09/18/2002 (MSS) Added downwash options
03/03/2003 (RD) Changed flap_cmd_deg to flap_cmd (rad)
03/16/2003 (RD) Added trigger variables
+ 08/20/2003 (RD) Removed old_flap_routine. Changed spoiler
+ variables to match flap convention. Changed
+ flap_pos_pct to flap_pos_norm
+ 10/31/2003 (RD) Added variables and keywords for pah and alh
+ autopilots
+ 11/04/2003 (RD) Added variables and keywords for rah and hh
+ autopilots
----------------------------------------------------------------------
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
- Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307,
- USA or view http://www.gnu.org/copyleft/gpl.html.
+ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
**********************************************************************/
#include <FDM/LaRCsim/ls_types.h>
#include <map>
-#include STL_IOSTREAM
+#include <fstream>
#include <cmath>
#include "uiuc_parsefile.h"
#include "uiuc_flapdata.h"
-SG_USING_STD(map);
-SG_USING_STD(iostream);
-SG_USING_STD(ofstream);
-
-
typedef stack :: iterator LIST;
/* Add more keywords here if required*/
ignore_unknown_keywords_flag,
trim_case_2_flag,
use_uiuc_network_flag,
- old_flap_routine_flag,
icing_demo_flag,
outside_control_flag};
rudder_stick_gain_flag,
use_elevator_sas_type1_flag,
use_aileron_sas_type1_flag,
- use_rudder_sas_type1_flag};
+ use_rudder_sas_type1_flag,
+ ap_pah_flag, ap_alh_flag, ap_Theta_ref_flag, ap_alt_ref_flag,
+ ap_rah_flag, ap_Phi_ref_flag, ap_hh_flag, ap_Psi_ref_flag};
// controlsMixer == Controls mixer
enum {nomix_flag = 5000};
demo_eps_airspeed_max_flag, demo_eps_airspeed_min_flag,
demo_boot_cycle_tail_flag, demo_boot_cycle_wing_left_flag,
demo_boot_cycle_wing_right_flag, demo_eps_pitch_input_flag,
- tactilefadef_flag, tactile_pitch_flag, demo_ap_Theta_ref_deg_flag,
- demo_ap_pah_on_flag, demo_tactile_flag, demo_ice_tail_flag,
+ tactilefadef_flag, tactile_pitch_flag, demo_ap_pah_on_flag,
+ demo_ap_alh_on_flag, demo_ap_rah_on_flag, demo_ap_hh_on_flag,
+ demo_ap_Theta_ref_flag, demo_ap_alt_ref_flag,
+ demo_ap_Phi_ref_flag, demo_ap_Psi_ref_flag,
+ demo_tactile_flag, demo_ice_tail_flag,
demo_ice_left_flag, demo_ice_right_flag};
// record ===== Record desired quantites to file
Dx_cg_record, Dy_cg_record, Dz_cg_record,
Lat_geocentric_record, Lon_geocentric_record, Radius_to_vehicle_record,
Latitude_record, Longitude_record, Altitude_record,
- Phi_record, Theta_record, Psi_record,
+ Phi_record, Theta_record, Psi_record,
+ Phi_deg_record, Theta_deg_record, Psi_deg_record,
// added to uiuc_map_record1.cpp
V_dot_north_record, V_dot_east_record, V_dot_down_record,
elevator_record, elevator_deg_record,
Lat_control_record, aileron_record, aileron_deg_record,
Rudder_pedal_record, rudder_record, rudder_deg_record,
- Flap_handle_record, flap_record, flap_cmd_record, flap_cmd_deg_record,
- flap_pos_record, flap_pos_deg_record,
+ Flap_handle_record, flap_cmd_record, flap_cmd_deg_record,
+ flap_pos_record, flap_pos_deg_record, flap_pos_norm_record,
Spoiler_handle_record, spoiler_cmd_deg_record,
spoiler_pos_deg_record, spoiler_pos_norm_record, spoiler_pos_record,
+ spoiler_cmd_record,
// added to uiuc_map_record4.cpp
CD_record, CDfaI_record, CDfCLI_record, CDfadeI_record, CDfdfI_record,
M_l_engine_record, M_m_engine_record, M_n_engine_record,
M_l_gear_record, M_m_gear_record, M_n_gear_record,
M_l_rp_record, M_m_rp_record, M_n_rp_record,
+ M_l_cg_record, M_m_cg_record, M_n_cg_record,
// added to uiuc_map_record5.cpp
flapper_freq_record, flapper_phi_record,
debug4_record,
debug5_record,
debug6_record,
+ debug7_record,
+ debug8_record,
+ debug9_record,
+ debug10_record,
// added to uiuc_map_record6.cpp
CL_clean_record, CL_iced_record,
tactilefadefI_record,
// added to uiuc_map_record6.cpp
- ap_Theta_ref_deg_record, ap_pah_on_record, trigger_on_record,
- trigger_num_record, trigger_toggle_record, trigger_counter_record};
+ ap_pah_on_record, ap_alh_on_record, ap_Theta_ref_deg_record,
+ ap_Theta_ref_rad_record, ap_alt_ref_ft_record, trigger_on_record,
+ ap_rah_on_record, ap_Phi_ref_rad_record, ap_Phi_ref_deg_record,
+ ap_hh_on_record, ap_Psi_ref_rad_record, ap_Psi_ref_deg_record,
+ trigger_num_record, trigger_toggle_record, trigger_counter_record,
+
+ // added to uiuc_map_record6.cpp
+ T_local_to_body_11_record, T_local_to_body_12_record,
+ T_local_to_body_13_record, T_local_to_body_21_record,
+ T_local_to_body_22_record, T_local_to_body_23_record,
+ T_local_to_body_31_record, T_local_to_body_32_record,
+ T_local_to_body_33_record};
// misc ======= Miscellaneous inputs
// added to uiuc_map_misc.cpp
-enum {simpleHingeMomentCoef_flag = 17000, dfTimefdf_flag, flapper_flag,
+enum {simpleHingeMomentCoef_flag = 17000, flapper_flag,
flapper_phi_init_flag};
//321654
#define recordParts aircraft_->recordParts
/*= Keywords (token1) ===========================================*/
- map <string,int> Keyword_map;
+ std::map <string,int> Keyword_map;
#define Keyword_map aircraft_->Keyword_map
double CD, CX, CL, CZ, Cm, CY, Cl, Cn;
/* Variables (token2) ===========================================*/
/* init ========== Initial values for equations of motion =======*/
- map <string,int> init_map;
+ std::map <string,int> init_map;
#define init_map aircraft_->init_map
int recordRate;
#define use_uiuc_network aircraft_->use_uiuc_network
#define server_IP aircraft_->server_IP
#define port_num aircraft_->port_num
- bool old_flap_routine;
-#define old_flap_routine aircraft_->old_flap_routine
bool icing_demo;
#define icing_demo aircraft_->icing_demo
bool outside_control;
/* Variables (token2) ===========================================*/
/* geometry ====== Aircraft-specific geometric quantities =======*/
- map <string,int> geometry_map;
+ std::map <string,int> geometry_map;
#define geometry_map aircraft_->geometry_map
double bw, cbar, Sw, ih, bh, chord_h, Sh;
/* Variables (token2) ===========================================*/
/* controlSurface Control surface deflections and properties ===*/
- map <string,int> controlSurface_map;
+ std::map <string,int> controlSurface_map;
#define controlSurface_map aircraft_->controlSurface_map
double demax, demin;
#define aileron aircraft_->aileron
#define elevator aircraft_->elevator
#define rudder aircraft_->rudder
- double flap;
-#define flap aircraft_->flap
+ // double flap;
+ //#define flap aircraft_->flap
bool set_Long_trim, zero_Long_trim;
double Long_trim_constant;
/* Variables (token2) ===========================================*/
/* controlsMixer = Control mixer ================================*/
- map <string,int> controlsMixer_map;
+ std::map <string,int> controlsMixer_map;
#define controlsMixer_map aircraft_->controlsMixer_map
double nomix;
/* Variables (token2) ===========================================*/
/* mass =========== Aircraft-specific mass properties ===========*/
- map <string,int> mass_map;
+ std::map <string,int> mass_map;
#define mass_map aircraft_->mass_map
double Weight;
/* Variables (token2) ===========================================*/
/* engine ======== Propulsion data ==============================*/
- map <string,int> engine_map;
+ std::map <string,int> engine_map;
#define engine_map aircraft_->engine_map
double simpleSingleMaxThrust;
/* Variables (token2) ===========================================*/
/* CD ============ Aerodynamic x-force quantities (longitudinal) */
- map <string,int> CD_map;
+ std::map <string,int> CD_map;
#define CD_map aircraft_->CD_map
double CDo, CDK, CLK, CD_a, CD_adot, CD_q, CD_ih, CD_de, CD_dr, CD_da, CD_beta;
/* Variables (token2) ===========================================*/
/* CL ============ Aerodynamic z-force quantities (longitudinal) */
- map <string,int> CL_map;
+ std::map <string,int> CL_map;
#define CL_map aircraft_->CL_map
double CLo, CL_a, CL_adot, CL_q, CL_ih, CL_de;
/* Variables (token2) ===========================================*/
/* Cm ============ Aerodynamic m-moment quantities (longitudinal) */
- map <string,int> Cm_map;
+ std::map <string,int> Cm_map;
#define Cm_map aircraft_->Cm_map
double Cmo, Cm_a, Cm_a2, Cm_adot, Cm_q;
/* Variables (token2) ===========================================*/
/* CY ============ Aerodynamic y-force quantities (lateral) =====*/
- map <string,int> CY_map;
+ std::map <string,int> CY_map;
#define CY_map aircraft_->CY_map
double CYo, CY_beta, CY_p, CY_r, CY_da, CY_dr, CY_dra, CY_bdot;
/* Variables (token2) ===========================================*/
/* Cl ============ Aerodynamic l-moment quantities (lateral) ====*/
- map <string,int> Cl_map;
+ std::map <string,int> Cl_map;
#define Cl_map aircraft_->Cl_map
double Clo, Cl_beta, Cl_p, Cl_r, Cl_da, Cl_dr, Cl_daa;
/* Variables (token2) ===========================================*/
/* Cn ============ Aerodynamic n-moment quantities (lateral) ====*/
- map <string,int> Cn_map;
+ std::map <string,int> Cn_map;
#define Cn_map aircraft_->Cn_map
double Cno, Cn_beta, Cn_p, Cn_r, Cn_da, Cn_dr, Cn_q, Cn_b3;
/* Variables (token2) ===========================================*/
/* gear ========== Landing gear model quantities ================*/
- map <string,int> gear_map;
+ std::map <string,int> gear_map;
#define gear_map aircraft_->gear_map
#define MAX_GEAR 16
/* Variables (token2) ===========================================*/
/* ice =========== Ice model quantities ======================== */
- map <string,int> ice_map;
+ std::map <string,int> ice_map;
#define ice_map aircraft_->ice_map
bool ice_model, ice_on, beta_model;
#define demo_ap_pah_on_daArray aircraft_->demo_ap_pah_on_daArray
#define demo_ap_pah_on_ntime aircraft_->demo_ap_pah_on_ntime
#define demo_ap_pah_on_startTime aircraft_->demo_ap_pah_on_startTime
- bool demo_ap_Theta_ref_deg;
- string demo_ap_Theta_ref_deg_file;
- double demo_ap_Theta_ref_deg_timeArray[10];
- double demo_ap_Theta_ref_deg_daArray[10];
- int demo_ap_Theta_ref_deg_ntime;
- double demo_ap_Theta_ref_deg_startTime;
-#define demo_ap_Theta_ref_deg aircraft_->demo_ap_Theta_ref_deg
-#define demo_ap_Theta_ref_deg_file aircraft_->demo_ap_Theta_ref_deg_file
-#define demo_ap_Theta_ref_deg_timeArray aircraft_->demo_ap_Theta_ref_deg_timeArray
-#define demo_ap_Theta_ref_deg_daArray aircraft_->demo_ap_Theta_ref_deg_daArray
-#define demo_ap_Theta_ref_deg_ntime aircraft_->demo_ap_Theta_ref_deg_ntime
-#define demo_ap_Theta_ref_deg_startTime aircraft_->demo_ap_Theta_ref_deg_startTime
+ bool demo_ap_alh_on;
+ string demo_ap_alh_on_file;
+ double demo_ap_alh_on_timeArray[10];
+ int demo_ap_alh_on_daArray[10];
+ int demo_ap_alh_on_ntime;
+ double demo_ap_alh_on_startTime;
+#define demo_ap_alh_on aircraft_->demo_ap_alh_on
+#define demo_ap_alh_on_file aircraft_->demo_ap_alh_on_file
+#define demo_ap_alh_on_timeArray aircraft_->demo_ap_alh_on_timeArray
+#define demo_ap_alh_on_daArray aircraft_->demo_ap_alh_on_daArray
+#define demo_ap_alh_on_ntime aircraft_->demo_ap_alh_on_ntime
+#define demo_ap_alh_on_startTime aircraft_->demo_ap_alh_on_startTime
+ bool demo_ap_rah_on;
+ string demo_ap_rah_on_file;
+ double demo_ap_rah_on_timeArray[10];
+ int demo_ap_rah_on_daArray[10];
+ int demo_ap_rah_on_ntime;
+ double demo_ap_rah_on_startTime;
+#define demo_ap_rah_on aircraft_->demo_ap_rah_on
+#define demo_ap_rah_on_file aircraft_->demo_ap_rah_on_file
+#define demo_ap_rah_on_timeArray aircraft_->demo_ap_rah_on_timeArray
+#define demo_ap_rah_on_daArray aircraft_->demo_ap_rah_on_daArray
+#define demo_ap_rah_on_ntime aircraft_->demo_ap_rah_on_ntime
+#define demo_ap_rah_on_startTime aircraft_->demo_ap_rah_on_startTime
+ bool demo_ap_hh_on;
+ string demo_ap_hh_on_file;
+ double demo_ap_hh_on_timeArray[10];
+ int demo_ap_hh_on_daArray[10];
+ int demo_ap_hh_on_ntime;
+ double demo_ap_hh_on_startTime;
+#define demo_ap_hh_on aircraft_->demo_ap_hh_on
+#define demo_ap_hh_on_file aircraft_->demo_ap_hh_on_file
+#define demo_ap_hh_on_timeArray aircraft_->demo_ap_hh_on_timeArray
+#define demo_ap_hh_on_daArray aircraft_->demo_ap_hh_on_daArray
+#define demo_ap_hh_on_ntime aircraft_->demo_ap_hh_on_ntime
+#define demo_ap_hh_on_startTime aircraft_->demo_ap_hh_on_startTime
+ bool demo_ap_Theta_ref;
+ string demo_ap_Theta_ref_file;
+ double demo_ap_Theta_ref_timeArray[10];
+ double demo_ap_Theta_ref_daArray[10];
+ int demo_ap_Theta_ref_ntime;
+ double demo_ap_Theta_ref_startTime;
+#define demo_ap_Theta_ref aircraft_->demo_ap_Theta_ref
+#define demo_ap_Theta_ref_file aircraft_->demo_ap_Theta_ref_file
+#define demo_ap_Theta_ref_timeArray aircraft_->demo_ap_Theta_ref_timeArray
+#define demo_ap_Theta_ref_daArray aircraft_->demo_ap_Theta_ref_daArray
+#define demo_ap_Theta_ref_ntime aircraft_->demo_ap_Theta_ref_ntime
+#define demo_ap_Theta_ref_startTime aircraft_->demo_ap_Theta_ref_startTime
+ bool demo_ap_alt_ref;
+ string demo_ap_alt_ref_file;
+ double demo_ap_alt_ref_timeArray[10];
+ double demo_ap_alt_ref_daArray[10];
+ int demo_ap_alt_ref_ntime;
+ double demo_ap_alt_ref_startTime;
+#define demo_ap_alt_ref aircraft_->demo_ap_alt_ref
+#define demo_ap_alt_ref_file aircraft_->demo_ap_alt_ref_file
+#define demo_ap_alt_ref_timeArray aircraft_->demo_ap_alt_ref_timeArray
+#define demo_ap_alt_ref_daArray aircraft_->demo_ap_alt_ref_daArray
+#define demo_ap_alt_ref_ntime aircraft_->demo_ap_alt_ref_ntime
+#define demo_ap_alt_ref_startTime aircraft_->demo_ap_alt_ref_startTime
+ bool demo_ap_Phi_ref;
+ string demo_ap_Phi_ref_file;
+ double demo_ap_Phi_ref_timeArray[10];
+ double demo_ap_Phi_ref_daArray[10];
+ int demo_ap_Phi_ref_ntime;
+ double demo_ap_Phi_ref_startTime;
+#define demo_ap_Phi_ref aircraft_->demo_ap_Phi_ref
+#define demo_ap_Phi_ref_file aircraft_->demo_ap_Phi_ref_file
+#define demo_ap_Phi_ref_timeArray aircraft_->demo_ap_Phi_ref_timeArray
+#define demo_ap_Phi_ref_daArray aircraft_->demo_ap_Phi_ref_daArray
+#define demo_ap_Phi_ref_ntime aircraft_->demo_ap_Phi_ref_ntime
+#define demo_ap_Phi_ref_startTime aircraft_->demo_ap_Phi_ref_startTime
+ bool demo_ap_Psi_ref;
+ string demo_ap_Psi_ref_file;
+ double demo_ap_Psi_ref_timeArray[10];
+ double demo_ap_Psi_ref_daArray[10];
+ int demo_ap_Psi_ref_ntime;
+ double demo_ap_Psi_ref_startTime;
+#define demo_ap_Psi_ref aircraft_->demo_ap_Psi_ref
+#define demo_ap_Psi_ref_file aircraft_->demo_ap_Psi_ref_file
+#define demo_ap_Psi_ref_timeArray aircraft_->demo_ap_Psi_ref_timeArray
+#define demo_ap_Psi_ref_daArray aircraft_->demo_ap_Psi_ref_daArray
+#define demo_ap_Psi_ref_ntime aircraft_->demo_ap_Psi_ref_ntime
+#define demo_ap_Psi_ref_startTime aircraft_->demo_ap_Psi_ref_startTime
bool demo_tactile;
string demo_tactile_file;
double demo_tactile_timeArray[1500];
/* Variables (token2) ===========================================*/
/* fog =========== Fog field quantities ======================== */
- map <string,int> fog_map;
+ std::map <string,int> fog_map;
#define fog_map aircraft_->fog_map
bool fog_field;
/* Variables (token2) ===========================================*/
/* record ======== Record desired quantites to file =============*/
- map <string,int> record_map;
+ std::map <string,int> record_map;
#define record_map aircraft_->record_map
/***** Angles ******/
/* Variables (token2) ===========================================*/
/* misc ========== Miscellaneous input commands =================*/
- map <string,int> misc_map;
+ std::map <string,int> misc_map;
#define misc_map aircraft_->misc_map
double simpleHingeMomentCoef;
#define simpleHingeMomentCoef aircraft_->simpleHingeMomentCoef
- string dfTimefdf;
- double dfTimefdf_dfArray[100];
- double dfTimefdf_TimeArray[100];
- int dfTimefdf_ndf;
-#define dfTimefdf aircraft_->dfTimefdf
-#define dfTimefdf_dfArray aircraft_->dfTimefdf_dfArray
-#define dfTimefdf_TimeArray aircraft_->dfTimefdf_TimeArray
-#define dfTimefdf_ndf aircraft_->dfTimefdf_ndf
+ //string dfTimefdf;
+ //double dfTimefdf_dfArray[100];
+ //double dfTimefdf_TimeArray[100];
+ //int dfTimefdf_ndf;
+ //#define dfTimefdf aircraft_->dfTimefdf
+ //#define dfTimefdf_dfArray aircraft_->dfTimefdf_dfArray
+ //#define dfTimefdf_TimeArray aircraft_->dfTimefdf_TimeArray
+ //#define dfTimefdf_ndf aircraft_->dfTimefdf_ndf
FlapData *flapper_data;
#define flapper_data aircraft_->flapper_data
#define dfArray aircraft_->dfArray
#define TimeArray aircraft_->TimeArray
- double flap_percent, flap_increment_per_timestep, flap_cmd, flap_pos, flap_pos_pct;
+ double flap_percent, flap_increment_per_timestep, flap_cmd, flap_pos, flap_pos_norm;
#define flap_percent aircraft_->flap_percent
#define flap_increment_per_timestep aircraft_->flap_increment_per_timestep
#define flap_cmd aircraft_->flap_cmd
- //#define flap_cmd_deg aircraft_->flap_cmd_deg
#define flap_pos aircraft_->flap_pos
- //#define flap_pos_deg aircraft_->flap_pos_deg
-#define flap_pos_pct aircraft_->flap_pos_pct
+#define flap_pos_norm aircraft_->flap_pos_norm
- double Spoiler_handle, spoiler_increment_per_timestep, spoiler_cmd_deg;
- double spoiler_pos_norm, spoiler_pos_deg, spoiler_pos;
+ double Spoiler_handle, spoiler_increment_per_timestep, spoiler_cmd;
+ double spoiler_pos_norm, spoiler_pos;
#define Spoiler_handle aircraft_->Spoiler_handle
#define spoiler_increment_per_timestep aircraft_->spoiler_increment_per_timestep
-#define spoiler_cmd_deg aircraft_->spoiler_cmd_deg
-#define spoiler_pos_deg aircraft_->spoiler_pos_deg
+#define spoiler_cmd aircraft_->spoiler_cmd
#define spoiler_pos_norm aircraft_->spoiler_pos_norm
#define spoiler_pos aircraft_->spoiler_pos
#define Cn_iced aircraft_->Cn_iced
#define Ch_iced aircraft_->Ch_iced
- ofstream fout;
+ std::ofstream fout;
#define fout aircraft_->fout
int ap_pah_on;
#define ap_pah_on aircraft_->ap_pah_on
- double ap_Theta_ref_deg, ap_Theta_ref_rad;
-#define ap_Theta_ref_deg aircraft_->ap_Theta_ref_deg
+ double ap_pah_start_time;
+#define ap_pah_start_time aircraft_->ap_pah_start_time
+ double ap_Theta_ref_rad;
#define ap_Theta_ref_rad aircraft_->ap_Theta_ref_rad
int ap_alh_on;
#define ap_alh_on aircraft_->ap_alh_on
- double ap_alt_ref_ft, ap_alt_ref_m;
+ double ap_alh_start_time;
+#define ap_alh_start_time aircraft_->ap_alh_start_time
+ double ap_alt_ref_ft;
#define ap_alt_ref_ft aircraft_->ap_alt_ref_ft
-#define ap_alt_ref_m aircraft_->ap_alt_ref_m
+
+ int ap_rah_on;
+#define ap_rah_on aircraft_->ap_rah_on
+ double ap_rah_start_time;
+#define ap_rah_start_time aircraft_->ap_rah_start_time
+ double ap_Phi_ref_rad;
+#define ap_Phi_ref_rad aircraft_->ap_Phi_ref_rad
+
+ int ap_hh_on;
+#define ap_hh_on aircraft_->ap_hh_on
+ double ap_hh_start_time;
+#define ap_hh_start_time aircraft_->ap_hh_start_time
+ double ap_Psi_ref_rad;
+#define ap_Psi_ref_rad aircraft_->ap_Psi_ref_rad
int pitch_trim_up, pitch_trim_down;
#define pitch_trim_up aircraft_->pitch_trim_up
#define trigger_num aircraft_->trigger_num
#define trigger_toggle aircraft_->trigger_toggle
#define trigger_counter aircraft_->trigger_counter
+
+ // temp debug values
+ double debug7, debug8, debug9, debug10;
+#define debug7 aircraft_->debug7
+#define debug8 aircraft_->debug8
+#define debug9 aircraft_->debug9
+#define debug10 aircraft_->debug10
};
extern AIRCRAFT *aircraft_; // usually defined in the first program that includes uiuc_aircraft.h
projects / flightgear.git / blobdiff