Latest JSBSim updates -- includes fix for control surface animations.

[flightgear.git] / src / FDM / JSBSim / FGTranslation.cpp

diff --git a/src/FDM/JSBSim/FGTranslation.cpp b/src/FDM/JSBSim/FGTranslation.cpp
index 9b36f81cf9adb929ce36b03063aca774b1ff8a67..8f19d519366194601df895d8a0d3834b838328e9 100644 (file)
--- a/src/FDM/JSBSim/FGTranslation.cpp
+++ b/src/FDM/JSBSim/FGTranslation.cpp
@@ -68,6 +68,7 @@ INCLUDES
 #include "FGPosition.h"
 #include "FGAuxiliary.h"
 #include "FGOutput.h"
+#include "FGPropertyManager.h"
 
 static const char *IdSrc = "$Id$";
 static const char *IdHdr = ID_TRANSLATION;
@@ -81,11 +82,19 @@ FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex)
 {
   Name = "FGTranslation";
   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);
 }
 
@@ -93,6 +102,7 @@ FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex)
 
 FGTranslation::~FGTranslation(void)
 {
+  unbind();
   Debug(1);
 }
 
@@ -100,8 +110,6 @@ FGTranslation::~FGTranslation(void)
 
 bool FGTranslation::Run(void)
 {
-  double Tc = 0.5*State->Getdt()*rate;
-
   if (!FGModel::Run()) {
 
     mVel(1,1) =  0.0;
@@ -116,7 +124,7 @@ bool FGTranslation::Run(void)
 
     vUVWdot = mVel*Rotation->GetPQR() + Aircraft->GetBodyAccel();
 
-    vUVW += Tc*(vUVWdot + vlastUVWdot);
+    vUVW += State->Integrate(FGState::TRAPZ, State->Getdt()*rate, vUVWdot, vUVWdot_prev);
 
     vAeroUVW = vUVW + State->GetTl2b()*Atmosphere->GetWindNED();
 
@@ -147,10 +155,10 @@ bool FGTranslation::Run(void)
     }
 
     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();
 
-    vlastUVWdot = vUVWdot;
-
     if (debug_lvl > 1) Debug(1);
 
     return false;
@@ -159,6 +167,100 @@ bool FGTranslation::Run(void)
   }
 }
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGTranslation::bind(void)
+{
+  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);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+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");
+}
+
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 //    The bitmasked value choices are as follows:
 //    unset: In this case (the default) JSBSim would only print