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;
}
- 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;
}
}
/*****************************************************************************/
-float FGTrimAxis::computeHmgt(void) {
- float diff;
+double FGTrimAxis::computeHmgt(void) {
+ double diff;
diff = fdmex->GetRotation()->Getpsi() -
fdmex->GetPosition()->GetGroundTrack();
// new center of rotation, pick a gear unit as a reference and use its
// location vector to calculate the new height change. i.e. new altitude =
// earth z component of that vector (which is in body axes )
-void FGTrimAxis::SetThetaOnGround(float ff) {
+void FGTrimAxis::SetThetaOnGround(double ff) {
int center,i,ref;
// favor an off-center unit so that the same one can be used for both
}
cout << "SetThetaOnGround ref gear: " << ref << endl;
if(ref >= 0) {
- float sp=fdmex->GetRotation()->GetSinphi();
- float cp=fdmex->GetRotation()->GetCosphi();
- float lx=fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(1);
- float ly=fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(2);
- float lz=fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(3);
- float hagl = -1*lx*sin(ff) +
+ double sp=fdmex->GetRotation()->GetSinphi();
+ double cp=fdmex->GetRotation()->GetCosphi();
+ double lx=fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(1);
+ double ly=fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(2);
+ double lz=fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(3);
+ double hagl = -1*lx*sin(ff) +
ly*sp*cos(ff) +
lz*cp*cos(ff);
bool FGTrimAxis::initTheta(void) {
int i,N,iAft, iForward;
- float zAft,zForward,zDiff,theta;
+ double zAft,zForward,zDiff,theta;
bool level;
- float saveAlt;
+ double saveAlt;
saveAlt=fgic->GetAltitudeAGLFtIC();
fgic->SetAltitudeAGLFtIC(100);
/*****************************************************************************/
-void FGTrimAxis::SetPhiOnGround(float ff) {
+void FGTrimAxis::SetPhiOnGround(double ff) {
int i,ref;
i=0; ref=-1;
i++;
}
if(ref >= 0) {
- float st=fdmex->GetRotation()->GetSintht();
- float ct=fdmex->GetRotation()->GetCostht();
- float lx=fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(1);
- float ly=fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(2);
- float lz=fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(3);
- float hagl = -1*lx*st +
+ double st=fdmex->GetRotation()->GetSintht();
+ double ct=fdmex->GetRotation()->GetCostht();
+ double lx=fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(1);
+ double ly=fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(2);
+ double lz=fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(3);
+ double hagl = -1*lx*st +
ly*sin(ff)*ct +
lz*cos(ff)*ct;
void FGTrimAxis::Run(void) {
- float last_state_value;
+ double last_state_value;
int i;
setControl();
//cout << "FGTrimAxis::Run: " << control_value << endl;
/*****************************************************************************/
void FGTrimAxis::setThrottlesPct(void) {
- float tMin,tMax;
+ double tMin,tMax;
for(unsigned i=0;i<fdmex->GetPropulsion()->GetNumEngines();i++) {
tMin=fdmex->GetPropulsion()->GetEngine(i)->GetThrottleMin();
tMax=fdmex->GetPropulsion()->GetEngine(i)->GetThrottleMax();
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;
}
/*****************************************************************************/
-float FGTrimAxis::GetAvgStability( void ) {
+double FGTrimAxis::GetAvgStability( void ) {
if(total_iterations > 0) {
- return float(total_stability_iterations)/float(total_iterations);
+ return double(total_stability_iterations)/double(total_iterations);
}
return 0;
}
/*****************************************************************************/
-
-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;
+ }
+ }
}
+