# endif
#endif
-#if defined(_MSC_VER)||defined(__BORLANDCPP__)
-#pragma message("\n\nRedefining snprintf\n")
+#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();
Propulsion = FDMExec->GetPropulsion();
PropertyManager = FDMExec->GetPropertyManager();
- InitPropertyMaps();
-
- 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_NELEVATOR_POS, " elevator_pos_n " );
- RegisterVariable(FG_AILERON_POS, " aileron_pos " );
- RegisterVariable(FG_AAILERON_POS, " |aileron_pos| " );
- RegisterVariable(FG_NAILERON_POS, " aileron_pos_n " );
- RegisterVariable(FG_LEFT_AILERON_POS, " left_aileron_pos " );
- RegisterVariable(FG_ALEFT_AILERON_POS, " |left_aileron_pos| " );
- RegisterVariable(FG_NLEFT_AILERON_POS, " left_aileron_pos_n " );
- RegisterVariable(FG_RIGHT_AILERON_POS, " right_aileron_pos " );
- RegisterVariable(FG_ARIGHT_AILERON_POS, " |right_aileron_pos| " );
- RegisterVariable(FG_NRIGHT_AILERON_POS, " right_aileron_pos_n " );
- RegisterVariable(FG_RUDDER_POS, " rudder_pos " );
- RegisterVariable(FG_ARUDDER_POS, " |rudder_pos| " );
- RegisterVariable(FG_NRUDDER_POS, " rudder_pos_n " );
- RegisterVariable(FG_SPDBRAKE_POS, " speedbrake_pos " );
- RegisterVariable(FG_NSPDBRAKE_POS, " speedbrake_pos_n " );
- RegisterVariable(FG_SPOILERS_POS, " spoiler_pos " );
- RegisterVariable(FG_NSPOILERS_POS, " spoiler_pos_n " );
- RegisterVariable(FG_FLAPS_POS, " flaps_pos " );
- RegisterVariable(FG_NFLAPS_POS, " flaps_pos_n " );
- 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 " );
-
+ for(int i=0;i<4;i++) vQdot_prev[i].InitMatrix();
+
bind();
Debug(0);
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_NELEVATOR_POS:
- return FCS->GetDePos(ofNorm);
- case FG_AILERON_POS:
- return FCS->GetDaLPos();
- case FG_AAILERON_POS:
- return fabs(FCS->GetDaLPos());
- case FG_NAILERON_POS:
- return FCS->GetDaLPos(ofNorm);
- case FG_LEFT_AILERON_POS:
- return FCS->GetDaLPos();
- case FG_ALEFT_AILERON_POS:
- return FCS->GetDaLPos(ofMag);
- case FG_NLEFT_AILERON_POS:
- return FCS->GetDaLPos(ofNorm);
- case FG_RIGHT_AILERON_POS:
- return FCS->GetDaRPos();
- case FG_ARIGHT_AILERON_POS:
- return FCS->GetDaRPos(ofMag);
- case FG_NRIGHT_AILERON_POS:
- return FCS->GetDaRPos(ofNorm);
- case FG_RUDDER_POS:
- return FCS->GetDrPos();
- case FG_ARUDDER_POS:
- return FCS->GetDrPos(ofMag);
- case FG_NRUDDER_POS:
- return FCS->GetDrPos(ofNorm);
- case FG_SPDBRAKE_POS:
- return FCS->GetDsbPos();
- case FG_NSPDBRAKE_POS:
- return FCS->GetDsbPos(ofNorm);
- case FG_SPOILERS_POS:
- return FCS->GetDspPos();
- case FG_NSPOILERS_POS:
- return FCS->GetDspPos(ofNorm);
- case FG_FLAPS_POS:
- return FCS->GetDfPos();
- case FG_NFLAPS_POS:
- return FCS->GetDfPos(ofNorm);
- 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)
-{
- return coeffdef[val_string];
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGState::SetParameter(eParam val_idx, double val)
-{
- unsigned i;
-
- switch(val_idx) {
- case FG_ELEVATOR_POS:
- FCS->SetDePos(ofRad,val);
- break;
- case FG_NELEVATOR_POS:
- FCS->SetDePos(ofNorm,val);
- break;
- case FG_AILERON_POS:
- FCS->SetDaLPos(ofRad,val);
- break;
- case FG_NAILERON_POS:
- FCS->SetDaLPos(ofNorm,val);
- break;
- case FG_LEFT_AILERON_POS:
- FCS->SetDaLPos(ofRad,val);
- break;
- case FG_NLEFT_AILERON_POS:
- FCS->SetDaLPos(ofNorm,val);
- break;
- case FG_RIGHT_AILERON_POS:
- FCS->SetDaRPos(ofRad,val);
- break;
- case FG_NRIGHT_AILERON_POS:
- FCS->SetDaRPos(ofNorm,val);
- break;
- case FG_RUDDER_POS:
- FCS->SetDrPos(ofRad,val);
- break;
- case FG_NRUDDER_POS:
- FCS->SetDrPos(ofNorm,val);
- break;
- case FG_SPDBRAKE_POS:
- FCS->SetDsbPos(ofRad,val);
- break;
- case FG_NSPDBRAKE_POS:
- FCS->SetDsbPos(ofNorm,val);
- break;
- case FG_SPOILERS_POS:
- FCS->SetDspPos(ofRad,val);
- break;
- case FG_NSPOILERS_POS:
- FCS->SetDspPos(ofNorm,val);
- break;
- case FG_FLAPS_POS:
- FCS->SetDfPos(ofRad,val);
- break;
- case FG_NFLAPS_POS:
- FCS->SetDfPos(ofNorm,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;
- }
-}
-
-//***************************************************************************
-//
-// Reset: Assume all angles READ FROM FILE IN DEGREES !!
-//
-
-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 !!
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGState::Initialize(FGInitialCondition *FGIC) {
-
+void FGState::Initialize(FGInitialCondition *FGIC)
+{
double tht,psi,phi;
double U, V, W, h;
double latitude, longitude;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-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) {
+void FGState::InitMatrices(double phi, double tht, double psi)
+{
double thtd2, psid2, phid2;
double Sthtd2, Spsid2, Sphid2;
double Cthtd2, Cpsid2, Cphid2;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGState::CalcMatrices(void) {
+void FGState::CalcMatrices(void)
+{
double Q0Q0, Q1Q1, Q2Q2, Q3Q3;
double Q0Q1, Q0Q2, Q0Q3, Q1Q2;
double Q1Q3, Q2Q3;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGState::IntegrateQuat(FGColumnVector3 vPQR, int rate) {
+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();
+ vQtrn += Integrate(TRAPZ, dt*rate, vQdot, vQdot_prev);
- vlastQdot = vQdot;
+ vQtrn.Normalize();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGColumnVector3& FGState::CalcEuler(void) {
+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;
FDMExec->GetMassBalance()->GetXYZcg(2),
FDMExec->GetMassBalance()->GetXYZcg(3));
cout << out;
- if( FCS->GetDfPos() <= 0.01)
+ 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) );
+ Translation->GetMach() );
cout << out;
snprintf(out,80, " Altitude: %7.0f ft. AGL Altitude: %7.0f ft.\n",
Position->Geth(),
Position->GetDistanceAGL() );
cout << out;
snprintf(out,80, " Angle of Attack: %6.2f deg Pitch Angle: %6.2f deg\n",
- GetParameter(FG_ALPHA)*radtodeg,
+ Translation->Getalpha()*radtodeg,
Rotation->Gettht()*radtodeg );
cout << out;
snprintf(out,80, " Flight Path Angle: %6.2f deg Climb Rate: %5.0f ft/min\n",
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 );
+ Rotation->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,
+ Translation->Getbeta()*radtodeg,
Rotation->GetPQR(3)*radtodeg );
cout << out;
snprintf(out,80, " Bank Angle: %5.2f deg Roll Rate: %5.2f deg/s\n",
Rotation->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 );
+ 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,'%' );
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGState::InitPropertyMaps(void) {
- ParamToProp[ FG_TIME ]="sim-time-sec";
- ParamToProp[ FG_QBAR ]="aero/qbar-psf";
- ParamToProp[ FG_WINGAREA ]="metrics/Sw-sqft";
- ParamToProp[ FG_WINGSPAN ]="metrics/bw-ft";
- ParamToProp[ FG_CBAR ]="metrics/cbarw-ft";
- ParamToProp[ FG_ALPHA ]="aero/alpha-rad";
- ParamToProp[ FG_ALPHADOT ]="aero/alphadot-rad_sec";
- ParamToProp[ FG_BETA ]="aero/beta-rad";
- ParamToProp[ FG_ABETA ]="aero/mag-beta-rad";
- ParamToProp[ FG_BETADOT ]="aero/betadot-rad_sec";
- ParamToProp[ FG_PHI ]="attitude/phi-rad";
- ParamToProp[ FG_THT ]="attitude/theta-rad";
- ParamToProp[ FG_PSI ]="attitude/psi-true-rad";
- ParamToProp[ FG_PITCHRATE ]="velocities/q-rad_sec";
- ParamToProp[ FG_ROLLRATE ]="velocities/p-rad_sec";
- ParamToProp[ FG_YAWRATE ]="velocities/r-rad_sec";
- ParamToProp[ FG_AEROP ]="velocities/p-aero-rad_sec";
- ParamToProp[ FG_AEROQ ]="velocities/q-aero-rad_sec";
- ParamToProp[ FG_AEROR ]="velocities/r-aero-rad_sec";
- ParamToProp[ FG_CL_SQRD ]="aero/cl-squared-norm";
- ParamToProp[ FG_MACH ]="velocities/mach-norm";
- ParamToProp[ FG_ALTITUDE ]="position/h-sl-ft";
- ParamToProp[ FG_BI2VEL ]="aero/bi2vel";
- ParamToProp[ FG_CI2VEL ]="aero/ci2vel";
- ParamToProp[ FG_ELEVATOR_POS ]="fcs/elevator-pos-rad";
- ParamToProp[ FG_AELEVATOR_POS ]="fcs/mag-elevator-pos-rad";
- ParamToProp[ FG_NELEVATOR_POS ]="fcs/elevator-pos-norm";
- ParamToProp[ FG_AILERON_POS ]="fcs/left-aileron-pos-rad";
- ParamToProp[ FG_AAILERON_POS ]="fcs/mag-aileron-pos-rad";
- ParamToProp[ FG_NAILERON_POS ]="fcs/left-aileron-pos-norm";
- ParamToProp[ FG_LEFT_AILERON_POS ]="fcs/left-aileron-pos-rad";
- ParamToProp[ FG_ALEFT_AILERON_POS ]="fcs/mag-left-aileron-pos-rad";
- ParamToProp[ FG_NLEFT_AILERON_POS ]="fcs/left-aileron-pos-norm";
- ParamToProp[ FG_RIGHT_AILERON_POS ]="fcs/right-aileron-pos-rad";
- ParamToProp[ FG_ARIGHT_AILERON_POS ]="fcs/mag-aileron-pos-rad";
- ParamToProp[ FG_NRIGHT_AILERON_POS ]="fcs/right-aileron-pos-norm";
- ParamToProp[ FG_RUDDER_POS ]="fcs/rudder-pos-rad";
- ParamToProp[ FG_ARUDDER_POS ]="fcs/mag-rudder-pos-rad";
- ParamToProp[ FG_NRUDDER_POS ]="fcs/rudder-pos-norm";
- ParamToProp[ FG_SPDBRAKE_POS ]="fcs/speedbrake-pos-rad";
- ParamToProp[ FG_NSPDBRAKE_POS ]="fcs/speedbrake-pos-norm";
- ParamToProp[ FG_SPOILERS_POS ]="fcs/spoiler-pos-rad";
- ParamToProp[ FG_NSPOILERS_POS ]="fcs/spoiler-pos-norm";
- ParamToProp[ FG_FLAPS_POS ]="fcs/flap-pos-deg";
- ParamToProp[ FG_NFLAPS_POS ]="fcs/flap-pos-norm";
- ParamToProp[ FG_ELEVATOR_CMD ]="fcs/elevator-cmd-norm";
- ParamToProp[ FG_AILERON_CMD ]="fcs/aileron-cmd-norm";
- ParamToProp[ FG_RUDDER_CMD ]="fcs/rudder-cmd-norm";
- ParamToProp[ FG_SPDBRAKE_CMD ]="fcs/speedbrake-cmd-norm";
- ParamToProp[ FG_SPOILERS_CMD ]="fcs/spoiler-cmd-norm";
- ParamToProp[ FG_FLAPS_CMD ]="fcs/flap-cmd-norm";
- ParamToProp[ FG_THROTTLE_CMD ]="zero";
- ParamToProp[ FG_THROTTLE_POS ]="zero";
- ParamToProp[ FG_MIXTURE_CMD ]="zero";
- ParamToProp[ FG_MIXTURE_POS ]="zero";
- ParamToProp[ FG_MAGNETO_CMD ]="zero";
- ParamToProp[ FG_STARTER_CMD ]="zero";
- ParamToProp[ FG_ACTIVE_ENGINE ]="zero";
- ParamToProp[ FG_HOVERB ]="position/h_b-mac-ft";
- ParamToProp[ FG_PITCH_TRIM_CMD ]="fcs/pitch-trim-cmd-norm";
- ParamToProp[ FG_YAW_TRIM_CMD ]="fcs/yaw-trim-cmd-norm";
- ParamToProp[ FG_ROLL_TRIM_CMD ]="fcs/roll-trim-cmd-norm";
- ParamToProp[ FG_LEFT_BRAKE_CMD ]="zero";
- ParamToProp[ FG_CENTER_BRAKE_CMD ]="zero";
- ParamToProp[ FG_RIGHT_BRAKE_CMD ]="zero";
- ParamToProp[ FG_SET_LOGGING ]="zero";
- ParamToProp[ FG_ALPHAH ]="aero/alpha-rad";
- ParamToProp[ FG_ALPHAW ]="aero/alpha-wing-rad";
- ParamToProp[ FG_LBARH ]="metrics/lh-norm";
- ParamToProp[ FG_LBARV ]="metrics/lv-norm";
- ParamToProp[ FG_HTAILAREA ]="metrics/Sh-sqft";
- ParamToProp[ FG_VTAILAREA ]="metrics/Sv-sqft";
- ParamToProp[ FG_VBARH ]="metrics/vbarh-norm";
- ParamToProp[ FG_VBARV ]="metrics/vbarv-norm";
- ParamToProp[ FG_GEAR_CMD ]="gear/gear-cmd-norm";
- ParamToProp[ FG_GEAR_POS ]="gear/gear-pos-norm";
-
- PropToParam[ "sim-time-sec" ] = FG_TIME;
- PropToParam[ "aero/qbar-psf" ] = FG_QBAR;
- PropToParam[ "metrics/Sw-sqft" ] = FG_WINGAREA;
- PropToParam[ "metrics/bw-ft" ] = FG_WINGSPAN;
- PropToParam[ "metrics/cbarw-ft" ] = FG_CBAR;
- PropToParam[ "aero/alpha-rad" ] = FG_ALPHA;
- PropToParam[ "aero/alphadot-rad_sec" ] = FG_ALPHADOT;
- PropToParam[ "aero/beta-rad" ] = FG_BETA;
- PropToParam[ "aero/mag-beta-rad" ] = FG_ABETA;
- PropToParam[ "aero/betadot-rad_sec" ] = FG_BETADOT;
- PropToParam[ "attitude/phi-rad" ] = FG_PHI;
- PropToParam[ "attitude/theta-rad" ] = FG_THT;
- PropToParam[ "attitude/psi-true-rad" ] = FG_PSI;
- PropToParam[ "velocities/q-rad_sec" ] = FG_PITCHRATE;
- PropToParam[ "velocities/p-rad_sec" ] = FG_ROLLRATE;
- PropToParam[ "velocities/r-rad_sec" ] = FG_YAWRATE;
- PropToParam[ "velocities/p-aero-rad_sec" ] = FG_AEROP;
- PropToParam[ "velocities/q-aero-rad_sec" ] = FG_AEROQ;
- PropToParam[ "velocities/r-aero-rad_sec" ] = FG_AEROR;
- PropToParam[ "aero/cl-squared-norm" ] = FG_CL_SQRD;
- PropToParam[ "velocities/mach-norm" ] = FG_MACH;
- PropToParam[ "position/h-sl-ft" ] = FG_ALTITUDE;
- PropToParam[ "aero/bi2vel" ] = FG_BI2VEL;
- PropToParam[ "aero/ci2vel" ] = FG_CI2VEL;
- PropToParam[ "fcs/elevator-pos-rad" ] = FG_ELEVATOR_POS;
- PropToParam[ "fcs/mag-elevator-pos-rad" ] = FG_AELEVATOR_POS;
- PropToParam[ "fcs/elevator-pos-norm" ] = FG_NELEVATOR_POS;
- PropToParam[ "fcs/left-aileron-pos-rad" ] = FG_AILERON_POS;
- PropToParam[ "fcs/mag-aileron-pos-rad" ] = FG_AAILERON_POS;
- PropToParam[ "fcs/left-aileron-pos-norm" ] = FG_NAILERON_POS;
- PropToParam[ "fcs/left-aileron-pos-rad" ] = FG_LEFT_AILERON_POS;
- PropToParam[ "fcs/mag-left-aileron-pos-rad" ] = FG_ALEFT_AILERON_POS;
- PropToParam[ "fcs/left-aileron-pos-norm" ] = FG_NLEFT_AILERON_POS;
- PropToParam[ "fcs/right-aileron-pos-rad" ] = FG_RIGHT_AILERON_POS;
- PropToParam[ "fcs/mag-aileron-pos-rad" ] = FG_ARIGHT_AILERON_POS;
- PropToParam[ "fcs/right-aileron-pos-norm" ] = FG_NRIGHT_AILERON_POS;
- PropToParam[ "fcs/rudder-pos-rad" ] = FG_RUDDER_POS;
- PropToParam[ "fcs/mag-rudder-pos-rad" ] = FG_ARUDDER_POS;
- PropToParam[ "fcs/rudder-pos-norm" ] = FG_NRUDDER_POS;
- PropToParam[ "fcs/speedbrake-pos-rad" ] = FG_SPDBRAKE_POS;
- PropToParam[ "fcs/speedbrake-pos-norm" ] = FG_NSPDBRAKE_POS;
- PropToParam[ "fcs/spoiler-pos-rad" ] = FG_SPOILERS_POS;
- PropToParam[ "fcs/spoiler-pos-norm" ] = FG_NSPOILERS_POS;
- PropToParam[ "fcs/flap-pos-deg" ] = FG_FLAPS_POS;
- PropToParam[ "fcs/flap-pos-norm" ] = FG_NFLAPS_POS;
- PropToParam[ "fcs/elevator-cmd-norm" ] = FG_ELEVATOR_CMD;
- PropToParam[ "fcs/aileron-cmd-norm" ] = FG_AILERON_CMD;
- PropToParam[ "fcs/rudder-cmd-norm" ] = FG_RUDDER_CMD;
- PropToParam[ "fcs/speedbrake-cmd-norm" ] = FG_SPDBRAKE_CMD;
- PropToParam[ "fcs/spoiler-cmd-norm" ] = FG_SPOILERS_CMD;
- PropToParam[ "fcs/flap-cmd-norm" ] = FG_FLAPS_CMD;
- PropToParam[ "position/h_b-mac-ft" ] = FG_HOVERB;
- PropToParam[ "fcs/pitch-trim-cmd-norm" ] = FG_PITCH_TRIM_CMD;
- PropToParam[ "fcs/yaw-trim-cmd-norm" ] = FG_YAW_TRIM_CMD;
- PropToParam[ "fcs/roll-trim-cmd-norm" ] = FG_ROLL_TRIM_CMD;
- PropToParam[ "aero/alpha-rad" ] = FG_ALPHAH;
- PropToParam[ "aero/alpha-wing-rad" ] = FG_ALPHAW;
- PropToParam[ "metrics/lh-norm" ] = FG_LBARH;
- PropToParam[ "metrics/lv-norm" ] = FG_LBARV;
- PropToParam[ "metrics/Sh-sqft" ] = FG_HTAILAREA;
- PropToParam[ "metrics/Sv-sqft" ] = FG_VTAILAREA;
- PropToParam[ "metrics/vbarh-norm" ] = FG_VBARH;
- PropToParam[ "metrics/vbarv-norm" ] = FG_VBARV;
- PropToParam[ "gear/gear-cmd-norm" ] = FG_GEAR_CMD;
- PropToParam[ "gear/gear-pos-norm" ] = FG_GEAR_POS;
-
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGState::bind(void) {
+void FGState::bind(void)
+{
PropertyManager->Tie("sim-time-sec",this,
&FGState::Getsim_time);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGState::unbind(void) {
+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