Author: T. Kreitler
Date started: 08/24/00
- ------------- Copyright (C) 2010 T. Kreitler -------------
+ ------------- Copyright (C) 2010 T. Kreitler (t.kreitler@web.de) -------------
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU Lesser General Public License as published by the Free Software
HISTORY
--------------------------------------------------------------------------------
01/01/10 T.Kreitler test implementation
+01/10/11 T.Kreitler changed to single rotor model
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGThruster.h"
-#include "math/FGTable.h"
-#include "math/FGRungeKutta.h"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#define ID_ROTOR "$Id: FGRotor.h,v 1.6 2010/06/02 04:05:13 jberndt Exp $"
+#define ID_ROTOR "$Id: FGRotor.h,v 1.8 2011/01/17 22:09:59 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-/** Models a rotor system. The default configuration consists of main and
- tail rotor. A practical way to define the positions is to start with an
- imaginary gear-box near the cg of the vehicle.
+/** Models a helicopter rotor.
- In this case the location in the thruster definition should be
- approximately equal to the cg defined in the <tt>fdm_config/mass_balance</tt>
- section. If the default orientation (roll=pitch=yaw=0) is used the
- positions of the rotor hubs are now defined relative to the location
- of the thruster (i.e. the cg-centered body coordinate system).
-
-<h3>Configuration File Format:</h3>
+<h3>Configuration File Format</h3>
@code
-<rotor name="{string}" variant="{string}">
+<rotor name="{string}">
<diameter unit="{LENGTH}"> {number} </diameter>
<numblades> {number} </numblades>
- <xhub unit="{LENGTH}"> {number} </xhub>
- <zhub unit="{LENGTH}"> {number} </zhub>
+ <gearratio> {number} </gearratio>
<nominalrpm> {number} </nominalrpm>
- <minrpm> {number} </minrpm>
<chord unit="{LENGTH}"> {number} </chord>
<liftcurveslope Xunit="1/RAD"> {number} </liftcurveslope>
- <flappingmoment unit="{MOMENT}"> {number} </flappingmoment>
<twist unit="{ANGLE}"> {number} </twist>
+ <hingeoffset unit="{LENGTH}"> {number} </hingeoffset>
+ <flappingmoment unit="{MOMENT}"> {number} </flappingmoment>
<massmoment Xunit="SLUG*FT"> {number} </massmoment>
- <tiplossfactor> {number} </tiplossfactor>
- <polarmoment unit="{MOMENT}"> {number}</polarmoment>
+ <polarmoment unit="{MOMENT}"> {number} </polarmoment>
<inflowlag> {number} </inflowlag>
- <shafttilt unit="{ANGLE}"> {number} </shafttilt>
- <hingeoffset unit="{LENGTH}"> {number} </hingeoffset>
- <tailrotor>
- <diameter unit="{LENGTH}"> {number} </diameter>
- <numblades> {number} </numblades>
- <xhub unit="{LENGTH}">{number} </xhub>
- <zhub unit="{LENGTH}">{number} </zhub>
- <nominalrpm> {number} </nominalrpm>
- <chord unit="{LENGTH}"> {number} </chord>
- <liftcurveslope Xunit="1/RAD"> {number} </liftcurveslope>
- <flappingmoment unit="{MOMENT}"> {number} </flappingmoment>
- <twist unit="RAD"> {number} </twist>
- <massmoment Xunit="SLUG*FT"> {number} </massmoment>
- <tiplossfactor> {number} </tiplossfactor>
- <inflowlag> {number} </inflowlag>
- <hingeoffset unit="{LENGTH}"> {number} </hingeoffset>
- <cantangle unit="{ANGLE}"> {number} </cantangle>
- </tailrotor>
- <cgroundeffect> {number} </cgroundeffect>
+ <tiplossfactor> {number} </tiplossfactor>
+
+ <controlmap> {MAIN|TAIL|TANDEM} </controlmap>
+ <ExternalRPM> {number} </ExternalRPM>
+
+ <groundeffectexp> {number} </groundeffectexp>
<groundeffectshift unit="{LENGTH}"> {number} </groundeffectshift>
</rotor>
// LENGTH means any of the supported units, same for ANGLE and MOMENT.
-// Xunit-attributes are a hint for currently unsupported units, so
+// Xunit-attributes are a hint for currently unsupported units, so
// values must be provided accordingly.
@endcode
Brief description and the symbol frequently found in the literature.
<pre>
- \<diameter> - Rotor disk diameter (R).
+ \<diameter> - Rotor disk diameter (2x R).
\<numblades> - Number of blades (b).
- \<xhub> - Relative height in body coordinate system, thus usually negative.
- \<zhub> - Relative distance in body coordinate system, close to zero
- for main rotor, and usually negative for the tail rotor.
+ \<gearratio> - Ratio of (engine rpm) / (rotor rpm), usually > 1.
\<nominalrpm> - RPM at which the rotor usally operates.
- \<minrpm> - Lowest RPM generated by the code, optional.
\<chord> - Blade chord, (c).
\<liftcurveslope> - Slope of curve of section lift against section angle of attack,
per rad (a).
- \<flappingmoment> - Flapping moment of inertia (I_b).
\<twist> - Blade twist from root to tip, (theta_1).
- \<massmoment> - Blade mass moment. (Biege/Widerstands-moment)
+ \<hingeoffset> - Rotor flapping-hinge offset (e).
+ \<flappingmoment> - Flapping moment of inertia (I_b).
+ \<massmoment> - Blade mass moment. Mass of a single blade times the blade's
+ cg-distance from the hub, optional.
+ \<polarmoment> - Moment of inertia for the whole rotor disk, optional.
+ \<inflowlag> - Rotor inflow time constant, sec. Smaller values yield to
+ quicker responses to control input (defaults to 0.2).
\<tiplossfactor> - Tip-loss factor. The Blade fraction that produces lift.
Value usually ranges between 0.95 - 1.0, optional (B).
- \<polarmoment> - Moment of inertia for the whole rotor disk, optional.
- \<inflowlag> - Rotor inflow time constant, sec.
- \<shafttilt> - Orientation of the rotor shaft, negative angles define
- a 'forward' tilt. Used by main rotor, optional.
- \<hingeoffset> - Rotor flapping-hinge offset (e).
-
+
+ \<controlmap> - Defines the control inputs used (see notes).
+ \<ExternalRPM> - Links the rotor to another rotor, or an user controllable property.
+
Experimental properties
- \<cantangle> - Flapping hinge cantangle used by tail rotor, optional.
- \<cgroundeffect> - Parameter for exponent in ground effect approximation. Value should
- be in the range 0.2 - 0.35, 0.0 disables, optional.
- \<groundeffectshift> - Further adjustment of ground effect.
+ \<groundeffectexp> - Exponent for ground effect approximation. Values usually range from 0.04
+ for large rotors to 0.1 for smaller ones. As a rule of thumb the effect
+ vanishes at a height 2-3 times the rotor diameter.
+ formula used: exp ( - groundeffectexp * (height+groundeffectshift) )
+ Omitting or setting to 0.0 disables the effect calculation.
+ \<groundeffectshift> - Further adjustment of ground effect, approx. hub height or slightly above.
</pre>
<h3>Notes:</h3>
- The behavior of the rotor is controlled/influenced by 5 inputs.<ul>
- <li> The power provided by the engine. This is handled by the regular engine controls.</li>
- <li> The collective control input. This is read from the <tt>fdm</tt> property
- <tt>propulsion/engine[x]/collective-ctrl-rad</tt>.</li>
- <li> The lateral cyclic input. Read from
- <tt>propulsion/engine[x]/lateral-ctrl-rad</tt>.</li>
- <li> The longitudinal cyclic input. Read from
- <tt>propulsion/engine[x]/longitudinal-ctrl-rad</tt>.</li>
- <li> The tail collective (aka antitorque, aka pedal) control input. Read from
- <tt>propulsion/engine[x]/antitorque-ctrl-rad</tt>.</li>
+ <h4>- Controls -</h4>
+
+ The behavior of the rotor is controlled/influenced by following inputs.<ul>
+ <li> The power provided by the engine. This is handled by the regular engine controls.</li>
+ <li> The collective control input. This is read from the <tt>fdm</tt> property
+ <tt>propulsion/engine[x]/collective-ctrl-rad</tt>. See below for tail rotor</li>
+ <li> The lateral cyclic input. Read from
+ <tt>propulsion/engine[x]/lateral-ctrl-rad</tt>.</li>
+ <li> The longitudinal cyclic input. Read from
+ <tt>propulsion/engine[x]/longitudinal-ctrl-rad</tt>.</li>
+ <li> The tail collective (aka antitorque, aka pedal) control input. Read from
+ <tt>propulsion/engine[x]/antitorque-ctrl-rad</tt> or
+ <tt>propulsion/engine[x]/tail-collective-ctrl-rad</tt>.</li>
- </ul>
+ </ul>
- In order to keep the rotor speed constant, use of a RPM-Governor system is encouraged.
+ <h4>- Tail/tandem rotor -</h4>
- It is possible to use different orientation/locations for the rotor system, but then xhub
- and zhub are no longer aligned to the body frame and need proper recalculation.
+ Providing <tt>\<ExternalRPM\> 0 \</ExternalRPM\></tt> the tail rotor's RPM
+ is linked to to the main (=first, =0) rotor, and specifing
+ <tt>\<controlmap\> TAIL \</controlmap\></tt> tells this rotor to read the
+ collective input from <tt>propulsion/engine[1]/antitorque-ctrl-rad</tt>
+ (The TAIL-map ignores lateral and longitudinal input). The rotor needs to be
+ attached to a dummy engine, e.g. an 1HP electrical engine.
+ A tandem rotor is setup analogous.
- To model a standalone main rotor just omit the <tailrotor/> element. If you provide
- a plain <tailrotor/> element all tail rotor parameters are estimated.
-
- The 'sense' parameter from the thruster is interpreted as follows, sense=1 means
- counter clockwise rotation of the main rotor, as viewed from above. This is as a far
- as I know more popular than clockwise rotation, which is defined by setting sense to
- -1 (to be honest, I'm just 99.9% sure that the orientation is handled properly).
-
- Concerning coaxial designs: By providing the 'variant' attribute with value 'coaxial'
- a Kamov-style rotor is modeled - i.e. the rotor produces no torque.
+ <h4>- Sense -</h4>
+ The 'sense' parameter from the thruster is interpreted as follows, sense=1 means
+ counter clockwise rotation of the main rotor, as viewed from above. This is as a far
+ as I know more popular than clockwise rotation, which is defined by setting sense to
+ -1. Concerning coaxial designs - by setting 'sense' to zero, a Kamov-style rotor is
+ modeled (i.e. the rotor produces no torque).
+
+ <h4>- Engine issues -</h4>
+
+ Currently the rotor can only be driven with piston and electrical engines. An adaption
+ for the turboprop engine might become available in the future.
+ In order to keep the rotor speed constant, use of a RPM-Governor system is
+ encouraged (see examples).
+
+ <h4>- Development hints -</h4>
+
+ Setting <tt>\<ExternalRPM> -1 \</ExternalRPM></tt> the rotor's RPM is controlled by
+ the <tt>propulsion/engine[x]/x-rpm-dict</tt> property. This feature can be useful
+ when developing a FDM.
+
<h3>References:</h3>
</dl>
@author Thomas Kreitler
- @version $Id: FGRotor.h,v 1.6 2010/06/02 04:05:13 jberndt Exp $
+ @version $Id: FGRotor.h,v 1.8 2011/01/17 22:09:59 jberndt Exp $
*/
+
+
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGRotor : public FGThruster {
-
- enum eRotorFlags {eNone=0, eMain=1, eTail=2, eCoaxial=4, eRotCW=8} ;
- struct rotor {
-
- virtual ~rotor();
- void zero();
- void configure(int f, const rotor *xmain = NULL);
-
- // assist in parameter retrieval
- double cnf_elem(const string& ename, double default_val=0.0, const string& unit = "", bool tell=false);
- double cnf_elem(const string& ename, double default_val=0.0, bool tell=false);
-
- // rotor dynamics
- void calc_flow_and_thrust(double dt, double rho, double theta_0, double Uw, double Ww, double flow_scale = 1.0);
-
- void calc_torque(double rho, double theta_0);
- void calc_coning_angle(double rho, double theta_0);
- void calc_flapping_angles(double rho, double theta_0, const FGColumnVector3 &pqr_fus_w);
- void calc_drag_and_side_forces(double rho, double theta_0);
-
- // transformations
- FGColumnVector3 hub_vel_body2ca( const FGColumnVector3 &uvw, const FGColumnVector3 &pqr,
- double a_ic = 0.0 , double b_ic = 0.0 );
- FGColumnVector3 fus_angvel_body2ca( const FGColumnVector3 &pqr);
-
- FGColumnVector3 body_forces(double a_ic = 0.0 , double b_ic = 0.0 );
- FGColumnVector3 body_moments(FGColumnVector3 F_h, double a_ic = 0.0 , double b_ic = 0.0 );
-
- // bookkeeping
- int flags ;
- Element *parent ;
-
- // used in flow calculation
- // FGRK4 rk ; // use this after checking
- FGRKFehlberg rk ;
- int reports ;
-
- // configuration parameters
- double Radius ;
- int BladeNum ;
- double RelDistance_xhub ;
- double RelShift_yhub ;
- double RelHeight_zhub ;
- double NominalRPM ;
- double MinRPM ;
- double BladeChord ;
- double LiftCurveSlope ;
- double BladeFlappingMoment ;
- double BladeTwist ;
- double BladeMassMoment ;
- double TipLossB ;
- double PolarMoment ;
- double InflowLag ;
- double ShaftTilt ;
- double HingeOffset ;
- double HingeOffset_hover ;
- double CantAngleD3 ;
-
- double theta_shaft ;
- double phi_shaft ;
-
- // derived parameters
- double LockNumberByRho ;
- double solidity ; // aka sigma
- double RpmRatio ; // main_to_tail, hmm
- double R[5] ; // Radius powers
- double B[6] ; // TipLossB powers
-
- FGMatrix33 BodyToShaft ; // [S]T, see /SH79/ eqn(17,18)
- FGMatrix33 ShaftToBody ; // [S]
-
- // dynamic values
- double ActualRPM ;
- double Omega ; // must be > 0
- double beta_orient ;
- double a0 ; // coning angle (rad)
- double a_1, b_1, a_dw ;
- double a1s, b1s ; // cyclic flapping relative to shaft axes, /SH79/ eqn(43)
- double H_drag, J_side ;
-
- double Torque ;
- double Thrust ;
- double Ct ;
- double lambda ; // inflow ratio
- double mu ; // tip-speed ratio
- double nu ; // induced inflow ratio
- double v_induced ; // always positive [ft/s]
-
- // results
- FGColumnVector3 force ;
- FGColumnVector3 moment ;
-
-
- // declare the problem function
- class dnuFunction : public FGRungeKuttaProblem {
- public:
- void update_params(rotor *r, double ct_t01, double fs, double w);
- private:
- double pFunc(double x, double y);
- // some shortcuts
- double k_sat, ct_lambda, k_wor, k_theta, mu2, k_flowscale;
- } flowEquation;
-
-
- };
+class FGRotor : public FGThruster {
+ enum eCtrlMapping {eMainCtrl=0, eTailCtrl, eTandemCtrl};
public:
- /** Constructor
- @param exec pointer to executive structure
- @param rotor_element pointer to XML element in the config file
- @param num the number of this rotor */
+
+ /** Constructor for FGRotor.
+ @param exec a pointer to the main executive object
+ @param rotor_element a pointer to the thruster config file XML element
+ @param num the number of this rotor */
FGRotor(FGFDMExec *exec, Element* rotor_element, int num);
- /// Destructor
+ /// Destructor for FGRotor
~FGRotor();
- void SetRPM(double rpm) {RPM = rpm;}
-
- /** Calculates forces and moments created by the rotor(s) and updates
- vFn,vMn state variables. RPM changes are handled inside, too.
- The RPM change is based on estimating the torque provided by the engine.
+ /** Returns the power required by the rotor. Well, to achieve this the rotor
+ is cycled through the whole machinery, yielding to a new state.
+ (hmm, sort of a huge side effect)
+ */
+ double GetPowerRequired(void);
- @param PowerAvailable here this is the thrust (not power) provided by a turbine
- @return PowerAvailable */
- double Calculate(double);
+ /** Returns the scalar thrust of the rotor, and adjusts the RPM value. */
+ double Calculate(double PowerAvailable);
- double GetRPM(void) const { return RPM; }
- double GetDiameter(void) { return mr.Radius*2.0; }
- // Stubs. Right now this rotor-to-engine interface is just a hack.
- double GetTorque(void) { return 0.0; /* return mr.Torque;*/ }
- double GetPowerRequired(void);
+ /// Retrieves the RPMs of the rotor.
+ double GetRPM(void) const { return RPM; }
+
+ // void SetRPM(double rpm) { RPM = rpm; }
+
+ /// Retrieves the RPMs of the Engine, as seen from this rotor.
+ double GetEngineRPM(void) const { return GearRatio*RPM; } // bit of a hack.
+ /// Tells the rotor's gear ratio, usually the engine asks for this.
+ double GetGearRatio(void) { return GearRatio; }
+ /// Retrieves the thrust of the rotor.
+ double GetThrust(void) const { return Thrust; }
+
+ /// Retrieves the rotor's coning angle
+ double GetA0(void) const { return a0; }
+ /// Retrieves the longitudinal flapping angle with respect to the rotor shaft
+ double GetA1(void) const { return a1s; }
+ /// Retrieves the lateral flapping angle with respect to the rotor shaft
+ double GetB1(void) const { return b1s; }
+
+ /// Retrieves the inflow ratio
+ double GetLambda(void) const { return lambda; }
+ /// Retrieves the tip-speed (aka advance) ratio
+ double GetMu(void) const { return mu; }
+ /// Retrieves the induced inflow ratio
+ double GetNu(void) const { return nu; }
+ /// Retrieves the induced velocity
+ double GetVi(void) const { return v_induced; }
+ /// Retrieves the thrust coefficient
+ double GetCT(void) const { return C_T; }
+ /// Retrieves the torque
+ double GetTorque(void) const { return Torque; }
+
+ /// Downwash angle - currently only valid for a rotor that spins horizontally
+ double GetThetaDW(void) const { return theta_downwash; }
+ /// Downwash angle - currently only valid for a rotor that spins horizontally
+ double GetPhiDW(void) const { return phi_downwash; }
+
+ /// Retrieves the collective control input in radians.
+ double GetCollectiveCtrl(void) const { return CollectiveCtrl; }
+ /// Retrieves the lateral control input in radians.
+ double GetLateralCtrl(void) const { return LateralCtrl; }
+ /// Retrieves the longitudinal control input in radians.
+ double GetLongitudinalCtrl(void) const { return LongitudinalCtrl; }
+
+ /// Sets the collective control input in radians.
+ void SetCollectiveCtrl(double c) { CollectiveCtrl = c; }
+ /// Sets the lateral control input in radians.
+ void SetLateralCtrl(double c) { LateralCtrl = c; }
+ /// Sets the longitudinal control input in radians.
+ void SetLongitudinalCtrl(double c) { LongitudinalCtrl = c; }
// Stubs. Only main rotor RPM is returned
string GetThrusterLabels(int id, string delimeter);
private:
- bool bind(void);
-
- double RPM;
- double Sense; // default is counter clockwise rotation of the main rotor (viewed from above)
- bool tailRotorPresent;
-
- void Debug(int from);
-
- FGPropertyManager* PropertyManager;
+ // assist in parameter retrieval
+ double ConfigValueConv( Element* e, const string& ename, double default_val=0.0,
+ const string& unit = "", bool tell=false);
- rotor mr;
- rotor tr;
+ double ConfigValue( Element* e, const string& ename, double default_val=0.0,
+ bool tell=false);
- Filter damp_hagl;
-
- double rho;
-
- double effective_tail_col; // /SH79/ eqn(47)
-
- double ground_effect_exp;
- double ground_effect_shift;
-
- double hover_threshold;
- double hover_scale;
+ void Configure(Element* rotor_element);
- // fdm imported controls
- FGPropertyManager* prop_collective_ctrl;
- FGPropertyManager* prop_lateral_ctrl;
- FGPropertyManager* prop_longitudinal_ctrl;
- FGPropertyManager* prop_antitorque_ctrl;
+ // true entry points
+ void CalcStatePart1(void);
+ void CalcStatePart2(double PowerAvailable);
- FGPropertyManager* prop_freewheel_factor;
- FGPropertyManager* prop_rotorbrake;
+ // rotor dynamics
+ void calc_flow_and_thrust(double theta_0, double Uw, double Ww, double flow_scale = 1.0);
+ void calc_coning_angle(double theta_0);
+ void calc_flapping_angles(double theta_0, const FGColumnVector3 &pqr_fus_w);
+ void calc_drag_and_side_forces(double theta_0);
+ void calc_torque(double theta_0);
- // fdm export ...
- double prop_inflow_ratio_lambda;
- double prop_advance_ratio_mu;
- double prop_inflow_ratio_induced_nu;
- double prop_mr_torque;
- double prop_coning_angle;
+ // transformations
+ FGColumnVector3 hub_vel_body2ca( const FGColumnVector3 &uvw, const FGColumnVector3 &pqr,
+ double a_ic = 0.0 , double b_ic = 0.0 );
+ FGColumnVector3 fus_angvel_body2ca( const FGColumnVector3 &pqr);
+ FGColumnVector3 body_forces(double a_ic = 0.0 , double b_ic = 0.0 );
+ FGColumnVector3 body_moments(double a_ic = 0.0 , double b_ic = 0.0 );
- double prop_theta_downwash;
- double prop_phi_downwash;
-
- double prop_thrust_coefficient;
- double prop_lift_coefficient;
+ // interface
+ bool BindModel(void);
+ void Debug(int from);
- double dt; // deltaT doesn't do the thing
+ // environment
+ double dt;
+ double rho;
+ Filter damp_hagl;
- // devel/debug stuff
- int prop_DumpFlag; // causes 1-time dump on stdout
+ // configuration parameters
+ double Radius;
+ int BladeNum;
+
+ double Sense;
+ double NominalRPM;
+ int ExternalRPM;
+ int RPMdefinition;
+ FGPropertyManager* ExtRPMsource;
+
+ double BladeChord;
+ double LiftCurveSlope;
+ double BladeTwist;
+ double HingeOffset;
+ double BladeFlappingMoment;
+ double BladeMassMoment;
+ double PolarMoment;
+ double InflowLag;
+ double TipLossB;
+
+ double GroundEffectExp;
+ double GroundEffectShift;
+
+ // derived parameters
+ double LockNumberByRho;
+ double Solidity; // aka sigma
+ double R[5]; // Radius powers
+ double B[5]; // TipLossB powers
+
+ // Some of the calculations require shaft axes. So the
+ // thruster orientation (Tbo, with b for body) needs to be
+ // expressed/represented in helicopter shaft coordinates (Hsr).
+ FGMatrix33 InvTransform;
+ FGMatrix33 TboToHsr;
+ FGMatrix33 HsrToTbo;
+
+ // dynamic values
+ double RPM;
+ double Omega; // must be > 0
+ double beta_orient; // rotor orientation angle (rad)
+ double a0; // coning angle (rad)
+ double a_1, b_1, a_dw; // flapping angles
+ double a1s, b1s; // cyclic flapping relative to shaft axes, /SH79/ eqn(43)
+ double H_drag, J_side; // Forces
+
+ double Torque;
+ double C_T; // rotor thrust coefficient
+ double lambda; // inflow ratio
+ double mu; // tip-speed ratio
+ double nu; // induced inflow ratio
+ double v_induced; // induced velocity, always positive [ft/s]
+
+ double theta_downwash;
+ double phi_downwash;
+
+ // control
+ eCtrlMapping ControlMap;
+ double CollectiveCtrl;
+ double LateralCtrl;
+ double LongitudinalCtrl;
};
+
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif
projects / flightgear.git / blobdiff