtodeg;
+ else cerr << "Bad units" << endl; return 0.0;}
+ double Getbdot (int unit) const { if (unit == inDegrees) return bdot*radtodeg;
+ else cerr << "Bad units" << endl; return 0.0;}
+ double GetMagBeta (int unit) const { if (unit == inDegrees) return fabs(beta)*radtodeg;
+ else cerr << "Bad units" << endl; return 0.0;}
+
+ double Getqbar (void) const { return qbar; }
+ double GetqbarUW (void) const { return qbarUW; }
+ double GetqbarUV (void) const { return qbarUV; }
+ double GetVt (void) const { return Vt; }
+ double GetVground (void) const { return Vground; }
+ double GetMach (void) const { return Mach; }
+ double GetMachU (void) const { return MachU; }
+
+ double GetHOverBCG(void) const { return hoverbcg; }
+ double GetHOverBMAC(void) const { return hoverbmac; }
+
+ double GetGamma(void) const { return gamma; }
+ double GetGroundTrack(void) const { return psigt; }
+ double GetEarthPositionAngle(void) const { return earthPosAngle; }
+
+ double GetHeadWind(void);
+ double GetCrossWind(void);
+
+// SET functions
+
+ void SetAeroUVW(FGColumnVector3 tt) { vAeroUVW = tt; }
+
+ void Setalpha (double tt) { alpha = tt; }
+ void Setbeta (double tt) { beta = tt; }
+ void Setqbar (double tt) { qbar = tt; }
+ void SetqbarUW (double tt) { qbarUW = tt; }
+ void SetqbarUV (double tt) { qbarUV = tt; }
+ void SetVt (double tt) { Vt = tt; }
+ void SetMach (double tt) { Mach=tt; }
+ void Setadot (double tt) { adot = tt; }
+ void Setbdot (double tt) { bdot = tt; }
+
+ void SetAB (double t1, double t2) { alpha=t1; beta=t2; }
+ void SetGamma (double tt) { gamma = tt; }
+
+// Time routines, SET and GET functions
+
+ void SetDayOfYear (int doy) { day_of_year = doy; }
+ void SetSecondsInDay (double sid) { seconds_in_day = sid; }
+
+ int GetDayOfYear (void) const { return day_of_year; }
+ double GetSecondsInDay (void) const { return seconds_in_day; }
+
+ void bind(void);
+ void unbind(void);
private:
- float vcas;
- float veas;
- float mach;
- float qbar,rhosl,rho,p,psl,pt;
- //Don't add a getter for pt!
- //pt above is freestream total pressure for subsonic only
- //for supersonic it is the 1D total pressure behind a normal shock
- //if a general freestream total is needed, e-mail Tony Peden
- // (apeden@earthlink.net) or you can add it your self using the
- // isentropic flow equations
-
-
-
- FGColumnVector vPilotAccel;
-
- void GetState(void);
+ double vcas, veas;
+ double rhosl, rho, p, psl, pt, tat, sat, tatc; // Don't add a getter for pt!
+
+ FGColumnVector3 vPilotAccel;
+ FGColumnVector3 vPilotAccelN;
+ FGColumnVector3 vToEyePt;
+ FGColumnVector3 vAeroPQR;
+ FGColumnVector3 vAeroUVW;
+ FGColumnVector3 vEuler;
+ FGColumnVector3 vEulerRates;
+ FGColumnVector3 vMachUVW;
+ FGLocation vLocationVRP;
+
+ double Vt, Vground, Mach, MachU;
+ double qbar, qbarUW, qbarUV;
+ double alpha, beta;
+ double adot,bdot;
+ double psigt, gamma;
+ double seconds_in_day; // seconds since current GMT day began
+ int day_of_year; // GMT day, 1 .. 366
+
+ double earthPosAngle;
+ double hoverbcg, hoverbmac;
+
+ void Debug(int from);
};
-/******************************************************************************/
+} // namespace JSBSim
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif
projects / flightgear.git / blobdiff