static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_TRIMAXIS;
-extern short debug_lvl;
-
/*****************************************************************************/
FGTrimAxis::FGTrimAxis(FGFDMExec* fdex, FGInitialCondition* ic, State st,
fgic=ic;
state=st;
control=ctrl;
- solver_eps=tolerance;
max_iterations=10;
control_value=0;
its_to_stable_value=0;
state_convert=1.0;
control_convert=1.0;
state_value=0;
+ state_target=0;
+ switch(state) {
+ case tUdot: tolerance = DEFAULT_TOLERANCE; break;
+ case tVdot: tolerance = DEFAULT_TOLERANCE; break;
+ case tWdot: tolerance = DEFAULT_TOLERANCE; break;
+ case tQdot: tolerance = DEFAULT_TOLERANCE / 10; 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;
switch(control) {
case tThrottle:
control_min=0;
control_value=0.5;
break;
case tBeta:
- control_min=-30*DEGTORAD;
- control_max=30*DEGTORAD;
- control_convert=RADTODEG;
+ control_min=-30*degtorad;
+ control_max=30*degtorad;
+ control_convert=radtodeg;
break;
case tAlpha:
control_min=fdmex->GetAircraft()->GetAlphaCLMin();
control_max=fdmex->GetAircraft()->GetAlphaCLMax();
if(control_max <= control_min) {
- control_max=20*DEGTORAD;
- control_min=-5*DEGTORAD;
+ control_max=20*degtorad;
+ control_min=-5*degtorad;
}
control_value= (control_min+control_max)/2;
- control_convert=RADTODEG;
+ control_convert=radtodeg;
solver_eps=tolerance/100;
break;
case tPitchTrim:
case tRudder:
control_min=-1;
control_max=1;
- state_convert=RADTODEG;
+ state_convert=radtodeg;
solver_eps=tolerance/100;
break;
case tAltAGL:
solver_eps=tolerance/100;
break;
case tTheta:
- control_min=fdmex->GetRotation()->Gettht() - 5*DEGTORAD;
- control_max=fdmex->GetRotation()->Gettht() + 5*DEGTORAD;
- state_convert=RADTODEG;
+ control_min=fdmex->GetRotation()->Gettht() - 5*degtorad;
+ control_max=fdmex->GetRotation()->Gettht() + 5*degtorad;
+ state_convert=radtodeg;
break;
case tPhi:
- control_min=fdmex->GetRotation()->Getphi() - 30*DEGTORAD;
- control_max=fdmex->GetRotation()->Getphi() + 30*DEGTORAD;
- state_convert=RADTODEG;
- control_convert=RADTODEG;
+ control_min=fdmex->GetRotation()->Getphi() - 30*degtorad;
+ control_max=fdmex->GetRotation()->Getphi() + 30*degtorad;
+ state_convert=radtodeg;
+ control_convert=radtodeg;
break;
case tGamma:
solver_eps=tolerance/100;
- control_min=-80*DEGTORAD;
- control_max=80*DEGTORAD;
- control_convert=RADTODEG;
+ control_min=-80*degtorad;
+ control_max=80*degtorad;
+ control_convert=radtodeg;
break;
case tHeading:
- control_min=fdmex->GetRotation()->Getpsi() - 30*DEGTORAD;
- control_max=fdmex->GetRotation()->Getpsi() + 30*DEGTORAD;
- state_convert=RADTODEG;
+ control_min=fdmex->GetRotation()->Getpsi() - 30*degtorad;
+ control_max=fdmex->GetRotation()->Getpsi() + 30*degtorad;
+ state_convert=radtodeg;
break;
}
- switch(state) {
- case tUdot: tolerance = DEFAULT_TOLERANCE; break;
- case tVdot: tolerance = DEFAULT_TOLERANCE; break;
- case tWdot: tolerance = DEFAULT_TOLERANCE; break;
- case tQdot: tolerance = DEFAULT_TOLERANCE / 10; break;
- case tPdot: tolerance = DEFAULT_TOLERANCE / 10; break;
- case tRdot: tolerance = DEFAULT_TOLERANCE / 10; break;
- case tHmgt: tolerance = 0.01; break;
- }
- 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->GetTranslation()->GetUVWdot()(1); break;
- case tVdot: state_value=fdmex->GetTranslation()->GetUVWdot()(2); break;
- case tWdot: state_value=fdmex->GetTranslation()->GetUVWdot()(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
// pitch and roll. An on-center unit is used (for pitch)if that's all
// that's in contact with the ground.
i=0; ref=-1; center=-1;
- while( (ref < 0) && (i < fdmex->GetAircraft()->GetNumGearUnits()) ) {
- if(fdmex->GetAircraft()->GetGearUnit(i)->GetWOW()) {
- if(fabs(fdmex->GetAircraft()->GetGearUnit(i)->GetBodyLocation()(2)) > 0.01)
+ while( (ref < 0) && (i < fdmex->GetGroundReactions()->GetNumGearUnits()) ) {
+ if(fdmex->GetGroundReactions()->GetGearUnit(i)->GetWOW()) {
+ if(fabs(fdmex->GetGroundReactions()->GetGearUnit(i)->GetBodyLocation(2)) > 0.01)
ref=i;
else
center=i;
}
cout << "SetThetaOnGround ref gear: " << ref << endl;
if(ref >= 0) {
- float sp=fdmex->GetRotation()->GetSinphi();
- float cp=fdmex->GetRotation()->GetCosphi();
- float lx=fdmex->GetAircraft()->GetGearUnit(ref)->GetBodyLocation()(1);
- float ly=fdmex->GetAircraft()->GetGearUnit(ref)->GetBodyLocation()(2);
- float lz=fdmex->GetAircraft()->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);
- N=fdmex->GetAircraft()->GetNumGearUnits();
+ N=fdmex->GetGroundReactions()->GetNumGearUnits();
//find the first wheel unit forward of the cg
//the list is short so a simple linear search is fine
for( i=0; i<N; i++ ) {
- if(fdmex->GetAircraft()->GetGearUnit(i)->GetBodyLocation()(1) > 0 ) {
+ if(fdmex->GetGroundReactions()->GetGearUnit(i)->GetBodyLocation(1) > 0 ) {
iForward=i;
break;
}
}
//now find the first wheel unit aft of the cg
for( i=0; i<N; i++ ) {
- if(fdmex->GetAircraft()->GetGearUnit(i)->GetBodyLocation()(1) < 0 ) {
+ if(fdmex->GetGroundReactions()->GetGearUnit(i)->GetBodyLocation(1) < 0 ) {
iAft=i;
break;
}
}
// now adjust theta till the wheels are the same distance from the ground
- zAft=fdmex->GetAircraft()->GetGearUnit(1)->GetLocalGear()(3);
- zForward=fdmex->GetAircraft()->GetGearUnit(0)->GetLocalGear()(3);
+ zAft=fdmex->GetGroundReactions()->GetGearUnit(1)->GetLocalGear(3);
+ zForward=fdmex->GetGroundReactions()->GetGearUnit(0)->GetLocalGear(3);
zDiff = zForward - zAft;
level=false;
theta=fgic->GetPitchAngleDegIC();
theta+=2.0*zDiff;
fgic->SetPitchAngleDegIC(theta);
fdmex->RunIC(fgic);
- zAft=fdmex->GetAircraft()->GetGearUnit(1)->GetLocalGear()(3);
- zForward=fdmex->GetAircraft()->GetGearUnit(0)->GetLocalGear()(3);
+ 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->GetAircraft()->GetGearUnit(0)->GetLocalGear() << endl;
- //cout << "1: " << fdmex->GetAircraft()->GetGearUnit(1)->GetLocalGear() << 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;
- control_min=(theta+5)*DEGTORAD;
- control_max=(theta-5)*DEGTORAD;
+ cout << " Initial Theta: " << fdmex->GetRotation()->Gettht()*radtodeg << endl;
+ control_min=(theta+5)*degtorad;
+ control_max=(theta-5)*degtorad;
fgic->SetAltitudeAGLFtIC(saveAlt);
if(i < 100)
return true;
/*****************************************************************************/
-void FGTrimAxis::SetPhiOnGround(float ff) {
+void FGTrimAxis::SetPhiOnGround(double ff) {
int i,ref;
i=0; ref=-1;
//must have an off-center unit here
- while( (ref < 0) && (i < fdmex->GetAircraft()->GetNumGearUnits()) ) {
- if( (fdmex->GetAircraft()->GetGearUnit(i)->GetWOW()) &&
- (fabs(fdmex->GetAircraft()->GetGearUnit(i)->GetBodyLocation()(2)) > 0.01))
+ while( (ref < 0) && (i < fdmex->GetGroundReactions()->GetNumGearUnits()) ) {
+ if( (fdmex->GetGroundReactions()->GetGearUnit(i)->GetWOW()) &&
+ (fabs(fdmex->GetGroundReactions()->GetGearUnit(i)->GetBodyLocation(2)) > 0.01))
ref=i;
i++;
}
if(ref >= 0) {
- float st=fdmex->GetRotation()->GetSintht();
- float ct=fdmex->GetRotation()->GetCostht();
- float lx=fdmex->GetAircraft()->GetGearUnit(ref)->GetBodyLocation()(1);
- float ly=fdmex->GetAircraft()->GetGearUnit(ref)->GetBodyLocation()(2);
- float lz=fdmex->GetAircraft()->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();
//cout << "setThrottlespct: " << i << ", " << control_min << ", " << control_max << ", " << control_value;
- fdmex -> GetFCS() -> SetThrottleCmd(i,tMin+control_value*(tMax-tMin));
+ fdmex->GetFCS()->SetThrottleCmd(i,tMin+control_value*(tMax-tMin));
+ //cout << "setThrottlespct: " << fdmex->GetFCS()->GetThrottleCmd(i) << endl;
+ fdmex->RunIC(fgic); //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;
}
/*****************************************************************************/
-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;
+ }
+ }
}
+
projects / flightgear.git / blobdiff