JSBSim updates. This update changes the file format, so an update of the base

[flightgear.git] / src / FDM / JSBSim / FGInertial.cpp

diff --git a/src/FDM/JSBSim/FGInertial.cpp b/src/FDM/JSBSim/FGInertial.cpp
index 9f680d203cd95cd59ce038975d3a78e813aea8b8..091f6647d671ca5a8f505c314d56982557dbed7d 100644 (file)
--- a/src/FDM/JSBSim/FGInertial.cpp
+++ b/src/FDM/JSBSim/FGInertial.cpp
@@ -51,14 +51,18 @@ FGInertial::FGInertial(FGFDMExec* fgex) : FGModel(fgex)
 {
   Name = "FGInertial";
 
-  vRadius.InitMatrix();
-  
   // Defaults
   RotationRate    = 0.00007272205217;
   GM              = 14.06252720E15;
   RadiusReference = 20925650.00;
   gAccelReference = GM/(RadiusReference*RadiusReference);
   gAccel          = GM/(RadiusReference*RadiusReference);
+  vRadius.InitMatrix();
+  vCoriolis.InitMatrix();
+  vCentrifugal.InitMatrix();
+  vGravity.InitMatrix();
+    
+  bind();
 
   Debug(0);
 }
@@ -67,6 +71,7 @@ FGInertial::FGInertial(FGFDMExec* fgex) : FGModel(fgex)
 
 FGInertial::~FGInertial(void)
 {
+  unbind();
   Debug(1);
 }
 
@@ -74,21 +79,12 @@ FGInertial::~FGInertial(void)
 
 bool FGInertial::Run(void)
 {
-  double stht, ctht, sphi, cphi;
-
   if (!FGModel::Run()) {
 
     gAccel = GM / (Position->GetRadius()*Position->GetRadius());
 
-    stht = sin(Rotation->GetEuler(eTht));
-    ctht = cos(Rotation->GetEuler(eTht));
-    sphi = sin(Rotation->GetEuler(ePhi));
-    cphi = cos(Rotation->GetEuler(ePhi));
+    vGravity(eDown) = gAccel;
 
-    vGravity(eX) = vForces(eX) = -gravity()*stht;
-    vGravity(eY) = vForces(eY) =  gravity()*sphi*ctht;
-    vGravity(eZ) = vForces(eZ) =  gravity()*cphi*ctht;
-    
     // The following equation for vOmegaLocal terms shows the angular velocity
     // calculation _for_the_local_frame_ given the earth's rotation (first set)
     // at the current latitude, and also the component due to the aircraft
@@ -102,12 +98,17 @@ bool FGInertial::Run(void)
     vOmegaLocal(eY) += -Position->GetVn() / Position->GetRadius();
     vOmegaLocal(eZ) +=  0.00;
 
-//    vForces = State->GetTl2b()*(-2.0*vOmegaLocal * Position->GetVel());
+    // Coriolis acceleration is normally written: -2w*dr/dt, but due to the axis
+    // conventions used here the sign is reversed: 2w*dr/dt. The same is true for
+    // Centrifugal acceleration.
 
-    vRadius(3) = Position->GetRadius();
-    vForces += State->GetTl2b()*(vOmegaLocal * (vOmegaLocal * vRadius));
+    vCoriolis(eEast) = 2.0*omega() * (Position->GetVd()*cos(Position->GetLatitude()) +
+                                      Position->GetVn()*sin(Position->GetLatitude()));
 
-    vForces *= MassBalance->GetMass(); // IMPORTANT !!!!!!!!!!!!!!!!!!!!!!!!!!!!
+    vRadius(eDown) = Position->GetRadius();
+    vCentrifugal(eDown) = -vOmegaLocal.Magnitude() * vOmegaLocal.Magnitude() * vRadius(eDown);
+
+    vForces = State->GetTl2b() * MassBalance->GetMass() * (vCoriolis + vCentrifugal + vGravity);
     
     return false;
   } else {
@@ -122,6 +123,28 @@ bool FGInertial::LoadInertial(FGConfigFile* AC_cfg)
   return true;
 }
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGInertial::bind(void)
+{
+  typedef double (FGInertial::*PMF)(int) const;
+  PropertyManager->Tie("forces/fbx-inertial-lbs", this,1,
+                       (PMF)&FGInertial::GetForces);
+  PropertyManager->Tie("forces/fby-inertial-lbs", this,2,
+                       (PMF)&FGInertial::GetForces);
+  PropertyManager->Tie("forces/fbz-inertial-lbs", this,3,
+                       (PMF)&FGInertial::GetForces);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGInertial::unbind(void)
+{
+  PropertyManager->Untie("forces/fbx-inertial-lbs");
+  PropertyManager->Untie("forces/fby-inertial-lbs");
+  PropertyManager->Untie("forces/fbz-inertial-lbs");
+}
+
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 //    The bitmasked value choices are as follows:
 //    unset: In this case (the default) JSBSim would only print
@@ -160,5 +183,11 @@ void FGInertial::Debug(int from)
   }
   if (debug_lvl & 16) { // Sanity checking
   }
+  if (debug_lvl & 64) {
+    if (from == 0) { // Constructor
+      cout << IdSrc << endl;
+      cout << IdHdr << endl;
+    }
+  }
 }