INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+#include <iostream>
+#include <iterator>
+#include <cstdlib>
+
#include "FGFDMExec.h"
-#include "models/FGAtmosphere.h"
-#include "models/atmosphere/FGMSIS.h"
-#include "models/atmosphere/FGMars.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/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/FGTrimAnalysis.h" // Remove until later
#include "input_output/FGPropertyManager.h"
#include "input_output/FGScript.h"
-#include <iostream>
-#include <iterator>
-#include <cstdlib>
-
using namespace std;
namespace JSBSim {
-static const char *IdSrc = "$Id: FGFDMExec.cpp,v 1.82 2010/10/07 03:17:29 jberndt Exp $";
+static const char *IdSrc = "$Id: FGFDMExec.cpp,v 1.120 2011/11/10 12:06:13 jberndt Exp $";
static const char *IdHdr = ID_FDMEXEC;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-void checkTied ( FGPropertyManager *node )
-{
- int N = node->nChildren();
- string name;
-
- for (int i=0; i<N; i++) {
- if (node->getChild(i)->nChildren() ) {
- checkTied( (FGPropertyManager*)node->getChild(i) );
- }
- if ( node->getChild(i)->isTied() ) {
- name = ((FGPropertyManager*)node->getChild(i))->GetFullyQualifiedName();
- node->Untie(name);
- }
- }
-}
-
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// Constructors
-FGFDMExec::FGFDMExec(FGPropertyManager* root) : Root(root), delete_root(false)
-{
- FDMctr = new unsigned int;
- *FDMctr = 0;
- Initialize();
-}
-
-FGFDMExec::FGFDMExec(FGPropertyManager* root, unsigned int* fdmctr) : Root(root), delete_root(false), FDMctr(fdmctr)
-{
- Initialize();
-}
+// Constructor
-void FGFDMExec::Initialize()
+FGFDMExec::FGFDMExec(FGPropertyManager* root, unsigned int* fdmctr) : Root(root), FDMctr(fdmctr)
{
Frame = 0;
Error = 0;
- GroundCallback = 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;
IsChild = false;
holding = false;
Terminate = false;
+ StandAlone = false;
+ firstPass = true;
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
if (Root == 0) { // Then this is the root FDM
Root = new FGPropertyManager; // Create the property manager
- delete_root = true;
-
+ StandAlone = true;
+ }
+
+ if (FDMctr == 0) {
FDMctr = new unsigned int; // Create and initialize the child FDM counter
(*FDMctr) = 0;
}
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);
+// 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/reset", this, (iPMF)0, &FGFDMExec::ResetToInitialConditions, false);
instance->Tie("simulation/terminate", (int *)&Terminate);
instance->Tie("simulation/sim-time-sec", this, &FGFDMExec::GetSimTime);
instance->Tie("simulation/jsbsim-debug", this, &FGFDMExec::GetDebugLevel, &FGFDMExec::SetDebugLevel);
+ instance->Tie("simulation/frame", (int *)&Frame, false);
Constructing = false;
}
FGFDMExec::~FGFDMExec()
{
try {
- checkTied( instance );
+ Unbind();
DeAllocate();
if (IdFDM == 0) { // Meaning this is no child FDM
if(Root != 0) {
- if (delete_root)
+ if(StandAlone)
delete Root;
Root = 0;
}
PropertyCatalog.clear();
- FDMctr--;
+ 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);
-
- // 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.
-
- 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);
-
- // Initialize models so they can communicate with each other
-
- vector <FGModel*>::iterator it;
- for (it = Models.begin(); it != Models.end(); ++it) (*it)->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);
+
+ 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);
+
+ // 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];
+
+ // Initialize planet (environment) constants
+ LoadPlanetConstants();
+
+ // Initialize models
+ for (unsigned int i = 0; i < Models.size(); i++) {
+ LoadInputs(i);
+ Models[i]->InitModel();
+ }
IC = new FGInitialCondition(this);
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 Script;
+
+ 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;
- delete GroundCallback;
-
Error = 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;
-
- Models.clear();
-
modelLoaded = false;
return modelLoaded;
}
Debug(2);
for (unsigned int i=1; i<ChildFDMList.size(); i++) {
- ChildFDMList[i]->AssignState(Propagate); // Transfer state to the child FDM
+ ChildFDMList[i]->AssignState( (FGPropagate*)Models[ePropagate] ); // Transfer state to the child FDM
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
if (Script != 0 && !IntegrationSuspended()) success = Script->RunScript();
- vector <FGModel*>::iterator it;
- for (it = Models.begin(); it != Models.end(); ++it) (*it)->Run();
+ for (unsigned int i = 0; i < Models.size(); i++) {
+ LoadInputs(i);
+ Models[i]->Run(holding);
+ }
- Frame++;
- if (!Holding()) IncrTime();
if (Terminate) success = false;
return (success);
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFDMExec::LoadInputs(unsigned int idx)
+{
+ 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.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);
+ 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();
+ for (int i=0; i<GroundReactions->GetNumGearUnits(); i++) {
+ GroundReactions->in.vWhlBodyVec[i] = MassBalance->StructuralToBody(GroundReactions->GetGearUnit(i)->GetLocation());
+ }
+ 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();
+ Aircraft->in.Weight = MassBalance->GetWeight();
+ Aircraft->in.Tl2b = Propagate->GetTl2b();
+ 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.Tl2b = Propagate->GetTl2b();
+ 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;
+ }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFDMExec::LoadPlanetConstants(void)
+{
+ 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();
+ Auxiliary->in.ReferenceRadius = Inertial->GetRefRadius();
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFDMExec::LoadModelConstants(void)
+{
+ 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();
+ for (int i=0; i<GroundReactions->GetNumGearUnits(); i++) {
+ GroundReactions->in.vWhlBodyVec[i] = MassBalance->StructuralToBody(GroundReactions->GetGearUnit(i)->GetLocation());
+ }
+
+ LoadPlanetConstants();
+}
+
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// This call will cause the sim time to reset to 0.0
void FGFDMExec::Initialize(FGInitialCondition *FGIC)
{
- Propagate->SetInitialState( FGIC );
-
- Atmosphere->Run();
- Atmosphere->SetWindNED( FGIC->GetWindNFpsIC(),
- FGIC->GetWindEFpsIC(),
- FGIC->GetWindDFpsIC() );
-
- FGColumnVector3 vAeroUVW;
- vAeroUVW = Propagate->GetUVW() + Propagate->GetTl2b()*Atmosphere->GetTotalWindNED();
-
- double alpha, beta;
- if (vAeroUVW(eW) != 0.0)
- alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
- else
- alpha = 0.0;
- if (vAeroUVW(eV) != 0.0)
- beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV), (fabs(vAeroUVW(eU))/vAeroUVW(eU))*sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;
- else
- beta = 0.0;
-
- Auxiliary->SetAB(alpha, beta);
+ Setsim_time(0.0);
- double Vt = vAeroUVW.Magnitude();
- Auxiliary->SetVt(Vt);
-
- Auxiliary->SetMach(Vt/Atmosphere->GetSoundSpeed());
-
- double qbar = 0.5*Vt*Vt*Atmosphere->GetDensity();
- Auxiliary->Setqbar(qbar);
+ Propagate->SetInitialState( FGIC );
+ LoadInputs(eAccelerations);
+ Accelerations->Run(false);
+ LoadInputs(ePropagate);
+ Propagate->InitializeDerivatives();
+ LoadInputs(eAtmosphere);
+ Atmosphere->Run(false);
+ Winds->SetWindNED(FGIC->GetWindNEDFpsIC());
+ Auxiliary->Run(false);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGFDMExec::SetGroundCallback(FGGroundCallback* p)
+bool FGFDMExec::SetOutputFileName(const string& fname)
{
- delete GroundCallback;
- GroundCallback = p;
+ if (Outputs.size() > 0) Outputs[0]->SetOutputFileName(fname);
+ else return false;
+ return true;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+string FGFDMExec::GetOutputFileName(void)
+{
+ if (Outputs.size() > 0) return Outputs[0]->GetOutputFileName();
+ else return string("");
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
vector <string> FGFDMExec::EnumerateFDMs(void)
{
vector <string> FDMList;
+ FGAircraft* Aircraft = (FGAircraft*)Models[eAircraft];
FDMList.push_back(Aircraft->GetAircraftName());
// Process the metrics element. This element is REQUIRED.
element = document->FindElement("metrics");
if (element) {
- result = Aircraft->Load(element);
+ result = ((FGAircraft*)Models[eAircraft])->Load(element);
if (!result) {
cerr << endl << "Aircraft metrics element has problems in file " << aircraftCfgFileName << endl;
return result;
// Process the mass_balance element. This element is REQUIRED.
element = document->FindElement("mass_balance");
if (element) {
- result = MassBalance->Load(element);
+ result = ((FGMassBalance*)Models[eMassBalance])->Load(element);
if (!result) {
cerr << endl << "Aircraft mass_balance element has problems in file " << aircraftCfgFileName << endl;
return result;
// Process the ground_reactions element. This element is REQUIRED.
element = document->FindElement("ground_reactions");
if (element) {
- result = GroundReactions->Load(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 = ExternalReactions->Load(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 = BuoyantForces->Load(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 = Propulsion->Load(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 = FCS->Load(element, FGFCS::stSystem);
+ result = ((FGFCS*)Models[eSystems])->Load(element, FGFCS::stSystem);
if (!result) {
cerr << endl << "Aircraft system element has problems in file " << aircraftCfgFileName << endl;
return result;
// Process the autopilot element. This element is OPTIONAL.
element = document->FindElement("autopilot");
if (element) {
- result = FCS->Load(element, FGFCS::stAutoPilot);
+ 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 = FCS->Load(element, FGFCS::stFCS);
+ 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 = Aerodynamics->Load(element);
+ result = ((FGAerodynamics*)Models[eAerodynamics])->Load(element);
if (!result) {
cerr << endl << "Aircraft aerodynamics element has problems in file " << aircraftCfgFileName << endl;
return result;
// Process the input element. This element is OPTIONAL.
element = document->FindElement("input");
if (element) {
- result = Input->Load(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.
unsigned int idx=0;
- typedef int (FGOutput::*iOPMF)(void) const;
+ 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, 1);
+ Schedule(Output);
result = Output->Load(element);
if (!result) {
cerr << endl << "Aircraft output element has problems in file " << aircraftCfgFileName << endl;
} else {
Outputs.push_back(Output);
string outputProp = CreateIndexedPropertyName("simulation/output",idx);
- instance->Tie(outputProp+"/log_rate_hz", Output, (iOPMF)0, &FGOutput::SetRate);
+ 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");
}
}
+ // Since all vehicle characteristics have been loaded, place the values in the Inputs
+ // structure for the FGModel-derived classes.
+ LoadModelConstants();
+
modelLoaded = true;
if (debug_lvl > 0) {
- MassBalance->Run(); // Update all mass properties for the report.
- MassBalance->GetMassPropertiesReport();
+ LoadInputs(eMassBalance); // Update all input mass properties for the report.
+ Models[eMassBalance]->Run(false); // Update all mass properties for the report.
+ ((FGMassBalance*)Models[eMassBalance])->GetMassPropertiesReport();
cout << endl << fgblue << highint
<< "End of vehicle configuration loading." << endl
<< fgdef << endl;
}
- // Late bind previously undefined FCS inputs.
- try {
- FCS->LateBind();
- } catch (string prop) {
- cerr << endl << fgred << " Could not late bind property " << prop
- << ". Aborting." << endl;
- result = false;
- }
+ for (unsigned int i=0; i< Models.size(); i++) LoadInputs(i);
if (result) {
struct PropertyCatalogStructure masterPCS;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+string FGFDMExec::GetPropulsionTankReport()
+{
+ return ((FGPropulsion*)Models[ePropulsion])->GetPropulsionTankReport();
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
void FGFDMExec::BuildPropertyCatalog(struct PropertyCatalogStructure* pcs)
{
struct PropertyCatalogStructure* pcsNew = new struct PropertyCatalogStructure;
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;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+void FGFDMExec::ForceOutput(int idx)
+{
+ if (idx >= (int)0 && idx < (int)Outputs.size()) Outputs[idx]->Print();
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
bool FGFDMExec::SetOutputDirectives(const string& fname)
{
bool result;
FGOutput* Output = new FGOutput(this);
Output->SetDirectivesFile(RootDir + fname);
Output->InitModel();
- Schedule(Output, 1);
+ Schedule(Output);
result = Output->Load(0);
if (result) {
+ Output->Run(holding);
Outputs.push_back(Output);
- typedef int (FGOutput::*iOPMF)(void) const;
+ 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);
+ instance->Tie(outputProp+"/log_rate_hz", Output, (iOPMF)0, &FGOutput::SetRate, false);
}
+ else
+ delete Output;
return result;
}
sim_time = saved_time;
}
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-/*
-void FGFDMExec::DoTrimAnalysis(int mode)
-{
- double saved_time;
- if (Constructing) return;
-
- if (mode < 0 || mode > JSBSim::taNone) {
- cerr << endl << "Illegal trimming mode!" << endl << endl;
- return;
- }
- saved_time = sim_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);
- }
-
- bool result = trimAnalysis.DoTrim();
-
- if ( !result ) cerr << endl << "Trim Failed" << endl << endl;
-
- trimAnalysis.Report();
- Setsim_time(saved_time);
-
- EnableOutput();
- cout << "\nOutput: " << GetOutputFileName() << endl;
-
-}
-*/
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFDMExec::UseAtmosphereMSIS(void)
-{
- FGAtmosphere *oldAtmosphere = Atmosphere;
- Atmosphere = new MSIS(this);
- if (!Atmosphere->InitModel()) {
- cerr << fgred << "MSIS Atmosphere model init failed" << fgdef << endl;
- Error+=1;
- }
- delete oldAtmosphere;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFDMExec::UseAtmosphereMars(void)
-{
-/*
- FGAtmosphere *oldAtmosphere = Atmosphere;
- Atmosphere = new FGMars(this);
- if (!Atmosphere->InitModel()) {
- cerr << fgred << "Mars Atmosphere model init failed" << fgdef << endl;
- Error+=1;
- }
- delete oldAtmosphere;
-*/
-}
-
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// 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 " << 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";
}
projects / flightgear.git / blobdiff