#else
# if defined(sgi) && !defined(__GNUC__)
# include <math.h>
-# include <iomanip.h>
+# if (_COMPILER_VERSION < 740)
+# include <iomanip.h>
+# else
+# include <iomanip>
+# endif
# else
# include <cmath>
# include <iomanip>
#include "FGPropertyManager.h"
+namespace JSBSim {
+
static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_POSITION;
{
Name = "FGPosition";
LongitudeDot = LatitudeDot = RadiusDot = 0.0;
- lastLongitudeDot = lastLatitudeDot = lastRadiusDot = 0.0;
+
+ for (int i=0;i<4;i++) {
+ LatitudeDot_prev[i] = 0.0;
+ LongitudeDot_prev[i] = 0.0;
+ RadiusDot_prev[i] = 0.0;
+ }
+
+ vVRPoffset.InitMatrix();
+
Longitude = Latitude = 0.0;
+ LongitudeVRP = LatitudeVRP = 0.0;
gamma = Vt = Vground = 0.0;
hoverbmac = hoverbcg = 0.0;
psigt = 0.0;
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();
cosLat = cos(Latitude);
if (cosLat != 0) LongitudeDot = vVel(eEast) / (Radius * cosLat);
-
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);
+ Longitude += State->Integrate(FGState::TRAPZ, dt*rate, LongitudeDot, LongitudeDot_prev);
+ Latitude += State->Integrate(FGState::TRAPZ, dt*rate, LatitudeDot, LatitudeDot_prev);
+ Radius += State->Integrate(FGState::TRAPZ, dt*rate, RadiusDot, RadiusDot_prev);
h = Radius - SeaLevelRadius; // Geocentric
+ vVRPoffset = State->GetTb2l() * MassBalance->StructuralToBody(Aircraft->GetXYZvrp());
+
+ // vVRP - the vector to the Visual Reference Point - now contains the
+ // offset from the CG to the VRP, in units of feet, in the Local coordinate
+ // frame, where X points north, Y points East, and Z points down. This needs
+ // to be converted to Lat/Lon/Alt, now.
+
+ if (cosLat != 0)
+ LongitudeVRP = vVRPoffset(eEast) / (Radius * cosLat) + Longitude;
+
+ LatitudeVRP = vVRPoffset(eNorth) / Radius + Latitude;
+ hVRP = h - vVRPoffset(eDown);
+/*
+cout << "Lat/Lon/Alt : " << Latitude << " / " << Longitude << " / " << h << endl;
+cout << "Lat/Lon/Alt VRP: " << LatitudeVRP << " / " << LongitudeVRP << " / " << hVRP << endl << endl;
+*/
DistanceAGL = Radius - RunwayRadius; // Geocentric
-
-
+
hoverbcg = DistanceAGL/b;
-
- vMac=State->GetTb2l()*Aircraft->GetXYZrp();
-
- vMac *= inchtoft;
- hoverbmac = (DistanceAGL + vMac(3))/b;
+
+ vMac = State->GetTb2l()*MassBalance->StructuralToBody(Aircraft->GetXYZrp());
+ hoverbmac = (DistanceAGL + vMac(3)) / b;
if (Vt > 0) {
hdot_Vt = RadiusDot/Vt;
gamma = 0.0;
}
- lastLatitudeDot = LatitudeDot;
- lastLongitudeDot = LongitudeDot;
- lastRadiusDot = RadiusDot;
-
return false;
} else {
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGPosition::GetState(void) {
+void FGPosition::GetState(void)
+{
dt = State->Getdt();
Vt = Translation->GetVt();
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGPosition::Seth(double tt) {
+void FGPosition::Seth(double tt)
+{
h = tt;
Radius = h + SeaLevelRadius;
DistanceAGL = Radius - RunwayRadius; // Geocentric
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGPosition::SetDistanceAGL(double tt) {
+void FGPosition::SetDistanceAGL(double tt)
+{
DistanceAGL=tt;
Radius = RunwayRadius + DistanceAGL;
h = Radius - SeaLevelRadius;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// 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)
+void FGPosition::bind(void)
{
- 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;
- }
- }
-}
-
-void FGPosition::bind(void){
PropertyManager->Tie("velocities/v-north-fps", this,
&FGPosition::GetVn);
PropertyManager->Tie("velocities/v-east-fps", this,
&FGPosition::Geth,
&FGPosition::Seth,
true);
- PropertyManager->Tie("postition/h-dot-fps", this,
+ PropertyManager->Tie("velocities/h-dot-fps", this,
&FGPosition::Gethdot);
- PropertyManager->Tie("postition/lat-gc-rad", this,
+ PropertyManager->Tie("position/lat-gc-rad", this,
&FGPosition::GetLatitude,
&FGPosition::SetLatitude);
- PropertyManager->Tie("postition/lat-dot-gc-rad", this,
+ PropertyManager->Tie("position/lat-dot-gc-rad", this,
&FGPosition::GetLatitudeDot);
- PropertyManager->Tie("postition/long-gc-rad", this,
+ PropertyManager->Tie("position/long-gc-rad", this,
&FGPosition::GetLongitude,
&FGPosition::SetLongitude,
true);
- PropertyManager->Tie("postition/long-dot-gc-rad", this,
+ PropertyManager->Tie("position/long-dot-gc-rad", this,
&FGPosition::GetLongitudeDot);
PropertyManager->Tie("metrics/runway-radius", this,
&FGPosition::GetRunwayRadius,
PropertyManager->Tie("flight-path/gamma-rad", this,
&FGPosition::GetGamma,
&FGPosition::SetGamma);
- PropertyManager->Tie("position/h_b-cg-ft", this,
+ PropertyManager->Tie("aero/h_b-cg-ft", this,
&FGPosition::GetHOverBCG);
- PropertyManager->Tie("position/h_b-mac-ft", this,
+ PropertyManager->Tie("aero/h_b-mac-ft", this,
&FGPosition::GetHOverBMAC);
}
-void FGPosition::unbind(void){
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+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("postition/h-dot-fps");
- PropertyManager->Untie("postition/lat-gc-rad");
- PropertyManager->Untie("postition/lat-dot-gc-rad");
- PropertyManager->Untie("postition/long-gc-rad");
- PropertyManager->Untie("postition/long-dot-gc-rad");
+ 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("position/h_b-cg-ft");
- PropertyManager->Untie("position/h_b-mac-ft");
+ 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