/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
+
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
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
# endif
#endif
-#ifdef _MSC_VER
-#define snprintf _snprintf
+#ifdef _WIN32
+//#define snprintf _snprintf
#endif
#include "FGState.h"
+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 FGJSBBase.h. The ID is what must be used
-// in any config file entry which references that item.
-
FGState::FGState(FGFDMExec* fdex)
{
FDMExec = fdex;
- a = 1000.0;
sim_time = 0.0;
dt = 1.0/120.0;
- ActiveEngine = -1;
Aircraft = FDMExec->GetAircraft();
- Translation = FDMExec->GetTranslation();
- Rotation = FDMExec->GetRotation();
- Position = FDMExec->GetPosition();
+ 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();
- RegisterVariable(FG_TIME, " time " );
- 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_ABETA, " |beta| " );
- RegisterVariable(FG_BETADOT, " betadot " );
- RegisterVariable(FG_PHI, " roll_angle " );
- RegisterVariable(FG_THT, " pitch_angle " );
- RegisterVariable(FG_PSI, " heading_angle " );
- RegisterVariable(FG_PITCHRATE, " pitch_rate " );
- RegisterVariable(FG_ROLLRATE, " roll_rate " );
- RegisterVariable(FG_YAWRATE, " yaw_rate " );
- RegisterVariable(FG_AEROQ, " aero_pitch_rate ");
- RegisterVariable(FG_AEROP, " aero_roll_rate " );
- RegisterVariable(FG_AEROR, " aero_yaw_rate " );
- RegisterVariable(FG_CL_SQRD, " Clift_sqrd " );
- RegisterVariable(FG_MACH, " mach " );
- RegisterVariable(FG_ALTITUDE, " altitude " );
- RegisterVariable(FG_BI2VEL, " BI2Vel " );
- RegisterVariable(FG_CI2VEL, " CI2Vel " );
- RegisterVariable(FG_ELEVATOR_POS, " elevator_pos " );
- RegisterVariable(FG_AELEVATOR_POS, " |elevator_pos| " );
- RegisterVariable(FG_AILERON_POS, " aileron_pos " );
- RegisterVariable(FG_AAILERON_POS, " |aileron_pos| " );
- RegisterVariable(FG_RUDDER_POS, " rudder_pos " );
- RegisterVariable(FG_ARUDDER_POS, " |rudder_pos| " );
- RegisterVariable(FG_SPDBRAKE_POS, " speedbrake_pos " );
- RegisterVariable(FG_SPOILERS_POS, " spoiler_pos " );
- RegisterVariable(FG_FLAPS_POS, " flaps_pos " );
- RegisterVariable(FG_GEAR_POS, " gear_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_GEAR_CMD, " gear_cmd " );
- RegisterVariable(FG_THROTTLE_POS, " throttle_pos " );
- RegisterVariable(FG_MIXTURE_CMD, " mixture_cmd " );
- RegisterVariable(FG_MIXTURE_POS, " mixture_pos " );
- RegisterVariable(FG_MAGNETO_CMD, " magneto_cmd " );
- RegisterVariable(FG_STARTER_CMD, " starter_cmd " );
- RegisterVariable(FG_ACTIVE_ENGINE, " active_engine " );
- RegisterVariable(FG_HOVERB, " height/span " );
- RegisterVariable(FG_PITCH_TRIM_CMD, " pitch_trim_cmd " );
- RegisterVariable(FG_YAW_TRIM_CMD, " yaw_trim_cmd " );
- RegisterVariable(FG_ROLL_TRIM_CMD, " roll_trim_cmd " );
- RegisterVariable(FG_LEFT_BRAKE_CMD, " left_brake_cmd " );
- RegisterVariable(FG_RIGHT_BRAKE_CMD," right_brake_cmd ");
- RegisterVariable(FG_CENTER_BRAKE_CMD," center_brake_cmd ");
- RegisterVariable(FG_ALPHAH, " h-tail alpha " );
- RegisterVariable(FG_ALPHAW, " wing alpha " );
- RegisterVariable(FG_LBARH, " h-tail arm " );
- RegisterVariable(FG_LBARV, " v-tail arm " );
- RegisterVariable(FG_HTAILAREA, " h-tail area " );
- RegisterVariable(FG_VTAILAREA, " v-tail area " );
- RegisterVariable(FG_VBARH, " h-tail volume " );
- RegisterVariable(FG_VBARV, " v-tail volume " );
- RegisterVariable(FG_SET_LOGGING, " data_logging " );
+ bind();
Debug(0);
}
FGState::~FGState()
{
+ unbind();
Debug(1);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-double FGState::GetParameter(eParam val_idx) {
- double scratch;
-
- switch(val_idx) {
- case FG_TIME:
- return sim_time;
- case FG_QBAR:
- return Translation->Getqbar();
- case FG_WINGAREA:
- return Aircraft->GetWingArea();
- case FG_WINGSPAN:
- return Aircraft->GetWingSpan();
- case FG_CBAR:
- return Aircraft->Getcbar();
- case FG_LBARH:
- return Aircraft->Getlbarh();
- case FG_LBARV:
- return Aircraft->Getvbarh();
- case FG_HTAILAREA:
- return Aircraft->GetHTailArea();
- case FG_VTAILAREA:
- return Aircraft->GetVTailArea();
- case FG_VBARH:
- return Aircraft->Getvbarh();
- case FG_VBARV:
- return Aircraft->Getvbarv();
- case FG_ALPHA:
- return Translation->Getalpha();
- case FG_ALPHAW:
- return Translation->Getalpha() + Aircraft->GetWingIncidence();
- case FG_ALPHADOT:
- return Translation->Getadot();
- case FG_BETA:
- return Translation->Getbeta();
- case FG_ABETA:
- return fabs(Translation->Getbeta());
- case FG_BETADOT:
- return Translation->Getbdot();
- case FG_PHI:
- return Rotation->Getphi();
- case FG_THT:
- return Rotation->Gettht();
- case FG_PSI:
- return Rotation->Getpsi();
- case FG_PITCHRATE:
- return Rotation->GetPQR(eQ);
- case FG_ROLLRATE:
- return Rotation->GetPQR(eP);
- case FG_YAWRATE:
- return Rotation->GetPQR(eR);
- case FG_AEROP:
- return Rotation->GetAeroPQR(eP);
- case FG_AEROQ:
- return Rotation->GetAeroPQR(eQ);
- case FG_AEROR:
- return Rotation->GetAeroPQR(eR);
- case FG_CL_SQRD:
- if (Translation->Getqbar() > 0.00)
- scratch = Aerodynamics->GetvLastFs(eLift)/(Aircraft->GetWingArea()*Translation->Getqbar());
- else
- scratch = 0.0;
- return scratch*scratch;
- case FG_ELEVATOR_POS:
- return FCS->GetDePos();
- case FG_AELEVATOR_POS:
- return fabs(FCS->GetDePos());
- case FG_AILERON_POS:
- return FCS->GetDaPos();
- case FG_AAILERON_POS:
- return fabs(FCS->GetDaPos());
- case FG_RUDDER_POS:
- return FCS->GetDrPos();
- case FG_ARUDDER_POS:
- return fabs(FCS->GetDrPos());
- case FG_SPDBRAKE_POS:
- return FCS->GetDsbPos();
- case FG_SPOILERS_POS:
- return FCS->GetDspPos();
- case FG_FLAPS_POS:
- return FCS->GetDfPos();
- case FG_ELEVATOR_CMD:
- return FCS->GetDeCmd();
- case FG_AILERON_CMD:
- return FCS->GetDaCmd();
- case FG_RUDDER_CMD:
- return FCS->GetDrCmd();
- case FG_SPDBRAKE_CMD:
- return FCS->GetDsbCmd();
- case FG_SPOILERS_CMD:
- return FCS->GetDspCmd();
- case FG_FLAPS_CMD:
- return FCS->GetDfCmd();
- case FG_MACH:
- return Translation->GetMach();
- case FG_ALTITUDE:
- return Position->Geth();
- case FG_BI2VEL:
- if(Translation->GetVt() > 0)
- return Aircraft->GetWingSpan()/(2.0 * Translation->GetVt());
- else
- return 0;
- case FG_CI2VEL:
- if(Translation->GetVt() > 0)
- return Aircraft->Getcbar()/(2.0 * Translation->GetVt());
- else
- return 0;
- case FG_THROTTLE_CMD:
- if (ActiveEngine < 0) return FCS->GetThrottleCmd(0);
- else return FCS->GetThrottleCmd(ActiveEngine);
- case FG_THROTTLE_POS:
- if (ActiveEngine < 0) return FCS->GetThrottlePos(0);
- else return FCS->GetThrottlePos(ActiveEngine);
- case FG_MAGNETO_CMD:
- if (ActiveEngine < 0) return Propulsion->GetEngine(0)->GetMagnetos();
- else return Propulsion->GetEngine(ActiveEngine)->GetMagnetos();
- case FG_STARTER_CMD:
- if (ActiveEngine < 0) {
- if (Propulsion->GetEngine(0)->GetStarter()) return 1.0;
- else return 0.0;
- } else {
- if (Propulsion->GetEngine(ActiveEngine)->GetStarter()) return 1.0;
- else return 0.0;
- }
- case FG_MIXTURE_CMD:
- if (ActiveEngine < 0) return FCS->GetMixtureCmd(0);
- else return FCS->GetMixtureCmd(ActiveEngine);
- case FG_MIXTURE_POS:
- if (ActiveEngine < 0) return FCS->GetMixturePos(0);
- else return FCS->GetMixturePos(ActiveEngine);
- case FG_HOVERB:
- return Position->GetHOverBMAC();
- case FG_PITCH_TRIM_CMD:
- return FCS->GetPitchTrimCmd();
- case FG_YAW_TRIM_CMD:
- return FCS->GetYawTrimCmd();
- case FG_ROLL_TRIM_CMD:
- return FCS->GetRollTrimCmd();
- case FG_GEAR_CMD:
- return FCS->GetGearCmd();
- case FG_GEAR_POS:
- return FCS->GetGearPos();
- default:
- cerr << "FGState::GetParameter() - No handler for parameter " << paramdef[val_idx] << endl;
- return 0.0;
- }
- return 0;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-double FGState::GetParameter(string val_string) {
- return GetParameter(coeffdef[val_string]);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-eParam FGState::GetParameterIndex(string val_string)
+void FGState::Initialize(FGInitialCondition *FGIC)
{
- return coeffdef[val_string];
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGState::SetParameter(eParam val_idx, double val)
-{
- unsigned i;
-
- switch(val_idx) {
- case FG_ELEVATOR_POS:
- FCS->SetDePos(val);
- break;
- case FG_AILERON_POS:
- FCS->SetDaPos(val);
- break;
- case FG_RUDDER_POS:
- FCS->SetDrPos(val);
- break;
- case FG_SPDBRAKE_POS:
- FCS->SetDsbPos(val);
- break;
- case FG_SPOILERS_POS:
- FCS->SetDspPos(val);
- break;
- case FG_FLAPS_POS:
- FCS->SetDfPos(val);
- break;
- case FG_THROTTLE_POS:
- if (ActiveEngine == -1) {
- for (i=0; i<Propulsion->GetNumEngines(); i++) {
- FCS->SetThrottlePos(i,val);
- }
- } else {
- FCS->SetThrottlePos(ActiveEngine,val);
- }
- break;
- case FG_MIXTURE_POS:
- if (ActiveEngine == -1) {
- for (i=0; i<Propulsion->GetNumEngines(); i++) {
- FCS->SetMixturePos(i,val);
- }
- } else {
- FCS->SetMixturePos(ActiveEngine,val);
- }
- break;
-
- case FG_ELEVATOR_CMD:
- FCS->SetDeCmd(val);
- break;
- case FG_AILERON_CMD:
- FCS->SetDaCmd(val);
- break;
- case FG_RUDDER_CMD:
- FCS->SetDrCmd(val);
- break;
- case FG_SPDBRAKE_CMD:
- FCS->SetDsbCmd(val);
- break;
- case FG_SPOILERS_CMD:
- FCS->SetDspCmd(val);
- break;
- case FG_FLAPS_CMD:
- FCS->SetDfCmd(val);
- break;
- case FG_THROTTLE_CMD:
- if (ActiveEngine == -1) {
- for (i=0; i<Propulsion->GetNumEngines(); i++) {
- FCS->SetThrottleCmd(i,val);
- }
- } else {
- FCS->SetThrottleCmd(ActiveEngine,val);
- }
- break;
- case FG_MIXTURE_CMD:
- if (ActiveEngine == -1) {
- for (i=0; i<Propulsion->GetNumEngines(); i++) {
- FCS->SetMixtureCmd(i,val);
- }
- } else {
- FCS->SetMixtureCmd(ActiveEngine,val);
- }
- break;
- case FG_MAGNETO_CMD:
- if (ActiveEngine == -1) {
- for (i=0; i<Propulsion->GetNumEngines(); i++) {
- Propulsion->GetEngine(i)->SetMagnetos((int)val);
- }
- } else {
- Propulsion->GetEngine(ActiveEngine)->SetMagnetos((int)val);
- }
- break;
- case FG_STARTER_CMD:
- if (ActiveEngine == -1) {
- for (i=0; i<Propulsion->GetNumEngines(); i++) {
- if (val < 0.001)
- Propulsion->GetEngine(i)->SetStarter(false);
- else if (val >= 0.001)
- Propulsion->GetEngine(i)->SetStarter(true);
- }
- } else {
- Propulsion->GetEngine(ActiveEngine)->SetStarter(true);
- }
- break;
- case FG_ACTIVE_ENGINE:
- ActiveEngine = (int)val;
- break;
-
- case FG_LEFT_BRAKE_CMD:
- FCS->SetLBrake(val);
- break;
- case FG_CENTER_BRAKE_CMD:
- FCS->SetCBrake(val);
- break;
- case FG_RIGHT_BRAKE_CMD:
- FCS->SetRBrake(val);
- break;
- case FG_GEAR_CMD:
- FCS->SetGearCmd(val);
- break;
- case FG_GEAR_POS:
- FCS->SetGearPos(val);
- break;
- case FG_SET_LOGGING:
- if (val < -0.01) Output->Disable();
- else if (val > 0.01) Output->Enable();
- else Output->Toggle();
- break;
-
- default:
- cerr << "Parameter '" << val_idx << "' (" << paramdef[val_idx] << ") not handled" << endl;
- }
-}
+ sim_time = 0.0;
-//***************************************************************************
-//
-// Reset: Assume all angles READ FROM FILE IN DEGREES !!
-//
+ Propagate->SetInitialState( FGIC );
-bool FGState::Reset(string path, string acname, string fname)
-{
- string resetDef;
- string token="";
-
- double U, V, W;
- double phi, tht, psi;
- double latitude, longitude, h;
- double wdir, wmag, wnorth, weast;
-
-# ifndef macintosh
- resetDef = path + "/" + acname + "/" + fname + ".xml";
-# else
- resetDef = path + ";" + acname + ";" + fname + ".xml";
-# endif
-
- FGConfigFile resetfile(resetDef);
- if (!resetfile.IsOpen()) return false;
-
- resetfile.GetNextConfigLine();
- token = resetfile.GetValue();
- if (token != string("initialize")) {
- cerr << "The reset file " << resetDef
- << " does not appear to be a reset file" << endl;
- return false;
- } else {
- resetfile.GetNextConfigLine();
- resetfile >> token;
- cout << "Resetting using: " << token << endl << endl;
- }
-
- while (token != string("/initialize") && token != string("EOF")) {
- if (token == "UBODY") resetfile >> U;
- if (token == "VBODY") resetfile >> V;
- if (token == "WBODY") resetfile >> W;
- if (token == "LATITUDE") resetfile >> latitude;
- if (token == "LONGITUDE") resetfile >> longitude;
- if (token == "PHI") resetfile >> phi;
- if (token == "THETA") resetfile >> tht;
- if (token == "PSI") resetfile >> psi;
- if (token == "ALTITUDE") resetfile >> h;
- if (token == "WINDDIR") resetfile >> wdir;
- if (token == "VWIND") resetfile >> wmag;
-
- resetfile >> token;
- }
-
-
- Position->SetLatitude(latitude*degtorad);
- Position->SetLongitude(longitude*degtorad);
- Position->Seth(h);
-
- wnorth = wmag*ktstofps*cos(wdir*degtorad);
- weast = wmag*ktstofps*sin(wdir*degtorad);
-
- Initialize(U, V, W, phi*degtorad, tht*degtorad, psi*degtorad,
- latitude*degtorad, longitude*degtorad, h, wnorth, weast, 0.0);
-
- return true;
-}
-
-//***************************************************************************
-//
-// Initialize: Assume all angles GIVEN IN RADIANS !!
-//
+ Atmosphere->Run();
+ Atmosphere->SetWindNED( FGIC->GetWindNFpsIC(),
+ FGIC->GetWindEFpsIC(),
+ FGIC->GetWindDFpsIC() );
-void FGState::Initialize(double U, double V, double W,
- double phi, double tht, double psi,
- double Latitude, double Longitude, double H,
- double wnorth, double weast, double wdown)
-{
- double alpha, beta;
- double qbar, Vt;
FGColumnVector3 vAeroUVW;
+ vAeroUVW = Propagate->GetUVW() + Propagate->GetTl2b()*Atmosphere->GetWindNED();
- Position->SetLatitude(Latitude);
- Position->SetLongitude(Longitude);
- Position->Seth(H);
-
- Atmosphere->Run();
-
- vLocalEuler << phi << tht << psi;
- Rotation->SetEuler(vLocalEuler);
-
- InitMatrices(phi, tht, psi);
-
- vUVW << U << V << W;
- Translation->SetUVW(vUVW);
-
- Atmosphere->SetWindNED(wnorth, weast, wdown);
-
- vAeroUVW = vUVW + mTl2b*Atmosphere->GetWindNED();
-
+ double alpha, beta;
if (vAeroUVW(eW) != 0.0)
alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
else
else
beta = 0.0;
- Translation->SetAB(alpha, beta);
+ Auxiliary->SetAB(alpha, beta);
- Vt = sqrt(U*U + V*V + W*W);
- Translation->SetVt(Vt);
+ double Vt = vAeroUVW.Magnitude();
+ Auxiliary->SetVt(Vt);
- Translation->SetMach(Vt/Atmosphere->GetSoundSpeed());
+ Auxiliary->SetMach(Vt/Atmosphere->GetSoundSpeed());
- qbar = 0.5*(U*U + V*V + W*W)*Atmosphere->GetDensity();
- Translation->Setqbar(qbar);
-
- vLocalVelNED = mTb2l*vUVW;
- Position->SetvVel(vLocalVelNED);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGState::Initialize(FGInitialCondition *FGIC) {
-
- double tht,psi,phi;
- double U, V, W, h;
- double latitude, longitude;
- double wnorth,weast, wdown;
-
- 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();
- wnorth = FGIC->GetWindNFpsIC();
- weast = FGIC->GetWindEFpsIC();
- wdown = FGIC->GetWindDFpsIC();
-
- Position->SetSeaLevelRadius( FGIC->GetSeaLevelRadiusFtIC() );
- Position->SetRunwayRadius( FGIC->GetSeaLevelRadiusFtIC() +
- FGIC->GetTerrainAltitudeFtIC() );
-
- // need to fix the wind speed args, here.
- Initialize(U, V, W, phi, tht, psi, latitude, longitude, h, wnorth, weast, wdown);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-bool FGState::StoreData(string fname) {
- ofstream datafile(fname.c_str());
-
- if (datafile) {
- datafile << Translation->GetUVW(eU);
- datafile << Translation->GetUVW(eV);
- datafile << Translation->GetUVW(eW);
- datafile << Position->GetLatitude();
- datafile << Position->GetLongitude();
- datafile << Rotation->GetEuler(ePhi);
- datafile << Rotation->GetEuler(eTht);
- datafile << Rotation->GetEuler(ePsi);
- datafile << Position->Geth();
- datafile.close();
- return true;
- } else {
- cerr << "Could not open dump file " << fname << endl;
- return false;
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGState::InitMatrices(double phi, double tht, double psi) {
- double thtd2, psid2, phid2;
- double Sthtd2, Spsid2, Sphid2;
- double Cthtd2, Cpsid2, Cphid2;
- double Cphid2Cthtd2;
- double Cphid2Sthtd2;
- double Sphid2Sthtd2;
- double 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();
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGState::CalcMatrices(void) {
- double Q0Q0, Q1Q1, Q2Q2, Q3Q3;
- double Q0Q1, Q0Q2, Q0Q3, Q1Q2;
- double 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();
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGState::IntegrateQuat(FGColumnVector3 vPQR, int rate) {
- 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();
-
- vlastQdot = vQdot;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGColumnVector3& FGState::CalcEuler(void) {
- 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;
+ double qbar = 0.5*Vt*Vt*Atmosphere->GetDensity();
+ Auxiliary->Setqbar(qbar);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
{
double ca, cb, sa, sb;
- double alpha = Translation->Getalpha();
- double beta = Translation->Getbeta();
+ double alpha = Auxiliary->Getalpha();
+ double beta = Auxiliary->Getbeta();
ca = cos(alpha);
sa = sin(alpha);
FGMatrix33& FGState::GetTb2s(void)
{
- float alpha,beta;
- float ca, cb, sa, sb;
-
- alpha = Translation->Getalpha();
- beta = Translation->Getbeta();
-
+ double alpha,beta;
+ double ca, cb, sa, sb;
+
+ alpha = Auxiliary->Getalpha();
+ beta = Auxiliary->Getbeta();
+
ca = cos(alpha);
sa = sin(alpha);
cb = cos(beta);
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGState::ReportState(void) {
+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)
+ cout << out;
+ if ( FCS->GetDfPos() <= 0.01)
snprintf(flap,10,"Up");
else
snprintf(flap,10,"%2.0f",FCS->GetDfPos());
- if(FCS->GetGearPos() < 0.01)
+
+ if (FCS->GetGearPos() < 0.01)
snprintf(gear,12,"Up");
- else if(FCS->GetGearPos() > 0.99)
+ else if (FCS->GetGearPos() > 0.99)
snprintf(gear,12,"Down");
else
- snprintf(gear,12,"In Transit");
+ 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",
- FDMExec->GetAuxiliary()->GetVcalibratedKTS(),
- GetParameter(FG_MACH) );
+ Auxiliary->GetVcalibratedKTS(),
+ Auxiliary->GetMach() );
cout << out;
snprintf(out,80, " Altitude: %7.0f ft. AGL Altitude: %7.0f ft.\n",
- Position->Geth(),
- Position->GetDistanceAGL() );
+ Propagate->Geth(),
+ Propagate->GetDistanceAGL() );
cout << out;
snprintf(out,80, " Angle of Attack: %6.2f deg Pitch Angle: %6.2f deg\n",
- GetParameter(FG_ALPHA)*radtodeg,
- Rotation->Gettht()*radtodeg );
+ Auxiliary->Getalpha()*radtodeg,
+ Propagate->Gettht()*radtodeg );
cout << out;
snprintf(out,80, " Flight Path Angle: %6.2f deg Climb Rate: %5.0f ft/min\n",
- Position->GetGamma()*radtodeg,
- Position->Gethdot()*60 );
- cout << out;
+ 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(),
- GetParameter(FG_PITCHRATE)*radtodeg );
+ 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",
- Rotation->Getpsi()*radtodeg,
- GetParameter(FG_BETA)*radtodeg,
- Rotation->GetPQR(3)*radtodeg );
+ 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",
- Rotation->Getphi()*radtodeg,
- Rotation->GetPQR(1)*radtodeg );
+ 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",
- GetParameter(FG_ELEVATOR_POS)*radtodeg,
- GetParameter(FG_AILERON_POS)*radtodeg,
- GetParameter(FG_RUDDER_POS)*radtodeg );
- cout << out;
+ 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",
- FDMExec->GetAuxiliary()->GetHeadWind()*fpstokts,
- FDMExec->GetAuxiliary()->GetCrossWind()*fpstokts );
- cout << out;
-
+ Auxiliary->GetHeadWind()*fpstokts,
+ Auxiliary->GetCrossWind()*fpstokts );
+ cout << out;
+
snprintf(out,80, " Ground Speed: %4.0f knots , Ground Track: %3.0f deg true\n",
- Position->GetVground()*fpstokts,
- Position->GetGroundTrack()*radtodeg );
- cout << out;
+ Auxiliary->GetVground()*fpstokts,
+ Auxiliary->GetGroundTrack()*radtodeg );
+ cout << out;
+#endif
+#endif
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGState::bind(void)
+{
+ PropertyManager->Tie("sim-time-sec",this,
+ &FGState::Getsim_time);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+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
}
}
}
-
-
+}
projects / flightgear.git / blobdiff