Further information about the GNU General Public License can also be found on
the world wide web at http://www.gnu.org.
-
HISTORY
--------------------------------------------------------------------------------
7/1/99 TP Created
-
FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
the sim will most likely start in a very dynamic state (unless, of course,
you have chosen your IC's wisely) even after setting it up with this class.
-CAVEAT: This class makes use of alpha=theta-gamma. This means that setting
- any of the three with this class is only valid for steady state
- (all accels zero) and zero pitch rate. One example where this
- would produce invalid results is setting up for a trim in a pull-up
- or pushover (both have nonzero pitch rate). Maybe someday...
-
********************************************************************************
SENTRY
*******************************************************************************/
*******************************************************************************/
#include "FGFDMExec.h"
+#include "FGJSBBase.h"
#include "FGAtmosphere.h"
-#include "FGMatrix.h"
+#include "FGMatrix33.h"
+#include "FGColumnVector3.h"
+#include "FGColumnVector4.h"
-/*******************************************************************************
-CLASS DECLARATION
-*******************************************************************************/
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DEFINITIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#define ID_INITIALCONDITION "$Id$"
+
+typedef enum { setvt, setvc, setve, setmach, setuvw, setned, setvg } speedset;
+typedef enum { setwned, setwmd, setwhc } windset;
-typedef enum { setvt, setvc, setve, setmach } speedset;
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+FORWARD DECLARATIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DOCUMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/** Takes a set of initial conditions and provide a kinematically consistent set
+ of body axis velocity components, euler angles, and altitude. This class
+ does not attempt to trim the model i.e. the sim will most likely start in a
+ very dynamic state (unless, of course, you have chosen your IC's wisely)
+ even after setting it up with this class.
+
+ USAGE NOTES
-/* USAGE NOTES
With a valid object of FGFDMExec and an aircraft model loaded
FGInitialCondition fgic=new FGInitialCondition(FDMExec);
fgic->SetVcalibratedKtsIC()
//or to loop the sim w/o integrating
FDMExec->RunIC(fgic)
-
-
Speed:
+
Since vc, ve, vt, and mach all represent speed, the remaining
three are recalculated each time one of them is set (using the
current altitude). The most recent speed set is remembered so
most recent speed set.
Alpha,Gamma, and Theta:
- This class assumes that it will be used to set up the sim for a
- steady, zero pitch rate condition. This entails the assumption
- that alpha=theta-gamma. Since any two of those angles specifies
- the third (again, for zero pitch rate) gamma (flight path angle)
- is favored when setting alpha and theta and alpha is favored when
- setting gamma. i.e.
- set alpha : recalculate theta using gamma as currently set
+
+ This class assumes that it will be used to set up the sim for a
+ steady, zero pitch rate condition. Since any two of those angles
+ specifies the third gamma (flight path angle) is favored when setting
+ alpha and theta and alpha is favored when setting gamma. i.e.
+
+ set alpha : recalculate theta using gamma as currently set
set theta : recalculate alpha using gamma as currently set
set gamma : recalculate theta using alpha as currently set
Setting climb rate is, for the purpose of this discussion,
considered equivalent to setting gamma.
-
+ @author Anthony K. Peden
+ @version $Id$
+ @see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/FGInitialCondition.h?rev=HEAD&content-type=text/vnd.viewcvs-markup">
+ Header File </a>
+ @see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/FGInitialCondition.cpp?rev=HEAD&content-type=text/vnd.viewcvs-markup">
+ Source File </a>
*/
-class FGInitialCondition {
-public:
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DECLARATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+class FGInitialCondition : public FGJSBBase
+{
+public:
+ /// Constructor
FGInitialCondition(FGFDMExec *fdmex);
- ~FGInitialCondition(void);
-
- void SetVcalibratedKtsIC(float tt);
- void SetVequivalentKtsIC(float tt);
- void SetVtrueKtsIC(float tt);
- void SetMachIC(float tt);
-
- void SetUBodyFpsIC(float tt);
- void SetVBodyFpsIC(float tt);
- void SetWBodyFpsIC(float tt);
-
- void SetAltitudeFtIC(float tt);
-
- //"vertical" flight path, recalculate theta
- inline void SetFlightPathAngleDegIC(float tt) { gamma=tt*DEGTORAD; theta=alpha+gamma; }
- inline void SetFlightPathAngleRadIC(float tt) { gamma=tt; theta=alpha+gamma; }
- //set speed first
- void SetClimbRateFpmIC(float tt);
- //use currently stored gamma, recalcualte theta
- inline void SetAlphaDegIC(float tt) { alpha=tt*DEGTORAD; theta=alpha+gamma; }
- inline void SetAlphaRadIC(float tt) { alpha=tt; theta=alpha+gamma; }
- //use currently stored gamma, recalcualte alpha
- inline void SetPitchAngleDegIC(float tt) { theta=tt*DEGTORAD; alpha=theta-gamma; }
- inline void SetPitchAngleRadIC(float tt) { theta=tt; alpha=theta-gamma; }
-
- inline void SetBetaDegIC(float tt) { beta=tt*DEGTORAD; }
- inline void SetBetaRadIC(float tt) { beta=tt; }
+ /// Destructor
+ ~FGInitialCondition();
+
+ void SetVcalibratedKtsIC(double tt);
+ void SetVequivalentKtsIC(double tt);
+ inline void SetVtrueKtsIC(double tt) { SetVtrueFpsIC(tt*ktstofps); }
+ inline void SetVgroundKtsIC(double tt) { SetVgroundFpsIC(tt*ktstofps); }
+ void SetMachIC(double tt);
- inline void SetRollAngleDegIC(float tt) { phi=tt*DEGTORAD; }
- inline void SetRollAngleRadIC(float tt) { phi=tt; }
-
- inline void SetHeadingDegIC(float tt) { psi=tt*DEGTORAD; }
- inline void SetHeadingRadIC(float tt) { psi=tt; }
-
- inline void SetLatitudeDegIC(float tt) { latitude=tt*DEGTORAD; }
- inline void SetLatitudeRadIC(float tt) { latitude=tt; }
-
- inline void SetLongitudeDegIC(float tt) { longitude=tt*DEGTORAD; }
- inline void SetLongitudeRadIC(float tt) { longitude=tt; }
-
- inline float GetVcalibratedKtsIC(void) { return vc*FPSTOKTS; }
- inline float GetVequivalentKtsIC(void) { return ve*FPSTOKTS; }
- inline float GetVtrueKtsIC(void) { return vt*FPSTOKTS; }
- inline float GetMachIC(void) { return mach; }
-
- inline float GetAltitudeFtIC(void) { return altitude; }
-
- inline float GetFlightPathAngleDegIC(void) { return gamma*RADTODEG; }
- inline float GetFlightPathAngleRadIC(void) { return gamma; }
-
- inline float GetClimbRateFpmIC(void) { return hdot*60; }
- inline float GetClimbRateFpsIC(void) { return hdot; }
-
- inline float GetAlphaDegIC(void) { return alpha*RADTODEG; }
- inline float GetAlphaRadIC(void) { return alpha; }
-
- inline float GetPitchAngleDegIC(void) { return theta*RADTODEG; }
- inline float GetPitchAngleRadIC(void) { return theta; }
-
-
- inline float GetBetaDegIC(void) { return beta*RADTODEG; }
- inline float GetBetaRadIC(void) { return beta*RADTODEG; }
-
- inline float GetRollAngleDegIC(void) { return phi*RADTODEG; }
- inline float GetRollAngleRadIC(void) { return phi; }
-
- inline float GetHeadingDegIC(void) { return psi*RADTODEG; }
- inline float GetHeadingRadIC(void) { return psi; }
-
- inline float GetLatitudeDegIC(void) { return latitude*RADTODEG; }
- inline float GetLatitudeRadIC(void) { return latitude; }
-
- inline float GetLongitudeDegIC(void) { return longitude*RADTODEG; }
- inline float GetLongitudeRadIC(void) { return longitude; }
+ inline void SetAlphaDegIC(double tt) { SetAlphaRadIC(tt*degtorad); }
+ inline void SetBetaDegIC(double tt) { SetBetaRadIC(tt*degtorad);}
+
+ inline void SetPitchAngleDegIC(double tt) { SetPitchAngleRadIC(tt*degtorad); }
+ inline void SetRollAngleDegIC(double tt) { SetRollAngleRadIC(tt*degtorad);}
+ inline void SetTrueHeadingDegIC(double tt){ SetTrueHeadingRadIC(tt*degtorad); }
+
+ void SetClimbRateFpmIC(double tt);
+ inline void SetFlightPathAngleDegIC(double tt) { SetFlightPathAngleRadIC(tt*degtorad); }
- inline float GetUBodyFpsIC(void) { return vt*cos(alpha)*cos(beta); }
- inline float GetVBodyFpsIC(void) { return vt*sin(beta); }
- inline float GetWBodyFpsIC(void) { return vt*sin(alpha)*cos(beta); }
+ void SetAltitudeFtIC(double tt);
+ void SetAltitudeAGLFtIC(double tt);
+
+ void SetSeaLevelRadiusFtIC(double tt);
+ void SetTerrainAltitudeFtIC(double tt);
- inline float GetThetaRadIC(void) { return theta; }
- inline float GetPhiRadIC(void) { return phi; }
- inline float GetPsiRadIC(void) { return psi; }
+ inline void SetLatitudeDegIC(double tt) { latitude=tt*degtorad; }
+ inline void SetLongitudeDegIC(double tt) { longitude=tt*degtorad; }
+
+ inline double GetVcalibratedKtsIC(void) const { return vc*fpstokts; }
+ inline double GetVequivalentKtsIC(void) const { return ve*fpstokts; }
+ inline double GetVgroundKtsIC(void) const { return vg*fpstokts; }
+ inline double GetVtrueKtsIC(void) const { return vt*fpstokts; }
+ inline double GetMachIC(void) const { return mach; }
+
+ inline double GetClimbRateFpmIC(void) const { return hdot*60; }
+ inline double GetFlightPathAngleDegIC(void)const { return gamma*radtodeg; }
+
+ inline double GetAlphaDegIC(void) const { return alpha*radtodeg; }
+ inline double GetBetaDegIC(void) const { return beta*radtodeg; }
+
+ inline double GetPitchAngleDegIC(void) const { return theta*radtodeg; }
+ inline double GetRollAngleDegIC(void) const { return phi*radtodeg; }
+ inline double GetHeadingDegIC(void) const { return psi*radtodeg; }
+ inline double GetLatitudeDegIC(void) const { return latitude*radtodeg; }
+ inline double GetLongitudeDegIC(void) const { return longitude*radtodeg; }
+
+ inline double GetAltitudeFtIC(void) const { return altitude; }
+ inline double GetAltitudeAGLFtIC(void) const { return altitude - terrain_altitude; }
+
+ inline double GetSeaLevelRadiusFtIC(void) const { return sea_level_radius; }
+ inline double GetTerrainAltitudeFtIC(void) const { return terrain_altitude; }
+
+ void SetVgroundFpsIC(double tt);
+ void SetVtrueFpsIC(double tt);
+ void SetUBodyFpsIC(double tt);
+ void SetVBodyFpsIC(double tt);
+ void SetWBodyFpsIC(double tt);
+ void SetVnorthFpsIC(double tt);
+ void SetVeastFpsIC(double tt);
+ void SetVdownFpsIC(double tt);
+
+ void SetWindNEDFpsIC(double wN, double wE, double wD);
+
+ void SetWindMagKtsIC(double mag);
+ void SetWindDirDegIC(double dir);
+
+ void SetHeadWindKtsIC(double head);
+ void SetCrossWindKtsIC(double cross);// positive from left
+
+ void SetWindDownKtsIC(double wD);
+
+ void SetClimbRateFpsIC(double tt);
+ inline double GetVgroundFpsIC(void) const { return vg; }
+ inline double GetVtrueFpsIC(void) const { return vt; }
+ inline double GetWindUFpsIC(void) const { return uw; }
+ inline double GetWindVFpsIC(void) const { return vw; }
+ inline double GetWindWFpsIC(void) const { return ww; }
+ inline double GetWindNFpsIC(void) const { return wnorth; }
+ inline double GetWindEFpsIC(void) const { return weast; }
+ inline double GetWindDFpsIC(void) const { return wdown; }
+ inline double GetWindFpsIC(void) const { return sqrt(wnorth*wnorth + weast*weast); }
+ double GetWindDirDegIC(void);
+ inline double GetClimbRateFpsIC(void) const { return hdot; }
+ double GetUBodyFpsIC(void);
+ double GetVBodyFpsIC(void);
+ double GetWBodyFpsIC(void);
+ void SetFlightPathAngleRadIC(double tt);
+ void SetAlphaRadIC(double tt);
+ void SetPitchAngleRadIC(double tt);
+ void SetBetaRadIC(double tt);
+ void SetRollAngleRadIC(double tt);
+ void SetTrueHeadingRadIC(double tt);
+ inline void SetLatitudeRadIC(double tt) { latitude=tt; }
+ inline void SetLongitudeRadIC(double tt) { longitude=tt; }
+ inline double GetFlightPathAngleRadIC(void) const { return gamma; }
+ inline double GetAlphaRadIC(void) const { return alpha; }
+ inline double GetPitchAngleRadIC(void) const { return theta; }
+ inline double GetBetaRadIC(void) const { return beta; }
+ inline double GetRollAngleRadIC(void) const { return phi; }
+ inline double GetHeadingRadIC(void) const { return psi; }
+ inline double GetLatitudeRadIC(void) const { return latitude; }
+ inline double GetLongitudeRadIC(void) const { return longitude; }
+ inline double GetThetaRadIC(void) const { return theta; }
+ inline double GetPhiRadIC(void) const { return phi; }
+ inline double GetPsiRadIC(void) const { return psi; }
+
+ inline speedset GetSpeedSet(void) { return lastSpeedSet; }
+ inline windset GetWindSet(void) { return lastWindSet; }
+
+ bool Load(string acpath, string acname, string rstname);
+
+ void bind(void);
+ void unbind(void);
+
private:
- float vt,vc,ve;
- float alpha,beta,gamma,theta,phi,psi;
- float mach;
- float altitude,hdot;
- float latitude,longitude;
- float u,v,w;
+ double vt,vc,ve,vg;
+ double mach;
+ double altitude,hdot;
+ double latitude,longitude;
+ double u,v,w;
+ double uw,vw,ww;
+ double vnorth,veast,vdown;
+ double wnorth,weast,wdown;
+ double whead, wcross, wdir, wmag;
+ double sea_level_radius;
+ double terrain_altitude;
+ double radius_to_vehicle;
+
+ double alpha, beta, theta, phi, psi, gamma;
+ double salpha,sbeta,stheta,sphi,spsi,sgamma;
+ double calpha,cbeta,ctheta,cphi,cpsi,cgamma;
+
+ double xlo, xhi,xmin,xmax;
+
+ typedef double (FGInitialCondition::*fp)(double x);
+ fp sfunc;
speedset lastSpeedSet;
+ windset lastWindSet;
FGFDMExec *fdmex;
+ FGPropertyManager *PropertyManager;
- float calcVcas(float Mach);
- bool findMachInterval(float *mlo, float *mhi,float vcas);
- bool getMachFromVcas(float *Mach,float vcas);
+ bool getAlpha(void);
+ bool getTheta(void);
+ bool getMachFromVcas(double *Mach,double vcas);
+
+ double GammaEqOfTheta(double Theta);
+ double GammaEqOfAlpha(double Alpha);
+ double calcVcas(double Mach);
+ void calcUVWfromNED(void);
+ void calcWindUVW(void);
+
+ bool findInterval(double x,double guess);
+ bool solve(double *y, double x);
+ void Debug(int from);
};
#endif
+
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