-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Module: FGPosition.cpp
Author: Jon S. Berndt
--------------------------------------------------------------------------------
This class encapsulates the integration of rates and accelerations to get the
current position of the aircraft.
-
+
HISTORY
--------------------------------------------------------------------------------
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
Wiley & Sons, 1979 ISBN 0-471-03032-5
[5] Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
1982 ISBN 0-471-08936-2
-
-********************************************************************************
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifdef FGFS
# include <simgear/compiler.h>
-# ifdef FG_HAVE_STD_INCLUDES
+# ifdef SG_HAVE_STD_INCLUDES
# include <cmath>
# include <iomanip>
# else
# include <iomanip.h>
# endif
#else
-# include <cmath>
-# include <iomanip>
+# 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"
-static const char *IdSrc = "$Header$";
+
+static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_POSITION;
-/*******************************************************************************
-************************************ CODE **************************************
-*******************************************************************************/
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-extern float globalTriNormal[3];
+extern double globalTriNormal[3];
extern double globalSceneryAltitude;
extern double globalSeaLevelRadius;
-FGPosition::FGPosition(FGFDMExec* fdmex) : FGModel(fdmex),
- vUVW(3),
- vVel(3),
- vVelDot(3),
- vRunwayNormal(3)
+FGPosition::FGPosition(FGFDMExec* fdmex) : FGModel(fdmex)
{
Name = "FGPosition";
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::InitModel(void)
+{
+ FGModel::InitModel();
+
h = 3.0; // Est. height of aircraft cg off runway
- SeaLevelRadius = EARTHRAD; // For initialization ONLY
+ 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;
}
-/******************************************************************************/
-
-FGPosition::~FGPosition(void) {}
-
-/*************************************************************************** Run
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+/*
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 EARTHRAD. In FGFS,
- SeaLevelRadius is stuffed from FGJSBSim in JSBSim.cxx each pass.
+ [JB] Run in standalone mode, SeaLevelRadius will be reference radius.
+ In FGFS, SeaLevelRadius is stuffed from FGJSBSim in JSBSim.cxx each pass.
*/
-bool FGPosition:: Run(void) {
+bool FGPosition::Run(void) {
double cosLat;
double hdot_Vt;
+ FGColumnVector3 vMac;
if (!FGModel::Run()) {
GetState();
Vground = sqrt( vVel(eNorth)*vVel(eNorth) + vVel(eEast)*vVel(eEast) );
-
- invMass = 1.0 / Aircraft->GetMass();
+ psigt = atan2(vVel(eEast), vVel(eNorth));
+ if (psigt < 0.0)
+ psigt += 2*M_PI;
+
Radius = h + SeaLevelRadius;
- invRadius = 1.0 / Radius;
cosLat = cos(Latitude);
if (cosLat != 0) LongitudeDot = vVel(eEast) / (Radius * cosLat);
- LatitudeDot = vVel(eNorth) * invRadius;
+ LatitudeDot = vVel(eNorth) / Radius;
RadiusDot = -vVel(eDown);
Longitude += 0.5*dt*rate*(LongitudeDot + lastLongitudeDot);
h = Radius - SeaLevelRadius; // Geocentric
DistanceAGL = Radius - RunwayRadius; // Geocentric
-
- hoverb = DistanceAGL/b;
+
+
+ hoverbcg = DistanceAGL/b;
+
+ vMac=State->GetTb2l()*Aircraft->GetXYZrp();
+
+ vMac *= inchtoft;
+ hoverbmac = (DistanceAGL + vMac(3))/b;
if (Vt > 0) {
hdot_Vt = RadiusDot/Vt;
}
}
-/******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGPosition::GetState(void) {
dt = State->Getdt();
- vUVW = Translation->GetUVW();
Vt = Translation->GetVt();
- vVel = State->GetTb2l()*vUVW;
+ vVel = State->GetTb2l() * Translation->GetUVW();
vVelDot = State->GetTb2l() * Translation->GetUVWdot();
-
- b = Aircraft->GetWingSpan();
+ b = Aircraft->GetWingSpan();
}
-void FGPosition::Seth(double tt) {
- h=tt;
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGPosition::Seth(double tt) {
+ h = tt;
Radius = h + SeaLevelRadius;
- DistanceAGL = Radius - RunwayRadius; // Geocentric
-}
+ DistanceAGL = Radius - RunwayRadius; // Geocentric
+ hoverbcg = DistanceAGL/b;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGPosition::SetDistanceAGL(double tt) {
DistanceAGL=tt;
Radius = RunwayRadius + DistanceAGL;
h = Radius - SeaLevelRadius;
-}
+ hoverbcg = DistanceAGL/b;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGPosition::bind(void)
+{
+ 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