X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;ds=sidebyside;f=src%2FFDM%2FJSBSim%2FJSBSim.cxx;h=a73844073a5a5ba0a2bdd8ee6526137bf729e2e0;hb=4da0760edd971fe6462c6fbab889618ef60a68ed;hp=3b5199599ecd69d8c2da03b51362aa897b867157;hpb=ec454158fee605314172422bf0934263b5e1fe42;p=flightgear.git diff --git a/src/FDM/JSBSim/JSBSim.cxx b/src/FDM/JSBSim/JSBSim.cxx index 3b5199599..a73844073 100644 --- a/src/FDM/JSBSim/JSBSim.cxx +++ b/src/FDM/JSBSim/JSBSim.cxx @@ -60,6 +60,8 @@ #include #include #include +#include +#include #include #include #include @@ -110,6 +112,26 @@ public: cont = FGColumnVector3( contact[0], contact[1], contact[2] ); return agl; } + + virtual double GetTerrainGeoCentRadius(double t, const FGLocation& l) const { + double loc_cart[3] = { l(eX), l(eY), l(eZ) }; + double contact[3], normal[3], vel[3], angularVel[3], agl = 0; + mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal, + vel, angularVel, &agl); + return sqrt(contact[0]*contact[0]+contact[1]*contact[1]+contact[2]*contact[2]); + } + + virtual double GetSeaLevelRadius(const FGLocation& l) const { + double seaLevelRadius, latGeoc; + + sgGeodToGeoc(l.GetGeodLatitudeRad(), l.GetGeodAltitude(), + &seaLevelRadius, &latGeoc); + + return seaLevelRadius * SG_METER_TO_FEET; + } + + virtual void SetTerrainGeoCentRadius(double radius) {} + virtual void SetSeaLevelRadius(double radius) {} private: FGJSBsim* mInterface; }; @@ -138,12 +160,11 @@ FGJSBsim::FGJSBsim( double dt ) { bool result; if( TURBULENCE_TYPE_NAMES.empty() ) { - TURBULENCE_TYPE_NAMES["ttNone"] = FGAtmosphere::ttNone; - TURBULENCE_TYPE_NAMES["ttStandard"] = FGAtmosphere::ttStandard; -// TURBULENCE_TYPE_NAMES["ttBerndt"] = FGAtmosphere::ttBerndt; - TURBULENCE_TYPE_NAMES["ttCulp"] = FGAtmosphere::ttCulp; - TURBULENCE_TYPE_NAMES["ttMilspec"] = FGAtmosphere::ttMilspec; - TURBULENCE_TYPE_NAMES["ttTustin"] = FGAtmosphere::ttTustin; + TURBULENCE_TYPE_NAMES["ttNone"] = FGWinds::ttNone; + TURBULENCE_TYPE_NAMES["ttStandard"] = FGWinds::ttStandard; + TURBULENCE_TYPE_NAMES["ttCulp"] = FGWinds::ttCulp; + TURBULENCE_TYPE_NAMES["ttMilspec"] = FGWinds::ttMilspec; + TURBULENCE_TYPE_NAMES["ttTustin"] = FGWinds::ttTustin; } // Set up the debugging level @@ -177,6 +198,7 @@ FGJSBsim::FGJSBsim( double dt ) fdmex->SetGroundCallback( new FGFSGroundCallback(this) ); Atmosphere = fdmex->GetAtmosphere(); + Winds = fdmex->GetWinds(); FCS = fdmex->GetFCS(); MassBalance = fdmex->GetMassBalance(); Propulsion = fdmex->GetPropulsion(); @@ -186,6 +208,7 @@ FGJSBsim::FGJSBsim( double dt ) Inertial = fdmex->GetInertial(); Aerodynamics = fdmex->GetAerodynamics(); GroundReactions = fdmex->GetGroundReactions(); + Accelerations = fdmex->GetAccelerations(); fgic=fdmex->GetIC(); needTrim=true; @@ -307,7 +330,7 @@ FGJSBsim::FGJSBsim( double dt ) temperature = fgGetNode("/environment/temperature-degc",true); pressure = fgGetNode("/environment/pressure-inhg",true); - density = fgGetNode("/environment/density-slugft3",true); + pressureSL = fgGetNode("/environment/pressure-sea-level-inhg",true); ground_wind = fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt",true); turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true); turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true); @@ -354,47 +377,27 @@ void FGJSBsim::init() // init method first. if (fgGetBool("/environment/params/control-fdm-atmosphere")) { - Atmosphere->UseExternal(); - Atmosphere->SetExTemperature( - 9.0/5.0*(temperature->getDoubleValue()+273.15) ); - Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566); - Atmosphere->SetExDensity(density->getDoubleValue()); + Atmosphere->SetTemperature(temperature->getDoubleValue(), get_Altitude(), FGAtmosphere::eCelsius); + Atmosphere->SetPressureSL(pressureSL->getDoubleValue(), FGAtmosphere::eInchesHg); // initialize to no turbulence, these values get set in the update loop - Atmosphere->SetTurbType(FGAtmosphere::ttNone); - Atmosphere->SetTurbGain(0.0); - Atmosphere->SetTurbRate(0.0); - Atmosphere->SetWindspeed20ft(0.0); - Atmosphere->SetProbabilityOfExceedence(0.0); - } else { - Atmosphere->UseInternal(); + Winds->SetTurbType(FGWinds::ttNone); + Winds->SetTurbGain(0.0); + Winds->SetTurbRate(0.0); + Winds->SetWindspeed20ft(0.0); + Winds->SetProbabilityOfExceedence(0.0); } fgic->SetWindNEDFpsIC( -wind_from_north->getDoubleValue(), -wind_from_east->getDoubleValue(), -wind_from_down->getDoubleValue() ); - //Atmosphere->SetExTemperature(get_Static_temperature()); - //Atmosphere->SetExPressure(get_Static_pressure()); - //Atmosphere->SetExDensity(get_Density()); - SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature() - << ", " << fdmex->GetAtmosphere()->GetPressure() - << ", " << fdmex->GetAtmosphere()->GetDensity() ); - -// deprecate egt_degf for egt-degf to have consistent naming -// TODO: remove this by end of 2011 - for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) { - SGPropertyNode * node = fgGetNode("engines/engine", i, true); - SGPropertyNode * egtn = node->getNode( "egt_degf" ); - if( egtn != NULL ) { - SG_LOG(SG_FLIGHT,SG_ALERT, - "Aircraft uses deprecated node egt_degf. Please upgrade to egt-degf"); - node->getNode("egt-degf", true)->alias( egtn ); - } - } -// end of egt_degf deprecation patch + SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << Atmosphere->GetTemperature() + << ", " << Atmosphere->GetPressure() + << ", " << Atmosphere->GetDensity() ); FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() ); + needTrim = startup_trim->getBoolValue(); common_init(); copy_to_JSBsim(); @@ -408,16 +411,16 @@ void FGJSBsim::init() } } - if ( startup_trim->getBoolValue() ) { + if ( needTrim ) { FGLocation cart(fgic->GetLongitudeRadIC(), fgic->GetLatitudeRadIC(), - fgic->GetSeaLevelRadiusFtIC() + fgic->GetAltitudeASLFtIC()); + get_Sea_level_radius() + fgic->GetAltitudeASLFtIC()); double cart_pos[3], contact[3], d[3], vel[3], agl; update_ground_cache(cart, cart_pos, 0.01); get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact, d, vel, d, &agl); double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1] - + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC(); + + contact[2]*contact[2]) - get_Sea_level_radius(); SG_LOG(SG_FLIGHT, SG_INFO, "Ready to trim, terrain elevation is: " << terrain_alt * SG_METER_TO_FEET ); @@ -662,33 +665,27 @@ bool FGJSBsim::copy_to_JSBsim() } // end FGEngine code block } + Atmosphere->SetTemperature(temperature->getDoubleValue(), get_Altitude(), FGAtmosphere::eCelsius); + Atmosphere->SetPressureSL(pressureSL->getDoubleValue(), FGAtmosphere::eInchesHg); - Propagate->SetSeaLevelRadius( get_Sea_level_radius() ); - - Atmosphere->SetExTemperature( - 9.0/5.0*(temperature->getDoubleValue()+273.15) ); - Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566); - Atmosphere->SetExDensity(density->getDoubleValue()); - - Atmosphere->SetTurbType((FGAtmosphere::tType)TURBULENCE_TYPE_NAMES[turbulence_model->getStringValue()]); - switch( Atmosphere->GetTurbType() ) { -// case FGAtmosphere::ttBerndt: - case FGAtmosphere::ttStandard: - case FGAtmosphere::ttCulp: { + Winds->SetTurbType((FGWinds::tType)TURBULENCE_TYPE_NAMES[turbulence_model->getStringValue()]); + switch( Winds->GetTurbType() ) { + case FGWinds::ttStandard: + case FGWinds::ttCulp: { double tmp = turbulence_gain->getDoubleValue(); - Atmosphere->SetTurbGain(tmp * tmp * 100.0); - Atmosphere->SetTurbRate(turbulence_rate->getDoubleValue()); + Winds->SetTurbGain(tmp * tmp * 100.0); + Winds->SetTurbRate(turbulence_rate->getDoubleValue()); break; } - case FGAtmosphere::ttMilspec: - case FGAtmosphere::ttTustin: { + case FGWinds::ttMilspec: + case FGWinds::ttTustin: { // milspec turbulence: 3=light, 4=moderate, 6=severe turbulence // turbulence_gain normalized: 0: none, 1/3: light, 2/3: moderate, 3/3: severe double tmp = turbulence_gain->getDoubleValue(); - Atmosphere->SetProbabilityOfExceedence( + Winds->SetProbabilityOfExceedence( SGMiscd::roundToInt(TurbulenceSeverityTable.GetValue( tmp ) ) ); - Atmosphere->SetWindspeed20ft(ground_wind->getDoubleValue()); + Winds->SetWindspeed20ft(ground_wind->getDoubleValue()); break; } @@ -696,9 +693,9 @@ bool FGJSBsim::copy_to_JSBsim() break; } - Atmosphere->SetWindNED( -wind_from_north->getDoubleValue(), - -wind_from_east->getDoubleValue(), - -wind_from_down->getDoubleValue() ); + Winds->SetWindNED( -wind_from_north->getDoubleValue(), + -wind_from_east->getDoubleValue(), + -wind_from_down->getDoubleValue() ); // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: " // << get_V_north_airmass() << ", " // << get_V_east_airmass() << ", " @@ -740,19 +737,19 @@ bool FGJSBsim::copy_from_JSBsim() MassBalance->GetXYZcg(2), MassBalance->GetXYZcg(3) ); - _set_Accels_Body( Aircraft->GetBodyAccel(1), - Aircraft->GetBodyAccel(2), - Aircraft->GetBodyAccel(3) ); + _set_Accels_Body( Accelerations->GetBodyAccel(1), + Accelerations->GetBodyAccel(2), + Accelerations->GetBodyAccel(3) ); - _set_Accels_CG_Body_N ( Aircraft->GetNcg(1), - Aircraft->GetNcg(2), - Aircraft->GetNcg(3) ); + _set_Accels_CG_Body_N ( Auxiliary->GetNcg(1), + Auxiliary->GetNcg(2), + Auxiliary->GetNcg(3) ); _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1), Auxiliary->GetPilotAccel(2), Auxiliary->GetPilotAccel(3) ); - _set_Nlf( Aircraft->GetNlf() ); + _set_Nlf( Auxiliary->GetNlf() ); // Velocities @@ -789,8 +786,8 @@ bool FGJSBsim::copy_from_JSBsim() // Positions of Visual Reference Point FGLocation l = Auxiliary->GetLocationVRP(); - _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(), - l.GetRadius() - get_Sea_level_radius() ); + _updatePosition(SGGeoc::fromRadFt( l.GetLongitude(), l.GetLatitude(), + l.GetRadius() )); _set_Altitude_AGL( Propagate->GetDistanceAGL() ); { @@ -813,7 +810,7 @@ bool FGJSBsim::copy_from_JSBsim() _set_Gamma_vert_rad( Auxiliary->GetGamma() ); - _set_Earth_position_angle( Inertial->GetEarthPositionAngle() ); + _set_Earth_position_angle( Propagate->GetEarthPositionAngle() ); _set_Climb_Rate( Propagate->Gethdot() ); @@ -1010,29 +1007,28 @@ bool FGJSBsim::ToggleDataLogging(bool state) void FGJSBsim::set_Latitude(double lat) { static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft"); - double alt; + double alt = altitude->getDoubleValue(); double sea_level_radius_meters, lat_geoc; - if ( altitude->getDoubleValue() > -9990 ) - alt = altitude->getDoubleValue(); - else - alt = 0.0; + if ( alt < -9990 ) alt = 0.0; SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat ); SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt ); sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sea_level_radius_meters, &lat_geoc ); - _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET ); + + double sea_level_radius_ft = sea_level_radius_meters * SG_METER_TO_FEET; + _set_Sea_level_radius( sea_level_radius_ft ); if (needTrim) { - fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET ); + fgic->SetSeaLevelRadiusFtIC( sea_level_radius_ft ); fgic->SetLatitudeRadIC( lat_geoc ); } - else { + else Propagate->SetLatitude(lat_geoc); - FGInterface::set_Latitude(lat); - } + + FGInterface::set_Latitude(lat); } @@ -1042,10 +1038,10 @@ void FGJSBsim::set_Longitude(double lon) if (needTrim) fgic->SetLongitudeRadIC(lon); - else { + else Propagate->SetLongitude(lon); - FGInterface::set_Longitude(lon); - } + + FGInterface::set_Longitude(lon); } // Sets the altitude above sea level. @@ -1055,10 +1051,10 @@ void FGJSBsim::set_Altitude(double alt) if (needTrim) fgic->SetAltitudeASLFtIC(alt); - else { + else Propagate->SetAltitudeASL(alt); - FGInterface::set_Altitude(alt); - } + + FGInterface::set_Altitude(alt); } void FGJSBsim::set_V_calibrated_kts(double vc) @@ -1068,7 +1064,10 @@ void FGJSBsim::set_V_calibrated_kts(double vc) if (needTrim) fgic->SetVcalibratedKtsIC(vc); else { - double mach = getMachFromVcas(vc); + double p=pressure->getDoubleValue(); + double psl=fdmex->GetAtmosphere()->GetPressureSL(); + double rhosl=fdmex->GetAtmosphere()->GetDensitySL(); + double mach = FGJSBBase::MachFromVcalibrated(vc, p, psl, rhosl); double temp = 1.8*(temperature->getDoubleValue()+273.15); double soundSpeed = sqrt(1.4*1716.0*temp); FGColumnVector3 vUVW = Propagate->GetUVW(); @@ -1077,9 +1076,9 @@ void FGJSBsim::set_V_calibrated_kts(double vc) Propagate->SetUVW(1, vUVW(1)); Propagate->SetUVW(2, vUVW(2)); Propagate->SetUVW(3, vUVW(3)); - - FGInterface::set_V_calibrated_kts(vc); } + + FGInterface::set_V_calibrated_kts(vc); } void FGJSBsim::set_Mach_number(double mach) @@ -1097,9 +1096,9 @@ void FGJSBsim::set_Mach_number(double mach) Propagate->SetUVW(1, vUVW(1)); Propagate->SetUVW(2, vUVW(2)); Propagate->SetUVW(3, vUVW(3)); - - FGInterface::set_Mach_number(mach); } + + FGInterface::set_Mach_number(mach); } void FGJSBsim::set_Velocities_Local( double north, double east, double down ) @@ -1118,9 +1117,9 @@ void FGJSBsim::set_Velocities_Local( double north, double east, double down ) Propagate->SetUVW(1, vUVW(1)); Propagate->SetUVW(2, vUVW(2)); Propagate->SetUVW(3, vUVW(3)); - - FGInterface::set_Velocities_Local(north, east, down); } + + FGInterface::set_Velocities_Local(north, east, down); } void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w) @@ -1137,9 +1136,9 @@ void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w) Propagate->SetUVW(1, u); Propagate->SetUVW(2, v); Propagate->SetUVW(3, w); - - FGInterface::set_Velocities_Wind_Body(u, v, w); } + + FGInterface::set_Velocities_Wind_Body(u, v, w); } //Euler angles @@ -1159,9 +1158,9 @@ void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) FGMatrix33 Ti2b = Tl2b*Propagate->GetTi2l(); FGQuaternion Qi = Ti2b.GetQuaternion(); Propagate->SetInertialOrientation(Qi); - - FGInterface::set_Euler_Angles(phi, theta, psi); } + + FGInterface::set_Euler_Angles(phi, theta, psi); } //Flight Path @@ -1182,9 +1181,9 @@ void FGJSBsim::set_Climb_Rate( double roc) Propagate->SetUVW(1, vUVW(1)); Propagate->SetUVW(2, vUVW(2)); Propagate->SetUVW(3, vUVW(3)); - - FGInterface::set_Climb_Rate(roc); } + + FGInterface::set_Climb_Rate(roc); } } @@ -1203,45 +1202,9 @@ void FGJSBsim::set_Gamma_vert_rad( double gamma) Propagate->SetUVW(1, vUVW(1)); Propagate->SetUVW(2, vUVW(2)); Propagate->SetUVW(3, vUVW(3)); - - FGInterface::set_Gamma_vert_rad(gamma); - } - } -} -// Reverse the VCAS formula to obtain the corresponding Mach number. For subsonic -// speeds, the reversed formula has a closed form. For supersonic speeds, the -// formula is reversed by the Newton-Raphson algorithm. - -double FGJSBsim::getMachFromVcas(double vcas) -{ - double p=pressure->getDoubleValue(); - double psl=fdmex->GetAtmosphere()->GetPressureSL(); - double rhosl=fdmex->GetAtmosphere()->GetDensitySL(); - - double pt = p + psl*(pow(1+vcas*vcas*rhosl/(7.0*psl),3.5)-1); - - if (pt/p < 1.89293) - return sqrt(5.0*(pow(pt/p, 0.2857143) -1)); // Mach < 1 - else { - // Mach >= 1 - double mach = sqrt(0.77666*pt/p); // Initial guess is based on a quadratic approximation of the Rayleigh formula - double delta = 1.; - double target = pt/(166.92158*p); - int iter = 0; - - // Find the root with Newton-Raphson. Since the differential is never zero, - // the function is monotonic and has only one root with a multiplicity of one. - // Convergence is certain. - while (delta > 1E-5 && iter < 10) { - double m2 = mach*mach; // Mach^2 - double m6 = m2*m2*m2; // Mach^6 - delta = mach*m6/pow(7.0*m2-1.0,2.5) - target; - double diff = 7.0*m6*(2.0*m2-1)/pow(7.0*m2-1.0,3.5); // Never zero when Mach >= 1 - mach -= delta/diff; - iter++; } - return mach; + FGInterface::set_Gamma_vert_rad(gamma); } } @@ -1350,7 +1313,7 @@ bool FGJSBsim::update_ground_cache(FGLocation cart, double* cart_pos, double dt) << fgic->GetAltitudeASLFtIC()); SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = " - << fgic->GetSeaLevelRadiusFtIC()); + << get_Sea_level_radius()); SG_LOG(SG_FLIGHT, SG_WARN, "latitude = " << fgic->GetLatitudeRadIC());