INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+#ifdef _MSC_VER
+# pragma warning (disable : 4786)
+#endif
+
#include <string>
#include <stdlib.h>
#include "FGTrimAxis.h"
#include "FGAircraft.h"
#include "FGPropulsion.h"
+#include "FGAerodynamics.h"
+
+
+namespace JSBSim {
static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_TRIMAXIS;
state_convert=1.0;
control_convert=1.0;
state_value=0;
- switch(state) {
+ state_target=0;
+ switch(state) {
case tUdot: tolerance = DEFAULT_TOLERANCE; break;
case tVdot: tolerance = DEFAULT_TOLERANCE; break;
case tWdot: tolerance = DEFAULT_TOLERANCE; break;
case tPdot: tolerance = DEFAULT_TOLERANCE / 10; break;
case tRdot: tolerance = DEFAULT_TOLERANCE / 10; break;
case tHmgt: tolerance = 0.01; break;
+ case tNlf: state_target=1.0; tolerance = 1E-5; break;
+ case tAll: break;
}
solver_eps=tolerance;
control_convert=radtodeg;
break;
case tAlpha:
- control_min=fdmex->GetAircraft()->GetAlphaCLMin();
- control_max=fdmex->GetAircraft()->GetAlphaCLMax();
+ control_min=fdmex->GetAerodynamics()->GetAlphaCLMin();
+ control_max=fdmex->GetAerodynamics()->GetAlphaCLMax();
if(control_max <= control_min) {
control_max=20*degtorad;
control_min=-5*degtorad;
}
- if (debug_lvl & 2) cout << "Instantiated: FGTrimAxis" << endl;
+ Debug(0);
}
/*****************************************************************************/
-FGTrimAxis::~FGTrimAxis()
+FGTrimAxis::~FGTrimAxis(void)
{
- if (debug_lvl & 2) cout << "Destroyed: FGTrimAxis" << endl;
+ Debug(1);
}
/*****************************************************************************/
void FGTrimAxis::getState(void) {
switch(state) {
- case tUdot: state_value=fdmex->GetAircraft()->GetBodyAccel()(1); break;
- case tVdot: state_value=fdmex->GetAircraft()->GetBodyAccel()(2); break;
- case tWdot: state_value=fdmex->GetAircraft()->GetBodyAccel()(3); break;
- case tQdot: state_value=fdmex->GetRotation()->GetPQRdot(2);break;
- case tPdot: state_value=fdmex->GetRotation()->GetPQRdot(1); break;
- case tRdot: state_value=fdmex->GetRotation()->GetPQRdot(3); break;
- case tHmgt: state_value=computeHmgt(); break;
+ case tUdot: state_value=fdmex->GetTranslation()->GetUVWdot(1)-state_target; break;
+ case tVdot: state_value=fdmex->GetTranslation()->GetUVWdot(2)-state_target; break;
+ case tWdot: state_value=fdmex->GetTranslation()->GetUVWdot(3)-state_target; break;
+ case tQdot: state_value=fdmex->GetRotation()->GetPQRdot(2)-state_target;break;
+ case tPdot: state_value=fdmex->GetRotation()->GetPQRdot(1)-state_target; break;
+ case tRdot: state_value=fdmex->GetRotation()->GetPQRdot(3)-state_target; break;
+ case tHmgt: state_value=computeHmgt()-state_target; break;
+ case tNlf: state_value=fdmex->GetAircraft()->GetNlf()-state_target; break;
+ case tAll: break;
}
}
level=false;
theta=fgic->GetPitchAngleDegIC();
while(!level && (i < 100)) {
- theta+=2.0*zDiff;
- fgic->SetPitchAngleDegIC(theta);
- fdmex->RunIC(fgic);
- zAft=fdmex->GetGroundReactions()->GetGearUnit(1)->GetLocalGear(3);
- zForward=fdmex->GetGroundReactions()->GetGearUnit(0)->GetLocalGear(3);
- zDiff = zForward - zAft;
- //cout << endl << theta << " " << zDiff << endl;
- //cout << "0: " << fdmex->GetGroundReactions()->GetGearUnit(0)->GetLocalGear() << endl;
- //cout << "1: " << fdmex->GetGroundReactions()->GetGearUnit(1)->GetLocalGear() << endl;
-
- if(fabs(zDiff ) < 0.1)
- level=true;
- i++;
+ theta+=2.0*zDiff;
+ fgic->SetPitchAngleDegIC(theta);
+ fdmex->RunIC();
+ zAft=fdmex->GetGroundReactions()->GetGearUnit(iAft)->GetLocalGear(3);
+ zForward=fdmex->GetGroundReactions()->GetGearUnit(iForward)->GetLocalGear(3);
+ zDiff = zForward - zAft;
+ //cout << endl << theta << " " << zDiff << endl;
+ //cout << "0: " << fdmex->GetGroundReactions()->GetGearUnit(0)->GetLocalGear() << endl;
+ //cout << "1: " << fdmex->GetGroundReactions()->GetGearUnit(1)->GetLocalGear() << endl;
+ if(fabs(zDiff ) < 0.1)
+ level=true;
+ i++;
}
//cout << i << endl;
- cout << " Initial Theta: " << fdmex->GetRotation()->Gettht()*radtodeg << endl;
+ if (debug_lvl > 0) {
+ cout << " Initial Theta: " << fdmex->GetRotation()->Gettht()*radtodeg << endl;
+ cout << " Used gear unit " << iAft << " as aft and " << iForward << " as forward" << endl;
+ }
control_min=(theta+5)*degtorad;
control_max=(theta-5)*degtorad;
fgic->SetAltitudeAGLFtIC(saveAlt);
fgic->SetAltitudeAGLFtIC(hagl);
}
fgic->SetRollAngleRadIC(ff);
-
+
}
/*****************************************************************************/
while(!stable) {
i++;
last_state_value=state_value;
- fdmex->RunIC(fgic);
+ fdmex->RunIC();
getState();
if(i > 1) {
if((fabs(last_state_value - state_value) < tolerance) || (i >= 100) )
//cout << "setThrottlespct: " << i << ", " << control_min << ", " << control_max << ", " << control_value;
fdmex->GetFCS()->SetThrottleCmd(i,tMin+control_value*(tMax-tMin));
//cout << "setThrottlespct: " << fdmex->GetFCS()->GetThrottleCmd(i) << endl;
- fdmex->RunIC(fgic); //apply throttle change
+ fdmex->RunIC(); //apply throttle change
fdmex->GetPropulsion()->GetSteadyState();
}
}
char out[80];
sprintf(out," %20s: %6.2f %5s: %9.2e Tolerance: %3.0e\n",
GetControlName().c_str(), GetControl()*control_convert,
- GetStateName().c_str(), GetState(), GetTolerance());
+ GetStateName().c_str(), GetState()+state_target, GetTolerance());
cout << out;
}
}
/*****************************************************************************/
-
-void FGTrimAxis::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 FGTrimAxis::Debug(int from)
{
-}
+ 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: FGTrimAxis" << endl;
+ if (from == 1) cout << "Destroyed: FGTrimAxis" << 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 (debug_lvl & 64) {
+ if (from == 0) { // Constructor
+ cout << IdSrc << endl;
+ cout << IdHdr << endl;
+ }
+ }
+}
+}
projects / flightgear.git / blobdiff