-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Module: FGTranslation.cpp
Author: Jon Berndt
HISTORY
--------------------------------------------------------------------------------
12/02/98 JSB Created
+ 7/23/99 TP Added data member and modified Run and PutState to calcuate
+ Mach number
-********************************************************************************
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
COMMENTS, REFERENCES, and NOTES
-********************************************************************************
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
[1] Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling
Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420 Naval Postgraduate
School, January 1994
The order of rotations used in this class corresponds to a 3-2-1 sequence,
or Y-P-R, or Z-Y-X, if you prefer.
-********************************************************************************
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGState.h"
#include "FGFDMExec.h"
#include "FGFCS.h"
+#include "FGMassBalance.h"
#include "FGAircraft.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
+#include "FGPropertyManager.h"
-/*******************************************************************************
-************************************ CODE **************************************
-*******************************************************************************/
+static const char *IdSrc = "$Id$";
+static const char *IdHdr = ID_TRANSLATION;
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex)
{
Name = "FGTranslation";
- Udot = Vdot = Wdot = 0.0;
+ qbar = 0;
+ qbarUW = 0.0;
+ qbarUV = 0.0;
+ Vt = 0.0;
+ Mach = 0.0;
+ alpha = beta = 0.0;
+ adot = bdot = 0.0;
+
+ vUVWdot.InitMatrix();
+ vUVWdot_prev[0].InitMatrix();
+ vUVWdot_prev[1].InitMatrix();
+ vUVWdot_prev[2].InitMatrix();
+
+ bind();
+ Debug(0);
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FGTranslation::~FGTranslation(void)
{
+ unbind();
+ Debug(1);
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGTranslation::Run(void)
{
if (!FGModel::Run()) {
- GetState();
-
- lastUdot = Udot;
- lastVdot = Vdot;
- lastWdot = Wdot;
-
- Udot = V*R - W*Q + Fx/Mass;
- Vdot = W*P - U*R + Fy/Mass;
- Wdot = U*Q - V*P + Fz/Mass;
-
- U += 0.5*dt*rate*(lastUdot + Udot);
- V += 0.5*dt*rate*(lastVdot + Vdot);
- W += 0.5*dt*rate*(lastWdot + Wdot);
-
- Vt = U*U+V*V+W*W > 0.0 ? sqrt(U*U + V*V + W*W) : 0.0;
-
- if (W != 0.0)
- alpha = U*U > 0.0 ? atan2(W, U) : 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;
-
- qbar = 0.5*rho*Vt*Vt;
-
- PutState();
+ mVel(1,1) = 0.0;
+ mVel(1,2) = -vUVW(eW);
+ mVel(1,3) = vUVW(eV);
+ mVel(2,1) = vUVW(eW);
+ mVel(2,2) = 0.0;
+ mVel(2,3) = -vUVW(eU);
+ mVel(3,1) = -vUVW(eV);
+ mVel(3,2) = vUVW(eU);
+ mVel(3,3) = 0.0;
+
+ vUVWdot = mVel*Rotation->GetPQR() + Aircraft->GetBodyAccel();
+
+ vUVW += State->Integrate(FGState::TRAPZ, State->Getdt()*rate, vUVWdot, vUVWdot_prev);
+
+ vAeroUVW = vUVW + State->GetTl2b()*Atmosphere->GetWindNED();
+
+ Vt = vAeroUVW.Magnitude();
+ if ( Vt > 1) {
+ if (vAeroUVW(eW) != 0.0)
+ alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
+ if (vAeroUVW(eV) != 0.0)
+ beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV),
+ sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;
+
+ // stolen, quite shamelessly, from LaRCsim
+ double mUW = (vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW));
+ double signU=1;
+ if (vAeroUVW(eU) != 0.0)
+ signU = vAeroUVW(eU)/fabs(vAeroUVW(eU));
+
+ if ( (mUW == 0.0) || (Vt == 0.0) ) {
+ adot = 0.0;
+ bdot = 0.0;
+ } else {
+ adot = (vAeroUVW(eU)*vAeroUVW(eW) - vAeroUVW(eW)*vUVWdot(eU))/mUW;
+ bdot = (signU*mUW*vUVWdot(eV) - vAeroUVW(eV)*(vAeroUVW(eU)*vUVWdot(eU)
+ + vAeroUVW(eW)*vUVWdot(eW)))/(Vt*Vt*sqrt(mUW));
+ }
+ } else {
+ alpha = beta = adot = bdot = 0;
+ }
+
+ qbar = 0.5*Atmosphere->GetDensity()*Vt*Vt;
+ qbarUW = 0.5*Atmosphere->GetDensity()*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW));
+ qbarUV = 0.5*Atmosphere->GetDensity()*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eV)*vAeroUVW(eV));
+ Mach = Vt / State->Geta();
+
+ if (debug_lvl > 1) Debug(1);
+
+ return false;
} else {
+ return true;
}
- return false;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGTranslation::GetState(void)
+void FGTranslation::bind(void)
{
- dt = State->Getdt();
-
- P = Rotation->GetP();
- Q = Rotation->GetQ();
- R = Rotation->GetR();
-
- Fx = Aircraft->GetFx();
- Fy = Aircraft->GetFy();
- Fz = Aircraft->GetFz();
+ typedef double (FGTranslation::*PMF)(int) const;
+ PropertyManager->Tie("velocities/u-fps", this,1,
+ (PMF)&FGTranslation::GetUVW /*,
+ &FGTranslation::SetUVW,
+ true */);
+ PropertyManager->Tie("velocities/v-fps", this,2,
+ (PMF)&FGTranslation::GetUVW /*,
+ &FGTranslation::SetUVW,
+ true*/);
+ PropertyManager->Tie("velocities/w-fps", this,3,
+ (PMF)&FGTranslation::GetUVW /*,
+ &FGTranslation::SetUVW,
+ true*/);
+ PropertyManager->Tie("accelerations/udot-fps", this,1,
+ (PMF)&FGTranslation::GetUVWdot);
+ PropertyManager->Tie("accelerations/vdot-fps", this,2,
+ (PMF)&FGTranslation::GetUVWdot);
+ PropertyManager->Tie("accelerations/wdot-fps", this,3,
+ (PMF)&FGTranslation::GetUVWdot);
+ PropertyManager->Tie("velocities/u-aero-fps", this,1,
+ (PMF)&FGTranslation::GetAeroUVW);
+ PropertyManager->Tie("velocities/v-aero-fps", this,2,
+ (PMF)&FGTranslation::GetAeroUVW);
+ PropertyManager->Tie("velocities/w-aero-fps", this,3,
+ (PMF)&FGTranslation::GetAeroUVW);
+ PropertyManager->Tie("aero/alpha-rad", this,
+ &FGTranslation::Getalpha,
+ &FGTranslation::Setalpha,
+ true);
+ PropertyManager->Tie("aero/beta-rad", this,
+ &FGTranslation::Getbeta,
+ &FGTranslation::Setbeta,
+ true);
+ PropertyManager->Tie("aero/mag-beta-rad", this,
+ &FGTranslation::GetMagBeta);
+ PropertyManager->Tie("aero/qbar-psf", this,
+ &FGTranslation::Getqbar,
+ &FGTranslation::Setqbar,
+ true);
+ PropertyManager->Tie("aero/qbarUW-psf", this,
+ &FGTranslation::GetqbarUW,
+ &FGTranslation::SetqbarUW,
+ true);
+ PropertyManager->Tie("aero/qbarUV-psf", this,
+ &FGTranslation::GetqbarUV,
+ &FGTranslation::SetqbarUV,
+ true);
+ PropertyManager->Tie("velocities/vt-fps", this,
+ &FGTranslation::GetVt,
+ &FGTranslation::SetVt,
+ true);
+ PropertyManager->Tie("velocities/mach-norm", this,
+ &FGTranslation::GetMach,
+ &FGTranslation::SetMach,
+ true);
+ PropertyManager->Tie("aero/alphadot-rad_sec", this,
+ &FGTranslation::Getadot,
+ &FGTranslation::Setadot,
+ true);
+ PropertyManager->Tie("aero/betadot-rad_sec", this,
+ &FGTranslation::Getbdot,
+ &FGTranslation::Setbdot,
+ true);
+}
- Mass = Aircraft->GetMass();
- rho = Atmosphere->Getrho();
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- phi = Rotation->Getphi();
- tht = Rotation->Gettht();
- psi = Rotation->Getpsi();
+void FGTranslation::unbind(void)
+{
+ PropertyManager->Untie("velocities/u-fps");
+ PropertyManager->Untie("velocities/v-fps");
+ PropertyManager->Untie("velocities/w-fps");
+ PropertyManager->Untie("accelerations/udot-fps");
+ PropertyManager->Untie("accelerations/vdot-fps");
+ PropertyManager->Untie("accelerations/wdot-fps");
+ PropertyManager->Untie("velocities/u-aero-fps");
+ PropertyManager->Untie("velocities/v-aero-fps");
+ PropertyManager->Untie("velocities/w-aero-fps");
+ PropertyManager->Untie("aero/alpha-rad");
+ PropertyManager->Untie("aero/beta-rad");
+ PropertyManager->Untie("aero/qbar-psf");
+ PropertyManager->Untie("aero/qbarUW-psf");
+ PropertyManager->Untie("aero/qbarUV-psf");
+ PropertyManager->Untie("velocities/vt-fps");
+ PropertyManager->Untie("velocities/mach-norm");
+ PropertyManager->Untie("aero/alphadot-rad_sec");
+ PropertyManager->Untie("aero/betadot-rad_sec");
+ PropertyManager->Untie("aero/mag-beta-rad");
}
-
-void FGTranslation::PutState(void)
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// 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 FGTranslation::Debug(int from)
{
- State->SetVt(Vt);
- State->Setqbar(qbar);
+ if (debug_lvl <= 0) return;
+
+ if (debug_lvl & 1) { // Standard console startup message output
+ if (from == 0) { // Constructor
+
+ }
+ }
+ if (debug_lvl & 2 ) { // Instantiation/Destruction notification
+ if (from == 0) cout << "Instantiated: FGTranslation" << endl;
+ if (from == 1) cout << "Destroyed: FGTranslation" << 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 (fabs(vUVW(eU)) > 1e6)
+ cout << "FGTranslation::U velocity out of bounds: " << vUVW(eU) << endl;
+ if (fabs(vUVW(eV)) > 1e6)
+ cout << "FGTranslation::V velocity out of bounds: " << vUVW(eV) << endl;
+ if (fabs(vUVW(eW)) > 1e6)
+ cout << "FGTranslation::W velocity out of bounds: " << vUVW(eW) << endl;
+ if (fabs(vUVWdot(eU)) > 1e4)
+ cout << "FGTranslation::U acceleration out of bounds: " << vUVWdot(eU) << endl;
+ if (fabs(vUVWdot(eV)) > 1e4)
+ cout << "FGTranslation::V acceleration out of bounds: " << vUVWdot(eV) << endl;
+ if (fabs(vUVWdot(eW)) > 1e4)
+ cout << "FGTranslation::W acceleration out of bounds: " << vUVWdot(eW) << endl;
+ if (Mach > 100 || Mach < 0.00)
+ cout << "FGTranslation::Mach is out of bounds: " << Mach << endl;
+ if (qbar > 1e6 || qbar < 0.00)
+ cout << "FGTranslation::qbar is out of bounds: " << qbar << endl;
+ }
+ if (debug_lvl & 64) {
+ if (from == 0) { // Constructor
+ cout << IdSrc << endl;
+ cout << IdHdr << endl;
+ }
+ }
}
projects / flightgear.git / blobdiff