-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Module: FGPosition.cpp
Author: Jon S. Berndt
--------------------------------------------------------------------------------
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 <simgear/compiler.h>
-# ifdef FG_HAVE_STD_INCLUDES
+# ifdef SG_HAVE_STD_INCLUDES
# include <cmath>
# include <iomanip>
# else
#include "FGAuxiliary.h"
#include "FGOutput.h"
-/*******************************************************************************
-************************************ CODE **************************************
-*******************************************************************************/
+static const char *IdSrc = "$Header$";
+static const char *IdHdr = ID_POSITION;
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
extern float globalTriNormal[3];
extern double globalSceneryAltitude;
FGPosition::FGPosition(FGFDMExec* fdmex) : FGModel(fdmex),
vUVW(3),
- vVel(3)
+ vVel(3),
+ vVelDot(3),
+ vRunwayNormal(3)
{
Name = "FGPosition";
LongitudeDot = LatitudeDot = RadiusDot = 0.0;
lastLongitudeDot = lastLatitudeDot = lastRadiusDot = 0.0;
Longitude = Latitude = 0.0;
- h = gamma = Vt = 0.0;
+ gamma = Vt = Vground = 0.0;
+ h = 3.0; // Est. height of aircraft cg off runway
SeaLevelRadius = EARTHRAD; // For initialization ONLY
Radius = SeaLevelRadius + h;
RunwayRadius = SeaLevelRadius;
DistanceAGL = Radius - RunwayRadius; // Geocentric
+ vRunwayNormal(3) = -1.0; // Initialized for standalone mode
}
-/******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FGPosition::~FGPosition(void) {}
if (!FGModel::Run()) {
GetState();
+ Vground = sqrt( vVel(eNorth)*vVel(eNorth) + vVel(eEast)*vVel(eEast) );
+
invMass = 1.0 / Aircraft->GetMass();
Radius = h + SeaLevelRadius;
invRadius = 1.0 / Radius;
}
}
-/******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGPosition::GetState(void) {
dt = State->Getdt();
vUVW = Translation->GetUVW();
Vt = Translation->GetVt();
vVel = State->GetTb2l()*vUVW;
+ vVelDot = State->GetTb2l() * Translation->GetUVWdot();
b = Aircraft->GetWingSpan();
+
}
+void FGPosition::Seth(double tt) {
+ h=tt;
+ Radius = h + SeaLevelRadius;
+ DistanceAGL = Radius - RunwayRadius; // Geocentric
+}
+
+void FGPosition::SetDistanceAGL(double tt) {
+ DistanceAGL=tt;
+ Radius = RunwayRadius + DistanceAGL;
+ h = Radius - SeaLevelRadius;
+}