/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
+
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
+ 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
--------------------------------------------------------------------------------
See header file.
-
+
HISTORY
--------------------------------------------------------------------------------
11/17/98 JSB Created
-
+
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#ifdef FGFS
-# 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 <cmath>
#include "FGState.h"
+namespace JSBSim {
+
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)
+FGState::FGState(FGFDMExec* fdex)
{
FDMExec = fdex;
- a = 1000.0;
sim_time = 0.0;
dt = 1.0/120.0;
- ActiveEngine = -1;
Aircraft = FDMExec->GetAircraft();
- Translation = FDMExec->GetTranslation();
- Rotation = FDMExec->GetRotation();
- Position = FDMExec->GetPosition();
+ Propagate = FDMExec->GetPropagate();
+ Auxiliary = FDMExec->GetAuxiliary();
FCS = FDMExec->GetFCS();
- Output = FDMExec->GetOutput();
Atmosphere = FDMExec->GetAtmosphere();
Aerodynamics = FDMExec->GetAerodynamics();
+ GroundReactions = FDMExec->GetGroundReactions();
+ Propulsion = FDMExec->GetPropulsion();
+ PropertyManager = FDMExec->GetPropertyManager();
- 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;
+ bind();
+
+ Debug(0);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-float FGState::GetParameter(string val_string) {
- return GetParameter(coeffdef[val_string]);
+ Debug(1);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-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 latitude, longitude, h;
-
- resetDef = path + "/" + acname + "/" + fname + ".xml";
-
- ifstream resetfile(resetDef.c_str(), ios::in | ios::binary );
-
- if (resetfile) {
- resetfile >> U;
- resetfile >> V;
- resetfile >> W;
- resetfile >> latitude;
- resetfile >> longitude;
- resetfile >> phi;
- resetfile >> tht;
- resetfile >> psi;
- resetfile >> h;
- resetfile.close();
-
- Position->SetLatitude(latitude*DEGTORAD);
- Position->SetLongitude(longitude*DEGTORAD);
- Position->Seth(h);
-
- 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;
- }
-}
-
-//***************************************************************************
-//
-// 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) {
- FGColumnVector vUVW(3);
- FGColumnVector vLocalVelNED(3);
- FGColumnVector vLocalEuler(3);
- float alpha, beta;
- float qbar, Vt;
+void FGState::Initialize(FGInitialCondition *FGIC)
+{
+ sim_time = 0.0;
- Position->SetLatitude(Latitude);
- Position->SetLongitude(Longitude);
- Position->Seth(H);
+ Propagate->SetInitialState( FGIC );
Atmosphere->Run();
+ Atmosphere->SetWindNED( FGIC->GetWindNFpsIC(),
+ FGIC->GetWindEFpsIC(),
+ FGIC->GetWindDFpsIC() );
- 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;
- 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());
+ Auxiliary->SetAB(alpha, beta);
- qbar = 0.5*(U*U + V*V + W*W)*Atmosphere->GetDensity();
- Translation->Setqbar(qbar);
+ double Vt = vAeroUVW.Magnitude();
+ Auxiliary->SetVt(Vt);
- InitMatrices(phi, tht, psi);
+ Auxiliary->SetMach(Vt/Atmosphere->GetSoundSpeed());
- vLocalVelNED = mTb2l*vUVW;
- Position->SetvVel(vLocalVelNED);
+ double qbar = 0.5*Vt*Vt*Atmosphere->GetDensity();
+ Auxiliary->Setqbar(qbar);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-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 << 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 {
- cerr << "Could not open dump file " << fname << endl;
- return false;
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-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;
-
- 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;
+void FGState::bind(void)
+{
+ PropertyManager->Tie("sim-time-sec", this, &FGState::Getsim_time);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// 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)
+{
+ if (debug_lvl <= 0) return;
-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));
-
- if (vEuler(ePsi) < 0.0) vEuler(ePsi) += 2*M_PI;
-
- return vEuler;
-}
+ if (debug_lvl & 1) { // Standard console startup message output
+ if (from == 0) { // Constructor
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-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;
+ }
+ }
+ 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;
+ }
+ }
}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGState::Debug(void)
-{
- //TODO: Add your source code here
}
-