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 <Include/compiler.h>
+# include <simgear/compiler.h>
# ifdef FG_HAVE_STD_INCLUDES
# include <cmath>
# else
# include <cmath>
#endif
+#ifndef M_PI // support for silly Microsoft compiler
+# include <simgear/constants.h>
+# define M_PI FG_PI
+#endif
+
#include "FGState.h"
#include "FGFDMExec.h"
#include "FGAtmosphere.h"
*******************************************************************************/
-FGState::FGState(FGFDMExec* fdex)
+FGState::FGState(FGFDMExec* fdex) : mTb2l(3,3),
+ mTl2b(3,3),
+ mTs2b(3,3),
+ vQtrn(4)
{
FDMExec = fdex;
- Vt = 0.0;
- latitude = longitude = 0.0;
adot = bdot = 0.0;
- h = 0.0;
a = 1000.0;
- qbar = 0.0;
- sim_time = dt = 0.1;
+ sim_time = 0.0;
+ dt = 1.0/120.0;
+
+ coeffdef["FG_QBAR"] = 1 ;
+ coeffdef["FG_WINGAREA"] = 2 ;
+ coeffdef["FG_WINGSPAN"] = 4 ;
+ coeffdef["FG_CBAR"] = 8 ;
+ coeffdef["FG_ALPHA"] = 16 ;
+ coeffdef["FG_ALPHADOT"] = 32 ;
+ coeffdef["FG_BETA"] = 64 ;
+ coeffdef["FG_BETADOT"] = 128 ;
+ coeffdef["FG_PITCHRATE"] = 256 ;
+ coeffdef["FG_ROLLRATE"] = 512 ;
+ coeffdef["FG_YAWRATE"] = 1024 ;
+ coeffdef["FG_MACH"] = 2048 ;
+ coeffdef["FG_ALTITUDE"] = 4096 ;
+ coeffdef["FG_BI2VEL"] = 8192 ;
+ coeffdef["FG_CI2VEL"] = 16384 ;
+ coeffdef["FG_ELEVATOR_POS"] = 32768L ;
+ coeffdef["FG_AILERON_POS"] = 65536L ;
+ coeffdef["FG_RUDDER_POS"] = 131072L ;
+ coeffdef["FG_SPDBRAKE_POS"] = 262144L ;
+ coeffdef["FG_SPOILERS_POS"] = 524288L ;
+ coeffdef["FG_FLAPS_POS"] = 1048576L ;
+ coeffdef["FG_ELEVATOR_CMD"] = 2097152L ;
+ coeffdef["FG_AILERON_CMD"] = 4194304L ;
+ coeffdef["FG_RUDDER_CMD"] = 8388608L ;
+ coeffdef["FG_SPDBRAKE_CMD"] = 16777216L ;
+ coeffdef["FG_SPOILERS_CMD"] = 33554432L ;
+ coeffdef["FG_FLAPS_CMD"] = 67108864L ;
+ coeffdef["FG_THROTTLE_CMD"] = 134217728L ;
+ coeffdef["FG_THROTTLE_POS"] = 268435456L ;
+ coeffdef["FG_HOVERB"] = 536870912L ;
+ coeffdef["FG_PITCH_TRIM_CMD"] = 1073741824L ;
}
+/******************************************************************************/
-FGState::~FGState(void)
-{
-}
-
+FGState::~FGState(void) {}
//***************************************************************************
//
// Reset: Assume all angles READ FROM FILE IN DEGREES !!
//
-bool FGState::Reset(string path, string fname)
-{
+
+
+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 + "/" + FDMExec->GetAircraft()->GetAircraftName() + "/" + fname;
+ resetDef = path + "/" + acname + "/" + fname;
ifstream resetfile(resetDef.c_str());
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);
void FGState::Initialize(float U, float V, float W,
float phi, float tht, float psi,
- float Latitude, float Longitude, float H)
-{
- float alpha, beta, gamma;
- float Q0, Q1, Q2, Q3;
- float T[4][4];
+ float Latitude, float Longitude, float H) {
+ FGColumnVector vUVW(3);
+ FGColumnVector vLocalVelNED(3);
+ FGColumnVector vEuler(3);
+ float alpha, beta;
+ float qbar, Vt;
+
+ FDMExec->GetPosition()->SetLatitude(Latitude);
+ FDMExec->GetPosition()->SetLongitude(Longitude);
+ FDMExec->GetPosition()->Seth(H);
- latitude = Latitude;
- longitude = Longitude;
- h = H;
+ FDMExec->GetAtmosphere()->Run();
- gamma = 0.0;
if (W != 0.0)
alpha = U*U > 0.0 ? atan2(W, U) : 0.0;
else
else
beta = 0.0;
- FDMExec->GetTranslation()->SetUVW(U, V, W);
- FDMExec->GetRotation()->SetEuler(phi, tht, psi);
- FDMExec->GetTranslation()->SetABG(alpha, beta, gamma);
+ vUVW << U << V << W;
+ FDMExec->GetTranslation()->SetUVW(vUVW);
+
+ vEuler << phi << tht << psi;
+ FDMExec->GetRotation()->SetEuler(vEuler);
+
+ FDMExec->GetTranslation()->SetAB(alpha, beta);
Vt = sqrt(U*U + V*V + W*W);
- qbar = 0.5*(U*U + V*V + W*W)*FDMExec->GetAtmosphere()->CalcRho(h);
-
- Q0 = sin(psi*0.5)*sin(tht*0.5)*sin(phi*0.5) + cos(psi*0.5)*cos(tht*0.5)*cos(phi*0.5);
- Q1 = -sin(psi*0.5)*sin(tht*0.5)*cos(phi*0.5) + cos(psi*0.5)*cos(tht*0.5)*sin(phi*0.5);
- Q2 = sin(psi*0.5)*cos(tht*0.5)*sin(phi*0.5) + cos(psi*0.5)*sin(tht*0.5)*cos(phi*0.5);
- Q3 = sin(psi*0.5)*cos(tht*0.5)*cos(phi*0.5) - cos(psi*0.5)*sin(tht*0.5)*sin(phi*0.5);
-
- FDMExec->GetRotation()->SetQ0123(Q0, Q1, Q2, Q3);
-
- T[1][1] = Q0*Q0 + Q1*Q1 - Q2*Q2 - Q3*Q3;
- T[1][2] = 2*(Q1*Q2 + Q0*Q3);
- T[1][3] = 2*(Q1*Q3 - Q0*Q2);
- T[2][1] = 2*(Q1*Q2 - Q0*Q3);
- T[2][2] = Q0*Q0 - Q1*Q1 + Q2*Q2 - Q3*Q3;
- T[2][3] = 2*(Q2*Q3 + Q0*Q1);
- T[3][1] = 2*(Q1*Q3 + Q0*Q2);
- T[3][2] = 2*(Q2*Q3 - Q0*Q1);
- T[3][3] = Q0*Q0 - Q1*Q1 - Q2*Q2 + Q3*Q3;
-
- FDMExec->GetPosition()->SetT(T[1][1], T[1][2], T[1][3],
- T[2][1], T[2][2], T[2][3],
- T[3][1], T[3][2], T[3][3]);
- DisplayData();
+ FDMExec->GetTranslation()->SetVt(Vt);
+
+ 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);
}
+/******************************************************************************/
-void FGState::Initialize(FGInitialCondition *FGIC)
-{
+void FGState::Initialize(FGInitialCondition *FGIC) {
float tht,psi,phi;
- float U,V,W;
+ float U, V, W, h;
+ float latitude, longitude;
latitude = FGIC->GetLatitudeRadIC();
longitude = FGIC->GetLongitudeRadIC();
phi = FGIC->GetPhiRadIC();
psi = FGIC->GetPsiRadIC();
- Initialize(U, V, W, phi, tht, psi,latitude, longitude, h);
+ Initialize(U, V, W, phi, tht, psi, latitude, longitude, h);
}
+/******************************************************************************/
-bool FGState::StoreData(string fname)
-{
+bool FGState::StoreData(string fname) {
ofstream datafile(fname.c_str());
if (datafile) {
- datafile << FDMExec->GetTranslation()->GetU();
- datafile << FDMExec->GetTranslation()->GetV();
- datafile << FDMExec->GetTranslation()->GetW();
- datafile << latitude;
- datafile << longitude;
- datafile << FDMExec->GetRotation()->Getphi();
- datafile << FDMExec->GetRotation()->Gettht();
- datafile << FDMExec->GetRotation()->Getpsi();
- datafile << h;
+ 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 {
}
}
+/******************************************************************************/
-bool FGState::DumpData(string fname)
-{
- ofstream datafile(fname.c_str());
+float FGState::GetParameter(string val_string) {
+ return GetParameter(coeffdef[val_string]);
+}
- if (datafile) {
- datafile << "U: " << FDMExec->GetTranslation()->GetU() << endl;
- datafile << "V: " << FDMExec->GetTranslation()->GetV() << endl;
- datafile << "W: " << FDMExec->GetTranslation()->GetW() << endl;
- datafile << "P: " << FDMExec->GetRotation()->GetP() << endl;
- datafile << "Q: " << FDMExec->GetRotation()->GetQ() << endl;
- datafile << "R: " << FDMExec->GetRotation()->GetR() << endl;
- datafile << "L: " << FDMExec->GetAircraft()->GetL() << endl;
- datafile << "M: " << FDMExec->GetAircraft()->GetM() << endl;
- datafile << "N: " << FDMExec->GetAircraft()->GetN() << endl;
- datafile << "latitude: " << latitude << endl;
- datafile << "longitude: " << longitude << endl;
- datafile << "alpha: " << FDMExec->GetTranslation()->Getalpha() << endl;
- datafile << "beta: " << FDMExec->GetTranslation()->Getbeta() << endl;
- datafile << "gamma: " << FDMExec->GetTranslation()->Getgamma() << endl;
- datafile << "phi: " << FDMExec->GetRotation()->Getphi() << endl;
- datafile << "tht: " << FDMExec->GetRotation()->Gettht() << endl;
- datafile << "psi: " << FDMExec->GetRotation()->Getpsi() << endl;
- datafile << "Pdot: " << FDMExec->GetRotation()->GetPdot() << endl;
- datafile << "Qdot: " << FDMExec->GetRotation()->GetQdot() << endl;
- datafile << "Rdot: " << FDMExec->GetRotation()->GetRdot() << endl;
- datafile << "h: " << h << endl;
- datafile << "a: " << a << endl;
- datafile << "rho: " << FDMExec->GetAtmosphere()->Getrho() << endl;
- datafile << "qbar: " << qbar << endl;
- datafile << "sim_time: " << sim_time << endl;
- datafile << "dt: " << dt << endl;
- datafile << "m: " << FDMExec->GetAircraft()->GetMass() << endl;
- datafile.close();
- return true;
- } else {
- return false;
+/******************************************************************************/
+
+int FGState::GetParameterIndex(string val_string) {
+ return coeffdef[val_string];
+}
+
+/******************************************************************************/
+//
+// NEED WORK BELOW TO ADD NEW PARAMETERS !!!
+//
+float FGState::GetParameter(int 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 Getadot();
+ case FG_BETA:
+ return FDMExec->GetTranslation()->Getbeta();
+ case FG_BETADOT:
+ return Getbdot();
+ case FG_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 FG_PITCH_TRIM_CMD:
+ return FDMExec->GetFCS()->GetPitchTrimCmd();
}
+ return 0;
}
+/******************************************************************************/
+
+void FGState::SetParameter(int 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);
+ }
+}
-bool FGState::DisplayData(void)
-{
- cout << "U: " << FDMExec->GetTranslation()->GetU() << endl;
- cout << "V: " << FDMExec->GetTranslation()->GetV() << endl;
- cout << "W: " << FDMExec->GetTranslation()->GetW() << endl;
- cout << "P: " << FDMExec->GetRotation()->GetP()*RADTODEG << endl;
- cout << "Q: " << FDMExec->GetRotation()->GetQ()*RADTODEG << endl;
- cout << "R: " << FDMExec->GetRotation()->GetR()*RADTODEG << endl;
- cout << "L: " << FDMExec->GetAircraft()->GetL() << endl;
- cout << "M: " << FDMExec->GetAircraft()->GetM() << endl;
- cout << "N: " << FDMExec->GetAircraft()->GetN() << endl;
- cout << "Vt: " << Vt << endl;
- cout << "latitude: " << latitude << endl;
- cout << "longitude: " << longitude << endl;
- cout << "alpha: " << FDMExec->GetTranslation()->Getalpha()*RADTODEG << endl;
- cout << "beta: " << FDMExec->GetTranslation()->Getbeta()*RADTODEG << endl;
- cout << "gamma: " << FDMExec->GetTranslation()->Getgamma()*RADTODEG << endl;
- cout << "phi: " << FDMExec->GetRotation()->Getphi()*RADTODEG << endl;
- cout << "tht: " << FDMExec->GetRotation()->Gettht()*RADTODEG << endl;
- cout << "psi: " << FDMExec->GetRotation()->Getpsi()*RADTODEG << endl;
- cout << "Pdot: " << FDMExec->GetRotation()->GetPdot()*RADTODEG << endl;
- cout << "Qdot: " << FDMExec->GetRotation()->GetQdot()*RADTODEG << endl;
- cout << "Rdot: " << FDMExec->GetRotation()->GetRdot()*RADTODEG << endl;
- cout << "h: " << h << endl;
- cout << "a: " << a << endl;
- cout << "rho: " << FDMExec->GetAtmosphere()->Getrho() << endl;
- cout << "qbar: " << qbar << endl;
- cout << "sim_time: " << sim_time << endl;
- cout << "dt: " << dt << endl;
- cout << "m: " << FDMExec->GetAircraft()->GetMass() << endl;
-
- return true;
+/******************************************************************************/
+
+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();
+}
+
+/******************************************************************************/
+
+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();
+}
+
+/******************************************************************************/
+
+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();
+
+ vlastQdot = vQdot;
+}
+
+/******************************************************************************/
+
+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;
}
+
+/******************************************************************************/
+
+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;
+}
+
+/******************************************************************************/
+
projects / flightgear.git / blobdiff