#include "FGAircraft.h"
#include "FGMassBalance.h"
#include "FGAerodynamics.h"
+#include "FGColumnVector3.h"
#if _MSC_VER
#pragma warning (disable : 4786 4788)
#endif
Tolerance=1E-3;
A_Tolerance = Tolerance / 10;
- Debug=0;
+ Debug=0;DebugLevel=0;
fdmex=FDMExec;
fgic=FGIC;
total_its=0;
axis_count=0;
mode=tt;
xlo=xhi=alo=ahi;
+ targetNlf=1.0;
+ debug_axis=tAll;
switch(mode) {
case tFull:
cout << " Full Trim" << endl;
TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tQdot,tTheta ));
//TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tPdot,tPhi ));
break;
- }
+ case tPullup:
+ TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tNlf,tAlpha ));
+ TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tUdot,tThrottle ));
+ TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tQdot,tPitchTrim ));
+ TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tHmgt,tBeta ));
+ TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tVdot,tPhi ));
+ TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tPdot,tAileron ));
+ TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tRdot,tRudder ));
+ break;
+ case tTurn:
+ TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tWdot,tAlpha ));
+ TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tUdot,tThrottle ));
+ TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tQdot,tPitchTrim ));
+ TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tVdot,tBeta ));
+ TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tPdot,tAileron ));
+ TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tRdot,tRudder ));
+ break;
+ case tCustom:
+ case tNone:
+ break;
+}
//cout << "TrimAxes.size(): " << TrimAxes.size() << endl;
- sub_iterations=new float[TrimAxes.size()];
- successful=new float[TrimAxes.size()];
+ sub_iterations=new double[TrimAxes.size()];
+ successful=new double[TrimAxes.size()];
solution=new bool[TrimAxes.size()];
current_axis=0;
snprintf(out,80," %5s: %3.0f average: %5.2f successful: %3.0f stability: %5.2f\n",
TrimAxes[current_axis]->GetStateName().c_str(),
sub_iterations[current_axis],
- sub_iterations[current_axis]/float(total_its),
+ sub_iterations[current_axis]/double(total_its),
successful[current_axis],
TrimAxes[current_axis]->GetAvgStability() );
cout << out;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGTrim::ReportState(void) {
- char out[80], flap[10], gear[10];
-
- cout << endl << " JSBSim State" << endl;
- snprintf(out,80," Weight: %7.0f lbs. CG: %5.1f, %5.1f, %5.1f inches\n",
- fdmex->GetMassBalance()->GetWeight(),
- fdmex->GetMassBalance()->GetXYZcg(1),
- fdmex->GetMassBalance()->GetXYZcg(2),
- fdmex->GetMassBalance()->GetXYZcg(3));
- cout << out;
- if( fdmex->GetFCS()->GetDfPos() <= 0.01)
- snprintf(flap,10,"Up");
- else
- snprintf(flap,10,"%2.0f",fdmex->GetFCS()->GetDfPos());
- if(fdmex->GetAircraft()->GetGearUp() == true)
- snprintf(gear,10,"Up");
- else
- snprintf(gear,10,"Down");
- snprintf(out,80, " Flaps: %3s Gear: %4s\n",flap,gear);
- cout << out;
- snprintf(out,80, " Speed: %4.0f KCAS Mach: %5.2f\n",
- fdmex->GetAuxiliary()->GetVcalibratedKTS(),
- fdmex->GetState()->GetParameter(FG_MACH) );
- cout << out;
- snprintf(out,80, " Altitude: %7.0f ft. AGL Altitude: %7.0f ft.\n",
- fdmex->GetPosition()->Geth(),
- fdmex->GetPosition()->GetDistanceAGL() );
- cout << out;
- snprintf(out,80, " Angle of Attack: %6.2f deg Pitch Angle: %6.2f deg\n",
- fdmex->GetState()->GetParameter(FG_ALPHA)*RADTODEG,
- fdmex->GetRotation()->Gettht()*RADTODEG );
- cout << out;
- snprintf(out,80, " Flight Path Angle: %6.2f deg Climb Rate: %5.0f ft/min\n",
- fdmex->GetPosition()->GetGamma()*RADTODEG,
- fdmex->GetPosition()->Gethdot()*60 );
- cout << out;
- snprintf(out,80, " Normal Load Factor: %4.2f g's Pitch Rate: %5.2f deg/s\n",
- fdmex->GetAerodynamics()->GetNlf(),
- fdmex->GetState()->GetParameter(FG_PITCHRATE)*RADTODEG );
- cout << out;
- snprintf(out,80, " Heading: %3.0f deg true Sideslip: %5.2f deg\n",
- fdmex->GetRotation()->Getpsi()*RADTODEG,
- fdmex->GetState()->GetParameter(FG_BETA)*RADTODEG );
- cout << out;
- snprintf(out,80, " Bank Angle: %5.2f deg\n",
- fdmex->GetRotation()->Getphi()*RADTODEG );
- cout << out;
- snprintf(out,80, " Elevator: %5.2f deg Left Aileron: %5.2f deg Rudder: %5.2f deg\n",
- fdmex->GetState()->GetParameter(FG_ELEVATOR_POS)*RADTODEG,
- fdmex->GetState()->GetParameter(FG_AILERON_POS)*RADTODEG,
- fdmex->GetState()->GetParameter(FG_RUDDER_POS)*RADTODEG );
- cout << out;
- snprintf(out,80, " Throttle: %5.2f%c\n",
- fdmex->GetFCS()->GetThrottlePos(0),'%' );
- cout << out;
-
- snprintf(out,80, " Wind Components: %5.2f kts head wind, %5.2f kts cross wind\n",
- fdmex->GetAuxiliary()->GetHeadWind()*jsbFPSTOKTS,
- fdmex->GetAuxiliary()->GetCrossWind()*jsbFPSTOKTS );
- cout << out;
-
- snprintf(out,80, " Ground Speed: %4.0f knots , Ground Track: %3.0f deg true\n",
- fdmex->GetPosition()->GetVground()*jsbFPSTOKTS,
- fdmex->GetPosition()->GetGroundTrack()*RADTODEG );
- cout << out;
-
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
void FGTrim::ClearStates(void) {
FGTrimAxis* ta;
delete[] sub_iterations;
delete[] successful;
delete[] solution;
- sub_iterations=new float[TrimAxes.size()];
- successful=new float[TrimAxes.size()];
+ sub_iterations=new double[TrimAxes.size()];
+ successful=new double[TrimAxes.size()];
solution=new bool[TrimAxes.size()];
}
return result;
delete[] sub_iterations;
delete[] successful;
delete[] solution;
- sub_iterations=new float[TrimAxes.size()];
- successful=new float[TrimAxes.size()];
+ sub_iterations=new double[TrimAxes.size()];
+ successful=new double[TrimAxes.size()];
solution=new bool[TrimAxes.size()];
}
return result;
}
iAxes++;
}
- cout << "Exit FGTrim::EditState(...)" << endl;
return result;
}
trim_failed=false;
int i;
- for(i=0;i < fdmex->GetAircraft()->GetNumGearUnits();i++){
- fdmex->GetAircraft()->GetGearUnit(i)->SetReport(false);
+ for(i=0;i < fdmex->GetGroundReactions()->GetNumGearUnits();i++){
+ fdmex->GetGroundReactions()->GetGearUnit(i)->SetReport(false);
}
fdmex->GetOutput()->Disable();
successful[current_axis]=0;
solution[current_axis]=false;
}
+
+
+ if(mode == tPullup ) {
+ cout << "Setting pitch rate and nlf... " << endl;
+ setupPullup();
+ cout << "pitch rate done ... " << endl;
+ TrimAxes[0]->SetStateTarget(targetNlf);
+ cout << "nlf done" << endl;
+ } else if (mode == tTurn) {
+ setupTurn();
+ //TrimAxes[0]->SetStateTarget(targetNlf);
+ }
+
do {
axis_count=0;
for(current_axis=0;current_axis<TrimAxes.size();current_axis++) {
+ setDebug();
+ updateRates();
Nsub=0;
if(!solution[current_axis]) {
if(checkLimits()) {
total_its=N;
cout << endl << " Trim failed" << endl;
}
- for(i=0;i < fdmex->GetAircraft()->GetNumGearUnits();i++){
- fdmex->GetAircraft()->GetGearUnit(i)->SetReport(true);
+ for(i=0;i < fdmex->GetGroundReactions()->GetNumGearUnits();i++){
+ fdmex->GetGroundReactions()->GetGearUnit(i)->SetReport(true);
}
fdmex->GetOutput()->Enable();
return !trim_failed;
bool FGTrim::solve(void) {
- float x1,x2,x3,f1,f2,f3,d,d0;
- const float relax =0.9;
- float eps=TrimAxes[current_axis]->GetSolverEps();
+ double x1,x2,x3,f1,f2,f3,d,d0;
+ const double relax =0.9;
+ double eps=TrimAxes[current_axis]->GetSolverEps();
x1=x2=x3=0;
d=1;
x1=xhi;f1=ahi;
x3=xlo;f3=alo;
} */
-
d0=fabs(x3-x1);
//iterations
//max_sub_iterations=TrimAxes[current_axis]->GetIterationLimit();
- while (!TrimAxes[current_axis]->InTolerance() && (fabs(d) > eps)
- && (Nsub < max_sub_iterations)) {
+ while ( (TrimAxes[current_axis]->InTolerance() == false )
+ && (fabs(d) > eps) && (Nsub < max_sub_iterations)) {
Nsub++;
d=(x3-x1)/d0;
x2=x1-d*d0*f1/(f3-f1);
*/
bool FGTrim::findInterval(void) {
bool found=false;
- float step;
- float current_control=TrimAxes[current_axis]->GetControl();
- float current_accel=TrimAxes[current_axis]->GetState();;
- float xmin=TrimAxes[current_axis]->GetControlMin();
- float xmax=TrimAxes[current_axis]->GetControlMax();
- float lastxlo,lastxhi,lastalo,lastahi;
+ double step;
+ double current_control=TrimAxes[current_axis]->GetControl();
+ double current_accel=TrimAxes[current_axis]->GetState();;
+ double xmin=TrimAxes[current_axis]->GetControlMin();
+ double xmax=TrimAxes[current_axis]->GetControlMax();
+ double lastxlo,lastxhi,lastalo,lastahi;
step=0.025*fabs(xmax);
xlo=xhi=current_control;
bool FGTrim::checkLimits(void) {
bool solutionExists;
- float current_control=TrimAxes[current_axis]->GetControl();
- float current_accel=TrimAxes[current_axis]->GetState();
+ double current_control=TrimAxes[current_axis]->GetControl();
+ double current_accel=TrimAxes[current_axis]->GetState();
xlo=TrimAxes[current_axis]->GetControlMin();
xhi=TrimAxes[current_axis]->GetControlMax();
return solutionExists;
}
+void FGTrim::setupPullup() {
+ float g,q,cgamma;
+ FGColumnVector3 vPQR;
+ g=fdmex->GetInertial()->gravity();
+ cgamma=cos(fgic->GetFlightPathAngleRadIC());
+ cout << "setPitchRateInPullup(): " << g << ", " << cgamma << ", "
+ << fgic->GetVtrueFpsIC() << endl;
+ q=g*(targetNlf-cgamma)/fgic->GetVtrueFpsIC();
+ cout << targetNlf << ", " << q << endl;
+ fdmex->GetRotation()->SetPQR(0,q,0);
+ cout << "setPitchRateInPullup() complete" << endl;
+
+}
+
+void FGTrim::setupTurn(void){
+ double g,phi;
+ phi = fgic->GetRollAngleRadIC();
+ if( fabs(phi) > 0.001 && fabs(phi) < 1.56 ) {
+ targetNlf = 1 / cos(phi);
+ g = fdmex->GetInertial()->gravity();
+ psidot = g*tan(phi) / fgic->GetUBodyFpsIC();
+ cout << targetNlf << ", " << psidot << endl;
+ }
+
+}
+
+void FGTrim::updateRates(void){
+ if( mode == tTurn ) {
+ double phi = fgic->GetRollAngleRadIC();
+ double g = fdmex->GetInertial()->gravity();
+ double p,q,r,theta;
+ if(fabs(phi) > 0.001 && fabs(phi) < 1.56 ) {
+ theta=fgic->GetPitchAngleRadIC();
+ phi=fgic->GetRollAngleRadIC();
+ psidot = g*tan(phi) / fgic->GetUBodyFpsIC();
+ p=-psidot*sin(theta);
+ q=psidot*cos(theta)*sin(phi);
+ r=psidot*cos(theta)*cos(phi);
+ } else {
+ p=q=r=0;
+ }
+ fdmex->GetRotation()->SetPQR(p,q,r);
+ } else if( mode == tPullup && fabs(targetNlf-1) > 0.01) {
+ float g,q,cgamma;
+ FGColumnVector3 vPQR;
+ g=fdmex->GetInertial()->gravity();
+ cgamma=cos(fgic->GetFlightPathAngleRadIC());
+ q=g*(targetNlf-cgamma)/fgic->GetVtrueFpsIC();
+ fdmex->GetRotation()->SetPQR(0,q,0);
+ }
+}
+
+void FGTrim::setDebug(void) {
+ if(debug_axis == tAll ||
+ TrimAxes[current_axis]->GetStateType() == debug_axis ) {
+ Debug=DebugLevel;
+ return;
+ } else {
+ Debug=0;
+ return;
+ }
+}
+
//YOU WERE WARNED, BUT YOU DID IT ANYWAY.
projects / flightgear.git / blobdiff