-/*******************************************************************************
-
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
Module: FGState.cpp
Author: Jon Berndt
Date started: 11/17/98
------------- 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
+ the terms of the GNU Lesser 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
+ FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
details.
- You should have received a copy of the GNU General Public License along with
+ You should have received a copy of the GNU Lesser 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
+ Further information about the GNU Lesser General Public License can also be found on
the world wide web at http://www.gnu.org.
FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
11/17/98 JSB Created
-********************************************************************************
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
-*******************************************************************************/
-
-#ifdef FGFS
-# include <simgear/compiler.h>
-# ifdef FG_HAVE_STD_INCLUDES
-# include <cmath>
-# else
-# include <math.h>
-# endif
-#else
-# include <cmath>
-#endif
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#include <cmath>
#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;
-}
+ Aircraft = FDMExec->GetAircraft();
+ Propagate = FDMExec->GetPropagate();
+ Auxiliary = FDMExec->GetAuxiliary();
+ FCS = FDMExec->GetFCS();
+ Atmosphere = FDMExec->GetAtmosphere();
+ Aerodynamics = FDMExec->GetAerodynamics();
+ GroundReactions = FDMExec->GetGroundReactions();
+ Propulsion = FDMExec->GetPropulsion();
+ PropertyManager = FDMExec->GetPropertyManager();
-FGState::~FGState(void)
-{
-}
+ 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;
- }
+ 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(FGInitialCondition *FGIC)
{
- float alpha, beta, gamma;
- float Q0, Q1, Q2, Q3;
- float T[4][4];
+ sim_time = 0.0;
+
+ Propagate->SetInitialState( FGIC );
- latitude = Latitude;
- longitude = Longitude;
- h = H;
+ Atmosphere->Run();
+ Atmosphere->SetWindNED( FGIC->GetWindNFpsIC(),
+ FGIC->GetWindEFpsIC(),
+ FGIC->GetWindDFpsIC() );
- gamma = 0.0;
- if (W != 0.0)
- alpha = U*U > 0.0 ? atan2(W, U) : 0.0;
+ FGColumnVector3 vAeroUVW;
+ vAeroUVW = Propagate->GetUVW() + Propagate->GetTl2b()*Atmosphere->GetWindNED();
+
+ double alpha, beta;
+ 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);
-
- 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();
-}
-
+ Auxiliary->SetAB(alpha, beta);
-void FGState::Initialize(FGInitialCondition *FGIC)
-{
+ double Vt = vAeroUVW.Magnitude();
+ Auxiliary->SetVt(Vt);
- float tht,psi,phi;
- float U,V,W;
+ Auxiliary->SetMach(Vt/Atmosphere->GetSoundSpeed());
- 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);
+ double qbar = 0.5*Vt*Vt*Atmosphere->GetDensity();
+ Auxiliary->Setqbar(qbar);
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGState::StoreData(string fname)
+void FGState::bind(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;
- }
+ PropertyManager->Tie("sim-time-sec", this, &FGState::Getsim_time);
}
-
-bool FGState::DumpData(string fname)
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// 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)
{
- 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;
- }
-}
+ if (debug_lvl <= 0) return;
+ if (debug_lvl & 1) { // Standard console startup message output
+ if (from == 0) { // Constructor
-bool FGState::DisplayData(void)
-{
- 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 & 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;
+ }
+ }
+}
}