-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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 <math.h>
-# endif
+# include <simgear/compiler.h>
+# include <math.h>
#else
# include <cmath>
#endif
+#ifndef M_PI
+# include <simgear/constants.h>
+# define M_PI SG_PI
+#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 **************************************
-*******************************************************************************/
-
-
-FGState::FGState(FGFDMExec* fdex)
+
+static const char *IdSrc = "$Id$";
+static const char *IdHdr = ID_STATE;
+
+extern short debug_lvl;
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+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 FGDefs.h. The ID is what must be used
+// in any config file entry which references that item.
+
+FGState::FGState(FGFDMExec* fdex) : mTb2l(3,3),
+ mTl2b(3,3),
+ mTs2b(3,3),
+ vQtrn(4),
+ vlastQdot(4),
+ vQdot(4),
+ vTmp(4),
+ vEuler(3)
{
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;
+ ActiveEngine = -1;
+
+ Aircraft = FDMExec->GetAircraft();
+ Translation = FDMExec->GetTranslation();
+ Rotation = FDMExec->GetRotation();
+ Position = FDMExec->GetPosition();
+ FCS = FDMExec->GetFCS();
+ Output = FDMExec->GetOutput();
+ Atmosphere = FDMExec->GetAtmosphere();
+ Aerodynamics = FDMExec->GetAerodynamics();
+
+ 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_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_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_AILERON_POS, " aileron_pos " );
+ RegisterVariable(FG_RUDDER_POS, " rudder_pos " );
+ RegisterVariable(FG_SPDBRAKE_POS, " speedbrake_pos " );
+ RegisterVariable(FG_SPOILERS_POS, " spoiler_pos " );
+ RegisterVariable(FG_FLAPS_POS, " flaps_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_THROTTLE_POS, " throttle_pos " );
+ RegisterVariable(FG_ACTIVE_ENGINE, " active_engine " );
+ RegisterVariable(FG_HOVERB, " height/span " );
+ RegisterVariable(FG_PITCH_TRIM_CMD, " pitch_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_SET_LOGGING, " data_logging " );
+
+ if (debug_lvl & 2) cout << "Instantiated: FGState" << endl;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGState::~FGState(void)
+FGState::~FGState()
{
+ if (debug_lvl & 2) cout << "Destroyed: FGState" << endl;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+float FGState::GetParameter(eParam val_idx) {
+ float 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_ALPHA:
+ return Translation->Getalpha();
+ case FG_ALPHADOT:
+ return Translation->Getadot();
+ case FG_BETA:
+ return 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_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_AILERON_POS:
+ return FCS->GetDaPos();
+ case FG_RUDDER_POS:
+ return FCS->GetDrPos();
+ case FG_SPDBRAKE_POS:
+ return FCS->GetDsbPos();
+ case FG_SPOILERS_POS:
+ return FCS->GetDspPos();
+ case FG_FLAPS_POS:
+ return FCS->GetDfPos();
+ 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_HOVERB:
+ return Position->GetHOverB();
+ case FG_PITCH_TRIM_CMD:
+ return FCS->GetPitchTrimCmd();
+ default:
+ cerr << "FGState::GetParameter() - No handler for parameter " << val_idx << endl;
+ return 0.0;
+ }
+ return 0;
+}
-bool FGState::Reset(string path, string fname)
-{
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+float 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, float val) {
+ switch(val_idx) {
+ case FG_ELEVATOR_POS:
+ FCS->SetDePos(val);
+ break;
+ case FG_AILERON_POS:
+ FCS->SetDaPos(val);
+ break;
+ case FG_RUDDER_POS:
+ FCS->SetDrPos(val);
+ break;
+ case FG_SPDBRAKE_POS:
+ FCS->SetDsbPos(val);
+ break;
+ case FG_SPOILERS_POS:
+ FCS->SetDspPos(val);
+ break;
+ case FG_FLAPS_POS:
+ FCS->SetDfPos(val);
+ break;
+ case FG_THROTTLE_POS:
+ FCS->SetThrottlePos(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:
+ FCS->SetThrottleCmd(ActiveEngine,val);
+ 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_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;
float U, V, W;
float phi, tht, psi;
- float alpha, beta, gamma;
- float Q0, Q1, Q2, Q3;
- float T[4][4];
+ float latitude, longitude, h;
- resetDef = path + "/" + FDMExec->GetAircraft()->GetAircraftName() + "/" + fname;
+ resetDef = path + "/" + acname + "/" + fname + ".xml";
- ifstream resetfile(resetDef.c_str());
+#if defined ( sgi ) && !defined( __GNUC__ )
+ ifstream resetfile(resetDef.c_str(), ios::in );
+#else
+ ifstream resetfile(resetDef.c_str(), ios::in | ios::binary );
+#endif
if (resetfile) {
resetfile >> U;
resetfile >> h;
resetfile.close();
-// Change all angular measurements from degrees (as in config file) to radians
+ Position->SetLatitude(latitude*DEGTORAD);
+ Position->SetLongitude(longitude*DEGTORAD);
+ Position->Seth(h);
- gamma = 0.0;
- if (W != 0.0)
- alpha = U*U > 0.0 ? atan2(W, U) : 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;
- else
- beta = 0.0;
-
- latitude *= M_PI / 180.0;
- longitude *= M_PI / 180.0;
- phi *= M_PI / 180.0;
- tht *= M_PI / 180.0;
- psi *= M_PI / 180.0;
-
- FDMExec->GetTranslation()->SetUVW(U, V, W);
- FDMExec->GetRotation()->SetEuler(phi, tht, psi);
- FDMExec->GetTranslation()->SetABG(alpha, beta, gamma);
-
- 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]);
+ Initialize(U, V, W, phi*DEGTORAD, tht*DEGTORAD, psi*DEGTORAD,
+ latitude*DEGTORAD, longitude*DEGTORAD, h);
return true;
} else {
}
}
+//***************************************************************************
+//
+// Initialize: Assume all angles GIVEN IN RADIANS !!
+//
-bool FGState::StoreData(string fname)
-{
+void FGState::Initialize(float U, float V, float W,
+ float phi, float tht, float psi,
+ float Latitude, float Longitude, float H) {
+ FGColumnVector vUVW(3);
+ FGColumnVector vLocalVelNED(3);
+ FGColumnVector vLocalEuler(3);
+ float alpha, beta;
+ float qbar, Vt;
+
+ Position->SetLatitude(Latitude);
+ Position->SetLongitude(Longitude);
+ Position->Seth(H);
+
+ Atmosphere->Run();
+
+ if (W != 0.0)
+ alpha = U*U > 0.0 ? atan2(W, U) : 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;
+ else
+ beta = 0.0;
+
+ vUVW << U << V << W;
+ Translation->SetUVW(vUVW);
+
+ vLocalEuler << phi << tht << psi;
+ Rotation->SetEuler(vLocalEuler);
+
+ 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);
+
+ InitMatrices(phi, tht, psi);
+
+ vLocalVelNED = mTb2l*vUVW;
+ Position->SetvVel(vLocalVelNED);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGState::Initialize(FGInitialCondition *FGIC) {
+
+ float tht,psi,phi;
+ float U, V, W, h;
+ float latitude, longitude;
+
+ 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();
+
+ Initialize(U, V, W, phi, tht, psi, latitude, longitude, h);
+
+ Position->SetSeaLevelRadius( FGIC->GetSeaLevelRadiusFtIC() );
+ Position->SetRunwayRadius( FGIC->GetSeaLevelRadiusFtIC() +
+ FGIC->GetTerrainAltitudeFtIC() );
+
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+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 << 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 {
}
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGState::DumpData(string fname)
-{
- ofstream datafile(fname.c_str());
+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;
- 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;
- }
+ 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) {
+ 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) {
+ 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));
-bool FGState::DisplayData(void)
+ 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;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGState::Debug(void)
{
- cout << "U: " << FDMExec->GetTranslation()->GetU() << endl;
- cout << "V: " << FDMExec->GetTranslation()->GetV() << endl;
- cout << "W: " << FDMExec->GetTranslation()->GetW() << endl;
- cout << "P: " << FDMExec->GetRotation()->GetP() << endl;
- cout << "Q: " << FDMExec->GetRotation()->GetQ() << endl;
- cout << "R: " << FDMExec->GetRotation()->GetR() << 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() << endl;
- cout << "beta: " << FDMExec->GetTranslation()->Getbeta() << endl;
- cout << "gamma: " << FDMExec->GetTranslation()->Getgamma() << endl;
- cout << "phi: " << FDMExec->GetRotation()->Getphi() << endl;
- cout << "tht: " << FDMExec->GetRotation()->Gettht() << endl;
- cout << "psi: " << FDMExec->GetRotation()->Getpsi() << endl;
- cout << "Pdot: " << FDMExec->GetRotation()->GetPdot() << endl;
- cout << "Qdot: " << FDMExec->GetRotation()->GetQdot() << endl;
- cout << "Rdot: " << FDMExec->GetRotation()->GetRdot() << 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;
+ //TODO: Add your source code here
}
+
projects / flightgear.git / blobdiff