-/*******************************************************************************
-
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
Module: FGPosition.cpp
Author: Jon S. Berndt
Date started: 01/05/99
Purpose: Integrate the EOM to determine instantaneous position
Called by: FGFDMExec
-
+
------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
-
+
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.
-
+
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
details.
-
+
You should have received a copy of the GNU General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA.
-
+
Further information about the GNU General Public License can also be found on
the world wide web at http://www.gnu.org.
-
+
FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
This class encapsulates the integration of rates and accelerations to get the
--------------------------------------------------------------------------------
01/05/99 JSB Created
-********************************************************************************
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
COMMENTS, REFERENCES, and NOTES
-********************************************************************************
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
[1] Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling
Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420 Naval Postgraduate
School, January 1994
[5] Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
1982 ISBN 0-471-08936-2
-********************************************************************************
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifdef FGFS
-# include <Include/compiler.h>
-# ifdef FG_HAVE_STD_INCLUDES
+# include <simgear/compiler.h>
+# ifdef SG_HAVE_STD_INCLUDES
# include <cmath>
+# include <iomanip>
# else
# include <math.h>
+# include <iomanip.h>
# endif
#else
-# include <cmath>
+# if defined(sgi) && !defined(__GNUC__)
+# include <math.h>
+# include <iomanip.h>
+# else
+# include <cmath>
+# include <iomanip>
+# endif
#endif
#include "FGPosition.h"
#include "FGFDMExec.h"
#include "FGFCS.h"
#include "FGAircraft.h"
+#include "FGMassBalance.h"
#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
+#include "FGPropertyManager.h"
-/*******************************************************************************
-************************************ CODE **************************************
-*******************************************************************************/
+static const char *IdSrc = "$Id$";
+static const char *IdHdr = ID_POSITION;
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+extern double globalTriNormal[3];
+extern double globalSceneryAltitude;
+extern double globalSeaLevelRadius;
FGPosition::FGPosition(FGFDMExec* fdmex) : FGModel(fdmex)
{
Name = "FGPosition";
- AccelN = AccelE = AccelD = 0.0;
LongitudeDot = LatitudeDot = RadiusDot = 0.0;
+ lastLongitudeDot = lastLatitudeDot = lastRadiusDot = 0.0;
+ Longitude = Latitude = 0.0;
+ gamma = Vt = Vground = 0.0;
+ hoverbmac = hoverbcg = 0.0;
+ psigt = 0.0;
+ bind();
+ Debug(0);
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FGPosition::~FGPosition(void)
{
+ unbind();
+ Debug(1);
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGPosition:: Run(void)
+bool FGPosition::InitModel(void)
{
- float tanLat, cosLat;
+ FGModel::InitModel();
+
+ h = 3.0; // Est. height of aircraft cg off runway
+ SeaLevelRadius = Inertial->RefRadius(); // For initialization ONLY
+ Radius = SeaLevelRadius + h;
+ RunwayRadius = SeaLevelRadius;
+ DistanceAGL = Radius - RunwayRadius; // Geocentric
+ vRunwayNormal(3) = -1.0; // Initialized for standalone mode
+ b = 1;
+ return true;
+}
- if (!FGModel::Run()) {
- GetState();
- T[1][1] = Q0*Q0 + Q1*Q1 - Q2*Q2 - Q3*Q3; // Page A-11
- T[1][2] = 2*(Q1*Q2 + Q0*Q3); // From
- T[1][3] = 2*(Q1*Q3 - Q0*Q2); // Reference [2]
- T[2][1] = 2*(Q1*Q2 - Q0*Q3);
- T[2][2] = Q0*Q0 - Q1*Q1 + Q2*Q2 - Q3*Q3;
- T[2][3] = 2*(Q2*Q3 + Q0*Q1);
- T[3][1] = 2*(Q1*Q3 + Q0*Q2);
- T[3][2] = 2*(Q2*Q3 - Q0*Q1);
- T[3][3] = Q0*Q0 - Q1*Q1 - Q2*Q2 + Q3*Q3;
-
- Fn = T[1][1]*Fx + T[2][1]*Fy + T[3][1]*Fz; // Eqn. 3.5
- Fe = T[1][2]*Fx + T[2][2]*Fy + T[3][2]*Fz; // From
- Fd = T[1][3]*Fx + T[2][3]*Fy + T[3][3]*Fz; // Reference [3]
-
- tanLat = tan(Latitude); // I made this up
- cosLat = cos(Latitude);
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+/*
+Purpose: Called on a schedule to perform Positioning algorithms
+Notes: [TP] Make sure that -Vt <= hdot <= Vt, which, of course, should always
+ be the case
+ [JB] Run in standalone mode, SeaLevelRadius will be reference radius.
+ In FGFS, SeaLevelRadius is stuffed from FGJSBSim in JSBSim.cxx each pass.
+*/
- lastAccelN = AccelN;
- lastAccelE = AccelE;
- lastAccelD = AccelD;
+bool FGPosition::Run(void) {
+ double cosLat;
+ double hdot_Vt;
+ FGColumnVector3 vMac;
- Vn = T[1][1]*U + T[2][1]*V + T[3][1]*W;
- Ve = T[1][2]*U + T[2][2]*V + T[3][2]*W;
- Vd = T[1][3]*U + T[2][3]*V + T[3][3]*W;
+ if (!FGModel::Run()) {
+ GetState();
-/* AccelN = invMass * Fn + invRadius * (Vn*Vd - Ve*Ve*tanLat); // Eqn. 3.6
- AccelE = invMass * Fe + invRadius * (Ve*Vd + Vn*Ve*tanLat); // From
- AccelD = invMass * Fd - invRadius * (Vn*Vn + Ve*Ve); // Reference [3]
+ Vground = sqrt( vVel(eNorth)*vVel(eNorth) + vVel(eEast)*vVel(eEast) );
+ psigt = atan2(vVel(eEast), vVel(eNorth));
+ if (psigt < 0.0)
+ psigt += 2*M_PI;
- Vn += 0.5*dt*rate*(3.0*AccelN - lastAccelN); // Eqn. 3.7
- Ve += 0.5*dt*rate*(3.0*AccelE - lastAccelE); // From
- Vd += 0.5*dt*rate*(3.0*AccelD - lastAccelD); // Reference [3]
+ Radius = h + SeaLevelRadius;
- Vee = Ve - OMEGAEARTH * (Radius) * cosLat; // From Eq. 3.8
-*/ // Reference [3]
- lastLatitudeDot = LatitudeDot;
- lastLongitudeDot = LongitudeDot;
- lastRadiusDot = RadiusDot;
+ cosLat = cos(Latitude);
+ if (cosLat != 0) LongitudeDot = vVel(eEast) / (Radius * cosLat);
- if (cosLat != 0) LongitudeDot = Ve / (Radius * cosLat);
- LatitudeDot = Vn * invRadius;
- RadiusDot = -Vd;
+ LatitudeDot = vVel(eNorth) / Radius;
+ RadiusDot = -vVel(eDown);
Longitude += 0.5*dt*rate*(LongitudeDot + lastLongitudeDot);
Latitude += 0.5*dt*rate*(LatitudeDot + lastLatitudeDot);
Radius += 0.5*dt*rate*(RadiusDot + lastRadiusDot);
- PutState();
+ h = Radius - SeaLevelRadius; // Geocentric
+
+ DistanceAGL = Radius - RunwayRadius; // Geocentric
+
+
+ hoverbcg = DistanceAGL/b;
+
+ vMac=State->GetTb2l()*Aircraft->GetXYZrp();
+
+ vMac *= inchtoft;
+ hoverbmac = (DistanceAGL + vMac(3))/b;
+
+ if (Vt > 0) {
+ hdot_Vt = RadiusDot/Vt;
+ if (fabs(hdot_Vt) <= 1) gamma = asin(hdot_Vt);
+ } else {
+ gamma = 0.0;
+ }
+
+ lastLatitudeDot = LatitudeDot;
+ lastLongitudeDot = LongitudeDot;
+ lastRadiusDot = RadiusDot;
+
return false;
+
} else {
return true;
}
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGPosition::GetState(void)
-{
+void FGPosition::GetState(void) {
dt = State->Getdt();
- Q0 = Rotation->GetQ0();
- Q1 = Rotation->GetQ1();
- Q2 = Rotation->GetQ2();
- Q3 = Rotation->GetQ3();
+ Vt = Translation->GetVt();
+ vVel = State->GetTb2l() * Translation->GetUVW();
+ vVelDot = State->GetTb2l() * Translation->GetUVWdot();
+
+ b = Aircraft->GetWingSpan();
+}
- Fx = Aircraft->GetFx();
- Fy = Aircraft->GetFy();
- Fz = Aircraft->GetFz();
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- U = Translation->GetU();
- V = Translation->GetV();
- W = Translation->GetW();
+void FGPosition::Seth(double tt) {
+ h = tt;
+ Radius = h + SeaLevelRadius;
+ DistanceAGL = Radius - RunwayRadius; // Geocentric
+ hoverbcg = DistanceAGL/b;
+}
- Latitude = State->Getlatitude();
- Longitude = State->Getlongitude();
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- invMass = 1.0 / Aircraft->GetMass();
- invRadius = 1.0 / (State->Geth() + EARTHRAD);
- Radius = State->Geth() + EARTHRAD;
+void FGPosition::SetDistanceAGL(double tt) {
+ DistanceAGL=tt;
+ Radius = RunwayRadius + DistanceAGL;
+ h = Radius - SeaLevelRadius;
+ hoverbcg = DistanceAGL/b;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGPosition::PutState(void)
+void FGPosition::bind(void)
{
- State->Setlatitude(Latitude);
- State->Setlongitude(Longitude);
- State->Seth(Radius - EARTHRAD);
+ PropertyManager->Tie("velocities/v-north-fps", this,
+ &FGPosition::GetVn);
+ PropertyManager->Tie("velocities/v-east-fps", this,
+ &FGPosition::GetVe);
+ PropertyManager->Tie("velocities/v-down-fps", this,
+ &FGPosition::GetVd);
+ PropertyManager->Tie("velocities/vg-fps", this,
+ &FGPosition::GetVground);
+ PropertyManager->Tie("flight-path/psi-gt-rad", this,
+ &FGPosition::GetGroundTrack);
+ PropertyManager->Tie("position/h-sl-ft", this,
+ &FGPosition::Geth,
+ &FGPosition::Seth,
+ true);
+ PropertyManager->Tie("velocities/h-dot-fps", this,
+ &FGPosition::Gethdot);
+ PropertyManager->Tie("position/lat-gc-rad", this,
+ &FGPosition::GetLatitude,
+ &FGPosition::SetLatitude);
+ PropertyManager->Tie("position/lat-dot-gc-rad", this,
+ &FGPosition::GetLatitudeDot);
+ PropertyManager->Tie("position/long-gc-rad", this,
+ &FGPosition::GetLongitude,
+ &FGPosition::SetLongitude,
+ true);
+ PropertyManager->Tie("position/long-dot-gc-rad", this,
+ &FGPosition::GetLongitudeDot);
+ PropertyManager->Tie("metrics/runway-radius", this,
+ &FGPosition::GetRunwayRadius,
+ &FGPosition::SetRunwayRadius);
+ PropertyManager->Tie("position/h-agl-ft", this,
+ &FGPosition::GetDistanceAGL,
+ &FGPosition::SetDistanceAGL);
+ PropertyManager->Tie("position/radius-to-vehicle-ft", this,
+ &FGPosition::GetRadius);
+ PropertyManager->Tie("flight-path/gamma-rad", this,
+ &FGPosition::GetGamma,
+ &FGPosition::SetGamma);
+ PropertyManager->Tie("aero/h_b-cg-ft", this,
+ &FGPosition::GetHOverBCG);
+ PropertyManager->Tie("aero/h_b-mac-ft", this,
+ &FGPosition::GetHOverBMAC);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGPosition::unbind(void)
+{
+ PropertyManager->Untie("velocities/v-north-fps");
+ PropertyManager->Untie("velocities/v-east-fps");
+ PropertyManager->Untie("velocities/v-down-fps");
+ PropertyManager->Untie("velocities/vg-fps");
+ PropertyManager->Untie("flight-path/psi-gt-rad");
+ PropertyManager->Untie("position/h-sl-ft");
+ PropertyManager->Untie("velocities/h-dot-fps");
+ PropertyManager->Untie("position/lat-gc-rad");
+ PropertyManager->Untie("position/lat-dot-gc-rad");
+ PropertyManager->Untie("position/long-gc-rad");
+ PropertyManager->Untie("position/long-dot-gc-rad");
+ PropertyManager->Untie("metrics/runway-radius");
+ PropertyManager->Untie("position/h-agl-ft");
+ PropertyManager->Untie("position/radius-to-vehicle-ft");
+ PropertyManager->Untie("flight-path/gamma-rad");
+ PropertyManager->Untie("aero/h_b-cg-ft");
+ PropertyManager->Untie("aero/h_b-mac-ft");
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// 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 FGPosition::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: FGPosition" << endl;
+ if (from == 1) cout << "Destroyed: FGPosition" << 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