/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
+
Module: FGState.cpp
Author: Jon Berndt
Date started: 11/17/98
Called by: FGFDMExec and accessed by all models.
-
+
------------- 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
--------------------------------------------------------------------------------
See header file.
-
+
HISTORY
--------------------------------------------------------------------------------
11/17/98 JSB Created
-
+
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifdef FGFS
# include <simgear/compiler.h>
-# ifdef SG_HAVE_STD_INCLUDES
-# include <cmath>
-# else
+# include <math.h>
+#else
+# if defined(sgi) && !defined(__GNUC__)
# include <math.h>
+# else
+# include <cmath>
# endif
-#else
-# include <cmath>
#endif
-#ifndef M_PI
-# include <simgear/constants.h>
-# define M_PI SG_PI
+#ifdef _WIN32
+//#define snprintf _snprintf
#endif
#include "FGState.h"
-#include "FGFDMExec.h"
-#include "FGAtmosphere.h"
-#include "FGFCS.h"
-#include "FGAircraft.h"
-#include "FGTranslation.h"
-#include "FGRotation.h"
-#include "FGPosition.h"
-#include "FGAuxiliary.h"
-#include "FGOutput.h"
-
-static const char *IdSrc = "$Header$";
+
+namespace JSBSim {
+
+static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_STATE;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
MACROS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#define RegisterVariable(ID,DEF) coeffdef[#ID] = ID; paramdef[ID] = DEF
-
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-//
-// For every term registered here there must be a corresponding handler in
-// GetParameter() below that retrieves that parameter. Also, there must be an
-// entry in the enum eParam definition in FGDefs.h. The ID is what must be used
-// in any config file entry which references that item.
-
-FGState::FGState(FGFDMExec* fdex) : mTb2l(3,3),
- mTl2b(3,3),
- mTs2b(3,3),
- vQtrn(4)
+FGState::FGState(FGFDMExec* fdex)
{
FDMExec = fdex;
- a = 1000.0;
sim_time = 0.0;
dt = 1.0/120.0;
- RegisterVariable(FG_QBAR, " qbar " );
- RegisterVariable(FG_WINGAREA, " wing_area " );
- RegisterVariable(FG_WINGSPAN, " wingspan " );
- RegisterVariable(FG_CBAR, " cbar " );
- RegisterVariable(FG_ALPHA, " alpha " );
- RegisterVariable(FG_ALPHADOT, " alphadot " );
- RegisterVariable(FG_BETA, " beta " );
- RegisterVariable(FG_BETADOT, " betadot " );
- RegisterVariable(SG_PITCHRATE, " pitch_rate " );
- RegisterVariable(FG_ROLLRATE, " roll_rate " );
- RegisterVariable(FG_YAWRATE, " yaw_rate " );
- RegisterVariable(FG_MACH, " mach " );
- RegisterVariable(FG_ALTITUDE, " altitude " );
- RegisterVariable(FG_BI2VEL, " BI2Vel " );
- RegisterVariable(FG_CI2VEL, " CI2Vel " );
- RegisterVariable(FG_ELEVATOR_POS, " elevator_pos " );
- RegisterVariable(FG_AILERON_POS, " aileron_pos " );
- RegisterVariable(FG_RUDDER_POS, " rudder_pos " );
- RegisterVariable(FG_SPDBRAKE_POS, " speedbrake_pos " );
- RegisterVariable(FG_SPOILERS_POS, " spoiler_pos " );
- RegisterVariable(FG_FLAPS_POS, " flaps_pos " );
- RegisterVariable(FG_ELEVATOR_CMD, " elevator_cmd " );
- RegisterVariable(FG_AILERON_CMD, " aileron_cmd " );
- RegisterVariable(FG_RUDDER_CMD, " rudder_cmd " );
- RegisterVariable(FG_SPDBRAKE_CMD, " speedbrake_cmd " );
- RegisterVariable(FG_SPOILERS_CMD, " spoiler_cmd " );
- RegisterVariable(FG_FLAPS_CMD, " flaps_cmd " );
- RegisterVariable(FG_THROTTLE_CMD, " throttle_cmd " );
- RegisterVariable(FG_THROTTLE_POS, " throttle_pos " );
- RegisterVariable(FG_HOVERB, " height/span " );
- RegisterVariable(SG_PITCH_TRIM_CMD, " pitch_trim_cmd " );
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGState::~FGState(void) {}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-float FGState::GetParameter(eParam val_idx) {
- switch(val_idx) {
- case FG_QBAR:
- return FDMExec->GetTranslation()->Getqbar();
- case FG_WINGAREA:
- return FDMExec->GetAircraft()->GetWingArea();
- case FG_WINGSPAN:
- return FDMExec->GetAircraft()->GetWingSpan();
- case FG_CBAR:
- return FDMExec->GetAircraft()->Getcbar();
- case FG_ALPHA:
- return FDMExec->GetTranslation()->Getalpha();
- case FG_ALPHADOT:
- return FDMExec->GetTranslation()->Getadot();
- case FG_BETA:
- return FDMExec->GetTranslation()->Getbeta();
- case FG_BETADOT:
- return FDMExec->GetTranslation()->Getbdot();
- case SG_PITCHRATE:
- return (FDMExec->GetRotation()->GetPQR())(2);
- case FG_ROLLRATE:
- return (FDMExec->GetRotation()->GetPQR())(1);
- case FG_YAWRATE:
- return (FDMExec->GetRotation()->GetPQR())(3);
- case FG_ELEVATOR_POS:
- return FDMExec->GetFCS()->GetDePos();
- case FG_AILERON_POS:
- return FDMExec->GetFCS()->GetDaPos();
- case FG_RUDDER_POS:
- return FDMExec->GetFCS()->GetDrPos();
- case FG_SPDBRAKE_POS:
- return FDMExec->GetFCS()->GetDsbPos();
- case FG_SPOILERS_POS:
- return FDMExec->GetFCS()->GetDspPos();
- case FG_FLAPS_POS:
- return FDMExec->GetFCS()->GetDfPos();
- case FG_ELEVATOR_CMD:
- return FDMExec->GetFCS()->GetDeCmd();
- case FG_AILERON_CMD:
- return FDMExec->GetFCS()->GetDaCmd();
- case FG_RUDDER_CMD:
- return FDMExec->GetFCS()->GetDrCmd();
- case FG_SPDBRAKE_CMD:
- return FDMExec->GetFCS()->GetDsbCmd();
- case FG_SPOILERS_CMD:
- return FDMExec->GetFCS()->GetDspCmd();
- case FG_FLAPS_CMD:
- return FDMExec->GetFCS()->GetDfCmd();
- case FG_MACH:
- return FDMExec->GetTranslation()->GetMach();
- case FG_ALTITUDE:
- return FDMExec->GetPosition()->Geth();
- case FG_BI2VEL:
- if(FDMExec->GetTranslation()->GetVt() > 0)
- return FDMExec->GetAircraft()->GetWingSpan()/(2.0 * FDMExec->GetTranslation()->GetVt());
- else
- return 0;
- case FG_CI2VEL:
- if(FDMExec->GetTranslation()->GetVt() > 0)
- return FDMExec->GetAircraft()->Getcbar()/(2.0 * FDMExec->GetTranslation()->GetVt());
- else
- return 0;
- case FG_THROTTLE_CMD:
- return FDMExec->GetFCS()->GetThrottleCmd(0);
- case FG_THROTTLE_POS:
- return FDMExec->GetFCS()->GetThrottlePos(0);
- case FG_HOVERB:
- return FDMExec->GetPosition()->GetHOverB();
- case SG_PITCH_TRIM_CMD:
- return FDMExec->GetFCS()->GetPitchTrimCmd();
- default:
- cerr << "FGState::GetParameter() - No handler for parameter " << val_idx << endl;
- return 0.0;
- }
- return 0;
-}
+ Aircraft = FDMExec->GetAircraft();
+ Propagate = FDMExec->GetPropagate();
+ Auxiliary = FDMExec->GetAuxiliary();
+ FCS = FDMExec->GetFCS();
+ Output = FDMExec->GetOutput();
+ Atmosphere = FDMExec->GetAtmosphere();
+ Aerodynamics = FDMExec->GetAerodynamics();
+ GroundReactions = FDMExec->GetGroundReactions();
+ Propulsion = FDMExec->GetPropulsion();
+ PropertyManager = FDMExec->GetPropertyManager();
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ bind();
-float FGState::GetParameter(string val_string) {
- return GetParameter(coeffdef[val_string]);
+ Debug(0);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-eParam FGState::GetParameterIndex(string val_string) {
- return coeffdef[val_string];
+FGState::~FGState()
+{
+ unbind();
+ Debug(1);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGState::SetParameter(eParam val_idx, float val) {
- switch(val_idx) {
- case FG_ELEVATOR_POS:
- FDMExec->GetFCS()->SetDePos(val);
- break;
- case FG_AILERON_POS:
- FDMExec->GetFCS()->SetDaPos(val);
- break;
- case FG_RUDDER_POS:
- FDMExec->GetFCS()->SetDrPos(val);
- break;
- case FG_SPDBRAKE_POS:
- FDMExec->GetFCS()->SetDsbPos(val);
- break;
- case FG_SPOILERS_POS:
- FDMExec->GetFCS()->SetDspPos(val);
- break;
- case FG_FLAPS_POS:
- FDMExec->GetFCS()->SetDfPos(val);
- break;
- case FG_THROTTLE_POS:
- FDMExec->GetFCS()->SetThrottlePos(-1,val);
- }
-}
-
-//***************************************************************************
-//
-// Reset: Assume all angles READ FROM FILE IN DEGREES !!
-//
-
-bool FGState::Reset(string path, string acname, string fname) {
- string resetDef;
- float U, V, W;
- float phi, tht, psi;
- float latitude, longitude, h;
-
- resetDef = path + "/" + acname + "/" + fname + ".xml";
-
- ifstream resetfile(resetDef.c_str());
-
- if (resetfile) {
- resetfile >> U;
- resetfile >> V;
- resetfile >> W;
- resetfile >> latitude;
- resetfile >> longitude;
- resetfile >> phi;
- resetfile >> tht;
- resetfile >> psi;
- resetfile >> h;
- resetfile.close();
-
- FDMExec->GetPosition()->SetLatitude(latitude*DEGTORAD);
- FDMExec->GetPosition()->SetLongitude(longitude*DEGTORAD);
- FDMExec->GetPosition()->Seth(h);
-
- Initialize(U, V, W, phi*DEGTORAD, tht*DEGTORAD, psi*DEGTORAD,
- latitude*DEGTORAD, longitude*DEGTORAD, h);
-
- return true;
- } else {
- cerr << "Unable to load reset file " << fname << endl;
- return false;
- }
-}
-
-//***************************************************************************
-//
-// Initialize: Assume all angles GIVEN IN RADIANS !!
-//
+void FGState::Initialize(FGInitialCondition *FGIC)
+{
+ sim_time = 0.0;
-void FGState::Initialize(float U, float V, float W,
- float phi, float tht, float psi,
- float Latitude, float Longitude, float H) {
- FGColumnVector vUVW(3);
- FGColumnVector vLocalVelNED(3);
- FGColumnVector vEuler(3);
- float alpha, beta;
- float qbar, Vt;
+ Propagate->SetInitialState( FGIC );
- FDMExec->GetPosition()->SetLatitude(Latitude);
- FDMExec->GetPosition()->SetLongitude(Longitude);
- FDMExec->GetPosition()->Seth(H);
+ Atmosphere->Run();
+ Atmosphere->SetWindNED( FGIC->GetWindNFpsIC(),
+ FGIC->GetWindEFpsIC(),
+ FGIC->GetWindDFpsIC() );
- FDMExec->GetAtmosphere()->Run();
+ FGColumnVector3 vAeroUVW;
+ vAeroUVW = Propagate->GetUVW() + Propagate->GetTl2b()*Atmosphere->GetWindNED();
- if (W != 0.0)
- alpha = U*U > 0.0 ? atan2(W, U) : 0.0;
+ double alpha, beta;
+ if (vAeroUVW(eW) != 0.0)
+ alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
else
alpha = 0.0;
- if (V != 0.0)
- beta = U*U+W*W > 0.0 ? atan2(V, (fabs(U)/U)*sqrt(U*U + W*W)) : 0.0;
+ if (vAeroUVW(eV) != 0.0)
+ beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV), (fabs(vAeroUVW(eU))/vAeroUVW(eU))*sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;
else
beta = 0.0;
- vUVW << U << V << W;
- FDMExec->GetTranslation()->SetUVW(vUVW);
+ Auxiliary->SetAB(alpha, beta);
- vEuler << phi << tht << psi;
- FDMExec->GetRotation()->SetEuler(vEuler);
+ double Vt = vAeroUVW.Magnitude();
+ Auxiliary->SetVt(Vt);
- FDMExec->GetTranslation()->SetAB(alpha, beta);
+ Auxiliary->SetMach(Vt/Atmosphere->GetSoundSpeed());
- Vt = sqrt(U*U + V*V + W*W);
- FDMExec->GetTranslation()->SetVt(Vt);
-
- FDMExec->GetTranslation()->SetMach(Vt/FDMExec->GetAtmosphere()->GetSoundSpeed());
-
- qbar = 0.5*(U*U + V*V + W*W)*FDMExec->GetAtmosphere()->GetDensity();
- FDMExec->GetTranslation()->Setqbar(qbar);
-
- InitMatrices(phi, tht, psi);
-
- vLocalVelNED = mTb2l*vUVW;
- FDMExec->GetPosition()->SetvVel(vLocalVelNED);
+ double qbar = 0.5*Vt*Vt*Atmosphere->GetDensity();
+ Auxiliary->Setqbar(qbar);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGState::Initialize(FGInitialCondition *FGIC) {
+FGMatrix33& FGState::GetTs2b(void)
+{
+ double ca, cb, sa, sb;
- float tht,psi,phi;
- float U, V, W, h;
- float latitude, longitude;
+ double alpha = Auxiliary->Getalpha();
+ double beta = Auxiliary->Getbeta();
- latitude = FGIC->GetLatitudeRadIC();
- longitude = FGIC->GetLongitudeRadIC();
- h = FGIC->GetAltitudeFtIC();
- U = FGIC->GetUBodyFpsIC();
- V = FGIC->GetVBodyFpsIC();
- W = FGIC->GetWBodyFpsIC();
- tht = FGIC->GetThetaRadIC();
- phi = FGIC->GetPhiRadIC();
- psi = FGIC->GetPsiRadIC();
+ ca = cos(alpha);
+ sa = sin(alpha);
+ cb = cos(beta);
+ sb = sin(beta);
- Initialize(U, V, W, phi, tht, psi, latitude, longitude, h);
-
- FDMExec->GetPosition()->SetSeaLevelRadius( FGIC->GetSeaLevelRadiusFtIC() );
- FDMExec->GetPosition()->SetRunwayRadius( FGIC->GetSeaLevelRadiusFtIC() +
- FGIC->GetTerrainAltitudeFtIC() );
+ mTs2b(1,1) = ca*cb;
+ mTs2b(1,2) = -ca*sb;
+ mTs2b(1,3) = -sa;
+ mTs2b(2,1) = sb;
+ mTs2b(2,2) = cb;
+ mTs2b(2,3) = 0.0;
+ mTs2b(3,1) = sa*cb;
+ mTs2b(3,2) = -sa*sb;
+ mTs2b(3,3) = ca;
+ return mTs2b;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGState::StoreData(string fname) {
- ofstream datafile(fname.c_str());
-
- if (datafile) {
- datafile << (FDMExec->GetTranslation()->GetUVW())(1);
- datafile << (FDMExec->GetTranslation()->GetUVW())(2);
- datafile << (FDMExec->GetTranslation()->GetUVW())(3);
- datafile << FDMExec->GetPosition()->GetLatitude();
- datafile << FDMExec->GetPosition()->GetLongitude();
- datafile << (FDMExec->GetRotation()->GetEuler())(1);
- datafile << (FDMExec->GetRotation()->GetEuler())(2);
- datafile << (FDMExec->GetRotation()->GetEuler())(3);
- datafile << FDMExec->GetPosition()->Geth();
- datafile.close();
- return true;
- } else {
- cerr << "Could not open dump file " << fname << endl;
- return false;
- }
-}
+FGMatrix33& FGState::GetTb2s(void)
+{
+ double alpha,beta;
+ double ca, cb, sa, sb;
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ alpha = Auxiliary->Getalpha();
+ beta = Auxiliary->Getbeta();
-void FGState::InitMatrices(float phi, float tht, float psi) {
- float thtd2, psid2, phid2;
- float Sthtd2, Spsid2, Sphid2;
- float Cthtd2, Cpsid2, Cphid2;
- float Cphid2Cthtd2;
- float Cphid2Sthtd2;
- float Sphid2Sthtd2;
- float Sphid2Cthtd2;
-
- thtd2 = tht/2.0;
- psid2 = psi/2.0;
- phid2 = phi/2.0;
-
- Sthtd2 = sin(thtd2);
- Spsid2 = sin(psid2);
- Sphid2 = sin(phid2);
-
- Cthtd2 = cos(thtd2);
- Cpsid2 = cos(psid2);
- Cphid2 = cos(phid2);
-
- Cphid2Cthtd2 = Cphid2*Cthtd2;
- Cphid2Sthtd2 = Cphid2*Sthtd2;
- Sphid2Sthtd2 = Sphid2*Sthtd2;
- Sphid2Cthtd2 = Sphid2*Cthtd2;
-
- vQtrn(1) = Cphid2Cthtd2*Cpsid2 + Sphid2Sthtd2*Spsid2;
- vQtrn(2) = Sphid2Cthtd2*Cpsid2 - Cphid2Sthtd2*Spsid2;
- vQtrn(3) = Cphid2Sthtd2*Cpsid2 + Sphid2Cthtd2*Spsid2;
- vQtrn(4) = Cphid2Cthtd2*Spsid2 - Sphid2Sthtd2*Cpsid2;
-
- CalcMatrices();
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ ca = cos(alpha);
+ sa = sin(alpha);
+ cb = cos(beta);
+ sb = sin(beta);
-void FGState::CalcMatrices(void) {
- float Q0Q0, Q1Q1, Q2Q2, Q3Q3;
- float Q0Q1, Q0Q2, Q0Q3, Q1Q2;
- float Q1Q3, Q2Q3;
-
- Q0Q0 = vQtrn(1)*vQtrn(1);
- Q1Q1 = vQtrn(2)*vQtrn(2);
- Q2Q2 = vQtrn(3)*vQtrn(3);
- Q3Q3 = vQtrn(4)*vQtrn(4);
- Q0Q1 = vQtrn(1)*vQtrn(2);
- Q0Q2 = vQtrn(1)*vQtrn(3);
- Q0Q3 = vQtrn(1)*vQtrn(4);
- Q1Q2 = vQtrn(2)*vQtrn(3);
- Q1Q3 = vQtrn(2)*vQtrn(4);
- Q2Q3 = vQtrn(3)*vQtrn(4);
-
- mTl2b(1,1) = Q0Q0 + Q1Q1 - Q2Q2 - Q3Q3;
- mTl2b(1,2) = 2*(Q1Q2 + Q0Q3);
- mTl2b(1,3) = 2*(Q1Q3 - Q0Q2);
- mTl2b(2,1) = 2*(Q1Q2 - Q0Q3);
- mTl2b(2,2) = Q0Q0 - Q1Q1 + Q2Q2 - Q3Q3;
- mTl2b(2,3) = 2*(Q2Q3 + Q0Q1);
- mTl2b(3,1) = 2*(Q1Q3 + Q0Q2);
- mTl2b(3,2) = 2*(Q2Q3 - Q0Q1);
- mTl2b(3,3) = Q0Q0 - Q1Q1 - Q2Q2 + Q3Q3;
-
- mTb2l = mTl2b;
- mTb2l.T();
+ mTb2s(1,1) = ca*cb;
+ mTb2s(1,2) = sb;
+ mTb2s(1,3) = sa*cb;
+ mTb2s(2,1) = -ca*sb;
+ mTb2s(2,2) = cb;
+ mTb2s(2,3) = -sa*sb;
+ mTb2s(3,1) = -sa;
+ mTb2s(3,2) = 0.0;
+ mTb2s(3,3) = ca;
+
+ return mTb2s;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGState::IntegrateQuat(FGColumnVector vPQR, int rate) {
- static FGColumnVector vlastQdot(4);
- static FGColumnVector vQdot(4);
-
- vQdot(1) = -0.5*(vQtrn(2)*vPQR(eP) + vQtrn(3)*vPQR(eQ) + vQtrn(4)*vPQR(eR));
- vQdot(2) = 0.5*(vQtrn(1)*vPQR(eP) + vQtrn(3)*vPQR(eR) - vQtrn(4)*vPQR(eQ));
- vQdot(3) = 0.5*(vQtrn(1)*vPQR(eQ) + vQtrn(4)*vPQR(eP) - vQtrn(2)*vPQR(eR));
- vQdot(4) = 0.5*(vQtrn(1)*vPQR(eR) + vQtrn(2)*vPQR(eQ) - vQtrn(3)*vPQR(eP));
-
- vQtrn += 0.5*dt*rate*(vlastQdot + vQdot);
-
- vQtrn.Normalize();
+void FGState::ReportState(void)
+{
+#if 0
+#if !defined(__BORLANDCPP__)
+ char out[80], flap[10], gear[12];
+
+ cout << endl << " JSBSim State" << endl;
+ snprintf(out,80," Weight: %7.0f lbs. CG: %5.1f, %5.1f, %5.1f inches\n",
+ FDMExec->GetMassBalance()->GetWeight(),
+ FDMExec->GetMassBalance()->GetXYZcg(1),
+ FDMExec->GetMassBalance()->GetXYZcg(2),
+ FDMExec->GetMassBalance()->GetXYZcg(3));
+ cout << out;
+ if ( FCS->GetDfPos() <= 0.01)
+ snprintf(flap,10,"Up");
+ else
+ snprintf(flap,10,"%2.0f",FCS->GetDfPos());
- vlastQdot = vQdot;
+ if (FCS->GetGearPos() < 0.01)
+ snprintf(gear,12,"Up");
+ else if (FCS->GetGearPos() > 0.99)
+ snprintf(gear,12,"Down");
+ else
+ snprintf(gear,12,"In Transit");
+
+ snprintf(out,80, " Flaps: %3s Gear: %12s\n",flap,gear);
+ cout << out;
+ snprintf(out,80, " Speed: %4.0f KCAS Mach: %5.2f\n",
+ Auxiliary->GetVcalibratedKTS(),
+ Auxiliary->GetMach() );
+ cout << out;
+ snprintf(out,80, " Altitude: %7.0f ft. AGL Altitude: %7.0f ft.\n",
+ Propagate->Geth(),
+ Propagate->GetDistanceAGL() );
+ cout << out;
+ snprintf(out,80, " Angle of Attack: %6.2f deg Pitch Angle: %6.2f deg\n",
+ Auxiliary->Getalpha()*radtodeg,
+ Propagate->Gettht()*radtodeg );
+ cout << out;
+ snprintf(out,80, " Flight Path Angle: %6.2f deg Climb Rate: %5.0f ft/min\n",
+ Auxiliary->GetGamma()*radtodeg,
+ Propagate->Gethdot()*60 );
+ cout << out;
+ snprintf(out,80, " Normal Load Factor: %4.2f g's Pitch Rate: %5.2f deg/s\n",
+ Aircraft->GetNlf(),
+ Propagate->GetPQR(2)*radtodeg );
+ cout << out;
+ snprintf(out,80, " Heading: %3.0f deg true Sideslip: %5.2f deg Yaw Rate: %5.2f deg/s\n",
+ Propagate->Getpsi()*radtodeg,
+ Auxiliary->Getbeta()*radtodeg,
+ Propagate->GetPQR(3)*radtodeg );
+ cout << out;
+ snprintf(out,80, " Bank Angle: %5.2f deg Roll Rate: %5.2f deg/s\n",
+ Propagate->Getphi()*radtodeg,
+ Propagate->GetPQR(1)*radtodeg );
+ cout << out;
+ snprintf(out,80, " Elevator: %5.2f deg Left Aileron: %5.2f deg Rudder: %5.2f deg\n",
+ FCS->GetDePos(ofRad)*radtodeg,
+ FCS->GetDaLPos(ofRad)*radtodeg,
+ FCS->GetDrPos(ofRad)*radtodeg );
+ cout << out;
+ snprintf(out,80, " Throttle: %5.2f%c\n",
+ FCS->GetThrottlePos(0)*100,'%' );
+ cout << out;
+
+ snprintf(out,80, " Wind Components: %5.2f kts head wind, %5.2f kts cross wind\n",
+ Auxiliary->GetHeadWind()*fpstokts,
+ Auxiliary->GetCrossWind()*fpstokts );
+ cout << out;
+
+ snprintf(out,80, " Ground Speed: %4.0f knots , Ground Track: %3.0f deg true\n",
+ Auxiliary->GetVground()*fpstokts,
+ Auxiliary->GetGroundTrack()*radtodeg );
+ cout << out;
+#endif
+#endif
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGColumnVector FGState::CalcEuler(void) {
- static FGColumnVector vEuler(3);
-
- if (mTl2b(3,3) == 0.0) mTl2b(3,3) = 0.0000001;
- if (mTl2b(1,1) == 0.0) mTl2b(1,1) = 0.0000001;
-
- vEuler(ePhi) = atan2(mTl2b(2,3), mTl2b(3,3));
- vEuler(eTht) = asin(-mTl2b(1,3));
- vEuler(ePsi) = atan2(mTl2b(1,2), mTl2b(1,1));
-
- if (vEuler(ePsi) < 0.0) vEuler(ePsi) += 2*M_PI;
-
- return vEuler;
+void FGState::bind(void)
+{
+ PropertyManager->Tie("sim-time-sec",this,
+ &FGState::Getsim_time);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGMatrix FGState::GetTs2b(float alpha, float beta) {
- float ca, cb, sa, sb;
-
- ca = cos(alpha);
- sa = sin(alpha);
- cb = cos(beta);
- sb = sin(beta);
-
- mTs2b(1,1) = -ca*cb;
- mTs2b(1,2) = -ca*sb;
- mTs2b(1,3) = sa;
- mTs2b(2,1) = -sb;
- mTs2b(2,2) = cb;
- mTs2b(2,3) = 0.0;
- mTs2b(3,1) = -sa*cb;
- mTs2b(3,2) = -sa*sb;
- mTs2b(3,3) = -ca;
-
- return mTs2b;
+void FGState::unbind(void)
+{
+ PropertyManager->Untie("sim-time-sec");
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// 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 FGState::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: FGState" << endl;
+ if (from == 1) cout << "Destroyed: FGState" << 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