%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGInertial.h"
-#include "FGPosition.h"
+#include "FGPropagate.h"
+#include "FGState.h"
#include "FGMassBalance.h"
+namespace JSBSim {
+
static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_INERTIAL;
{
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)
{
- 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).
+ // Fast return if we have nothing to do ...
+ if (FGModel::Run()) return true;
- vOmegaLocal(eX) = omega() * cos(Position->GetLatitude());
- vOmegaLocal(eY) = 0.0;
- vOmegaLocal(eZ) = omega() * -sin(Position->GetLatitude());
+ // Gravitation accel
+ double r = Propagate->GetRadius();
+ gAccel = GetGAccel(r);
- 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;
- }
+ 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
}
}
}
-
+}