%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGInertial.h"
-#include "FGPosition.h"
+#include "FGPropagate.h"
+#include "FGState.h"
#include "FGMassBalance.h"
namespace JSBSim {
RadiusReference = 20925650.00;
gAccelReference = GM/(RadiusReference*RadiusReference);
gAccel = GM/(RadiusReference*RadiusReference);
- vRadius.InitMatrix();
- vCoriolis.InitMatrix();
- vCentrifugal.InitMatrix();
- vGravity.InitMatrix();
-
- bind();
Debug(0);
}
FGInertial::~FGInertial(void)
{
- unbind();
Debug(1);
}
bool FGInertial::Run(void)
{
- if (!FGModel::Run()) {
+ // Fast return if we have nothing to do ...
+ if (FGModel::Run()) return true;
- gAccel = GM / (Position->GetRadius()*Position->GetRadius());
+ // Gravitation accel
+ double r = Propagate->GetRadius();
+ gAccel = GetGAccel(r);
- vGravity(eDown) = gAccel;
-
- // 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;
-
- // 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.
-
- vCoriolis(eEast) = 2.0*omega() * (Position->GetVd()*cos(Position->GetLatitude()) +
- Position->GetVn()*sin(Position->GetLatitude()));
-
- vRadius(eDown) = Position->GetRadius();
- vCentrifugal(eDown) = -vOmegaLocal.Magnitude() * vOmegaLocal.Magnitude() * vRadius(eDown);
-
- vForces = State->GetTl2b() * MassBalance->GetMass() * (vCoriolis + vCentrifugal + vGravity);
-
- return false;
- } else {
- return true;
- }
+ return false;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-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