+
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Module: FGFDMExec.cpp
#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: FGFDMExec.cpp,v 1.120 2011/11/10 12:06:13 jberndt Exp $";
+static const char *IdSrc = "$Id: FGFDMExec.cpp,v 1.150 2013/11/24 11:40:55 bcoconni Exp $";
static const char *IdHdr = ID_FDMEXEC;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
holding = false;
Terminate = false;
StandAlone = false;
- firstPass = true;
+
+ 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
// 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.
- instance = Root->GetNode("/fdm/jsbsim",IdFDM,true);
+ 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;
+ 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;
}
try {
Unbind();
DeAllocate();
-
+
+ delete instance;
+
if (IdFDM == 0) { // Meaning this is no child FDM
if(Root != 0) {
if(StandAlone)
Models[eSystems] = new FGFCS(this);
Models[ePropulsion] = new FGPropulsion(this);
Models[eAerodynamics] = new FGAerodynamics (this);
-
- GetGroundCallback()->SetSeaLevelRadius(((FGInertial*)Models[eInertial])->GetRefRadius());
-
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];
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();
}
for (unsigned int i=0; i<eNumStandardModels; i++) delete Models[i];
Models.clear();
- for (unsigned i=0; i<Outputs.size(); i++) delete Outputs[i];
- Outputs.clear();
-
delete Script;
delete IC;
delete Trim;
ChildFDMList[i]->Run();
}
- if (firstPass && !IntegrationSuspended()) {
- // Outputs the initial conditions
- for (unsigned int i = 0; i < Outputs.size(); i++)
- Outputs[i]->Run(holding);
-
- firstPass = false;
- }
-
IncrTime();
// returns true if success, false if complete
Auxiliary->in.RPBody = MassBalance->StructuralToBody(Aircraft->GetXYZrp());
Auxiliary->in.vFw = Aerodynamics->GetvFw();
Auxiliary->in.vLocation = Propagate->GetLocation();
- Auxiliary->in.Latitude = Propagate->GetLatitude();
- Auxiliary->in.Longitude = Propagate->GetLongitude();
Auxiliary->in.CosTht = Propagate->GetCosEuler(eTht);
Auxiliary->in.SinTht = Propagate->GetSinEuler(eTht);
Auxiliary->in.CosPhi = Propagate->GetCosEuler(ePhi);
Propulsion->in.PropFeather = FCS->GetPropFeather();
Propulsion->in.H_agl = Propagate->GetDistanceAGL();
Propulsion->in.PQR = Propagate->GetPQR();
+
break;
case eAerodynamics:
Aerodynamics->in.Alpha = Auxiliary->Getalpha();
GroundReactions->in.TotalDeltaT = dT * GroundReactions->GetRate();
GroundReactions->in.WOW = GroundReactions->GetWOW();
GroundReactions->in.Location = Propagate->GetLocation();
- for (int i=0; i<GroundReactions->GetNumGearUnits(); i++) {
- GroundReactions->in.vWhlBodyVec[i] = MassBalance->StructuralToBody(GroundReactions->GetGearUnit(i)->GetLocation());
- }
+ GroundReactions->in.vXYZcg = MassBalance->GetXYZcg();
break;
case eExternalReactions:
// There are no external inputs to this model.
Aircraft->in.GroundMoment = GroundReactions->GetMoments();
Aircraft->in.ExternalMoment = ExternalReactions->GetMoments();
Aircraft->in.BuoyantMoment = BuoyantForces->GetMoments();
- Aircraft->in.Weight = MassBalance->GetWeight();
- Aircraft->in.Tl2b = Propagate->GetTl2b();
break;
case eAccelerations:
Accelerations->in.J = MassBalance->GetJ();
Accelerations->in.Ti2b = Propagate->GetTi2b();
Accelerations->in.Tb2i = Propagate->GetTb2i();
Accelerations->in.Tec2b = Propagate->GetTec2b();
- Accelerations->in.Tl2b = Propagate->GetTl2b();
+ Accelerations->in.Tec2i = Propagate->GetTec2i();
Accelerations->in.qAttitudeECI = Propagate->GetQuaternionECI();
Accelerations->in.Moment = Aircraft->GetMoments();
Accelerations->in.GroundMoment = GroundReactions->GetMoments();
{
Propagate->in.vOmegaPlanet = Inertial->GetOmegaPlanet();
Accelerations->in.vOmegaPlanet = Inertial->GetOmegaPlanet();
- Propagate->in.RefRadius = Inertial->GetRefRadius();
Propagate->in.SemiMajor = Inertial->GetSemimajor();
Propagate->in.SemiMinor = Inertial->GetSemiminor();
Auxiliary->in.SLGravity = Inertial->SLgravity();
Aerodynamics->in.Wingspan = Aircraft->GetWingSpan();
Auxiliary->in.Wingspan = Aircraft->GetWingSpan();
Auxiliary->in.Wingchord = Aircraft->Getcbar();
- for (int i=0; i<GroundReactions->GetNumGearUnits(); i++) {
- GroundReactions->in.vWhlBodyVec[i] = MassBalance->StructuralToBody(GroundReactions->GetGearUnit(i)->GetLocation());
- }
+ GroundReactions->in.vXYZcg = MassBalance->GetXYZcg();
LoadPlanetConstants();
}
bool FGFDMExec::RunIC(void)
{
+ FGPropulsion* propulsion = (FGPropulsion*)Models[ePropulsion];
+
+ Models[eOutput]->InitModel();
+
SuspendIntegration(); // saves the integration rate, dt, then sets it to 0.0.
Initialize(IC);
Run();
ResumeIntegration(); // Restores the integration rate to what it was.
+ for (unsigned int i=0; i<IC->GetNumEnginesRunning(); i++)
+ propulsion->InitRunning(IC->GetEngineRunning(i));
+
return true;
}
void FGFDMExec::ResetToInitialConditions(int mode)
{
- if (mode == 1) {
- for (unsigned int i=0; i<Outputs.size(); i++) {
- Outputs[i]->SetStartNewFile(true);
- }
- }
-
+ if (mode == 1) Output->SetStartNewOutput();
+
ResetToInitialConditions();
}
{
if (Constructing) return;
- vector <FGModel*>::iterator it;
- for (it = Models.begin(); it != Models.end(); ++it) (*it)->InitModel();
-
- RunIC();
- if (Script) Script->ResetEvents();
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ for (unsigned int i = 0; i < Models.size(); i++) {
+ // The Output model will be initialized during the RunIC() execution
+ if (i == eOutput) continue;
-bool FGFDMExec::SetOutputFileName(const string& fname)
-{
- if (Outputs.size() > 0) Outputs[0]->SetOutputFileName(fname);
- else return false;
- return true;
-}
+ LoadInputs(i);
+ Models[i]->InitModel();
+ }
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ RunIC();
-string FGFDMExec::GetOutputFileName(void)
-{
- if (Outputs.size() > 0) return Outputs[0]->GetOutputFileName();
- else return string("");
+ if (Script) Script->ResetEvents();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::LoadScript(const string& script, double deltaT)
+bool FGFDMExec::LoadScript(const string& script, double deltaT, const string initfile)
{
bool result;
Script = new FGScript(this);
- result = Script->LoadScript(RootDir + script, deltaT);
+ result = Script->LoadScript(RootDir + script, deltaT, initfile);
return result;
}
}
int saved_debug_lvl = debug_lvl;
+ FGXMLFileRead XMLFileRead;
+ Element *document = XMLFileRead.LoadXMLDocument(aircraftCfgFileName); // "document" is a class member
- document = LoadXMLDocument(aircraftCfgFileName); // "document" is a class member
if (document) {
if (IsChild) debug_lvl = 0;
}
// Process the output element[s]. This element is OPTIONAL, and there may be more than one.
- unsigned int idx=0;
- typedef double (FGOutput::*iOPMF)(void) const;
- typedef int (FGFDMExec::*iOPV)(void) const;
element = document->FindElement("output");
while (element) {
- if (debug_lvl > 0) cout << endl << " Output data set: " << idx << " ";
- FGOutput* Output = new FGOutput(this);
- Output->InitModel();
- Schedule(Output);
- result = Output->Load(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 " << aircraftCfgFileName << endl;
+ cerr << endl << "Aircraft output element has problems in file " << output_file_name << endl;
return result;
- } else {
- Outputs.push_back(Output);
- string outputProp = CreateIndexedPropertyName("simulation/output",idx);
- instance->Tie(outputProp+"/log_rate_hz", Output, (iOPMF)0, &FGOutput::SetRate, false);
- instance->Tie("simulation/force-output", this, (iOPV)0, &FGFDMExec::ForceOutput, false);
- idx++;
}
element = document->FindNextElement("output");
}
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
<< "-------------------------------------------------------------------------------"
<< reset << endl;
}
-
+
if (IsChild) debug_lvl = saved_debug_lvl;
} else {
if (result) {
struct PropertyCatalogStructure masterPCS;
masterPCS.base_string = "";
- masterPCS.node = (FGPropertyManager*)Root;
+ masterPCS.node = Root->GetNode();
BuildPropertyCatalog(&masterPCS);
}
int node_idx = 0;
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();
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);
}
}
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");
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-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();
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFDMExec::ForceOutput(int idx)
-{
- if (idx >= (int)0 && idx < (int)Outputs.size()) Outputs[idx]->Print();
-}
+ // Only check if increment then hold is on
+ if( IncrementThenHolding ) {
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ if (TimeStepsUntilHold == 0) {
-bool FGFDMExec::SetOutputDirectives(const string& fname)
-{
- bool result;
+ // Should hold simulation if TimeStepsUntilHold has reached zero
+ holding = true;
- FGOutput* Output = new FGOutput(this);
- Output->SetDirectivesFile(RootDir + fname);
- Output->InitModel();
- Schedule(Output);
- result = Output->Load(0);
+ // Still need to decrement TimeStepsUntilHold as value of -1
+ // indicates that incremental then hold is turned off
+ IncrementThenHolding = false;
+ TimeStepsUntilHold--;
- if (result) {
- Output->Run(holding);
- Outputs.push_back(Output);
- typedef double (FGOutput::*iOPMF)(void) const;
- string outputProp = CreateIndexedPropertyName("simulation/output",Outputs.size()-1);
- instance->Tie(outputProp+"/log_rate_hz", Output, (iOPMF)0, &FGOutput::SetRate, false);
+ } else if ( TimeStepsUntilHold > 0 ) {
+ // Keep decrementing until 0 is reached
+ TimeStepsUntilHold--;
+ }
}
- else
- delete Output;
-
- return result;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
sim_time = saved_time;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFDMExec::DoSimplexTrim(int mode)
+{
+ double saved_time;
+ if (Constructing) return;
+ if (mode < 0 || mode > JSBSim::tNone) {
+ cerr << endl << "Illegal trimming mode!" << endl << endl;
+ return;
+ }
+ 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::DoLinearization(int mode)
+{
+ double saved_time;
+ if (Constructing) return;
+ saved_time = sim_time;
+ FGLinearization lin(this,mode);
+ sim_time = saved_time;
+ Setsim_time(saved_time);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFDMExec::SRand(int sr)
+{
+ srand(sr);
+}
+
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// The bitmasked value choices are as follows:
// unset: In this case (the default) JSBSim would only print
if (debug_lvl & 1 && IdFDM == 0) { // Standard console startup message output
if (from == 0) { // Constructor
- cout << "\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";
projects / flightgear.git / blobdiff