/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
+
Module: FGTranslation.cpp
Author: Jon Berndt
Date started: 12/02/98
Purpose: Integrates the translational EOM
Called by: FDMExec
-
+
------------- 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
--------------------------------------------------------------------------------
This class integrates the translational EOM.
-
+
HISTORY
--------------------------------------------------------------------------------
12/02/98 JSB Created
- 7/23/99 TP Added data member and modified Run and PutState to calcuate
- Mach number
-
+ 7/23/99 TP Added data member and modified Run and PutState to calcuate
+ Mach number
+
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
COMMENTS, REFERENCES, and NOTES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Wiley & Sons, 1979 ISBN 0-471-03032-5
[5] Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
1982 ISBN 0-471-08936-2
-
+
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 "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"
-static const char *IdSrc = "$Header$";
+static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_TRANSLATION;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex),
- vUVW(3),
- vWindUVW(3),
- vUVWdot(3),
- vNcg(3),
- vPQR(3),
- vForces(3),
- vEuler(3)
+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;
- rho = 0.002378;
+
+ vUVWdot.InitMatrix();
+ vUVWdot_prev[0].InitMatrix();
+ vUVWdot_prev[1].InitMatrix();
+ vUVWdot_prev[2].InitMatrix();
+
+ bind();
+ Debug(0);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGTranslation::~FGTranslation(void) {}
+FGTranslation::~FGTranslation(void)
+{
+ unbind();
+ Debug(1);
+}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGTranslation::Run(void) {
- static FGColumnVector vlastUVWdot(3);
- static FGMatrix mVel(3,3);
-
+bool FGTranslation::Run(void)
+{
if (!FGModel::Run()) {
- GetState();
-
mVel(1,1) = 0.0;
mVel(1,2) = -vUVW(eW);
mVel(1,3) = vUVW(eV);
mVel(3,2) = vUVW(eU);
mVel(3,3) = 0.0;
- vUVWdot = mVel*vPQR + vForces/Mass;
-
- vNcg=vUVWdot*INVGRAVITY;
-
- vUVW += 0.5*dt*rate*(vlastUVWdot + vUVWdot) + vWindUVW;
-
- Vt = vUVW.Magnitude();
-
- if (vUVW(eW) != 0.0)
- alpha = vUVW(eU)*vUVW(eU) > 0.0 ? atan2(vUVW(eW), vUVW(eU)) : 0.0;
- if (vUVW(eV) != 0.0)
- beta = vUVW(eU)*vUVW(eU)+vUVW(eW)*vUVW(eW) > 0.0 ? atan2(vUVW(eV),
- sqrt(vUVW(eU)*vUVW(eU) + vUVW(eW)*vUVW(eW))) : 0.0;
-
-
-
- // stolen, quite shamelessly, from LaRCsim
- float mUW = (vUVW(eU)*vUVW(eU) + vUVW(eW)*vUVW(eW));
- float signU=1;
- if (vUVW(eU) != 0.0)
- signU = vUVW(eU)/fabs(vUVW(eU));
-
- if( (mUW == 0.0) || (Vt == 0.0) ) {
- adot = 0.0;
- bdot = 0.0;
- } else {
- adot = (vUVW(eU)*vUVWdot(eW) - vUVW(eW)*vUVWdot(eU))/mUW;
- bdot = (signU*mUW*vUVWdot(eV) - vUVW(eV)*(vUVW(eU)*vUVWdot(eU)
- + vUVW(eW)*vUVWdot(eW)))/(Vt*Vt*sqrt(mUW));
- }
- //
-
- qbar = 0.5*rho*Vt*Vt;
+ 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();
- vlastUVWdot = vUVWdot;
+ if (debug_lvl > 1) Debug(1);
- } else {}
+ return false;
+ } else {
+ return true;
+ }
+}
- return false;
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+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::GetState(void) {
- dt = State->Getdt();
+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");
+}
- vPQR = Rotation->GetPQR();
- vForces = Aircraft->GetForces();
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// 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
- Mass = Aircraft->GetMass();
- rho = Atmosphere->GetDensity();
+void FGTranslation::Debug(int from)
+{
+ if (debug_lvl <= 0) return;
- vEuler = Rotation->GetEuler();
+ if (debug_lvl & 1) { // Standard console startup message output
+ if (from == 0) { // Constructor
- vWindUVW = Atmosphere->GetWindUVW();
+ }
+ }
+ 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;
+ }
+ }
}
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