/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
+
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
+ the terms of the GNU Lesser 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
+ FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
details.
-
- You should have received a copy of the GNU General Public License along with
+
+ You should have received a copy of the GNU Lesser 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
+
+ Further information about the GNU Lesser 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
#ifdef _WIN32
-#define snprintf _snprintf
+//#define snprintf _snprintf
#endif
#include "FGState.h"
{
FDMExec = fdex;
- a = 1000.0;
sim_time = 0.0;
dt = 1.0/120.0;
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();
- for(int i=0;i<4;i++) vQdot_prev[i].InitMatrix();
-
bind();
-
+
Debug(0);
}
Debug(1);
}
-//***************************************************************************
-//
-// Initialize: Assume all angles GIVEN IN RADIANS !!
-//
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-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)
+void FGState::Initialize(FGInitialCondition *FGIC)
{
- double alpha, beta;
- double qbar, Vt;
- FGColumnVector3 vAeroUVW;
+ sim_time = 0.0;
- Position->SetLatitude(Latitude);
- Position->SetLongitude(Longitude);
- Position->Seth(H);
+ Propagate->SetInitialState( FGIC );
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();
-
+ Atmosphere->SetWindNED( FGIC->GetWindNFpsIC(),
+ FGIC->GetWindEFpsIC(),
+ FGIC->GetWindDFpsIC() );
+
+ FGColumnVector3 vAeroUVW;
+ vAeroUVW = Propagate->GetUVW() + Propagate->GetTl2b()*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);
-
- Vt = sqrt(U*U + V*V + W*W);
- Translation->SetVt(Vt);
-
- Translation->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);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-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();
-}
+ Auxiliary->SetAB(alpha, beta);
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ double Vt = vAeroUVW.Magnitude();
+ Auxiliary->SetVt(Vt);
-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();
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ Auxiliary->SetMach(Vt/Atmosphere->GetSoundSpeed());
-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 += Integrate(TRAPZ, dt*rate, vQdot, vQdot_prev);
-
- vQtrn.Normalize();
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-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)
{
+#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;
+ cout << out;
if ( FCS->GetDfPos() <= 0.01)
snprintf(flap,10,"Up");
else
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(),
- Translation->GetMach() );
+ 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",
- Translation->Getalpha()*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(),
- Rotation->GetPQR(2)*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,
- Translation->Getbeta()*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",
FCS->GetDePos(ofRad)*radtodeg,
FCS->GetDaLPos(ofRad)*radtodeg,
FCS->GetDrPos(ofRad)*radtodeg );
- cout << out;
+ 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);
+ PropertyManager->Tie("sim-time-sec", this, &FGState::Getsim_time);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
+
void FGState::unbind(void)
{
PropertyManager->Untie("sim-time-sec");
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