+
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Module: FGFDMExec.cpp
Date started: 11/17/98
Purpose: Schedules and runs the model routines.
- ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
+ ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU Lesser General Public License as published by the Free Software
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#include "FGFDMExec.h"
-#include "FGState.h"
-#include <models/FGAtmosphere.h>
-#include <models/atmosphere/FGMSIS.h>
-#include <models/atmosphere/FGMars.h>
-#include <models/FGFCS.h>
-#include <models/FGPropulsion.h>
-#include <models/FGMassBalance.h>
-#include <models/FGGroundReactions.h>
-#include <models/FGExternalReactions.h>
-#include <models/FGBuoyantForces.h>
-#include <models/FGAerodynamics.h>
-#include <models/FGInertial.h>
-#include <models/FGAircraft.h>
-#include <models/FGPropagate.h>
-#include <models/FGAuxiliary.h>
-#include <models/FGInput.h>
-#include <models/FGOutput.h>
-#include <initialization/FGInitialCondition.h>
-//#include <initialization/FGTrimAnalysis.h> // Remove until later
-#include <input_output/FGPropertyManager.h>
-#include <input_output/FGScript.h>
-
#include <iostream>
#include <iterator>
+#include <cstdlib>
+
+#include "FGFDMExec.h"
+#include "models/atmosphere/FGStandardAtmosphere.h"
+#include "models/atmosphere/FGWinds.h"
+#include "models/FGFCS.h"
+#include "models/FGPropulsion.h"
+#include "models/FGMassBalance.h"
+#include "models/FGGroundReactions.h"
+#include "models/FGExternalReactions.h"
+#include "models/FGBuoyantForces.h"
+#include "models/FGAerodynamics.h"
+#include "models/FGInertial.h"
+#include "models/FGAircraft.h"
+#include "models/FGAccelerations.h"
+#include "models/FGPropagate.h"
+#include "models/FGAuxiliary.h"
+#include "models/FGInput.h"
+#include "models/FGOutput.h"
+#include "initialization/FGInitialCondition.h"
+#include "initialization/FGSimplexTrim.h"
+#include "initialization/FGLinearization.h"
+#include "input_output/FGPropertyManager.h"
+#include "input_output/FGScript.h"
+#include "input_output/FGXMLFileRead.h"
+#include "input_output/FGXMLElement.h"
+
+using namespace std;
namespace JSBSim {
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGFDMExec.cpp,v 1.150 2013/11/24 11:40:55 bcoconni Exp $";
static const char *IdHdr = ID_FDMEXEC;
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-GLOBAL DECLARATIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-unsigned int FGFDMExec::FDMctr = 0;
-FGPropertyManager* FGFDMExec::master=0;
-
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-void checkTied ( FGPropertyManager *node )
-{
- int N = node->nChildren();
- string name;
-
- for (int i=0; i<N; i++) {
- if (node->getChild(i)->nChildren() ) {
-// cout << "Untieing " << node->getChild(i)->getName() << " property branch." << endl;
- checkTied( (FGPropertyManager*)node->getChild(i) );
- } else if ( node->getChild(i)->isTied() ) {
- name = ((FGPropertyManager*)node->getChild(i))->GetFullyQualifiedName();
- node->Untie(name);
- }
- }
-}
-
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Constructor
-FGFDMExec::FGFDMExec(FGPropertyManager* root) : Root(root)
+FGFDMExec::FGFDMExec(FGPropertyManager* root, unsigned int* fdmctr) : Root(root), FDMctr(fdmctr)
{
-
Frame = 0;
- FirstModel = 0;
Error = 0;
- GroundCallback = 0;
- State = 0;
- Atmosphere = 0;
- FCS = 0;
- Propulsion = 0;
- MassBalance = 0;
- Aerodynamics = 0;
- Inertial = 0;
- GroundReactions = 0;
- ExternalReactions = 0;
- BuoyantForces = 0;
- Aircraft = 0;
- Propagate = 0;
- Auxiliary = 0;
- Input = 0;
+ SetGroundCallback(new FGDefaultGroundCallback());
IC = 0;
Trim = 0;
Script = 0;
+ RootDir = "";
+
modelLoaded = false;
- IsSlave = false;
+ IsChild = false;
holding = false;
Terminate = false;
+ StandAlone = false;
- // Multiple FDM's are stopped for now. We need to ensure that
- // the "user" instance always gets the zeroeth instance number,
- // because there may be instruments or scripts tied to properties
- // in the jsbsim[0] node.
- // ToDo: it could be that when JSBSim is reset and a new FDM is wanted, that
- // process might try setting FDMctr = 0. Then the line below would not need
- // to be commented out.
- IdFDM = FDMctr;
- //FDMctr++;
+ IncrementThenHolding = false; // increment then hold is off by default
+ TimeStepsUntilHold = -1;
+
+ sim_time = 0.0;
+ dT = 1.0/120.0; // a default timestep size. This is needed for when JSBSim is
+ // run in standalone mode with no initialization file.
+
+ AircraftPath = "aircraft";
+ EnginePath = "engine";
+ SystemsPath = "systems";
try {
char* num = getenv("JSBSIM_DEBUG");
if (num) debug_lvl = atoi(num); // set debug level
- } catch (...) { // if error set to 1
+ } catch (...) { // if error set to 1
debug_lvl = 1;
}
- if (Root == 0) {
- if (master == 0)
- master = new FGPropertyManager;
- Root = master;
+ if (Root == 0) { // Then this is the root FDM
+ Root = new FGPropertyManager; // Create the property manager
+ StandAlone = true;
}
- instance = Root->GetNode("/fdm/jsbsim",IdFDM,true);
+ if (FDMctr == 0) {
+ FDMctr = new unsigned int; // Create and initialize the child FDM counter
+ (*FDMctr) = 0;
+ }
+
+ // Store this FDM's ID
+ IdFDM = (*FDMctr); // The main (parent) JSBSim instance is always the "zeroth"
+
+ // Prepare FDMctr for the next child FDM id
+ (*FDMctr)++; // instance. "child" instances are loaded last.
+
+ FGPropertyNode* instanceRoot = Root->GetNode("/fdm/jsbsim",IdFDM,true);
+ instance = new FGPropertyManager(instanceRoot);
Debug(0);
// this is to catch errors in binding member functions to the property tree.
try {
Constructing = true;
typedef int (FGFDMExec::*iPMF)(void) const;
-// instance->Tie("simulation/do_trim_analysis", this, (iPMF)0, &FGFDMExec::DoTrimAnalysis);
- instance->Tie("simulation/do_simple_trim", this, (iPMF)0, &FGFDMExec::DoTrim);
- instance->Tie("simulation/reset", this, (iPMF)0, &FGFDMExec::ResetToInitialConditions);
+ typedef double (FGFDMExec::*dPMF)(void) const;
+// typedef unsigned int (FGFDMExec::*uiPMF)(void) const;
+// instance->Tie("simulation/do_trim_analysis", this, (iPMF)0, &FGFDMExec::DoTrimAnalysis, false);
+ instance->Tie("simulation/do_simple_trim", this, (iPMF)0, &FGFDMExec::DoTrim, false);
+ instance->Tie("simulation/do_simplex_trim", this, (iPMF)0, &FGFDMExec::DoSimplexTrim);
+ instance->Tie("simulation/do_linearization", this, (iPMF)0, &FGFDMExec::DoLinearization);
+ instance->Tie("simulation/reset", this, (iPMF)0, &FGFDMExec::ResetToInitialConditions, false);
+ instance->Tie("simulation/randomseed", this, (iPMF)0, &FGFDMExec::SRand, false);
instance->Tie("simulation/terminate", (int *)&Terminate);
+ instance->Tie("simulation/sim-time-sec", this, &FGFDMExec::GetSimTime);
+ instance->Tie("simulation/dt", this, &FGFDMExec::GetDeltaT);
+ instance->Tie("simulation/jsbsim-debug", this, &FGFDMExec::GetDebugLevel, &FGFDMExec::SetDebugLevel);
+ instance->Tie("simulation/frame", (int *)&Frame, false);
+
+ // simplex trim properties
+ instanceRoot->SetDouble("trim/solver/rtol",0.0001);
+ instanceRoot->SetDouble("trim/solver/speed",2);
+ instanceRoot->SetDouble("trim/solver/abstol",0.001);
+ instanceRoot->SetDouble("trim/solver/iterMax",2000);
+ instanceRoot->SetInt("trim/solver/debugLevel",0);
+ instanceRoot->SetDouble("trim/solver/random",0);
+ instanceRoot->SetBool("trim/solver/showSimplex",false);
+ instanceRoot->SetBool("trim/solver/showConvergence",false);
+ instanceRoot->SetBool("trim/solver/pause",false);
+ instanceRoot->SetBool("trim/solver/variablePropPitch",false);
+
+ instanceRoot->SetDouble("trim/solver/throttleGuess",0.50);
+ instanceRoot->SetDouble("trim/solver/throttleMin",0.0);
+ instanceRoot->SetDouble("trim/solver/throttleMax",1.0);
+ instanceRoot->SetDouble("trim/solver/throttleStep",0.1);
+
+ instanceRoot->SetDouble("trim/solver/aileronGuess",0);
+ instanceRoot->SetDouble("trim/solver/aileronMin",-1.00);
+ instanceRoot->SetDouble("trim/solver/aileronMax",1.00);
+ instanceRoot->SetDouble("trim/solver/aileronStep",0.1);
+
+ instanceRoot->SetDouble("trim/solver/rudderGuess",0);
+ instanceRoot->SetDouble("trim/solver/rudderMin",-1.00);
+ instanceRoot->SetDouble("trim/solver/rudderMax",1.00);
+ instanceRoot->SetDouble("trim/solver/rudderStep",0.1);
+
+ instanceRoot->SetDouble("trim/solver/elevatorGuess",-0.1);
+ instanceRoot->SetDouble("trim/solver/elevatorMin",-1.0);
+ instanceRoot->SetDouble("trim/solver/elevatorMax",1.0);
+ instanceRoot->SetDouble("trim/solver/elevatorStep",0.1);
+
+ instanceRoot->SetDouble("trim/solver/alphaGuess",0.05);
+ instanceRoot->SetDouble("trim/solver/alphaMin",-0.1);
+ instanceRoot->SetDouble("trim/solver/alphaMax",.18);
+ instanceRoot->SetDouble("trim/solver/alphaStep",0.05);
+
+ instanceRoot->SetDouble("trim/solver/betaGuess",0);
+ instanceRoot->SetDouble("trim/solver/betaMin",-0.1);
+ instanceRoot->SetDouble("trim/solver/betaMax",0.1);
+ instanceRoot->SetDouble("trim/solver/betaStep",0.0001);
+
Constructing = false;
}
FGFDMExec::~FGFDMExec()
{
try {
- checkTied( instance );
+ Unbind();
DeAllocate();
- if (Root == 0) delete master;
+
+ delete instance;
+
+ if (IdFDM == 0) { // Meaning this is no child FDM
+ if(Root != 0) {
+ if(StandAlone)
+ delete Root;
+ Root = 0;
+ }
+ if(FDMctr != 0) {
+ delete FDMctr;
+ FDMctr = 0;
+ }
+ }
} catch ( string msg ) {
cout << "Caught error: " << msg << endl;
}
- for (unsigned int i=1; i<SlaveFDMList.size(); i++) delete SlaveFDMList[i]->exec;
- SlaveFDMList.clear();
+ for (unsigned int i=1; i<ChildFDMList.size(); i++) delete ChildFDMList[i]->exec;
+ ChildFDMList.clear();
+
+ PropertyCatalog.clear();
- //ToDo remove property catalog.
+ if (FDMctr > 0) (*FDMctr)--;
Debug(1);
}
{
bool result=true;
- Atmosphere = new FGAtmosphere(this);
- FCS = new FGFCS(this);
- Propulsion = new FGPropulsion(this);
- MassBalance = new FGMassBalance(this);
- Aerodynamics = new FGAerodynamics (this);
- Inertial = new FGInertial(this);
-
- GroundCallback = new FGGroundCallback(Inertial->GetRefRadius());
-
- GroundReactions = new FGGroundReactions(this);
- ExternalReactions = new FGExternalReactions(this);
- BuoyantForces = new FGBuoyantForces(this);
- Aircraft = new FGAircraft(this);
- Propagate = new FGPropagate(this);
- Auxiliary = new FGAuxiliary(this);
- Input = new FGInput(this);
-
- State = new FGState(this); // This must be done here, as the FGState
- // class needs valid pointers to the above
- // model classes
-
- // Initialize models so they can communicate with each other
-
- Atmosphere->InitModel();
- FCS->InitModel();
- Propulsion->InitModel();
- MassBalance->InitModel();
- Aerodynamics->InitModel();
- Inertial->InitModel();
- GroundReactions->InitModel();
- ExternalReactions->InitModel();
- BuoyantForces->InitModel();
- Aircraft->InitModel();
- Propagate->InitModel();
- Auxiliary->InitModel();
- Input->InitModel();
+ Models.resize(eNumStandardModels);
+
+ // See the eModels enum specification in the header file. The order of the enums
+ // specifies the order of execution. The Models[] vector is the primary
+ // storage array for the list of models.
+ Models[ePropagate] = new FGPropagate(this);
+ Models[eInput] = new FGInput(this);
+ Models[eInertial] = new FGInertial(this);
+ Models[eAtmosphere] = new FGStandardAtmosphere(this);
+ Models[eWinds] = new FGWinds(this);
+ Models[eAuxiliary] = new FGAuxiliary(this);
+ Models[eSystems] = new FGFCS(this);
+ Models[ePropulsion] = new FGPropulsion(this);
+ Models[eAerodynamics] = new FGAerodynamics (this);
+ Models[eGroundReactions] = new FGGroundReactions(this);
+ Models[eExternalReactions] = new FGExternalReactions(this);
+ Models[eBuoyantForces] = new FGBuoyantForces(this);
+ Models[eMassBalance] = new FGMassBalance(this);
+ Models[eAircraft] = new FGAircraft(this);
+ Models[eAccelerations] = new FGAccelerations(this);
+ Models[eOutput] = new FGOutput(this);
+
+ // Assign the Model shortcuts for internal executive use only.
+ Propagate = (FGPropagate*)Models[ePropagate];
+ Inertial = (FGInertial*)Models[eInertial];
+ Atmosphere = (FGAtmosphere*)Models[eAtmosphere];
+ Winds = (FGWinds*)Models[eWinds];
+ Auxiliary = (FGAuxiliary*)Models[eAuxiliary];
+ FCS = (FGFCS*)Models[eSystems];
+ Propulsion = (FGPropulsion*)Models[ePropulsion];
+ Aerodynamics = (FGAerodynamics*)Models[eAerodynamics];
+ GroundReactions = (FGGroundReactions*)Models[eGroundReactions];
+ ExternalReactions = (FGExternalReactions*)Models[eExternalReactions];
+ BuoyantForces = (FGBuoyantForces*)Models[eBuoyantForces];
+ MassBalance = (FGMassBalance*)Models[eMassBalance];
+ Aircraft = (FGAircraft*)Models[eAircraft];
+ Accelerations = (FGAccelerations*)Models[eAccelerations];
+ Output = (FGOutput*)Models[eOutput];
+
+ // Initialize planet (environment) constants
+ LoadPlanetConstants();
+ GetGroundCallback()->SetSeaLevelRadius(Inertial->GetRefRadius());
+
+ // Initialize models
+ for (unsigned int i = 0; i < Models.size(); i++) {
+ // The Output model must not be initialized prior to IC loading
+ if (i == eOutput) continue;
+
+ LoadInputs(i);
+ Models[i]->InitModel();
+ }
IC = new FGInitialCondition(this);
- // Schedule a model. The second arg (the integer) is the pass number. For
- // instance, the atmosphere model could get executed every fifth pass it is called
- // by the executive. IC and Trim objects are NOT scheduled.
-
- Schedule(Input, 1);
- Schedule(Atmosphere, 1);
- Schedule(FCS, 1);
- Schedule(Propulsion, 1);
- Schedule(MassBalance, 1);
- Schedule(Aerodynamics, 1);
- Schedule(Inertial, 1);
- Schedule(GroundReactions, 1);
- Schedule(ExternalReactions, 1);
- Schedule(BuoyantForces, 1);
- Schedule(Aircraft, 1);
- Schedule(Propagate, 1);
- Schedule(Auxiliary, 1);
-
modelLoaded = false;
return result;
bool FGFDMExec::DeAllocate(void)
{
- delete Input;
- delete Atmosphere;
- delete FCS;
- delete Propulsion;
- delete MassBalance;
- delete Aerodynamics;
- delete Inertial;
- delete GroundReactions;
- delete ExternalReactions;
- delete BuoyantForces;
- delete Aircraft;
- delete Propagate;
- delete Auxiliary;
- delete State;
- delete Script;
- for (unsigned i=0; i<Outputs.size(); i++) delete Outputs[i];
- Outputs.clear();
+ for (unsigned int i=0; i<eNumStandardModels; i++) delete Models[i];
+ Models.clear();
+ delete Script;
delete IC;
delete Trim;
- delete GroundCallback;
-
- FirstModel = 0L;
Error = 0;
- State = 0;
- Input = 0;
- Atmosphere = 0;
- FCS = 0;
- Propulsion = 0;
- MassBalance = 0;
- Aerodynamics = 0;
- Inertial = 0;
- GroundReactions = 0;
- ExternalReactions = 0;
- BuoyantForces = 0;
- Aircraft = 0;
- Propagate = 0;
- Auxiliary = 0;
- Script = 0;
-
modelLoaded = false;
return modelLoaded;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-int FGFDMExec::Schedule(FGModel* model, int rate)
+void FGFDMExec::Schedule(FGModel* model, int rate)
{
- FGModel* model_iterator;
-
- model_iterator = FirstModel;
-
- if (model_iterator == 0L) { // this is the first model
-
- FirstModel = model;
- FirstModel->NextModel = 0L;
- FirstModel->SetRate(rate);
-
- } else { // subsequent model
-
- while (model_iterator->NextModel != 0L) {
- model_iterator = model_iterator->NextModel;
- }
- model_iterator->NextModel = model;
- model_iterator->NextModel->SetRate(rate);
-
- }
-
- return 0;
+ model->SetRate(rate);
+ Models.push_back(model);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGFDMExec::Run(void)
{
bool success=true;
- FGModel* model_iterator;
-
- model_iterator = FirstModel;
- if (model_iterator == 0L) return false;
Debug(2);
- for (unsigned int i=1; i<SlaveFDMList.size(); i++) {
-// SlaveFDMList[i]->exec->State->Initialize(); // Transfer state to the slave FDM
-// SlaveFDMList[i]->exec->Run();
+ for (unsigned int i=1; i<ChildFDMList.size(); i++) {
+ ChildFDMList[i]->AssignState( (FGPropagate*)Models[ePropagate] ); // Transfer state to the child FDM
+ ChildFDMList[i]->Run();
}
- // returns true if success
- // false if complete
- if (Script != 0 && !State->IntegrationSuspended()) success = Script->RunScript();
+ IncrTime();
+
+ // returns true if success, false if complete
+ if (Script != 0 && !IntegrationSuspended()) success = Script->RunScript();
- while (model_iterator != 0L) {
- model_iterator->Run();
- model_iterator = model_iterator->NextModel;
+ for (unsigned int i = 0; i < Models.size(); i++) {
+ LoadInputs(i);
+ Models[i]->Run(holding);
}
- Frame++;
- if (!Holding()) State->IncrTime();
if (Terminate) success = false;
return (success);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// This call will cause the sim time to reset to 0.0
-bool FGFDMExec::RunIC(void)
+void FGFDMExec::LoadInputs(unsigned int idx)
{
- State->SuspendIntegration();
- State->Initialize(IC);
- Run();
- State->ResumeIntegration();
+ switch(idx) {
+ case ePropagate:
+ Propagate->in.vPQRidot = Accelerations->GetPQRidot();
+ Propagate->in.vQtrndot = Accelerations->GetQuaterniondot();
+ Propagate->in.vUVWidot = Accelerations->GetUVWidot();
+ Propagate->in.DeltaT = dT;
+ break;
+ case eInput:
+ break;
+ case eInertial:
+ Inertial->in.Radius = Propagate->GetRadius();
+ Inertial->in.Latitude = Propagate->GetLatitude();
+ break;
+ case eAtmosphere:
+ Atmosphere->in.altitudeASL = Propagate->GetAltitudeASL();
+ break;
+ case eWinds:
+ Winds->in.AltitudeASL = Propagate->GetAltitudeASL();
+ Winds->in.DistanceAGL = Propagate->GetDistanceAGL();
+ Winds->in.Tl2b = Propagate->GetTl2b();
+ Winds->in.Tw2b = Auxiliary->GetTw2b();
+ Winds->in.V = Auxiliary->GetVt();
+ Winds->in.totalDeltaT = dT * Winds->GetRate();
+ break;
+ case eAuxiliary:
+ Auxiliary->in.Pressure = Atmosphere->GetPressure();
+ Auxiliary->in.Density = Atmosphere->GetDensity();
+ Auxiliary->in.DensitySL = Atmosphere->GetDensitySL();
+ Auxiliary->in.PressureSL = Atmosphere->GetPressureSL();
+ Auxiliary->in.Temperature = Atmosphere->GetTemperature();
+ Auxiliary->in.SoundSpeed = Atmosphere->GetSoundSpeed();
+ Auxiliary->in.KinematicViscosity = Atmosphere->GetKinematicViscosity();
+ Auxiliary->in.DistanceAGL = Propagate->GetDistanceAGL();
+ Auxiliary->in.Mass = MassBalance->GetMass();
+ Auxiliary->in.Tl2b = Propagate->GetTl2b();
+ Auxiliary->in.Tb2l = Propagate->GetTb2l();
+ Auxiliary->in.vPQR = Propagate->GetPQR();
+ Auxiliary->in.vPQRdot = Accelerations->GetPQRdot();
+ Auxiliary->in.vUVW = Propagate->GetUVW();
+ Auxiliary->in.vUVWdot = Accelerations->GetUVWdot();
+ Auxiliary->in.vVel = Propagate->GetVel();
+ Auxiliary->in.vBodyAccel = Accelerations->GetBodyAccel();
+ Auxiliary->in.ToEyePt = MassBalance->StructuralToBody(Aircraft->GetXYZep());
+ Auxiliary->in.VRPBody = MassBalance->StructuralToBody(Aircraft->GetXYZvrp());
+ Auxiliary->in.RPBody = MassBalance->StructuralToBody(Aircraft->GetXYZrp());
+ Auxiliary->in.vFw = Aerodynamics->GetvFw();
+ Auxiliary->in.vLocation = Propagate->GetLocation();
+ Auxiliary->in.CosTht = Propagate->GetCosEuler(eTht);
+ Auxiliary->in.SinTht = Propagate->GetSinEuler(eTht);
+ Auxiliary->in.CosPhi = Propagate->GetCosEuler(ePhi);
+ Auxiliary->in.SinPhi = Propagate->GetSinEuler(ePhi);
+ Auxiliary->in.Psi = Propagate->GetEuler(ePsi);
+ Auxiliary->in.TotalWindNED = Winds->GetTotalWindNED();
+ Auxiliary->in.TurbPQR = Winds->GetTurbPQR();
+ Auxiliary->in.WindPsi = Winds->GetWindPsi();
+ Auxiliary->in.Vwind = Winds->GetTotalWindNED().Magnitude();
+ break;
+ case eSystems:
+ // Dynamic inputs come into the components that FCS manages through properties
+ break;
+ case ePropulsion:
+ Propulsion->in.SLPressure = Atmosphere->GetPressureSL();
+ Propulsion->in.Pressure = Atmosphere->GetPressure();
+ Propulsion->in.PressureRatio = Atmosphere->GetPressureRatio();
+ Propulsion->in.Temperature = Atmosphere->GetTemperature();
+ Propulsion->in.DensityRatio = Atmosphere->GetDensityRatio();
+ Propulsion->in.Density = Atmosphere->GetDensity();
+ Propulsion->in.Soundspeed = Atmosphere->GetSoundSpeed();
+ Propulsion->in.TotalPressure = Auxiliary->GetTotalPressure();
+ Propulsion->in.TotalTempearture = Auxiliary->GetTotalTemperature();
+ Propulsion->in.Vc = Auxiliary->GetVcalibratedKTS();
+ Propulsion->in.Vt = Auxiliary->GetVt();
+ Propulsion->in.qbar = Auxiliary->Getqbar();
+ Propulsion->in.TAT_c = Auxiliary->GetTAT_C();
+ Propulsion->in.AeroUVW = Auxiliary->GetAeroUVW();
+ Propulsion->in.AeroPQR = Auxiliary->GetAeroPQR();
+ Propulsion->in.alpha = Auxiliary->Getalpha();
+ Propulsion->in.beta = Auxiliary->Getbeta();
+ Propulsion->in.TotalDeltaT = dT * Propulsion->GetRate();
+ Propulsion->in.ThrottlePos = FCS->GetThrottlePos();
+ Propulsion->in.MixturePos = FCS->GetMixturePos();
+ Propulsion->in.ThrottleCmd = FCS->GetThrottleCmd();
+ Propulsion->in.MixtureCmd = FCS->GetMixtureCmd();
+ Propulsion->in.PropAdvance = FCS->GetPropAdvance();
+ Propulsion->in.PropFeather = FCS->GetPropFeather();
+ Propulsion->in.H_agl = Propagate->GetDistanceAGL();
+ Propulsion->in.PQR = Propagate->GetPQR();
+
+ break;
+ case eAerodynamics:
+ Aerodynamics->in.Alpha = Auxiliary->Getalpha();
+ Aerodynamics->in.Beta = Auxiliary->Getbeta();
+ Aerodynamics->in.Qbar = Auxiliary->Getqbar();
+ Aerodynamics->in.Vt = Auxiliary->GetVt();
+ Aerodynamics->in.Tb2w = Auxiliary->GetTb2w();
+ Aerodynamics->in.Tw2b = Auxiliary->GetTw2b();
+ Aerodynamics->in.RPBody = MassBalance->StructuralToBody(Aircraft->GetXYZrp());
+ break;
+ case eGroundReactions:
+ // There are no external inputs to this model.
+ GroundReactions->in.Vground = Auxiliary->GetVground();
+ GroundReactions->in.VcalibratedKts = Auxiliary->GetVcalibratedKTS();
+ GroundReactions->in.Temperature = Atmosphere->GetTemperature();
+ GroundReactions->in.TakeoffThrottle = (FCS->GetThrottlePos().size() > 0) ? (FCS->GetThrottlePos(0) > 0.90) : false;
+ GroundReactions->in.SteerPosDeg = FCS->GetSteerPosDeg();
+ GroundReactions->in.BrakePos = FCS->GetBrakePos();
+ GroundReactions->in.FCSGearPos = FCS->GetGearPos();
+ GroundReactions->in.EmptyWeight = MassBalance->GetEmptyWeight();
+ GroundReactions->in.Tb2l = Propagate->GetTb2l();
+ GroundReactions->in.Tec2l = Propagate->GetTec2l();
+ GroundReactions->in.Tec2b = Propagate->GetTec2b();
+ GroundReactions->in.PQR = Propagate->GetPQR();
+ GroundReactions->in.UVW = Propagate->GetUVW();
+ GroundReactions->in.DistanceAGL = Propagate->GetDistanceAGL();
+ GroundReactions->in.DistanceASL = Propagate->GetAltitudeASL();
+ GroundReactions->in.TotalDeltaT = dT * GroundReactions->GetRate();
+ GroundReactions->in.WOW = GroundReactions->GetWOW();
+ GroundReactions->in.Location = Propagate->GetLocation();
+ GroundReactions->in.vXYZcg = MassBalance->GetXYZcg();
+ break;
+ case eExternalReactions:
+ // There are no external inputs to this model.
+ break;
+ case eBuoyantForces:
+ BuoyantForces->in.Density = Atmosphere->GetDensity();
+ BuoyantForces->in.Pressure = Atmosphere->GetPressure();
+ BuoyantForces->in.Temperature = Atmosphere->GetTemperature();
+ BuoyantForces->in.gravity = Inertial->gravity();
+ break;
+ case eMassBalance:
+ MassBalance->in.GasInertia = BuoyantForces->GetGasMassInertia();
+ MassBalance->in.GasMass = BuoyantForces->GetGasMass();
+ MassBalance->in.GasMoment = BuoyantForces->GetGasMassMoment();
+ MassBalance->in.TanksWeight = Propulsion->GetTanksWeight();
+ MassBalance->in.TanksMoment = Propulsion->GetTanksMoment();
+ MassBalance->in.TankInertia = Propulsion->CalculateTankInertias();
+ break;
+ case eAircraft:
+ Aircraft->in.AeroForce = Aerodynamics->GetForces();
+ Aircraft->in.PropForce = Propulsion->GetForces();
+ Aircraft->in.GroundForce = GroundReactions->GetForces();
+ Aircraft->in.ExternalForce = ExternalReactions->GetForces();
+ Aircraft->in.BuoyantForce = BuoyantForces->GetForces();
+ Aircraft->in.AeroMoment = Aerodynamics->GetMoments();
+ Aircraft->in.PropMoment = Propulsion->GetMoments();
+ Aircraft->in.GroundMoment = GroundReactions->GetMoments();
+ Aircraft->in.ExternalMoment = ExternalReactions->GetMoments();
+ Aircraft->in.BuoyantMoment = BuoyantForces->GetMoments();
+ break;
+ case eAccelerations:
+ Accelerations->in.J = MassBalance->GetJ();
+ Accelerations->in.Jinv = MassBalance->GetJinv();
+ Accelerations->in.Ti2b = Propagate->GetTi2b();
+ Accelerations->in.Tb2i = Propagate->GetTb2i();
+ Accelerations->in.Tec2b = Propagate->GetTec2b();
+ Accelerations->in.Tec2i = Propagate->GetTec2i();
+ Accelerations->in.qAttitudeECI = Propagate->GetQuaternionECI();
+ Accelerations->in.Moment = Aircraft->GetMoments();
+ Accelerations->in.GroundMoment = GroundReactions->GetMoments();
+ Accelerations->in.Force = Aircraft->GetForces();
+ Accelerations->in.GroundForce = GroundReactions->GetForces();
+ Accelerations->in.GAccel = Inertial->GetGAccel(Propagate->GetRadius());
+ Accelerations->in.J2Grav = Inertial->GetGravityJ2(Propagate->GetLocation());
+ Accelerations->in.vPQRi = Propagate->GetPQRi();
+ Accelerations->in.vPQR = Propagate->GetPQR();
+ Accelerations->in.vUVW = Propagate->GetUVW();
+ Accelerations->in.vInertialPosition = Propagate->GetInertialPosition();
+ Accelerations->in.DeltaT = dT;
+ Accelerations->in.Mass = MassBalance->GetMass();
+ Accelerations->in.MultipliersList = GroundReactions->GetMultipliersList();
+ Accelerations->in.TerrainVelocity = Propagate->GetTerrainVelocity();
+ Accelerations->in.TerrainAngularVel = Propagate->GetTerrainAngularVelocity();
+ break;
+ default:
+ break;
+ }
+}
- return true;
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFDMExec::LoadPlanetConstants(void)
+{
+ Propagate->in.vOmegaPlanet = Inertial->GetOmegaPlanet();
+ Accelerations->in.vOmegaPlanet = Inertial->GetOmegaPlanet();
+ Propagate->in.SemiMajor = Inertial->GetSemimajor();
+ Propagate->in.SemiMinor = Inertial->GetSemiminor();
+ Auxiliary->in.SLGravity = Inertial->SLgravity();
+ Auxiliary->in.ReferenceRadius = Inertial->GetRefRadius();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-//
-// A private, internal function call for Tie-ing to a property, so it needs an
-// argument.
-void FGFDMExec::ResetToInitialConditions(int mode)
+void FGFDMExec::LoadModelConstants(void)
{
- if (mode == 1) {
- for (unsigned int i=0; i<Outputs.size(); i++) {
- Outputs[i]->SetStartNewFile(true);
- }
- }
-
- ResetToInitialConditions();
+ Winds->in.wingspan = Aircraft->GetWingSpan();
+ FCS->in.NumGear = GroundReactions->GetNumGearUnits();
+ Aerodynamics->in.Wingarea = Aircraft->GetWingArea();
+ Aerodynamics->in.Wingchord = Aircraft->Getcbar();
+ Aerodynamics->in.Wingincidence = Aircraft->GetWingIncidence();
+ Aerodynamics->in.Wingspan = Aircraft->GetWingSpan();
+ Auxiliary->in.Wingspan = Aircraft->GetWingSpan();
+ Auxiliary->in.Wingchord = Aircraft->Getcbar();
+ GroundReactions->in.vXYZcg = MassBalance->GetXYZcg();
+
+ LoadPlanetConstants();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// This call will cause the sim time to reset to 0.0
-void FGFDMExec::ResetToInitialConditions(void)
+bool FGFDMExec::RunIC(void)
{
- FGModel* model_iterator;
+ FGPropulsion* propulsion = (FGPropulsion*)Models[ePropulsion];
- model_iterator = FirstModel;
- if (model_iterator == 0L || Constructing) return;
+ Models[eOutput]->InitModel();
- while (model_iterator != 0L) {
- model_iterator->InitModel();
- model_iterator = model_iterator->NextModel;
- }
+ SuspendIntegration(); // saves the integration rate, dt, then sets it to 0.0.
+ Initialize(IC);
+ Run();
+ ResumeIntegration(); // Restores the integration rate to what it was.
- RunIC();
- if (Script) Script->ResetEvents();
+ for (unsigned int i=0; i<IC->GetNumEnginesRunning(); i++)
+ propulsion->InitRunning(IC->GetEngineRunning(i));
+
+ return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGFDMExec::SetGroundCallback(FGGroundCallback* p)
+void FGFDMExec::Initialize(FGInitialCondition *FGIC)
{
- delete GroundCallback;
- GroundCallback = p;
+ Setsim_time(0.0);
+
+ Propagate->SetInitialState( FGIC );
+ LoadInputs(eAccelerations);
+ Accelerations->Run(false);
+ LoadInputs(ePropagate);
+ Propagate->InitializeDerivatives();
+ LoadInputs(eAtmosphere);
+ Atmosphere->Run(false);
+ Winds->SetWindNED(FGIC->GetWindNEDFpsIC());
+ Auxiliary->Run(false);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+//
+// A private, internal function call for Tie-ing to a property, so it needs an
+// argument.
-double FGFDMExec::GetSimTime(void)
+void FGFDMExec::ResetToInitialConditions(int mode)
{
- return (State->Getsim_time());
+ if (mode == 1) Output->SetStartNewOutput();
+
+ ResetToInitialConditions();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-double FGFDMExec::GetDeltaT(void)
+void FGFDMExec::ResetToInitialConditions(void)
{
- return (State->Getdt());
+ if (Constructing) return;
+
+ for (unsigned int i = 0; i < Models.size(); i++) {
+ // The Output model will be initialized during the RunIC() execution
+ if (i == eOutput) continue;
+
+ LoadInputs(i);
+ Models[i]->InitModel();
+ }
+
+ RunIC();
+
+ if (Script) Script->ResetEvents();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
vector <string> FGFDMExec::EnumerateFDMs(void)
{
vector <string> FDMList;
+ FGAircraft* Aircraft = (FGAircraft*)Models[eAircraft];
FDMList.push_back(Aircraft->GetAircraftName());
- for (unsigned int i=1; i<SlaveFDMList.size(); i++) {
- FDMList.push_back(SlaveFDMList[i]->exec->GetAircraft()->GetAircraftName());
+ for (unsigned int i=1; i<ChildFDMList.size(); i++) {
+ FDMList.push_back(ChildFDMList[i]->exec->GetAircraft()->GetAircraftName());
}
return FDMList;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::LoadScript(string script)
+bool FGFDMExec::LoadScript(const string& script, double deltaT, const string initfile)
{
bool result;
Script = new FGScript(this);
- result = Script->LoadScript(script);
+ result = Script->LoadScript(RootDir + script, deltaT, initfile);
return result;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::LoadModel(string AircraftPath, string EnginePath, string SystemsPath,
- string model, bool addModelToPath)
+bool FGFDMExec::LoadModel(const string& AircraftPath, const string& EnginePath, const string& SystemsPath,
+ const string& model, bool addModelToPath)
{
- FGFDMExec::AircraftPath = AircraftPath;
- FGFDMExec::EnginePath = EnginePath;
- FGFDMExec::SystemsPath = SystemsPath;
+ FGFDMExec::AircraftPath = RootDir + AircraftPath;
+ FGFDMExec::EnginePath = RootDir + EnginePath;
+ FGFDMExec::SystemsPath = RootDir + SystemsPath;
return LoadModel(model, addModelToPath);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::LoadModel(string model, bool addModelToPath)
+bool FGFDMExec::LoadModel(const string& model, bool addModelToPath)
{
string token;
string aircraftCfgFileName;
- string separator = "/";
Element* element = 0L;
bool result = false; // initialize result to false, indicating input file not yet read
}
FullAircraftPath = AircraftPath;
- if (addModelToPath) FullAircraftPath += separator + model;
- aircraftCfgFileName = FullAircraftPath + separator + model + ".xml";
+ if (addModelToPath) FullAircraftPath += "/" + model;
+ aircraftCfgFileName = FullAircraftPath + "/" + model + ".xml";
if (modelLoaded) {
DeAllocate();
Allocate();
}
- document = LoadXMLDocument(aircraftCfgFileName); // "document" is a class member
+ int saved_debug_lvl = debug_lvl;
+ FGXMLFileRead XMLFileRead;
+ Element *document = XMLFileRead.LoadXMLDocument(aircraftCfgFileName); // "document" is a class member
+
if (document) {
+ if (IsChild) debug_lvl = 0;
+
ReadPrologue(document);
- element = document->GetElement();
-
- result = true;
- while (element && result) {
- string element_name = element->GetName();
- if (element_name == "fileheader" ) result = ReadFileHeader(element);
- else if (element_name == "slave") result = ReadSlave(element);
- else if (element_name == "metrics") result = Aircraft->Load(element);
- else if (element_name == "mass_balance") result = MassBalance->Load(element);
- else if (element_name == "ground_reactions") result = GroundReactions->Load(element);
- else if (element_name == "external_reactions") result = ExternalReactions->Load(element);
- else if (element_name == "buoyant_forces") result = BuoyantForces->Load(element);
- else if (element_name == "propulsion") result = Propulsion->Load(element);
- else if (element_name == "system") result = FCS->Load(element,
- FGFCS::stSystem);
- else if (element_name == "autopilot") result = FCS->Load(element,
- FGFCS::stAutoPilot);
- else if (element_name == "flight_control") result = FCS->Load(element,
- FGFCS::stFCS);
- else if (element_name == "aerodynamics") result = Aerodynamics->Load(element);
- else if (element_name == "input") result = Input->Load(element);
- else if (element_name == "output") {
- FGOutput* Output = new FGOutput(this);
- Output->InitModel();
- Schedule(Output, 1);
- result = Output->Load(element);
- Outputs.push_back(Output);
+
+ if (IsChild) debug_lvl = saved_debug_lvl;
+
+ // Process the fileheader element in the aircraft config file. This element is OPTIONAL.
+ element = document->FindElement("fileheader");
+ if (element) {
+ result = ReadFileHeader(element);
+ if (!result) {
+ cerr << endl << "Aircraft fileheader element has problems in file " << aircraftCfgFileName << endl;
+ return result;
}
- else {
- cerr << "Found unexpected subsystem: " << element_name << ", exiting." << endl;
- result = false;
- break;
+ }
+
+ if (IsChild) debug_lvl = 0;
+
+ // Process the metrics element. This element is REQUIRED.
+ element = document->FindElement("metrics");
+ if (element) {
+ result = ((FGAircraft*)Models[eAircraft])->Load(element);
+ if (!result) {
+ cerr << endl << "Aircraft metrics element has problems in file " << aircraftCfgFileName << endl;
+ return result;
}
- element = document->GetNextElement();
+ } else {
+ cerr << endl << "No metrics element was found in the aircraft config file." << endl;
+ return false;
}
- } else {
- cerr << fgred
- << " JSBSim failed to load aircraft model."
- << fgdef << endl;
- return false;
- }
- if (result) {
+ // Process the mass_balance element. This element is REQUIRED.
+ element = document->FindElement("mass_balance");
+ if (element) {
+ result = ((FGMassBalance*)Models[eMassBalance])->Load(element);
+ if (!result) {
+ cerr << endl << "Aircraft mass_balance element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ } else {
+ cerr << endl << "No mass_balance element was found in the aircraft config file." << endl;
+ return false;
+ }
+
+ // Process the ground_reactions element. This element is REQUIRED.
+ element = document->FindElement("ground_reactions");
+ if (element) {
+ result = ((FGGroundReactions*)Models[eGroundReactions])->Load(element);
+ if (!result) {
+ cerr << endl << "Aircraft ground_reactions element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ ((FGFCS*)Models[eSystems])->AddGear(((FGGroundReactions*)Models[eGroundReactions])->GetNumGearUnits());
+ } else {
+ cerr << endl << "No ground_reactions element was found in the aircraft config file." << endl;
+ return false;
+ }
+
+ // Process the external_reactions element. This element is OPTIONAL.
+ element = document->FindElement("external_reactions");
+ if (element) {
+ result = ((FGExternalReactions*)Models[eExternalReactions])->Load(element);
+ if (!result) {
+ cerr << endl << "Aircraft external_reactions element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ }
+
+ // Process the buoyant_forces element. This element is OPTIONAL.
+ element = document->FindElement("buoyant_forces");
+ if (element) {
+ result = ((FGBuoyantForces*)Models[eBuoyantForces])->Load(element);
+ if (!result) {
+ cerr << endl << "Aircraft buoyant_forces element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ }
+
+ // Process the propulsion element. This element is OPTIONAL.
+ element = document->FindElement("propulsion");
+ if (element) {
+ result = ((FGPropulsion*)Models[ePropulsion])->Load(element);
+ if (!result) {
+ cerr << endl << "Aircraft propulsion element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ for (unsigned int i=0; i<((FGPropulsion*)Models[ePropulsion])->GetNumEngines(); i++)
+ ((FGFCS*)Models[eSystems])->AddThrottle();
+ }
+
+ // Process the system element[s]. This element is OPTIONAL, and there may be more than one.
+ element = document->FindElement("system");
+ while (element) {
+ result = ((FGFCS*)Models[eSystems])->Load(element, FGFCS::stSystem);
+ if (!result) {
+ cerr << endl << "Aircraft system element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ element = document->FindNextElement("system");
+ }
+
+ // Process the autopilot element. This element is OPTIONAL.
+ element = document->FindElement("autopilot");
+ if (element) {
+ result = ((FGFCS*)Models[eSystems])->Load(element, FGFCS::stAutoPilot);
+ if (!result) {
+ cerr << endl << "Aircraft autopilot element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ }
+
+ // Process the flight_control element. This element is OPTIONAL.
+ element = document->FindElement("flight_control");
+ if (element) {
+ result = ((FGFCS*)Models[eSystems])->Load(element, FGFCS::stFCS);
+ if (!result) {
+ cerr << endl << "Aircraft flight_control element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ }
+
+ // Process the aerodynamics element. This element is OPTIONAL, but almost always expected.
+ element = document->FindElement("aerodynamics");
+ if (element) {
+ result = ((FGAerodynamics*)Models[eAerodynamics])->Load(element);
+ if (!result) {
+ cerr << endl << "Aircraft aerodynamics element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ } else {
+ cerr << endl << "No expected aerodynamics element was found in the aircraft config file." << endl;
+ }
+
+ // Process the input element. This element is OPTIONAL.
+ element = document->FindElement("input");
+ if (element) {
+ result = ((FGInput*)Models[eInput])->Load(element);
+ if (!result) {
+ cerr << endl << "Aircraft input element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ }
+
+ // Process the output element[s]. This element is OPTIONAL, and there may be more than one.
+ element = document->FindElement("output");
+ while (element) {
+ string output_file_name = aircraftCfgFileName;
+
+ if (!element->GetAttributeValue("file").empty()) {
+ output_file_name = RootDir + element->GetAttributeValue("file");
+ result = ((FGOutput*)Models[eOutput])->SetDirectivesFile(output_file_name);
+ }
+ else
+ result = ((FGOutput*)Models[eOutput])->Load(element);
+
+ if (!result) {
+ cerr << endl << "Aircraft output element has problems in file " << output_file_name << endl;
+ return result;
+ }
+ element = document->FindNextElement("output");
+ }
+
+ // Lastly, process the child element. This element is OPTIONAL - and NOT YET SUPPORTED.
+ element = document->FindElement("child");
+ if (element) {
+ result = ReadChild(element);
+ if (!result) {
+ cerr << endl << "Aircraft child element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ }
+
+ // Since all vehicle characteristics have been loaded, place the values in the Inputs
+ // structure for the FGModel-derived classes.
+ LoadModelConstants();
+
modelLoaded = true;
- Debug(3);
+
+ if (debug_lvl > 0) {
+ LoadInputs(eMassBalance); // Update all input mass properties for the report.
+ Models[eMassBalance]->Run(false); // Update all mass properties for the report.
+ LoadInputs(ePropulsion); // Update propulsion properties for the report.
+ Models[ePropulsion]->Run(false); // Update propulsion properties for the report.
+ LoadInputs(eMassBalance); // Update all (one more time) input mass properties for the report.
+ Models[eMassBalance]->Run(false); // Update all (one more time) mass properties for the report.
+ ((FGMassBalance*)Models[eMassBalance])->GetMassPropertiesReport();
+
+ cout << endl << fgblue << highint
+ << "End of vehicle configuration loading." << endl
+ << "-------------------------------------------------------------------------------"
+ << reset << endl;
+ }
+
+ if (IsChild) debug_lvl = saved_debug_lvl;
+
} else {
cerr << fgred
- << " JSBSim failed to load properly."
+ << " JSBSim failed to open the configuration file: " << aircraftCfgFileName
<< fgdef << endl;
- return false;
}
- struct PropertyCatalogStructure masterPCS;
- masterPCS.base_string = "";
- masterPCS.node = (FGPropertyManager*)Root;
+ for (unsigned int i=0; i< Models.size(); i++) LoadInputs(i);
- BuildPropertyCatalog(&masterPCS);
+ if (result) {
+ struct PropertyCatalogStructure masterPCS;
+ masterPCS.base_string = "";
+ masterPCS.node = Root->GetNode();
+ BuildPropertyCatalog(&masterPCS);
+ }
return result;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+string FGFDMExec::GetPropulsionTankReport()
+{
+ return ((FGPropulsion*)Models[ePropulsion])->GetPropulsionTankReport();
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
void FGFDMExec::BuildPropertyCatalog(struct PropertyCatalogStructure* pcs)
{
struct PropertyCatalogStructure* pcsNew = new struct PropertyCatalogStructure;
int node_idx = 0;
- char int_buf[10];
- for (unsigned int i=0; i<pcs->node->nChildren(); i++) {
+ for (int i=0; i<pcs->node->nChildren(); i++) {
+ string access="";
pcsNew->base_string = pcs->base_string + "/" + pcs->node->getChild(i)->getName();
node_idx = pcs->node->getChild(i)->getIndex();
- sprintf(int_buf, "[%d]", node_idx);
- if (node_idx != 0) pcsNew->base_string += string(int_buf);
+ if (node_idx != 0) {
+ pcsNew->base_string = CreateIndexedPropertyName(pcsNew->base_string, node_idx);
+ }
if (pcs->node->getChild(i)->nChildren() == 0) {
- if (pcsNew->base_string.substr(0,11) == string("/fdm/jsbsim")) {
+ if (pcsNew->base_string.substr(0,12) == string("/fdm/jsbsim/")) {
pcsNew->base_string = pcsNew->base_string.erase(0,12);
}
- PropertyCatalog.push_back(pcsNew->base_string);
+ if (pcs->node->getChild(i)->getAttribute(SGPropertyNode::READ)) access="R";
+ if (pcs->node->getChild(i)->getAttribute(SGPropertyNode::WRITE)) access+="W";
+ PropertyCatalog.push_back(pcsNew->base_string+" ("+access+")");
} else {
- pcsNew->node = (FGPropertyManager*)pcs->node->getChild(i);
+ pcsNew->node = (FGPropertyNode*)pcs->node->getChild(i);
BuildPropertyCatalog(pcsNew);
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-string FGFDMExec::QueryPropertyCatalog(string in)
+string FGFDMExec::QueryPropertyCatalog(const string& in)
{
string results="";
for (unsigned i=0; i<PropertyCatalog.size(); i++) {
{
bool result = true; // true for success
- if (debug_lvl & ~1) return result;
+ if (debug_lvl == 0) return result;
+ if (IsChild) {
+ cout << endl <<highint << fgblue << "Reading child model: " << IdFDM << reset << endl << endl;
+ }
+
+ if (el->FindElement("description"))
+ cout << " Description: " << el->FindElement("description")->GetDataLine() << endl;
if (el->FindElement("author"))
cout << " Model Author: " << el->FindElement("author")->GetDataLine() << endl;
if (el->FindElement("filecreationdate"))
cout << " Creation Date: " << el->FindElement("filecreationdate")->GetDataLine() << endl;
if (el->FindElement("version"))
cout << " Version: " << el->FindElement("version")->GetDataLine() << endl;
- if (el->FindElement("description"))
- cout << " Description: " << el->FindElement("description")->GetDataLine() << endl;
return result;
}
if (!el) return false;
string AircraftName = el->GetAttributeValue("name");
- Aircraft->SetAircraftName(AircraftName);
+ ((FGAircraft*)Models[eAircraft])->SetAircraftName(AircraftName);
if (debug_lvl & 1) cout << underon << "Reading Aircraft Configuration File"
<< underoff << ": " << highint << AircraftName << normint << endl;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::ReadSlave(Element* el)
+bool FGFDMExec::ReadChild(Element* el)
{
- // Add a new slaveData object to the slave FDM list
- // Populate that slaveData element with a new FDMExec object
- // Set the IsSlave flag for that FDMExec object
+ // Add a new childData object to the child FDM list
+ // Populate that childData element with a new FDMExec object
+ // Set the IsChild flag for that FDMExec object
// Get the aircraft name
- // set debug level to print out no additional data for slave objects
+ // set debug level to print out no additional data for child objects
// Load the model given the aircraft name
// reset debug level to prior setting
- int saved_debug_lvl = debug_lvl;
string token;
- SlaveFDMList.push_back(new slaveData);
- SlaveFDMList.back()->exec = new FGFDMExec();
- SlaveFDMList.back()->exec->SetSlave(true);
-/*
- string AircraftName = AC_cfg->GetValue("file");
-
- debug_lvl = 0; // turn off debug output for slave vehicle
-
- SlaveFDMList.back()->exec->SetAircraftPath( AircraftPath );
- SlaveFDMList.back()->exec->SetEnginePath( EnginePath );
- SlaveFDMList.back()->exec->SetSystemsPath( SystemsPath );
- SlaveFDMList.back()->exec->LoadModel(AircraftName);
- debug_lvl = saved_debug_lvl; // turn debug output back on for master vehicle
-
- AC_cfg->GetNextConfigLine();
- while ((token = AC_cfg->GetValue()) != string("/SLAVE")) {
- *AC_cfg >> token;
- if (token == "xloc") { *AC_cfg >> SlaveFDMList.back()->x; }
- else if (token == "yloc") { *AC_cfg >> SlaveFDMList.back()->y; }
- else if (token == "zloc") { *AC_cfg >> SlaveFDMList.back()->z; }
- else if (token == "pitch") { *AC_cfg >> SlaveFDMList.back()->pitch;}
- else if (token == "yaw") { *AC_cfg >> SlaveFDMList.back()->yaw; }
- else if (token == "roll") { *AC_cfg >> SlaveFDMList.back()->roll; }
- else cerr << "Unknown identifier: " << token << " in slave vehicle definition" << endl;
- }
-*/
- if (debug_lvl > 0) {
- cout << " X = " << SlaveFDMList.back()->x << endl;
- cout << " Y = " << SlaveFDMList.back()->y << endl;
- cout << " Z = " << SlaveFDMList.back()->z << endl;
- cout << " Pitch = " << SlaveFDMList.back()->pitch << endl;
- cout << " Yaw = " << SlaveFDMList.back()->yaw << endl;
- cout << " Roll = " << SlaveFDMList.back()->roll << endl;
+ struct childData* child = new childData;
+
+ child->exec = new FGFDMExec(Root, FDMctr);
+ child->exec->SetChild(true);
+
+ string childAircraft = el->GetAttributeValue("name");
+ string sMated = el->GetAttributeValue("mated");
+ if (sMated == "false") child->mated = false; // child objects are mated by default.
+ string sInternal = el->GetAttributeValue("internal");
+ if (sInternal == "true") child->internal = true; // child objects are external by default.
+
+ child->exec->SetAircraftPath( AircraftPath );
+ child->exec->SetEnginePath( EnginePath );
+ child->exec->SetSystemsPath( SystemsPath );
+ child->exec->LoadModel(childAircraft);
+
+ Element* location = el->FindElement("location");
+ if (location) {
+ child->Loc = location->FindElementTripletConvertTo("IN");
+ } else {
+ cerr << endl << highint << fgred << " No location was found for this child object!" << reset << endl;
+ exit(-1);
}
+ Element* orientation = el->FindElement("orient");
+ if (orientation) {
+ child->Orient = orientation->FindElementTripletConvertTo("RAD");
+ } else if (debug_lvl > 0) {
+ cerr << endl << highint << " No orientation was found for this child object! Assuming 0,0,0." << reset << endl;
+ }
+
+ ChildFDMList.push_back(child);
+
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGFDMExec::DisableOutput(void)
+void FGFDMExec::CheckIncrementalHold(void)
{
- for (unsigned i=0; i<Outputs.size(); i++) {
- Outputs[i]->Disable();
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFDMExec::EnableOutput(void)
-{
- for (unsigned i=0; i<Outputs.size(); i++) {
- Outputs[i]->Enable();
- }
-}
+ // Only check if increment then hold is on
+ if( IncrementThenHolding ) {
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ if (TimeStepsUntilHold == 0) {
-bool FGFDMExec::SetOutputDirectives(string fname)
-{
- bool result;
+ // Should hold simulation if TimeStepsUntilHold has reached zero
+ holding = true;
- FGOutput* Output = new FGOutput(this);
- Output->SetDirectivesFile(fname);
- Output->InitModel();
- Schedule(Output, 1);
- result = Output->Load(0);
- Outputs.push_back(Output);
+ // Still need to decrement TimeStepsUntilHold as value of -1
+ // indicates that incremental then hold is turned off
+ IncrementThenHolding = false;
+ TimeStepsUntilHold--;
- return result;
+ } else if ( TimeStepsUntilHold > 0 ) {
+ // Keep decrementing until 0 is reached
+ TimeStepsUntilHold--;
+ }
+ }
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
cerr << endl << "Illegal trimming mode!" << endl << endl;
return;
}
- saved_time = State->Getsim_time();
+ saved_time = sim_time;
FGTrim trim(this, (JSBSim::TrimMode)mode);
if ( !trim.DoTrim() ) cerr << endl << "Trim Failed" << endl << endl;
trim.Report();
- State->Setsim_time(saved_time);
+ sim_time = saved_time;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-/*
-void FGFDMExec::DoTrimAnalysis(int mode)
+
+void FGFDMExec::DoSimplexTrim(int mode)
{
double saved_time;
if (Constructing) return;
-
- if (mode < 0 || mode > JSBSim::taNone) {
- cerr << endl << "Illegal trimming mode!" << endl << endl;
- return;
- }
- saved_time = State->Getsim_time();
-
- FGTrimAnalysis trimAnalysis(this, (JSBSim::TrimAnalysisMode)mode);
-
- if ( !trimAnalysis.Load(IC->GetInitFile(), false) ) {
- cerr << "A problem occurred with trim configuration file " << trimAnalysis.Load(IC->GetInitFile()) << endl;
- exit(-1);
+ if (mode < 0 || mode > JSBSim::tNone) {
+ cerr << endl << "Illegal trimming mode!" << endl << endl;
+ return;
}
-
- bool result = trimAnalysis.DoTrim();
-
- if ( !result ) cerr << endl << "Trim Failed" << endl << endl;
-
- trimAnalysis.Report();
- State->Setsim_time(saved_time);
-
- EnableOutput();
- cout << "\nOutput: " << GetOutputFileName() << endl;
-
+ saved_time = sim_time;
+ FGSimplexTrim trim(this, (JSBSim::TrimMode)mode);
+ sim_time = saved_time;
+ Setsim_time(saved_time);
+ std::cout << "dT: " << dT << std::endl;
}
-*/
+
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGFDMExec::UseAtmosphereMSIS(void)
+void FGFDMExec::DoLinearization(int mode)
{
- FGAtmosphere *oldAtmosphere = Atmosphere;
- Atmosphere = new MSIS(this);
- if (!Atmosphere->InitModel()) {
- cerr << fgred << "MSIS Atmosphere model init failed" << fgdef << endl;
- Error+=1;
- }
- delete oldAtmosphere;
+ double saved_time;
+ if (Constructing) return;
+ saved_time = sim_time;
+ FGLinearization lin(this,mode);
+ sim_time = saved_time;
+ Setsim_time(saved_time);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGFDMExec::UseAtmosphereMars(void)
+void FGFDMExec::SRand(int sr)
{
-/*
- FGAtmosphere *oldAtmosphere = Atmosphere;
- Atmosphere = new FGMars(this);
- if (!Atmosphere->InitModel()) {
- cerr << fgred << "Mars Atmosphere model init failed" << fgdef << endl;
- Error+=1;
- }
- delete oldAtmosphere;
-*/
+ srand(sr);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
if (debug_lvl & 1 && IdFDM == 0) { // Standard console startup message output
if (from == 0) { // Constructor
- cout << "\n\n " << highint << underon << "JSBSim Flight Dynamics Model v"
- << JSBSim_version << underoff << normint << endl;
- cout << halfint << " [JSBSim-ML v" << needed_cfg_version << "]\n\n";
- cout << normint << "JSBSim startup beginning ...\n\n";
+ cout << "\n\n "
+ << "JSBSim Flight Dynamics Model v" << JSBSim_version << endl;
+ cout << " [JSBSim-ML v" << needed_cfg_version << "]\n\n";
+ cout << "JSBSim startup beginning ...\n\n";
} else if (from == 3) {
cout << "\n\nJSBSim startup complete\n\n";
}
if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
if (from == 2) {
cout << "================== Frame: " << Frame << " Time: "
- << State->Getsim_time() << " dt: " << State->Getdt() << endl;
+ << sim_time << " dt: " << dT << endl;
}
}
if (debug_lvl & 8 ) { // Runtime state variables
projects / flightgear.git / blobdiff