-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Module: FGInertial.cpp
Author: Jon S. Berndt
--------------------------------------------------------------------------------
09/13/00 JSB Created
-********************************************************************************
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGInertial.h"
+#include "FGPosition.h"
+#include "FGMassBalance.h"
-static const char *IdSrc = "$Header$";
+static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_INERTIAL;
-/*******************************************************************************
-************************************ CODE **************************************
-*******************************************************************************/
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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);
+
+ bind();
+
+ Debug(0);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+FGInertial::~FGInertial(void)
+{
+ unbind();
+ Debug(1);
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGInertial:: Run(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(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
+ // motion over the curved surface of the earth (second set).
+
+ vOmegaLocal(eX) = omega() * cos(Position->GetLatitude());
+ vOmegaLocal(eY) = 0.0;
+ vOmegaLocal(eZ) = omega() * -sin(Position->GetLatitude());
+
+ vOmegaLocal(eX) += Position->GetVe() / Position->GetRadius();
+ vOmegaLocal(eY) += -Position->GetVn() / Position->GetRadius();
+ vOmegaLocal(eZ) += 0.00;
+
+// vForces = State->GetTl2b()*(-2.0*vOmegaLocal * Position->GetVel());
+
+ vRadius(3) = Position->GetRadius();
+ vForces += State->GetTl2b()*(vOmegaLocal * (vOmegaLocal * vRadius));
+
+ vForces *= MassBalance->GetMass(); // IMPORTANT !!!!!!!!!!!!!!!!!!!!!!!!!!!!
+
return false;
} else {
return true;
}
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
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
+// out the normally expected messages, essentially echoing
+// the config files as they are read. If the environment
+// variable is not set, debug_lvl is set to 1 internally
+// 0: This requests JSBSim not to output any messages
+// whatsoever.
+// 1: This value explicity requests the normal JSBSim
+// startup messages
+// 2: This value asks for a message to be printed out when
+// a class is instantiated
+// 4: When this value is set, a message is displayed when a
+// FGModel object executes its Run() method
+// 8: When this value is set, various runtime state variables
+// are printed out periodically
+// 16: When set various parameters are sanity checked and
+// a message is printed out when they go out of bounds
+
+void FGInertial::Debug(int from)
+{
+ if (debug_lvl <= 0) return;
+
+ if (debug_lvl & 1) { // Standard console startup message output
+ if (from == 0) { // Constructor
+
+ }
+ }
+ if (debug_lvl & 2 ) { // Instantiation/Destruction notification
+ if (from == 0) cout << "Instantiated: FGInertial" << endl;
+ if (from == 1) cout << "Destroyed: FGInertial" << endl;
+ }
+ if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
+ }
+ if (debug_lvl & 8 ) { // Runtime state variables
+ }
+ if (debug_lvl & 16) { // Sanity checking
+ }
+ if (debug_lvl & 64) {
+ if (from == 0) { // Constructor
+ cout << IdSrc << endl;
+ cout << IdHdr << endl;
+ }
+ }
}
projects / flightgear.git / blobdiff