/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
+
Header: FGTrim.h
Author: Tony Peden
Date started: 7/1/99
-
+
------------- Copyright (C) 1999 Anthony K. Peden (apeden@earthlink.net) -------------
-
+
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.
-
-
+
+
HISTORY
--------------------------------------------------------------------------------
9/8/99 TP Created
-
-
+
+
FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
-
-This class takes the given set of IC's and finds the angle of attack, elevator,
-and throttle setting required to fly steady level. This is currently for in-air
-conditions only. It is implemented using an iterative, one-axis-at-a-time
-scheme.
-
+
+This class takes the given set of IC's and finds the aircraft state required to
+maintain a specified flight condition. This flight condition can be
+steady-level with non-zero sideslip, a steady turn, a pull-up or pushover.
+On-ground conditions can be trimmed as well, but this is currently limited to
+adjusting altitude and pitch angle only. It is implemented using an iterative,
+one-axis-at-a-time scheme.
+
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGFDMExec.h"
#include "FGJSBBase.h"
-#include "FGRotation.h"
-#include "FGAtmosphere.h"
-#include "FGState.h"
-#include "FGFCS.h"
-#include "FGAircraft.h"
-#include "FGTranslation.h"
-#include "FGPosition.h"
-#include "FGAuxiliary.h"
-#include "FGOutput.h"
-#include "FGTrim.h"
#include "FGTrimAxis.h"
#include <vector>
#define ID_TRIM "$Id$"
-typedef enum { tLongitudinal, tFull, tGround, tCustom, tNone } TrimMode;
-
-#ifdef _MSC_VER
-#define snprintf _snprintf
+#if defined(_WIN32) && !defined(__CYGWIN__)
+ #define snprintf _snprintf
#endif
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+namespace JSBSim {
+
+typedef enum { tLongitudinal, tFull, tGround, tPullup,
+ tCustom, tNone, tTurn
+ } TrimMode;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
the steady state described by the FGInitialCondition object . It does this
iteratively by assigning a control to each state and adjusting that control
until the state is within a specified tolerance of zero. States include the
- recti-linear accelerations udot, vdot, and wdot, the angular accelerations
+ recti-linear accelerations udot, vdot, and wdot, the angular accelerations
qdot, pdot, and rdot, and the difference between heading and ground track.
Controls include the usual flight deck controls available to the pilot plus
- angle of attack (alpha), sideslip angle(beta), flight path angle (gamma),
+ angle of attack (alpha), sideslip angle(beta), flight path angle (gamma),
pitch attitude(theta), roll attitude(phi), and altitude above ground. The
last three are used for on-ground trimming. The state-control pairs used in
a given trim are completely user configurable and several pre-defined modes
are provided as well. They are:
- <ul>
- <li> tLongitudinal: Trim wdot with alpha, udot with thrust, qdot with elevator</li>
- <li> tFull: tLongitudinal + vdot with phi, pdot with aileron, rdot with rudder
- and heading minus ground track (hmgt) with beta</li>
- <li> tGround: wdot with altitude, qdot with theta, and pdot with phi</li>
+ - tLongitudinal: Trim wdot with alpha, udot with thrust, qdot with elevator
+ - tFull: tLongitudinal + vdot with phi, pdot with aileron, rdot with rudder
+ and heading minus ground track (hmgt) with beta
+ - tPullup: tLongitudinal but adjust alpha to achieve load factor input
+ with SetTargetNlf()
+ - tGround: wdot with altitude, qdot with theta, and pdot with phi
+
The remaining modes include <b>tCustom</b>, which is completely user defined and
<b>tNone</b>.
- </ul>
- Currently, this class cannot trim a non-1g condition and is limited to
- trimming for constant true airspeed in climbs and descents.
-
+
Note that trims can (and do) fail for reasons that are completely outside
- the control of the trimming routine itself. The most common problem is the
+ the control of the trimming routine itself. The most common problem is the
initial conditions: is the model capable of steady state flight
at those conditions? Check the speed, altitude, configuration (flaps,
gear, etc.), weight, cg, and anything else that may be relevant.
-
- Example usage:
+
+ Example usage:<pre>
FGFDMExec* FDMExec = new FGFDMExec();
- .
- .
- .
+
FGInitialCondition* fgic = new FGInitialCondition(FDMExec);
- FGTrim *fgt(FDMExec,fgic,tFull);
+ FGTrim fgt(FDMExec, fgic, tFull);
fgic->SetVcaibratedKtsIC(100);
fgic->SetAltitudeFtIC(1000);
fgic->SetClimbRate(500);
- if( !fgt->DoTrim() ) {
+ if( !fgt.DoTrim() ) {
cout << "Trim Failed" << endl;
}
- fgt->ReportState();
+ fgt.Report(); </pre>
@author Tony Peden
- @version $Id$
-*/
-
+ @version "$Id$"
+*/
+
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
private:
vector<FGTrimAxis*> TrimAxes;
- int current_axis;
+ unsigned int current_axis;
int N, Nsub;
TrimMode mode;
- int Debug;
+ int DebugLevel, Debug;
double Tolerance, A_Tolerance;
double wdot,udot,qdot;
double dth;
bool trimudot;
bool gamma_fallback;
bool trim_failed;
- int axis_count;
+ unsigned int axis_count;
int solutionDomain;
double xlo,xhi,alo,ahi;
+ double targetNlf;
+ int debug_axis;
+
+ double psidot,thetadot;
FGFDMExec* fdmex;
FGInitialCondition* fgic;
-
+
bool solve(void);
-
+
/** @return false if there is no change in the current axis accel
between accel(control_min) and accel(control_max). If there is a
change, sets solutionDomain to:
bool checkLimits(void);
+ void setupPullup(void);
+ void setupTurn(void);
+
+ void updateRates(void);
+
+ void setDebug(void);
+
public:
/** Initializes the trimming class
@param FDMExec pointer to a JSBSim executive object.
- @param FGIC pointer to a FGInitialCondition object
- @param TrimMode the set of axes to trim. Can be:
- tLongitudinal, tFull, tGround, tCustom, or tNone
+ @param tm trim mode
*/
- FGTrim(FGFDMExec *FDMExec, FGInitialCondition *FGIC, TrimMode tt);
+ FGTrim(FGFDMExec *FDMExec, TrimMode tm=tGround );
- ~FGTrim(void);
+ ~FGTrim(void);
/** Execute the trim
*/
bool DoTrim(void);
- /** Print the results of the trim. For each axis trimmed, this
+ /** Print the results of the trim. For each axis trimmed, this
includes the final state value, control value, and tolerance
used.
@return true if trim succeeds
- */
+ */
void Report(void);
-
+
/** Iteration statistics
*/
void TrimStats();
+ /** Clear all state-control pairs and set a predefined trim mode
+ @param tm the set of axes to trim. Can be:
+ tLongitudinal, tFull, tGround, tCustom, or tNone
+ */
+ void SetMode(TrimMode tm);
+
/** Clear all state-control pairs from the current configuration.
The trimming routine must have at least one state-control pair
configured to be useful
- */
+ */
void ClearStates(void);
/** Add a state-control pair to the current configuration. See the enums
State and Control in FGTrimAxis.h for the available options.
Will fail if the given state is already configured.
- @param state the accel or other condition to zero
+ @param state the accel or other condition to zero
@param control the control used to zero the state
@return true if add is successful
- */
+ */
bool AddState( State state, Control control );
-
+
/** Remove a specific state-control pair from the current configuration
@param state the state to remove
@return true if removal is successful
- */
+ */
bool RemoveState( State state );
-
+
/** Change the control used to zero a state previously configured
- @param state the accel or other condition to zero
- @param control the control used to zero the state
+ @param state the accel or other condition to zero
+ @param new_control the control used to zero the state
*/
bool EditState( State state, Control new_control );
/** automatically switch to trimming longitudinal acceleration with
flight path angle (gamma) once it becomes apparent that there
is not enough/too much thrust.
- @param gamma_fallback true to enable fallback
- */
- inline void SetGammaFallback(bool bb) { gamma_fallback=true; }
-
+ @param bb true to enable fallback
+ */
+ inline void SetGammaFallback(bool bb) { gamma_fallback=bb; }
+
/** query the fallback state
@return true if fallback is enabled.
*/
/** Set the iteration limit. DoTrim() will return false if limit
iterations are reached before trim is achieved. The default
is 60. This does not ordinarily need to be changed.
- @param ii integer iteration limit
+ @param ii integer iteration limit
*/
inline void SetMaxCycles(int ii) { max_iterations = ii; }
-
+
/** Set the per-axis iteration limit. Attempt to zero each state
by iterating limit times before moving on to the next. The
default limit is 100 and also does not ordinarily need to
be changed.
- @param ii integer iteration limit
- */
+ @param ii integer iteration limit
+ */
inline void SetMaxCyclesPerAxis(int ii) { max_sub_iterations = ii; }
-
+
/** Set the tolerance for declaring a state trimmed. Angular accels are
- held to a tolerance of 1/10th of the given. The default is
+ held to a tolerance of 1/10th of the given. The default is
0.001 for the recti-linear accelerations and 0.0001 for the angular.
- */
+ */
inline void SetTolerance(double tt) {
Tolerance = tt;
A_Tolerance = tt / 10;
}
-
- //Debug level 1 shows results of each top-level iteration
- //Debug level 2 shows level 1 & results of each per-axis iteration
- inline void SetDebug(int level) { Debug = level; }
- inline void ClearDebug(void) { Debug = 0; }
-
-};
-
-
-#endif
-
-
-
-
+ /**
+ Debug level 1 shows results of each top-level iteration
+ Debug level 2 shows level 1 & results of each per-axis iteration
+ */
+ inline void SetDebug(int level) { DebugLevel = level; }
+ inline void ClearDebug(void) { DebugLevel = 0; }
+ /**
+ Output debug data for one of the axes
+ The State enum is defined in FGTrimAxis.h
+ */
+ inline void DebugState(State state) { debug_axis=state; }
+ inline void SetTargetNlf(double nlf) { targetNlf=nlf; }
+ inline double GetTargetNlf(void) { return targetNlf; }
+};
+}
+#endif
projects / flightgear.git / blobdiff