-/*******************************************************************************
-
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
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 <simgear/compiler.h>
-# ifdef FG_HAVE_STD_INCLUDES
+# ifdef SG_HAVE_STD_INCLUDES
# include <cmath>
+# include <iomanip>
# else
# include <math.h>
+# include <iomanip.h>
# endif
#else
# include <cmath>
+# include <iomanip>
#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"
-/*******************************************************************************
-************************************ CODE **************************************
-*******************************************************************************/
+static const char *IdSrc = "$Id$";
+static const char *IdHdr = ID_POSITION;
+extern short debug_lvl;
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+extern float globalTriNormal[3];
+extern double globalSceneryAltitude;
+extern double globalSeaLevelRadius;
FGPosition::FGPosition(FGFDMExec* fdmex) : FGModel(fdmex),
- vUVW(3),
- vVel(3)
+ vUVW(3),
+ vVel(3),
+ vVelDot(3),
+ vRunwayNormal(3)
{
Name = "FGPosition";
LongitudeDot = LatitudeDot = RadiusDot = 0.0;
lastLongitudeDot = lastLatitudeDot = lastRadiusDot = 0.0;
Longitude = Latitude = 0.0;
- h = 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
+
+ if (debug_lvl & 2) cout << "Instantiated: " << Name << endl;
}
-/******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGPosition::~FGPosition(void)
+FGPosition::~FGPosition()
{
+ if (debug_lvl & 2) cout << "Destroyed: FGPosition" << endl;
}
-/******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+/*
+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.
+*/
-bool FGPosition:: Run(void)
-{
- float cosLat;
+bool FGPosition:: Run(void) {
+ double cosLat;
+ double hdot_Vt;
if (!FGModel::Run()) {
GetState();
- vVel = State->GetTb2l()*vUVW;
+ Vground = sqrt( vVel(eNorth)*vVel(eNorth) + vVel(eEast)*vVel(eEast) );
+ psigt = atan2(vVel(eEast), vVel(eNorth));
+ 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);
Latitude += 0.5*dt*rate*(LatitudeDot + lastLatitudeDot);
Radius += 0.5*dt*rate*(RadiusDot + lastRadiusDot);
- h = Radius - EARTHRAD;
-
- lastLatitudeDot = LatitudeDot;
+ h = Radius - SeaLevelRadius; // Geocentric
+
+ DistanceAGL = Radius - RunwayRadius; // Geocentric
+
+ hoverb = DistanceAGL/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;
+ lastRadiusDot = RadiusDot;
return false;
}
}
-/******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGPosition::GetState(void)
-{
+void FGPosition::GetState(void) {
dt = State->Getdt();
- vUVW = Translation->GetUVW();
+ vUVW = Translation->GetUVW();
+ Vt = Translation->GetVt();
+ vVel = State->GetTb2l()*vUVW + Atmosphere->GetWindNED();
+ vVelDot = State->GetTb2l() * Translation->GetUVWdot();
- invMass = 1.0 / Aircraft->GetMass();
- invRadius = 1.0 / (h + EARTHRAD);
- Radius = h + EARTHRAD;
+ 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;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGPosition::Debug(void)
+{
+ //TODO: Add your source code here
}
projects / flightgear.git / blobdiff