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
*******************************************************************************/
# 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) : mTb2l(3,3),
- mTl2b(3,3),
- mTs2b(3,3),
- vQtrn(4)
+ mTl2b(3,3),
+ mTs2b(3,3),
+ vQtrn(4)
{
FDMExec = fdex;
coeffdef["FG_SPDBRAKE_CMD"] = 16777216L ;
coeffdef["FG_SPOILERS_CMD"] = 33554432L ;
coeffdef["FG_FLAPS_CMD"] = 67108864L ;
- coeffdef["FG_SPARE3"] = 134217728L ;
- coeffdef["FG_SPARE4"] = 268435456L ;
- coeffdef["FG_SPARE5"] = 536870912L ;
- coeffdef["FG_SPARE6"] = 1073741824L ;
+ 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 acname, string fname)
-{
+
+
+bool FGState::Reset(string path, string acname, string fname) {
string resetDef;
float U, V, W;
float phi, tht, psi;
void FGState::Initialize(float U, float V, float W,
float phi, float tht, float psi,
- float Latitude, float Longitude, float H)
-{
+ float Latitude, float Longitude, float H) {
FGColumnVector vUVW(3);
FGColumnVector vLocalVelNED(3);
FGColumnVector vEuler(3);
- float alpha, beta, gamma;
+ float alpha, beta;
float qbar, Vt;
- FDMExec->GetPosition()->SetLatitude(Latitude*DEGTORAD);
- FDMExec->GetPosition()->SetLongitude(Longitude*DEGTORAD);
+ FDMExec->GetPosition()->SetLatitude(Latitude);
+ FDMExec->GetPosition()->SetLongitude(Longitude);
FDMExec->GetPosition()->Seth(H);
FDMExec->GetAtmosphere()->Run();
- gamma = 0.0;
if (W != 0.0)
alpha = U*U > 0.0 ? atan2(W, U) : 0.0;
else
vEuler << phi << tht << psi;
FDMExec->GetRotation()->SetEuler(vEuler);
- FDMExec->GetTranslation()->SetABG(alpha, beta, gamma);
+ FDMExec->GetTranslation()->SetAB(alpha, beta);
Vt = sqrt(U*U + V*V + W*W);
FDMExec->GetTranslation()->SetVt(Vt);
/******************************************************************************/
-void FGState::Initialize(FGInitialCondition *FGIC)
-{
+void FGState::Initialize(FGInitialCondition *FGIC) {
float tht,psi,phi;
float U, V, W, h;
/******************************************************************************/
-bool FGState::StoreData(string fname)
-{
+bool FGState::StoreData(string fname) {
ofstream datafile(fname.c_str());
if (datafile) {
/******************************************************************************/
-float FGState::GetParameter(string val_string)
-{
+float FGState::GetParameter(string val_string) {
return GetParameter(coeffdef[val_string]);
}
/******************************************************************************/
-int FGState::GetParameterIndex(string val_string)
-{
+int FGState::GetParameterIndex(string val_string) {
return coeffdef[val_string];
}
//
// NEED WORK BELOW TO ADD NEW PARAMETERS !!!
//
-float FGState::GetParameter(int val_idx)
-{
+float FGState::GetParameter(int val_idx) {
switch(val_idx) {
case FG_QBAR:
return FDMExec->GetTranslation()->Getqbar();
case FG_ALTITUDE:
return FDMExec->GetPosition()->Geth();
case FG_BI2VEL:
- return FDMExec->GetAircraft()->GetWingSpan()/(2.0 * FDMExec->GetTranslation()->GetVt());
+ if(FDMExec->GetTranslation()->GetVt() > 0)
+ return FDMExec->GetAircraft()->GetWingSpan()/(2.0 * FDMExec->GetTranslation()->GetVt());
+ else
+ return 0;
case FG_CI2VEL:
- return FDMExec->GetAircraft()->Getcbar()/(2.0 * FDMExec->GetTranslation()->GetVt());
+ 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)
-{
+void FGState::SetParameter(int val_idx, float val) {
switch(val_idx) {
case FG_ELEVATOR_POS:
FDMExec->GetFCS()->SetDePos(val);
FDMExec->GetFCS()->SetDrPos(val);
break;
case FG_SPDBRAKE_POS:
- FDMExec->GetFCS()->SetDrPos(val);
+ FDMExec->GetFCS()->SetDsbPos(val);
break;
case FG_SPOILERS_POS:
- FDMExec->GetFCS()->SetDrPos(val);
+ FDMExec->GetFCS()->SetDspPos(val);
break;
case FG_FLAPS_POS:
- FDMExec->GetFCS()->SetDrPos(val);
+ FDMExec->GetFCS()->SetDfPos(val);
break;
+ case FG_THROTTLE_POS:
+ FDMExec->GetFCS()->SetThrottlePos(-1,val);
}
}
/******************************************************************************/
-void FGState::InitMatrices(float phi, float tht, float psi)
-{
+void FGState::InitMatrices(float phi, float tht, float psi) {
float thtd2, psid2, phid2;
float Sthtd2, Spsid2, Sphid2;
float Cthtd2, Cpsid2, Cphid2;
/******************************************************************************/
-void FGState::CalcMatrices(void)
-{
+void FGState::CalcMatrices(void) {
float Q0Q0, Q1Q1, Q2Q2, Q3Q3;
float Q0Q1, Q0Q2, Q0Q3, Q1Q2;
float Q1Q3, Q2Q3;
Q1Q3 = vQtrn(2)*vQtrn(4);
Q2Q3 = vQtrn(3)*vQtrn(4);
- mTb2l(1,1) = Q0Q0 + Q1Q1 - Q2Q2 - Q3Q3;
- mTb2l(1,2) = 2*(Q1Q2 + Q0Q3);
- mTb2l(1,3) = 2*(Q1Q3 - Q0Q2);
- mTb2l(2,1) = 2*(Q1Q2 - Q0Q3);
- mTb2l(2,2) = Q0Q0 - Q1Q1 + Q2Q2 - Q3Q3;
- mTb2l(2,3) = 2*(Q2Q3 + Q0Q1);
- mTb2l(3,1) = 2*(Q1Q3 + Q0Q2);
- mTb2l(3,2) = 2*(Q2Q3 - Q0Q1);
- mTb2l(3,3) = Q0Q0 - Q1Q1 - Q2Q2 + Q3Q3;
-
- mTl2b = mTb2l;
- mTl2b.T();
+ 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)
-{
+void FGState::IntegrateQuat(FGColumnVector vPQR, int rate) {
static FGColumnVector vlastQdot(4);
static FGColumnVector vQdot(4);
/******************************************************************************/
-FGColumnVector FGState::CalcEuler(void)
-{
+FGColumnVector FGState::CalcEuler(void) {
static FGColumnVector vEuler(3);
- if (mTb2l(3,3) == 0) vEuler(ePhi) = 0.0;
- else vEuler(ePhi) = atan2(mTb2l(2,3), mTb2l(3,3));
-
- vEuler(eTht) = asin(-mTb2l(1,3));
+ if (mTl2b(3,3) == 0.0) mTl2b(3,3) = 0.0000001;
+ if (mTl2b(1,1) == 0.0) mTl2b(1,1) = 0.0000001;
- if (mTb2l(1,1) == 0.0) vEuler(ePsi) = 0.0;
- else vEuler(ePsi) = atan2(mTb2l(1,2), mTb2l(1,1));
+ 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;
/******************************************************************************/
-FGMatrix FGState::GetTs2b(float alpha, float beta)
-{
+FGMatrix FGState::GetTs2b(float alpha, float beta) {
float ca, cb, sa, sb;
ca = cos(alpha);
mTs2b(1,1) = -ca*cb;
mTs2b(1,2) = -ca*sb;
mTs2b(1,3) = sa;
- mTs2b(2,1) = sb;
+ mTs2b(2,1) = -sb;
mTs2b(2,2) = cb;
mTs2b(2,3) = 0.0;
mTs2b(3,1) = -sa*cb;