-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Module: FGRotation.cpp
Author: Jon Berndt
--------------------------------------------------------------------------------
12/02/98 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
The order of rotations used in this class corresponds to a 3-2-1 sequence,
or Y-P-R, or Z-Y-X, if you prefer.
-********************************************************************************
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGRotation.h"
#include "FGAtmosphere.h"
#include "FGFDMExec.h"
#include "FGFCS.h"
#include "FGAircraft.h"
+#include "FGMassBalance.h"
#include "FGTranslation.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
+#include "FGPropertyManager.h"
-/*******************************************************************************
-************************************ CODE **************************************
-*******************************************************************************/
+
+static const char *IdSrc = "$Id$";
+static const char *IdHdr = ID_ROTATION;
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
FGRotation::FGRotation(FGFDMExec* fdmex) : FGModel(fdmex)
{
Name = "FGRotation";
- Q0dot = Q1dot = Q2dot = Q3dot = 0.0;
- Pdot = Qdot = Rdot = 0.0;
+ cTht=cPhi=cPsi=1.0;
+ sTht=sPhi=sPsi=0.0;
+
+ bind();
+
+ Debug(0);
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGRotation::~FGRotation(void)
+FGRotation::~FGRotation()
{
+ unbind();
+ Debug(1);
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGRotation::Run(void)
{
- float L2, N1, iQtot, sum;
+ double L2, N1;
+ double tTheta;
if (!FGModel::Run()) {
GetState();
- lastPdot = Pdot;
- lastQdot = Qdot;
- lastRdot = Rdot;
-
- L2 = L + Ixz*P*Q - (Izz-Iyy)*R*Q;
- N1 = N - (Iyy-Ixx)*P*Q - Ixz*R*Q;
-
- Pdot = (L2*Izz - N1*Ixz) / (Ixx*Izz - Ixz*Ixz);
- Qdot = (M - (Ixx-Izz)*P*R - Ixz*(P*P - R*R))/Iyy;
- Rdot = (N1*Ixx + L2*Ixz) / (Ixx*Izz - Ixz*Ixz);
-
- P += dt*rate*(lastPdot + Pdot)/2.0;
- Q += dt*rate*(lastQdot + Qdot)/2.0;
- R += dt*rate*(lastRdot + Rdot)/2.0;
-
- lastQ0dot = Q0dot;
- lastQ1dot = Q1dot;
- lastQ2dot = Q2dot;
- lastQ3dot = Q3dot;
+ L2 = vMoments(eL) + Ixz*vPQR(eP)*vPQR(eQ) - (Izz-Iyy)*vPQR(eR)*vPQR(eQ);
+ N1 = vMoments(eN) - (Iyy-Ixx)*vPQR(eP)*vPQR(eQ) - Ixz*vPQR(eR)*vPQR(eQ);
- Q0dot = -0.5*(Q1*P + Q2*Q + Q3*R);
- Q1dot = 0.5*(Q0*P + Q2*R - Q3*Q);
- Q2dot = 0.5*(Q0*Q + Q3*P - Q1*R);
- Q3dot = 0.5*(Q0*R + Q1*Q - Q2*P);
+ vPQRdot(eP) = (L2*Izz - N1*Ixz) / (Ixx*Izz - Ixz*Ixz);
+ vPQRdot(eQ) = (vMoments(eM) - (Ixx-Izz)*vPQR(eP)*vPQR(eR) - Ixz*(vPQR(eP)*vPQR(eP) - vPQR(eR)*vPQR(eR)))/Iyy;
+ vPQRdot(eR) = (N1*Ixx + L2*Ixz) / (Ixx*Izz - Ixz*Ixz);
- Q0 += 0.5*dt*rate*(lastQ0dot + Q0dot);
- Q1 += 0.5*dt*rate*(lastQ1dot + Q1dot);
- Q2 += 0.5*dt*rate*(lastQ2dot + Q2dot);
- Q3 += 0.5*dt*rate*(lastQ3dot + Q3dot);
+ vPQR += dt*rate*(vlastPQRdot + vPQRdot)/2.0;
+ vAeroPQR = vPQR + Atmosphere->GetTurbPQR();
- sum = Q0*Q0 + Q1*Q1 + Q2*Q2 + Q3*Q3;
+ State->IntegrateQuat(vPQR, rate);
+ State->CalcMatrices();
+ vEuler = State->CalcEuler();
- iQtot = 1.0 / sqrt(sum);
+ cTht = cos(vEuler(eTht)); sTht = sin(vEuler(eTht));
+ cPhi = cos(vEuler(ePhi)); sPhi = sin(vEuler(ePhi));
+ cPsi = cos(vEuler(ePsi)); sPsi = sin(vEuler(ePsi));
- Q0 *= iQtot;
- Q1 *= iQtot;
- Q2 *= iQtot;
- Q3 *= iQtot;
+ vEulerRates(eTht) = vPQR(2)*cPhi - vPQR(3)*sPhi;
+ if (cTht != 0.0) {
+ tTheta = sTht/cTht; // what's cheaper: / or tan() ?
+ vEulerRates(ePhi) = vPQR(1) + (vPQR(2)*sPhi + vPQR(3)*cPhi)*tTheta;
+ vEulerRates(ePsi) = (vPQR(2)*sPhi + vPQR(3)*cPhi)/cTht;
+ }
- if (T[3][3] == 0)
- phi = 0.0;
- else
- phi = atan2(T[2][3], T[3][3]);
+ vlastPQRdot = vPQRdot;
- tht = asin(-T[1][3]);
+ if (debug_lvl > 1) Debug(2);
- if (T[1][1] == 0.0)
- psi = 0.0;
- else
- psi = atan2(T[1][2], T[1][1]);
-
- if (psi < 0.0) psi += 2*M_PI;
-
- PutState();
+ return false;
} else {
+ return true;
}
- return false;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGRotation::GetState(void)
{
dt = State->Getdt();
+ vMoments = Aircraft->GetMoments();
- L = Aircraft->GetL();
- M = Aircraft->GetM();
- N = Aircraft->GetN();
+ Ixx = MassBalance->GetIxx();
+ Iyy = MassBalance->GetIyy();
+ Izz = MassBalance->GetIzz();
+ Ixz = MassBalance->GetIxz();
+}
- Ixx = Aircraft->GetIxx();
- Iyy = Aircraft->GetIyy();
- Izz = Aircraft->GetIzz();
- Ixz = Aircraft->GetIxz();
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- for (int r=1;r<=3;r++)
- for (int c=1;c<=3;c++)
- T[r][c] = Position->GetT(r,c);
+void FGRotation::bind(void)
+{
+ typedef double (FGRotation::*PMF)(int) const;
+ PropertyManager->Tie("velocities/p-rad_sec", this,1,
+ (PMF)&FGRotation::GetPQR);
+ PropertyManager->Tie("velocities/q-rad_sec", this,2,
+ (PMF)&FGRotation::GetPQR);
+ PropertyManager->Tie("velocities/r-rad_sec", this,3,
+ (PMF)&FGRotation::GetPQR);
+ PropertyManager->Tie("velocities/p-aero-rad_sec", this,1,
+ (PMF)&FGRotation::GetAeroPQR);
+ PropertyManager->Tie("velocities/q-aero-rad_sec", this,2,
+ (PMF)&FGRotation::GetAeroPQR);
+ PropertyManager->Tie("velocities/r-aero-rad_sec", this,3,
+ (PMF)&FGRotation::GetAeroPQR);
+ PropertyManager->Tie("accelerations/pdot-rad_sec", this,1,
+ (PMF)&FGRotation::GetPQRdot);
+ PropertyManager->Tie("accelerations/qdot-rad_sec", this,2,
+ (PMF)&FGRotation::GetPQRdot);
+ PropertyManager->Tie("accelerations/rdot-rad_sec", this,3,
+ (PMF)&FGRotation::GetPQRdot);
+ PropertyManager->Tie("attitude/roll-rad", this,1,
+ (PMF)&FGRotation::GetEuler);
+ PropertyManager->Tie("attitude/pitch-rad", this,2,
+ (PMF)&FGRotation::GetEuler);
+ PropertyManager->Tie("attitude/heading-true-rad", this,3,
+ (PMF)&FGRotation::GetEuler);
+ PropertyManager->Tie("velocities/phidot-rad_sec", this,1,
+ (PMF)&FGRotation::GetEulerRates);
+ PropertyManager->Tie("velocities/thetadot-rad_sec", this,2,
+ (PMF)&FGRotation::GetEulerRates);
+ PropertyManager->Tie("velocities/psidot-rad_sec", this,3,
+ (PMF)&FGRotation::GetEulerRates);
+ PropertyManager->Tie("attitude/phi-rad", this,
+ &FGRotation::Getphi);
+ PropertyManager->Tie("attitude/theta-rad", this,
+ &FGRotation::Gettht);
+ PropertyManager->Tie("attitude/psi-true-rad", this,
+ &FGRotation::Getpsi);
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGRotation::PutState(void)
+void FGRotation::unbind(void)
{
+ PropertyManager->Untie("velocities/p-rad_sec");
+ PropertyManager->Untie("velocities/q-rad_sec");
+ PropertyManager->Untie("velocities/r-rad_sec");
+ PropertyManager->Untie("velocities/p-aero-rad_sec");
+ PropertyManager->Untie("velocities/q-aero-rad_sec");
+ PropertyManager->Untie("velocities/r-aero-rad_sec");
+ PropertyManager->Untie("accelerations/pdot-rad_sec");
+ PropertyManager->Untie("accelerations/qdot-rad_sec");
+ PropertyManager->Untie("accelerations/rdot-rad_sec");
+ PropertyManager->Untie("attitude/roll-rad");
+ PropertyManager->Untie("attitude/pitch-rad");
+ PropertyManager->Untie("attitude/heading-true-rad");
+ PropertyManager->Untie("velocities/phidot-rad_sec");
+ PropertyManager->Untie("velocities/thetadot-rad_sec");
+ PropertyManager->Untie("velocities/psidot-rad_sec");
+ PropertyManager->Untie("attitude/phi-rad");
+ PropertyManager->Untie("attitude/theta-rad");
+ PropertyManager->Untie("attitude/psi-true-rad");
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// 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 FGRotation::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: FGRotation" << endl;
+ if (from == 1) cout << "Destroyed: FGRotation" << 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 check variables
+ if (from == 2) {
+ if (fabs(vPQR(eP)) > 100)
+ cout << "FGRotation::P (Roll Rate) out of bounds: " << vPQR(eP) << endl;
+ if (fabs(vPQR(eQ)) > 100)
+ cout << "FGRotation::Q (Pitch Rate) out of bounds: " << vPQR(eQ) << endl;
+ if (fabs(vPQR(eR)) > 100)
+ cout << "FGRotation::R (Yaw Rate) out of bounds: " << vPQR(eR) << endl;
+ }
+ }
+ if (debug_lvl & 64) {
+ if (from == 0) { // Constructor
+ cout << IdSrc << endl;
+ cout << IdHdr << endl;
+ }
+ }
}
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