Author: Tony Peden, Jon Berndt
Date started: 01/26/99
Purpose: Calculates additional parameters needed by the visual system, etc.
- Called by: FGSimExec
+ Called by: FGFDMExec
------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
namespace JSBSim {
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGAuxiliary.cpp,v 1.47 2011/03/29 11:49:27 jberndt Exp $";
static const char *IdHdr = ID_AUXILIARY;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
if (FGModel::Run()) return true; // return true if error returned from base class
if (FDMExec->Holding()) return false;
- const FGColumnVector3& vPQR = Propagate->GetPQR();
- const FGColumnVector3& vUVW = Propagate->GetUVW();
- const FGColumnVector3& vUVWdot = Propagate->GetUVWdot();
- const FGColumnVector3& vVel = Propagate->GetVel();
+ RunPreFunctions();
- p = Atmosphere->GetPressure();
- rhosl = Atmosphere->GetDensitySL();
- psl = Atmosphere->GetPressureSL();
- sat = Atmosphere->GetTemperature();
+ const double density = FDMExec->GetAtmosphere()->GetDensity();
+ const double soundspeed = FDMExec->GetAtmosphere()->GetSoundSpeed();
+ const double DistanceAGL = FDMExec->GetPropagate()->GetDistanceAGL();
+ const double wingspan = FDMExec->GetAircraft()->GetWingSpan();
+ const FGMatrix33& Tl2b = FDMExec->GetPropagate()->GetTl2b();
+ const FGMatrix33& Tb2l = FDMExec->GetPropagate()->GetTb2l();
+
+ const FGColumnVector3& vPQR = FDMExec->GetPropagate()->GetPQR();
+ const FGColumnVector3& vUVW = FDMExec->GetPropagate()->GetUVW();
+ const FGColumnVector3& vUVWdot = FDMExec->GetPropagate()->GetUVWdot();
+ const FGColumnVector3& vVel = FDMExec->GetPropagate()->GetVel();
+
+ p = FDMExec->GetAtmosphere()->GetPressure();
+ rhosl = FDMExec->GetAtmosphere()->GetDensitySL();
+ psl = FDMExec->GetAtmosphere()->GetPressureSL();
+ sat = FDMExec->GetAtmosphere()->GetTemperature();
// Rotation
- double cTht = Propagate->GetCosEuler(eTht);
- double sTht = Propagate->GetSinEuler(eTht);
- double cPhi = Propagate->GetCosEuler(ePhi);
- double sPhi = Propagate->GetSinEuler(ePhi);
+ double cTht = FDMExec->GetPropagate()->GetCosEuler(eTht);
+ double sTht = FDMExec->GetPropagate()->GetSinEuler(eTht);
+ double cPhi = FDMExec->GetPropagate()->GetCosEuler(ePhi);
+ double sPhi = FDMExec->GetPropagate()->GetSinEuler(ePhi);
vEulerRates(eTht) = vPQR(eQ)*cPhi - vPQR(eR)*sPhi;
if (cTht != 0.0) {
vEulerRates(ePhi) = vPQR(eP) + vEulerRates(ePsi)*sTht;
}
-// 12/16/2005, JSB: For ground handling purposes, at this time, let's ramp
-// in the effects of wind from 10 fps to 30 fps when there is weight on the
-// landing gear wheels.
-
- if (GroundReactions->GetWOW() && vUVW(eU) < 10) {
- vAeroPQR = vPQR;
- vAeroUVW = vUVW;
- } else if (GroundReactions->GetWOW() && vUVW(eU) < 30) {
- double factor = (vUVW(eU) - 10.0)/20.0;
- vAeroPQR = vPQR - factor*Atmosphere->GetTurbPQR();
- vAeroUVW = vUVW - factor*Propagate->GetTl2b()*Atmosphere->GetTotalWindNED();
- } else {
- FGColumnVector3 wind = Propagate->GetTl2b()*Atmosphere->GetTotalWindNED();
- vAeroPQR = vPQR - Atmosphere->GetTurbPQR();
- vAeroUVW = vUVW - wind;
- }
+// Combine the wind speed with aircraft speed to obtain wind relative speed
+ FGColumnVector3 wind = Tl2b*FDMExec->GetAtmosphere()->GetTotalWindNED();
+ vAeroPQR = vPQR - FDMExec->GetAtmosphere()->GetTurbPQR();
+ vAeroUVW = vUVW - wind;
Vt = vAeroUVW.Magnitude();
- if ( Vt > 0.05) {
+ double Vt2 = Vt*Vt;
+ alpha = beta = adot = bdot = 0;
+ double mUW = (vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW));
+
+ if ( Vt > 1.0 ) {
if (vAeroUVW(eW) != 0.0)
alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
if (vAeroUVW(eV) != 0.0)
- beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV),
- sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;
+ beta = mUW > 0.0 ? atan2(vAeroUVW(eV), sqrt(mUW)) : 0.0;
- double mUW = (vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW));
double signU=1;
- if (vAeroUVW(eU) != 0.0)
- signU = vAeroUVW(eU)/fabs(vAeroUVW(eU));
+ if (vAeroUVW(eU) < 0.0) signU=-1;
- if ( (mUW == 0.0) || (Vt == 0.0) ) {
- adot = 0.0;
- bdot = 0.0;
- } else {
+ if ( mUW >= 1.0 ) {
adot = (vAeroUVW(eU)*vUVWdot(eW) - vAeroUVW(eW)*vUVWdot(eU))/mUW;
- bdot = (signU*mUW*vUVWdot(eV) - vAeroUVW(eV)*(vAeroUVW(eU)*vUVWdot(eU)
- + vAeroUVW(eW)*vUVWdot(eW)))/(Vt*Vt*sqrt(mUW));
+ bdot = (signU*mUW*vUVWdot(eV)
+ - vAeroUVW(eV)*(vAeroUVW(eU)*vUVWdot(eU) + vAeroUVW(eW)*vUVWdot(eW)))/(Vt2*sqrt(mUW));
}
- } else {
- alpha = beta = adot = bdot = 0;
}
- Re = Vt * Aircraft->Getcbar() / Atmosphere->GetKinematicViscosity();
+ Re = Vt * FDMExec->GetAircraft()->Getcbar() / FDMExec->GetAtmosphere()->GetKinematicViscosity();
- qbar = 0.5*Atmosphere->GetDensity()*Vt*Vt;
- qbarUW = 0.5*Atmosphere->GetDensity()*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW));
- qbarUV = 0.5*Atmosphere->GetDensity()*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eV)*vAeroUVW(eV));
- Mach = Vt / Atmosphere->GetSoundSpeed();
- MachU = vMachUVW(eU) = vAeroUVW(eU) / Atmosphere->GetSoundSpeed();
- vMachUVW(eV) = vAeroUVW(eV) / Atmosphere->GetSoundSpeed();
- vMachUVW(eW) = vAeroUVW(eW) / Atmosphere->GetSoundSpeed();
+ qbar = 0.5*density*Vt2;
+ qbarUW = 0.5*density*(mUW);
+ qbarUV = 0.5*density*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eV)*vAeroUVW(eV));
+ Mach = Vt / soundspeed;
+ MachU = vMachUVW(eU) = vAeroUVW(eU) / soundspeed;
+ vMachUVW(eV) = vAeroUVW(eV) / soundspeed;
+ vMachUVW(eW) = vAeroUVW(eW) / soundspeed;
// Position
vcas = veas = 0.0;
}
+ const double SLgravity = FDMExec->GetInertial()->SLgravity();
+
vPilotAccel.InitMatrix();
if ( Vt > 1.0 ) {
- vAircraftAccel = Aerodynamics->GetForces()
- + Propulsion->GetForces()
- + GroundReactions->GetForces()
- + ExternalReactions->GetForces()
- + BuoyantForces->GetForces();
-
- vAircraftAccel /= MassBalance->GetMass();
+ vAircraftAccel = FDMExec->GetAircraft()->GetBodyAccel();
// Nz is Acceleration in "g's", along normal axis (-Z body axis)
- Nz = -vAircraftAccel(eZ)/Inertial->gravity();
- vToEyePt = MassBalance->StructuralToBody(Aircraft->GetXYZep());
- vPilotAccel = vAircraftAccel + Propagate->GetPQRdot() * vToEyePt;
+ Nz = -vAircraftAccel(eZ)/SLgravity;
+ vToEyePt = FDMExec->GetMassBalance()->StructuralToBody(FDMExec->GetAircraft()->GetXYZep());
+ vPilotAccel = vAircraftAccel + FDMExec->GetPropagate()->GetPQRdot() * vToEyePt;
vPilotAccel += vPQR * (vPQR * vToEyePt);
} else {
// The line below handles low velocity (and on-ground) cases, basically
// any jitter that could be introduced by the landing gear. Theoretically,
// this branch could be eliminated, with a penalty of having a short
// transient at startup (lasting only a fraction of a second).
- vPilotAccel = Propagate->GetTl2b() * FGColumnVector3( 0.0, 0.0, -Inertial->gravity() );
- Nz = -vPilotAccel(eZ)/Inertial->gravity();
+ vPilotAccel = Tl2b * FGColumnVector3( 0.0, 0.0, -SLgravity );
+ Nz = -vPilotAccel(eZ)/SLgravity;
}
- vPilotAccelN = vPilotAccel/Inertial->gravity();
+ vPilotAccelN = vPilotAccel/SLgravity;
// VRP computation
- const FGLocation& vLocation = Propagate->GetLocation();
- FGColumnVector3 vrpStructural = Aircraft->GetXYZvrp();
- FGColumnVector3 vrpBody = MassBalance->StructuralToBody( vrpStructural );
- FGColumnVector3 vrpLocal = Propagate->GetTb2l() * vrpBody;
+ const FGLocation& vLocation = FDMExec->GetPropagate()->GetLocation();
+ const FGColumnVector3& vrpStructural = FDMExec->GetAircraft()->GetXYZvrp();
+ const FGColumnVector3 vrpBody = FDMExec->GetMassBalance()->StructuralToBody( vrpStructural );
+ const FGColumnVector3 vrpLocal = Tb2l * vrpBody;
vLocationVRP = vLocation.LocalToLocation( vrpLocal );
// Recompute some derived values now that we know the dependent parameters values ...
- hoverbcg = Propagate->GetDistanceAGL() / Aircraft->GetWingSpan();
+ hoverbcg = DistanceAGL / wingspan;
- FGColumnVector3 vMac = Propagate->GetTb2l()*MassBalance->StructuralToBody(Aircraft->GetXYZrp());
- hoverbmac = (Propagate->GetDistanceAGL() + vMac(3)) / Aircraft->GetWingSpan();
+ FGColumnVector3 vMac = Tb2l*FDMExec->GetMassBalance()->StructuralToBody(FDMExec->GetAircraft()->GetXYZrp());
+ hoverbmac = (DistanceAGL + vMac(3)) / wingspan;
// when all model are executed,
// please calculate the distance from the initial point
CalculateRelativePosition();
+ RunPostFunctions();
+
return false;
}
//
// A positive headwind is blowing with you, a negative headwind is blowing against you.
// psi is the direction the wind is blowing *towards*.
+// ToDo: should this simply be in the atmosphere class? Same with Get Crosswind.
double FGAuxiliary::GetHeadWind(void) const
{
double psiw,vw;
- psiw = Atmosphere->GetWindPsi();
- vw = Atmosphere->GetTotalWindNED().Magnitude();
+ psiw = FDMExec->GetAtmosphere()->GetWindPsi();
+ vw = FDMExec->GetAtmosphere()->GetTotalWindNED().Magnitude();
- return vw*cos(psiw - Propagate->GetEuler(ePsi));
+ return vw*cos(psiw - FDMExec->GetPropagate()->GetEuler(ePsi));
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
{
double psiw,vw;
- psiw = Atmosphere->GetWindPsi();
- vw = Atmosphere->GetTotalWindNED().Magnitude();
+ psiw = FDMExec->GetAtmosphere()->GetWindPsi();
+ vw = FDMExec->GetAtmosphere()->GetTotalWindNED().Magnitude();
+
+ return vw*sin(psiw - FDMExec->GetPropagate()->GetEuler(ePsi));
+}
- return vw*sin(psiw - Propagate->GetEuler(ePsi));
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+double FGAuxiliary::GethVRP(void) const
+{
+ return vLocationVRP.GetRadius() - FDMExec->GetPropagate()->GetSeaLevelRadius();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGAuxiliary::CalculateRelativePosition(void)
{
- const double earth_radius_mt = Inertial->GetRefRadius()*fttom;
+ const double earth_radius_mt = FDMExec->GetInertial()->GetRefRadius()*fttom;
lat_relative_position=(FDMExec->GetPropagate()->GetLatitude() - FDMExec->GetIC()->GetLatitudeDegIC() *degtorad)*earth_radius_mt;
lon_relative_position=(FDMExec->GetPropagate()->GetLongitude() - FDMExec->GetIC()->GetLongitudeDegIC()*degtorad)*earth_radius_mt;
relative_position = sqrt(lat_relative_position*lat_relative_position + lon_relative_position*lon_relative_position);
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