# include <cmath>
#endif
-#ifndef M_PI // support for silly Microsoft compiler
+#ifndef M_PI
# include <simgear/constants.h>
# define M_PI FG_PI
-#endif
+#endif
#include "FGState.h"
#include "FGFDMExec.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
+static const char *IdSrc = "$Header$";
+static const char *IdHdr = ID_STATE;
+
+/*******************************************************************************
+MACROS
+*******************************************************************************/
+
+#define RegisterVariable(ID,DEF) coeffdef[#ID] = ID; paramdef[ID] = DEF
+
/*******************************************************************************
************************************ CODE **************************************
*******************************************************************************/
+/******************************************************************************/
+//
+// 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),
{
FDMExec = fdex;
- adot = bdot = 0.0;
a = 1000.0;
sim_time = 0.0;
dt = 1.0/120.0;
- coeffdef["FG_QBAR"] = 1 ;
- coeffdef["FG_WINGAREA"] = 2 ;
- coeffdef["FG_WINGSPAN"] = 4 ;
- coeffdef["FG_CBAR"] = 8 ;
- coeffdef["FG_ALPHA"] = 16 ;
- coeffdef["FG_ALPHADOT"] = 32 ;
- coeffdef["FG_BETA"] = 64 ;
- coeffdef["FG_BETADOT"] = 128 ;
- coeffdef["FG_PITCHRATE"] = 256 ;
- coeffdef["FG_ROLLRATE"] = 512 ;
- coeffdef["FG_YAWRATE"] = 1024 ;
- coeffdef["FG_MACH"] = 2048 ;
- coeffdef["FG_ALTITUDE"] = 4096 ;
- coeffdef["FG_BI2VEL"] = 8192 ;
- coeffdef["FG_CI2VEL"] = 16384 ;
- coeffdef["FG_ELEVATOR_POS"] = 32768L ;
- coeffdef["FG_AILERON_POS"] = 65536L ;
- coeffdef["FG_RUDDER_POS"] = 131072L ;
- coeffdef["FG_SPDBRAKE_POS"] = 262144L ;
- coeffdef["FG_SPOILERS_POS"] = 524288L ;
- coeffdef["FG_FLAPS_POS"] = 1048576L ;
- coeffdef["FG_ELEVATOR_CMD"] = 2097152L ;
- coeffdef["FG_AILERON_CMD"] = 4194304L ;
- coeffdef["FG_RUDDER_CMD"] = 8388608L ;
- coeffdef["FG_SPDBRAKE_CMD"] = 16777216L ;
- coeffdef["FG_SPOILERS_CMD"] = 33554432L ;
- coeffdef["FG_FLAPS_CMD"] = 67108864L ;
- coeffdef["FG_THROTTLE_CMD"] = 134217728L ;
- coeffdef["FG_THROTTLE_POS"] = 268435456L ;
- coeffdef["FG_HOVERB"] = 536870912L ;
- coeffdef["FG_PITCH_TRIM_CMD"] = 1073741824L ;
+ 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_PITCHRATE, " pitch_rate " );
+ RegisterVariable(FG_ROLLRATE, " roll_rate " );
+ RegisterVariable(FG_YAWRATE, " yaw_rate " );
+ 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_HOVERB, " height/span " );
+ RegisterVariable(FG_PITCH_TRIM_CMD, " pitch_trim_cmd " );
}
/******************************************************************************/
FGState::~FGState(void) {}
+/******************************************************************************/
+
+float FGState::GetParameter(eParam val_idx) {
+ switch(val_idx) {
+ case FG_QBAR:
+ return FDMExec->GetTranslation()->Getqbar();
+ case FG_WINGAREA:
+ return FDMExec->GetAircraft()->GetWingArea();
+ case FG_WINGSPAN:
+ return FDMExec->GetAircraft()->GetWingSpan();
+ case FG_CBAR:
+ return FDMExec->GetAircraft()->Getcbar();
+ case FG_ALPHA:
+ return FDMExec->GetTranslation()->Getalpha();
+ case FG_ALPHADOT:
+ return FDMExec->GetTranslation()->Getadot();
+ case FG_BETA:
+ return FDMExec->GetTranslation()->Getbeta();
+ case FG_BETADOT:
+ return FDMExec->GetTranslation()->Getbdot();
+ case FG_PITCHRATE:
+ return (FDMExec->GetRotation()->GetPQR())(2);
+ case FG_ROLLRATE:
+ return (FDMExec->GetRotation()->GetPQR())(1);
+ case FG_YAWRATE:
+ return (FDMExec->GetRotation()->GetPQR())(3);
+ case FG_ELEVATOR_POS:
+ return FDMExec->GetFCS()->GetDePos();
+ case FG_AILERON_POS:
+ return FDMExec->GetFCS()->GetDaPos();
+ case FG_RUDDER_POS:
+ return FDMExec->GetFCS()->GetDrPos();
+ case FG_SPDBRAKE_POS:
+ return FDMExec->GetFCS()->GetDsbPos();
+ case FG_SPOILERS_POS:
+ return FDMExec->GetFCS()->GetDspPos();
+ case FG_FLAPS_POS:
+ return FDMExec->GetFCS()->GetDfPos();
+ case FG_ELEVATOR_CMD:
+ return FDMExec->GetFCS()->GetDeCmd();
+ case FG_AILERON_CMD:
+ return FDMExec->GetFCS()->GetDaCmd();
+ case FG_RUDDER_CMD:
+ return FDMExec->GetFCS()->GetDrCmd();
+ case FG_SPDBRAKE_CMD:
+ return FDMExec->GetFCS()->GetDsbCmd();
+ case FG_SPOILERS_CMD:
+ return FDMExec->GetFCS()->GetDspCmd();
+ case FG_FLAPS_CMD:
+ return FDMExec->GetFCS()->GetDfCmd();
+ case FG_MACH:
+ return FDMExec->GetTranslation()->GetMach();
+ case FG_ALTITUDE:
+ return FDMExec->GetPosition()->Geth();
+ case FG_BI2VEL:
+ if(FDMExec->GetTranslation()->GetVt() > 0)
+ return FDMExec->GetAircraft()->GetWingSpan()/(2.0 * FDMExec->GetTranslation()->GetVt());
+ else
+ return 0;
+ case FG_CI2VEL:
+ 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();
+ default:
+ cerr << "FGState::GetParameter() - No handler for parameter " << val_idx << endl;
+ return 0.0;
+ }
+ return 0;
+}
+
+/******************************************************************************/
+
+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:
+ FDMExec->GetFCS()->SetDePos(val);
+ break;
+ case FG_AILERON_POS:
+ FDMExec->GetFCS()->SetDaPos(val);
+ break;
+ case FG_RUDDER_POS:
+ FDMExec->GetFCS()->SetDrPos(val);
+ break;
+ case FG_SPDBRAKE_POS:
+ FDMExec->GetFCS()->SetDsbPos(val);
+ break;
+ case FG_SPOILERS_POS:
+ FDMExec->GetFCS()->SetDspPos(val);
+ break;
+ case FG_FLAPS_POS:
+ FDMExec->GetFCS()->SetDfPos(val);
+ break;
+ case FG_THROTTLE_POS:
+ FDMExec->GetFCS()->SetThrottlePos(-1,val);
+ }
+}
+
//***************************************************************************
//
// Reset: Assume all angles READ FROM FILE IN DEGREES !!
//
-
-
bool FGState::Reset(string path, string acname, string fname) {
string resetDef;
float U, V, W;
Vt = sqrt(U*U + V*V + W*W);
FDMExec->GetTranslation()->SetVt(Vt);
+ FDMExec->GetTranslation()->SetMach(Vt/FDMExec->GetAtmosphere()->GetSoundSpeed());
+
qbar = 0.5*(U*U + V*V + W*W)*FDMExec->GetAtmosphere()->GetDensity();
FDMExec->GetTranslation()->Setqbar(qbar);
/******************************************************************************/
-float FGState::GetParameter(string val_string) {
- return GetParameter(coeffdef[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) {
- switch(val_idx) {
- case FG_QBAR:
- return FDMExec->GetTranslation()->Getqbar();
- case FG_WINGAREA:
- return FDMExec->GetAircraft()->GetWingArea();
- case FG_WINGSPAN:
- return FDMExec->GetAircraft()->GetWingSpan();
- case FG_CBAR:
- return FDMExec->GetAircraft()->Getcbar();
- case FG_ALPHA:
- return FDMExec->GetTranslation()->Getalpha();
- case FG_ALPHADOT:
- return Getadot();
- case FG_BETA:
- return FDMExec->GetTranslation()->Getbeta();
- case FG_BETADOT:
- return Getbdot();
- case FG_PITCHRATE:
- return (FDMExec->GetRotation()->GetPQR())(2);
- case FG_ROLLRATE:
- return (FDMExec->GetRotation()->GetPQR())(1);
- case FG_YAWRATE:
- return (FDMExec->GetRotation()->GetPQR())(3);
- case FG_ELEVATOR_POS:
- return FDMExec->GetFCS()->GetDePos();
- case FG_AILERON_POS:
- return FDMExec->GetFCS()->GetDaPos();
- case FG_RUDDER_POS:
- return FDMExec->GetFCS()->GetDrPos();
- case FG_SPDBRAKE_POS:
- return FDMExec->GetFCS()->GetDsbPos();
- case FG_SPOILERS_POS:
- return FDMExec->GetFCS()->GetDspPos();
- case FG_FLAPS_POS:
- return FDMExec->GetFCS()->GetDfPos();
- case FG_ELEVATOR_CMD:
- return FDMExec->GetFCS()->GetDeCmd();
- case FG_AILERON_CMD:
- return FDMExec->GetFCS()->GetDaCmd();
- case FG_RUDDER_CMD:
- return FDMExec->GetFCS()->GetDrCmd();
- case FG_SPDBRAKE_CMD:
- return FDMExec->GetFCS()->GetDsbCmd();
- case FG_SPOILERS_CMD:
- return FDMExec->GetFCS()->GetDspCmd();
- case FG_FLAPS_CMD:
- return FDMExec->GetFCS()->GetDfCmd();
- case FG_MACH:
- return FDMExec->GetTranslation()->GetMach();
- case FG_ALTITUDE:
- return FDMExec->GetPosition()->Geth();
- case FG_BI2VEL:
- if(FDMExec->GetTranslation()->GetVt() > 0)
- return FDMExec->GetAircraft()->GetWingSpan()/(2.0 * FDMExec->GetTranslation()->GetVt());
- else
- return 0;
- case FG_CI2VEL:
- 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) {
- switch(val_idx) {
- case FG_ELEVATOR_POS:
- FDMExec->GetFCS()->SetDePos(val);
- break;
- case FG_AILERON_POS:
- FDMExec->GetFCS()->SetDaPos(val);
- break;
- case FG_RUDDER_POS:
- FDMExec->GetFCS()->SetDrPos(val);
- break;
- case FG_SPDBRAKE_POS:
- FDMExec->GetFCS()->SetDsbPos(val);
- break;
- case FG_SPOILERS_POS:
- FDMExec->GetFCS()->SetDspPos(val);
- break;
- case FG_FLAPS_POS:
- FDMExec->GetFCS()->SetDfPos(val);
- break;
- case FG_THROTTLE_POS:
- FDMExec->GetFCS()->SetThrottlePos(-1,val);
- }
-}
-
-/******************************************************************************/
-
void FGState::InitMatrices(float phi, float tht, float psi) {
float thtd2, psid2, phid2;
float Sthtd2, Spsid2, Sphid2;
projects / flightgear.git / blobdiff