-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Header: FGTrimAxis.cpp
Author: Tony Peden
--------------------------------------------------------------------------------
7/3/00 TP Created
-********************************************************************************
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include <string>
#include <stdlib.h>
#include "FGInitialCondition.h"
#include "FGTrimAxis.h"
#include "FGAircraft.h"
+#include "FGPropulsion.h"
-static const char *IdSrc = "$Header$";
+static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_TRIMAXIS;
/*****************************************************************************/
-FGTrimAxis::FGTrimAxis(FGFDMExec* fdex, FGInitialCondition* ic, Accel acc,
- Control ctrl, float ff) {
+FGTrimAxis::FGTrimAxis(FGFDMExec* fdex, FGInitialCondition* ic, State st,
+ Control ctrl) {
fdmex=fdex;
fgic=ic;
- accel=acc;
+ state=st;
control=ctrl;
- tolerance=ff;
- solver_eps=tolerance;
max_iterations=10;
control_value=0;
its_to_stable_value=0;
total_iterations=0;
total_stability_iterations=0;
- accel_convert=1.0;
+ state_convert=1.0;
control_convert=1.0;
- accel_value=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;
- accel_convert=RADTODEG;
+ state_convert=radtodeg;
solver_eps=tolerance/100;
break;
case tAltAGL:
solver_eps=tolerance/100;
break;
case tTheta:
- control_min=-10*DEGTORAD;
- control_max=10*DEGTORAD;
- accel_convert=RADTODEG;
+ control_min=fdmex->GetRotation()->Gettht() - 5*degtorad;
+ control_max=fdmex->GetRotation()->Gettht() + 5*degtorad;
+ state_convert=radtodeg;
break;
case tPhi:
- control_min=-30*DEGTORAD;
- control_max=30*DEGTORAD;
- accel_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;
break;
}
+
+ Debug(0);
}
/*****************************************************************************/
-FGTrimAxis::~FGTrimAxis() {}
+FGTrimAxis::~FGTrimAxis(void)
+{
+ Debug(1);
+}
/*****************************************************************************/
-void FGTrimAxis::getAccel(void) {
- switch(accel) {
- case tUdot: accel_value=fdmex -> GetTranslation()->GetUVWdot()(1); break;
- case tVdot: accel_value=fdmex -> GetTranslation()->GetUVWdot()(2); break;
- case tWdot: accel_value=fdmex -> GetTranslation()->GetUVWdot()(3); break;
- case tQdot: accel_value=fdmex -> GetRotation()->GetPQRdot()(2);break;
- case tPdot: accel_value=fdmex -> GetRotation()->GetPQRdot()(1); break;
- case tRdot: accel_value=fdmex -> GetRotation()->GetPQRdot()(3); break;
+void FGTrimAxis::getState(void) {
+ switch(state) {
+ 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;
}
}
/*****************************************************************************/
-//Accels are not settable
+//States are not settable
void FGTrimAxis::getControl(void) {
switch(control) {
case tTheta: control_value=fdmex->GetRotation()->Gettht(); break;
case tPhi: control_value=fdmex->GetRotation()->Getphi(); break;
case tGamma: control_value=fdmex->GetPosition()->GetGamma();break;
+ case tHeading: control_value=fdmex->GetRotation()->Getpsi(); break;
}
}
/*****************************************************************************/
+double FGTrimAxis::computeHmgt(void) {
+ double diff;
+
+ diff = fdmex->GetRotation()->Getpsi() -
+ fdmex->GetPosition()->GetGroundTrack();
+
+ if( diff < -M_PI ) {
+ return (diff + 2*M_PI);
+ } else if( diff > M_PI ) {
+ return (diff - 2*M_PI);
+ } else {
+ return diff;
+ }
+
+}
+
+/*****************************************************************************/
+
void FGTrimAxis::setControl(void) {
switch(control) {
case tThrottle: setThrottlesPct(); break;
case tBeta: fgic->SetBetaRadIC(control_value); break;
case tAlpha: fgic->SetAlphaRadIC(control_value); break;
- case tPitchTrim: fdmex->GetFCS() -> SetPitchTrimCmd(control_value); break;
- case tElevator: fdmex-> GetFCS() -> SetDeCmd(control_value); break;
+ case tPitchTrim: fdmex->GetFCS()->SetPitchTrimCmd(control_value); break;
+ case tElevator: fdmex->GetFCS()->SetDeCmd(control_value); break;
case tRollTrim:
- case tAileron: fdmex-> GetFCS() -> SetDaCmd(control_value); break;
+ case tAileron: fdmex->GetFCS()->SetDaCmd(control_value); break;
case tYawTrim:
- case tRudder: fdmex-> GetFCS() -> SetDrCmd(control_value); break;
+ case tRudder: fdmex->GetFCS()->SetDrCmd(control_value); break;
case tAltAGL: fgic->SetAltitudeAGLFtIC(control_value); break;
case tTheta: fgic->SetPitchAngleRadIC(control_value); break;
case tPhi: fgic->SetRollAngleRadIC(control_value); break;
case tGamma: fgic->SetFlightPathAngleRadIC(control_value); break;
+ case tHeading: fgic->SetTrueHeadingRadIC(control_value); break;
}
}
+
+
+
+
/*****************************************************************************/
// the aircraft center of rotation is no longer the cg once the gear
// 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);
/*****************************************************************************/
-void FGTrimAxis::SetPhiOnGround(float ff) {
+bool FGTrimAxis::initTheta(void) {
+ int i,N,iAft, iForward;
+ double zAft,zForward,zDiff,theta;
+ bool level;
+ double saveAlt;
+
+ saveAlt=fgic->GetAltitudeAGLFtIC();
+ fgic->SetAltitudeAGLFtIC(100);
+
+
+ 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->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->GetGroundReactions()->GetGearUnit(i)->GetBodyLocation(1) < 0 ) {
+ iAft=i;
+ break;
+ }
+ }
+
+ // now adjust theta till the wheels are the same distance from the ground
+ zAft=fdmex->GetGroundReactions()->GetGearUnit(1)->GetLocalGear(3);
+ zForward=fdmex->GetGroundReactions()->GetGearUnit(0)->GetLocalGear(3);
+ zDiff = zForward - zAft;
+ 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++;
+ }
+ //cout << i << endl;
+ 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;
+ else
+ return false;
+}
+
+/*****************************************************************************/
+
+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_accel_value;
+ double last_state_value;
int i;
setControl();
//cout << "FGTrimAxis::Run: " << control_value << endl;
bool stable=false;
while(!stable) {
i++;
- last_accel_value=accel_value;
+ last_state_value=state_value;
fdmex->RunIC(fgic);
- getAccel();
+ getState();
if(i > 1) {
- if((fabs(last_accel_value - accel_value) < tolerance) || (i >= 100) )
+ if((fabs(last_state_value - state_value) < tolerance) || (i >= 100) )
stable=true;
}
}
/*****************************************************************************/
void FGTrimAxis::setThrottlesPct(void) {
- float tMin,tMax;
- for(unsigned i=0;i<fdmex->GetAircraft()->GetNumEngines();i++) {
- tMin=fdmex->GetAircraft()->GetEngine(i)->GetThrottleMin();
- tMax=fdmex->GetAircraft()->GetEngine(i)->GetThrottleMax();
+ 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();
}
}
-
/*****************************************************************************/
-
void FGTrimAxis::AxisReport(void) {
char out[80];
sprintf(out," %20s: %6.2f %5s: %9.2e Tolerance: %3.0e\n",
GetControlName().c_str(), GetControl()*control_convert,
- GetAccelName().c_str(), GetAccel(), 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;
}
+/*****************************************************************************/
+// 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