%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex),
- vUVW(3),
- vUVWdot(3),
- vNcg(3),
- vlastUVWdot(3),
- mVel(3,3),
- vAero(3)
+FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex)
{
Name = "FGTranslation";
qbar = 0;
alpha = beta = 0.0;
adot = bdot = 0.0;
- if (debug_lvl & 2) cout << "Instantiated: " << Name << endl;
+ Debug(0);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGTranslation::~FGTranslation()
+FGTranslation::~FGTranslation(void)
{
- if (debug_lvl & 2) cout << "Destroyed: FGTranslation" << endl;
+ Debug(1);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGTranslation::Run(void)
{
- float Tc = 0.5*State->Getdt()*rate;
+ double Tc = 0.5*State->Getdt()*rate;
if (!FGModel::Run()) {
mVel(3,2) = vUVW(eU);
mVel(3,3) = 0.0;
- vUVWdot = mVel*Rotation->GetPQR() + Aircraft->GetForces()/MassBalance->GetMass();
+ vUVWdot = mVel*Rotation->GetPQR() + Aircraft->GetBodyAccel();
- vNcg = vUVWdot*INVGRAVITY;
+ vUVW += Tc*(vUVWdot + vlastUVWdot);
- vUVW += Tc * (vlastUVWdot + vUVWdot);
- vAero = vUVW + State->GetTl2b()*Atmosphere->GetWindNED();
+ vAeroUVW = vUVW + State->GetTl2b()*Atmosphere->GetWindNED();
- Vt = vAero.Magnitude();
+ Vt = vAeroUVW.Magnitude();
if ( Vt > 1) {
- if (vAero(eW) != 0.0)
- alpha = vAero(eU)*vAero(eU) > 0.0 ? atan2(vAero(eW), vAero(eU)) : 0.0;
- if (vAero(eV) != 0.0)
- beta = vAero(eU)*vAero(eU)+vAero(eW)*vAero(eW) > 0.0 ? atan2(vAero(eV),
- sqrt(vAero(eU)*vAero(eU) + vAero(eW)*vAero(eW))) : 0.0;
+ 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
- float mUW = (vAero(eU)*vAero(eU) + vAero(eW)*vAero(eW));
- float signU=1;
- if (vAero(eU) != 0.0)
- signU = vAero(eU)/fabs(vAero(eU));
+ 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 = (vAero(eU)*vAero(eW) - vAero(eW)*vUVWdot(eU))/mUW;
- bdot = (signU*mUW*vUVWdot(eV) - vAero(eV)*(vAero(eU)*vUVWdot(eU)
- + vAero(eW)*vUVWdot(eW)))/(Vt*Vt*sqrt(mUW));
+ 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;
vlastUVWdot = vUVWdot;
- if (debug_lvl > 1) Debug();
+ if (debug_lvl > 1) Debug(1);
return false;
} else {
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGTranslation::Debug(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)
{
- if (debug_lvl & 16) { // Sanity check variables
+ 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)
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;
+ }
+ }
}