#include "FGRotation.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
+#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<3;i++) {
+ LatitudeDot_prev[i] = 0.0;
+ LongitudeDot_prev[i] = 0.0;
+ RadiusDot_prev[i] = 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);
}
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;
Vground = sqrt( vVel(eNorth)*vVel(eNorth) + vVel(eEast)*vVel(eEast) );
psigt = atan2(vVel(eEast), vVel(eNorth));
- if(psigt < 0.0)
+ if (psigt < 0.0)
psigt += 2*M_PI;
- invMass = 1.0 / MassBalance->GetMass();
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);
- 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
DistanceAGL = Radius - RunwayRadius; // Geocentric
-
hoverbcg = DistanceAGL/b;
- vMac=State->GetTb2l()*Aircraft->GetXYZrp();
+ vMac = State->GetTb2l()*Aircraft->GetXYZrp();
vMac *= inchtoft;
hoverbmac = (DistanceAGL + vMac(3))/b;
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;
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
}
if (debug_lvl & 16) { // Sanity checking
}
+ if (debug_lvl & 64) {
+ if (from == 0) { // Constructor
+ cout << IdSrc << endl;
+ cout << IdHdr << endl;
+ }
+ }
+}
}
-