-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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"
-#ifndef M_PI
-/* get a definition for pi */
-#include <Include/fg_constants.h>
-#define M_PI FG_PI
-#endif
-/*******************************************************************************
-************************************ CODE **************************************
-*******************************************************************************/
+static const char *IdSrc = "$Id$";
+static const char *IdHdr = ID_ROTATION;
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-FGRotation::FGRotation(FGFDMExec* fdmex) : FGModel(fdmex),
- vPQR(3),
- vEuler(3),
- vMoments(3)
+
+FGRotation::FGRotation(FGFDMExec* fdmex) : FGModel(fdmex)
{
Name = "FGRotation";
+ 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;
- static FGColumnVector vlastPQRdot(3);
- static FGColumnVector vPQRdot(3);
+ double L2, N1;
+ double tTheta;
if (!FGModel::Run()) {
GetState();
vPQRdot(eR) = (N1*Ixx + L2*Ixz) / (Ixx*Izz - Ixz*Ixz);
vPQR += dt*rate*(vlastPQRdot + vPQRdot)/2.0;
+ vAeroPQR = vPQR + Atmosphere->GetTurbPQR();
State->IntegrateQuat(vPQR, rate);
State->CalcMatrices();
vEuler = State->CalcEuler();
+ cTht = cos(vEuler(eTht)); sTht = sin(vEuler(eTht));
+ cPhi = cos(vEuler(ePhi)); sPhi = sin(vEuler(ePhi));
+ cPsi = cos(vEuler(ePsi)); sPsi = sin(vEuler(ePsi));
+
+ 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;
+ }
+
vlastPQRdot = vPQRdot;
+ if (debug_lvl > 1) Debug(2);
+
+ return false;
} else {
+ return true;
}
- return false;
}
-/******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGRotation::GetState(void)
{
dt = State->Getdt();
-
vMoments = Aircraft->GetMoments();
- Ixx = Aircraft->GetIxx();
- Iyy = Aircraft->GetIyy();
- Izz = Aircraft->GetIzz();
- Ixz = Aircraft->GetIxz();
+ Ixx = MassBalance->GetIxx();
+ Iyy = MassBalance->GetIyy();
+ Izz = MassBalance->GetIzz();
+ Ixz = MassBalance->GetIxz();
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+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::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;
+ }
+ }
+}
projects / flightgear.git / blobdiff