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
*******************************************************************************/
# include <cmath>
#endif
+#ifndef M_PI
+# include <simgear/constants.h>
+# define M_PI FG_PI
+#endif
+
#include "FGState.h"
#include "FGFDMExec.h"
#include "FGAtmosphere.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),
- mTs2b(3,3),
- vQtrn(4)
+ mTl2b(3,3),
+ mTs2b(3,3),
+ vQtrn(4)
{
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_SPARE3"] = 134217728L ;
- coeffdef["FG_SPARE4"] = 268435456L ;
- coeffdef["FG_SPARE5"] = 536870912L ;
- coeffdef["FG_SPARE6"] = 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)
-{
+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)
-{
+bool FGState::Reset(string path, string acname, string fname) {
string resetDef;
float U, V, W;
float phi, tht, psi;
void FGState::Initialize(float U, float V, float W,
float phi, float tht, float psi,
- float Latitude, float Longitude, float H)
-{
+ float Latitude, float Longitude, float H) {
FGColumnVector vUVW(3);
FGColumnVector vLocalVelNED(3);
FGColumnVector vEuler(3);
- float alpha, beta, gamma;
+ float alpha, beta;
float qbar, Vt;
- FDMExec->GetPosition()->SetLatitude(Latitude*DEGTORAD);
- FDMExec->GetPosition()->SetLongitude(Longitude*DEGTORAD);
+ FDMExec->GetPosition()->SetLatitude(Latitude);
+ FDMExec->GetPosition()->SetLongitude(Longitude);
FDMExec->GetPosition()->Seth(H);
FDMExec->GetAtmosphere()->Run();
- gamma = 0.0;
if (W != 0.0)
alpha = U*U > 0.0 ? atan2(W, U) : 0.0;
else
vEuler << phi << tht << psi;
FDMExec->GetRotation()->SetEuler(vEuler);
- FDMExec->GetTranslation()->SetABG(alpha, beta, gamma);
+ FDMExec->GetTranslation()->SetAB(alpha, beta);
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);
/******************************************************************************/
-void FGState::Initialize(FGInitialCondition *FGIC)
-{
+void FGState::Initialize(FGInitialCondition *FGIC) {
float tht,psi,phi;
float U, V, W, h;
/******************************************************************************/
-bool FGState::StoreData(string fname)
-{
+bool FGState::StoreData(string fname) {
ofstream datafile(fname.c_str());
if (datafile) {
/******************************************************************************/
-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:
- return FDMExec->GetAircraft()->GetWingSpan()/(2.0 * FDMExec->GetTranslation()->GetVt());
- case FG_CI2VEL:
- return FDMExec->GetAircraft()->Getcbar()/(2.0 * FDMExec->GetTranslation()->GetVt());
- }
- 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()->SetDrPos(val);
- break;
- case FG_SPOILERS_POS:
- FDMExec->GetFCS()->SetDrPos(val);
- break;
- case FG_FLAPS_POS:
- FDMExec->GetFCS()->SetDrPos(val);
- break;
- }
-}
-
-/******************************************************************************/
-
-void FGState::InitMatrices(float phi, float tht, float psi)
-{
+void FGState::InitMatrices(float phi, float tht, float psi) {
float thtd2, psid2, phid2;
float Sthtd2, Spsid2, Sphid2;
float Cthtd2, Cpsid2, Cphid2;
/******************************************************************************/
-void FGState::CalcMatrices(void)
-{
+void FGState::CalcMatrices(void) {
float Q0Q0, Q1Q1, Q2Q2, Q3Q3;
float Q0Q1, Q0Q2, Q0Q3, Q1Q2;
float Q1Q3, Q2Q3;
Q1Q3 = vQtrn(2)*vQtrn(4);
Q2Q3 = vQtrn(3)*vQtrn(4);
- mTb2l(1,1) = Q0Q0 + Q1Q1 - Q2Q2 - Q3Q3;
- mTb2l(1,2) = 2*(Q1Q2 + Q0Q3);
- mTb2l(1,3) = 2*(Q1Q3 - Q0Q2);
- mTb2l(2,1) = 2*(Q1Q2 - Q0Q3);
- mTb2l(2,2) = Q0Q0 - Q1Q1 + Q2Q2 - Q3Q3;
- mTb2l(2,3) = 2*(Q2Q3 + Q0Q1);
- mTb2l(3,1) = 2*(Q1Q3 + Q0Q2);
- mTb2l(3,2) = 2*(Q2Q3 - Q0Q1);
- mTb2l(3,3) = Q0Q0 - Q1Q1 - Q2Q2 + Q3Q3;
-
- mTl2b = mTb2l;
- mTl2b.T();
+ 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)
-{
+void FGState::IntegrateQuat(FGColumnVector vPQR, int rate) {
static FGColumnVector vlastQdot(4);
static FGColumnVector vQdot(4);
/******************************************************************************/
-FGColumnVector FGState::CalcEuler(void)
-{
+FGColumnVector FGState::CalcEuler(void) {
static FGColumnVector vEuler(3);
- if (mTb2l(3,3) == 0) vEuler(ePhi) = 0.0;
- else vEuler(ePhi) = atan2(mTb2l(2,3), mTb2l(3,3));
-
- vEuler(eTht) = asin(-mTb2l(1,3));
+ if (mTl2b(3,3) == 0.0) mTl2b(3,3) = 0.0000001;
+ if (mTl2b(1,1) == 0.0) mTl2b(1,1) = 0.0000001;
- if (mTb2l(1,1) == 0.0) vEuler(ePsi) = 0.0;
- else vEuler(ePsi) = atan2(mTb2l(1,2), mTb2l(1,1));
+ 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;
/******************************************************************************/
-FGMatrix FGState::GetTs2b(float alpha, float beta)
-{
+FGMatrix FGState::GetTs2b(float alpha, float beta) {
float ca, cb, sa, sb;
ca = cos(alpha);
mTs2b(1,1) = -ca*cb;
mTs2b(1,2) = -ca*sb;
mTs2b(1,3) = sa;
- mTs2b(2,1) = sb;
+ mTs2b(2,1) = -sb;
mTs2b(2,2) = cb;
mTs2b(2,3) = 0.0;
mTs2b(3,1) = -sa*cb;
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