-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifdef FGFS
-# include <Include/compiler.h>
-# ifdef FG_HAVE_STD_INCLUDES
-# include <cmath>
-# else
+# include <simgear/compiler.h>
+# include <math.h>
+#else
+# if defined(sgi) && !defined(__GNUC__)
# include <math.h>
+# else
+# include <cmath>
# endif
-#else
-# include <cmath>
+#endif
+
+#ifdef _WIN32
+#define snprintf _snprintf
#endif
#include "FGState.h"
-#include "FGFDMExec.h"
-#include "FGAtmosphere.h"
-#include "FGFCS.h"
-#include "FGAircraft.h"
-#include "FGTranslation.h"
-#include "FGRotation.h"
-#include "FGPosition.h"
-#include "FGAuxiliary.h"
-#include "FGOutput.h"
-/*******************************************************************************
-************************************ CODE **************************************
-*******************************************************************************/
+namespace JSBSim {
+
+static const char *IdSrc = "$Id$";
+static const char *IdHdr = ID_STATE;
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+MACROS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
FGState::FGState(FGFDMExec* fdex)
{
FDMExec = fdex;
- Vt = 0.0;
- latitude = longitude = 0.0;
- adot = bdot = 0.0;
- h = 0.0;
a = 1000.0;
- qbar = 0.0;
sim_time = 0.0;
dt = 1.0/120.0;
-}
-
-FGState::~FGState(void)
-{
+ Aircraft = FDMExec->GetAircraft();
+ Translation = FDMExec->GetTranslation();
+ Rotation = FDMExec->GetRotation();
+ Position = FDMExec->GetPosition();
+ 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);
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-//***************************************************************************
-//
-// Reset: Assume all angles READ FROM FILE IN DEGREES !!
-//
-
-bool FGState::Reset(string path, string fname)
+FGState::~FGState()
{
- string resetDef;
- float U, V, W;
- float phi, tht, psi;
-
- resetDef = path + "/" + FDMExec->GetAircraft()->GetAircraftName() + "/" + fname;
-
- ifstream resetfile(resetDef.c_str());
-
- if (resetfile) {
- resetfile >> U;
- resetfile >> V;
- resetfile >> W;
- resetfile >> latitude;
- resetfile >> longitude;
- resetfile >> phi;
- resetfile >> tht;
- resetfile >> psi;
- resetfile >> h;
- resetfile.close();
-
- Initialize(U, V, W, phi*DEGTORAD, tht*DEGTORAD, psi*DEGTORAD,
- latitude*DEGTORAD, longitude*DEGTORAD, h);
-
- return true;
- } else {
- cerr << "Unable to load reset file " << fname << endl;
- return false;
- }
+ unbind();
+ Debug(1);
}
//***************************************************************************
// Initialize: Assume all angles GIVEN IN RADIANS !!
//
-void FGState::Initialize(float U, float V, float W,
- float phi, float tht, float psi,
- float Latitude, float Longitude, float H)
+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)
{
- float alpha, beta, gamma;
- float Q0, Q1, Q2, Q3;
- float T[4][4];
-
- latitude = Latitude;
- longitude = Longitude;
- h = H;
-
- gamma = 0.0;
- if (W != 0.0)
- alpha = U*U > 0.0 ? atan2(W, U) : 0.0;
+ double alpha, beta;
+ double qbar, Vt;
+ FGColumnVector3 vAeroUVW;
+
+ 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();
+
+ if (vAeroUVW(eW) != 0.0)
+ alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
else
alpha = 0.0;
- if (V != 0.0)
- beta = U*U+W*W > 0.0 ? atan2(V, (fabs(U)/U)*sqrt(U*U + W*W)) : 0.0;
+ if (vAeroUVW(eV) != 0.0)
+ beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV), (fabs(vAeroUVW(eU))/vAeroUVW(eU))*sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;
else
beta = 0.0;
- FDMExec->GetTranslation()->SetUVW(U, V, W);
- FDMExec->GetRotation()->SetEuler(phi, tht, psi);
- FDMExec->GetTranslation()->SetABG(alpha, beta, gamma);
+ Translation->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();
+ 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)
{
-
- float tht,psi,phi;
- float U,V,W;
-
+ 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();
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);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- Initialize(U, V, W, phi, tht, psi,latitude, longitude, h);
+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();
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGState::StoreData(string fname)
+void FGState::CalcMatrices(void)
{
- 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.close();
- return true;
- } else {
- cerr << "Could not open dump file " << fname << endl;
- return false;
- }
+ 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();
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGState::DumpData(string fname)
+void FGState::IntegrateQuat(FGColumnVector3 vPQR, int rate)
{
- ofstream datafile(fname.c_str());
-
- 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;
- }
+ 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;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+FGMatrix33& FGState::GetTs2b(void)
+{
+ double ca, cb, sa, sb;
+
+ double alpha = Translation->Getalpha();
+ double beta = Translation->Getbeta();
+
+ 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;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+FGMatrix33& FGState::GetTb2s(void)
+{
+ float alpha,beta;
+ float ca, cb, sa, sb;
+
+ alpha = Translation->Getalpha();
+ beta = Translation->Getbeta();
+
+ ca = cos(alpha);
+ sa = sin(alpha);
+ cb = cos(beta);
+ sb = sin(beta);
+
+ mTb2s(1,1) = ca*cb;
+ mTb2s(1,2) = sb;
+ mTb2s(1,3) = sa*cb;
+ mTb2s(2,1) = -ca*sb;
+ mTb2s(2,2) = cb;
+ mTb2s(2,3) = -sa*sb;
+ mTb2s(3,1) = -sa;
+ mTb2s(3,2) = 0.0;
+ mTb2s(3,3) = ca;
+
+ return mTb2s;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGState::ReportState(void)
+{
+#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)
+ snprintf(flap,10,"Up");
+ else
+ snprintf(flap,10,"%2.0f",FCS->GetDfPos());
+
+ if (FCS->GetGearPos() < 0.01)
+ snprintf(gear,12,"Up");
+ else if (FCS->GetGearPos() > 0.99)
+ snprintf(gear,12,"Down");
+ else
+ 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(),
+ 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",
+ Translation->Getalpha()*radtodeg,
+ Rotation->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;
+ snprintf(out,80, " Normal Load Factor: %4.2f g's Pitch Rate: %5.2f deg/s\n",
+ Aircraft->GetNlf(),
+ 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,
+ 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->Getphi()*radtodeg,
+ Rotation->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;
+ 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;
+
+ snprintf(out,80, " Ground Speed: %4.0f knots , Ground Track: %3.0f deg true\n",
+ Position->GetVground()*fpstokts,
+ Position->GetGroundTrack()*radtodeg );
+ cout << out;
+#endif
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGState::bind(void)
+{
+ PropertyManager->Tie("sim-time-sec",this,
+ &FGState::Getsim_time);
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGState::unbind(void)
+{
+ PropertyManager->Untie("sim-time-sec");
+}
-bool FGState::DisplayData(void)
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// The bitmasked value choices are as follows:
+// unset: In this case (the default) JSBSim would only print
+// out the normally expected messages, essentially echoing
+// the config files as they are read. If the environment
+// variable is not set, debug_lvl is set to 1 internally
+// 0: This requests JSBSim not to output any messages
+// whatsoever.
+// 1: This value explicity requests the normal JSBSim
+// startup messages
+// 2: This value asks for a message to be printed out when
+// a class is instantiated
+// 4: When this value is set, a message is displayed when a
+// FGModel object executes its Run() method
+// 8: When this value is set, various runtime state variables
+// are printed out periodically
+// 16: When set various parameters are sanity checked and
+// a message is printed out when they go out of bounds
+
+void FGState::Debug(int from)
{
- 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;
+ if (debug_lvl <= 0) return;
+
+ if (debug_lvl & 1) { // Standard console startup message output
+ if (from == 0) { // Constructor
+
+ }
+ }
+ if (debug_lvl & 2 ) { // Instantiation/Destruction notification
+ if (from == 0) cout << "Instantiated: FGState" << endl;
+ if (from == 1) cout << "Destroyed: FGState" << endl;
+ }
+ if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
+ }
+ if (debug_lvl & 8 ) { // Runtime state variables
+ }
+ if (debug_lvl & 16) { // Sanity checking
+ }
+ if (debug_lvl & 64) {
+ if (from == 0) { // Constructor
+ cout << IdSrc << endl;
+ cout << IdHdr << endl;
+ }
+ }
+}
}
projects / flightgear.git / blobdiff