X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2FFGTranslation.cpp;h=8f19d519366194601df895d8a0d3834b838328e9;hb=eb05a298e9a9a830b23b6337d812dafa48d39bba;hp=2191efc2e0c09309b655e22126440b60a7f369de;hpb=f38dcfd995aded4709bf19efe2e9ce27854991ca;p=flightgear.git diff --git a/src/FDM/JSBSim/FGTranslation.cpp b/src/FDM/JSBSim/FGTranslation.cpp index 2191efc2e..8f19d5193 100644 --- a/src/FDM/JSBSim/FGTranslation.cpp +++ b/src/FDM/JSBSim/FGTranslation.cpp @@ -1,4 +1,4 @@ -/******************************************************************************* +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Module: FGTranslation.cpp Author: Jon Berndt @@ -32,12 +32,12 @@ This class integrates the translational EOM. HISTORY -------------------------------------------------------------------------------- 12/02/98 JSB Created - 7/23/99 TP Added data member and modified Run and PutState to calcuate - Mach number + 7/23/99 TP Added data member and modified Run and PutState to calcuate + Mach number -******************************************************************************** +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% COMMENTS, REFERENCES, and NOTES -******************************************************************************** +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% [1] Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420 Naval Postgraduate School, January 1994 @@ -53,9 +53,9 @@ COMMENTS, REFERENCES, and NOTES The order of rotations used in this class corresponds to a 3-2-1 sequence, or Y-P-R, or Z-Y-X, if you prefer. -******************************************************************************** +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% INCLUDES -*******************************************************************************/ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #include "FGTranslation.h" #include "FGRotation.h" @@ -63,89 +63,263 @@ INCLUDES #include "FGState.h" #include "FGFDMExec.h" #include "FGFCS.h" +#include "FGMassBalance.h" #include "FGAircraft.h" #include "FGPosition.h" #include "FGAuxiliary.h" #include "FGOutput.h" +#include "FGPropertyManager.h" -/******************************************************************************* -************************************ CODE ************************************** -*******************************************************************************/ +static const char *IdSrc = "$Id$"; +static const char *IdHdr = ID_TRANSLATION; + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +CLASS IMPLEMENTATION +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex) { Name = "FGTranslation"; - Udot = Vdot = Wdot = 0.0; + qbar = 0; + qbarUW = 0.0; + qbarUV = 0.0; + Vt = 0.0; + Mach = 0.0; + alpha = beta = 0.0; + adot = bdot = 0.0; + + vUVWdot.InitMatrix(); + vUVWdot_prev[0].InitMatrix(); + vUVWdot_prev[1].InitMatrix(); + vUVWdot_prev[2].InitMatrix(); + + bind(); + Debug(0); } +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FGTranslation::~FGTranslation(void) { + unbind(); + Debug(1); } +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGTranslation::Run(void) { if (!FGModel::Run()) { - GetState(); - - lastUdot = Udot; - lastVdot = Vdot; - lastWdot = Wdot; - - Udot = V*R - W*Q + Fx/Mass; - Vdot = W*P - U*R + Fy/Mass; - Wdot = U*Q - V*P + Fz/Mass; - - U += 0.5*dt*rate*(lastUdot + Udot); - V += 0.5*dt*rate*(lastVdot + Vdot); - W += 0.5*dt*rate*(lastWdot + Wdot); - - Vt = U*U+V*V+W*W > 0.0 ? sqrt(U*U + V*V + W*W) : 0.0; - - if (W != 0.0) - alpha = U*U > 0.0 ? atan2(W, U) : 0.0; - if (V != 0.0) - beta = U*U+W*W > 0.0 ? atan2(V, (fabs(U)/U)*sqrt(U*U + W*W)) : 0.0; - - qbar = 0.5*rho*Vt*Vt; - - mach = Vt / State->Geta(); - - PutState(); + mVel(1,1) = 0.0; + mVel(1,2) = -vUVW(eW); + mVel(1,3) = vUVW(eV); + mVel(2,1) = vUVW(eW); + mVel(2,2) = 0.0; + mVel(2,3) = -vUVW(eU); + mVel(3,1) = -vUVW(eV); + mVel(3,2) = vUVW(eU); + mVel(3,3) = 0.0; + + vUVWdot = mVel*Rotation->GetPQR() + Aircraft->GetBodyAccel(); + + vUVW += State->Integrate(FGState::TRAPZ, State->Getdt()*rate, vUVWdot, vUVWdot_prev); + + vAeroUVW = vUVW + State->GetTl2b()*Atmosphere->GetWindNED(); + + Vt = vAeroUVW.Magnitude(); + if ( Vt > 1) { + 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; + + // stolen, quite shamelessly, from LaRCsim + 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 ( (mUW == 0.0) || (Vt == 0.0) ) { + adot = 0.0; + bdot = 0.0; + } else { + adot = (vAeroUVW(eU)*vAeroUVW(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)); + } + } else { + alpha = beta = adot = bdot = 0; + } + + 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 / State->Geta(); + + if (debug_lvl > 1) Debug(1); + + return false; } else { + return true; } - return false; } +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -void FGTranslation::GetState(void) +void FGTranslation::bind(void) { - dt = State->Getdt(); - - P = Rotation->GetP(); - Q = Rotation->GetQ(); - R = Rotation->GetR(); - - Fx = Aircraft->GetFx(); - Fy = Aircraft->GetFy(); - Fz = Aircraft->GetFz(); + typedef double (FGTranslation::*PMF)(int) const; + PropertyManager->Tie("velocities/u-fps", this,1, + (PMF)&FGTranslation::GetUVW /*, + &FGTranslation::SetUVW, + true */); + PropertyManager->Tie("velocities/v-fps", this,2, + (PMF)&FGTranslation::GetUVW /*, + &FGTranslation::SetUVW, + true*/); + PropertyManager->Tie("velocities/w-fps", this,3, + (PMF)&FGTranslation::GetUVW /*, + &FGTranslation::SetUVW, + true*/); + PropertyManager->Tie("accelerations/udot-fps", this,1, + (PMF)&FGTranslation::GetUVWdot); + PropertyManager->Tie("accelerations/vdot-fps", this,2, + (PMF)&FGTranslation::GetUVWdot); + PropertyManager->Tie("accelerations/wdot-fps", this,3, + (PMF)&FGTranslation::GetUVWdot); + PropertyManager->Tie("velocities/u-aero-fps", this,1, + (PMF)&FGTranslation::GetAeroUVW); + PropertyManager->Tie("velocities/v-aero-fps", this,2, + (PMF)&FGTranslation::GetAeroUVW); + PropertyManager->Tie("velocities/w-aero-fps", this,3, + (PMF)&FGTranslation::GetAeroUVW); + PropertyManager->Tie("aero/alpha-rad", this, + &FGTranslation::Getalpha, + &FGTranslation::Setalpha, + true); + PropertyManager->Tie("aero/beta-rad", this, + &FGTranslation::Getbeta, + &FGTranslation::Setbeta, + true); + PropertyManager->Tie("aero/mag-beta-rad", this, + &FGTranslation::GetMagBeta); + PropertyManager->Tie("aero/qbar-psf", this, + &FGTranslation::Getqbar, + &FGTranslation::Setqbar, + true); + PropertyManager->Tie("aero/qbarUW-psf", this, + &FGTranslation::GetqbarUW, + &FGTranslation::SetqbarUW, + true); + PropertyManager->Tie("aero/qbarUV-psf", this, + &FGTranslation::GetqbarUV, + &FGTranslation::SetqbarUV, + true); + PropertyManager->Tie("velocities/vt-fps", this, + &FGTranslation::GetVt, + &FGTranslation::SetVt, + true); + PropertyManager->Tie("velocities/mach-norm", this, + &FGTranslation::GetMach, + &FGTranslation::SetMach, + true); + PropertyManager->Tie("aero/alphadot-rad_sec", this, + &FGTranslation::Getadot, + &FGTranslation::Setadot, + true); + PropertyManager->Tie("aero/betadot-rad_sec", this, + &FGTranslation::Getbdot, + &FGTranslation::Setbdot, + true); +} - Mass = Aircraft->GetMass(); - rho = Atmosphere->GetDensity(); +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - phi = Rotation->Getphi(); - tht = Rotation->Gettht(); - psi = Rotation->Getpsi(); +void FGTranslation::unbind(void) +{ + PropertyManager->Untie("velocities/u-fps"); + PropertyManager->Untie("velocities/v-fps"); + PropertyManager->Untie("velocities/w-fps"); + PropertyManager->Untie("accelerations/udot-fps"); + PropertyManager->Untie("accelerations/vdot-fps"); + PropertyManager->Untie("accelerations/wdot-fps"); + PropertyManager->Untie("velocities/u-aero-fps"); + PropertyManager->Untie("velocities/v-aero-fps"); + PropertyManager->Untie("velocities/w-aero-fps"); + PropertyManager->Untie("aero/alpha-rad"); + PropertyManager->Untie("aero/beta-rad"); + PropertyManager->Untie("aero/qbar-psf"); + PropertyManager->Untie("aero/qbarUW-psf"); + PropertyManager->Untie("aero/qbarUV-psf"); + PropertyManager->Untie("velocities/vt-fps"); + PropertyManager->Untie("velocities/mach-norm"); + PropertyManager->Untie("aero/alphadot-rad_sec"); + PropertyManager->Untie("aero/betadot-rad_sec"); + PropertyManager->Untie("aero/mag-beta-rad"); } - -void FGTranslation::PutState(void) +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +// 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 FGTranslation::Debug(int from) { - State->SetVt(Vt); - State->Setqbar(qbar); - State->SetMach(mach); + 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: FGTranslation" << endl; + if (from == 1) cout << "Destroyed: FGTranslation" << 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 (fabs(vUVW(eU)) > 1e6) + cout << "FGTranslation::U velocity out of bounds: " << vUVW(eU) << endl; + if (fabs(vUVW(eV)) > 1e6) + cout << "FGTranslation::V velocity out of bounds: " << vUVW(eV) << endl; + if (fabs(vUVW(eW)) > 1e6) + cout << "FGTranslation::W velocity out of bounds: " << vUVW(eW) << endl; + if (fabs(vUVWdot(eU)) > 1e4) + cout << "FGTranslation::U acceleration out of bounds: " << vUVWdot(eU) << endl; + if (fabs(vUVWdot(eV)) > 1e4) + cout << "FGTranslation::V acceleration out of bounds: " << vUVWdot(eV) << endl; + if (fabs(vUVWdot(eW)) > 1e4) + cout << "FGTranslation::W acceleration out of bounds: " << vUVWdot(eW) << endl; + if (Mach > 100 || Mach < 0.00) + cout << "FGTranslation::Mach is out of bounds: " << Mach << endl; + if (qbar > 1e6 || qbar < 0.00) + cout << "FGTranslation::qbar is out of bounds: " << qbar << endl; + } + if (debug_lvl & 64) { + if (from == 0) { // Constructor + cout << IdSrc << endl; + cout << IdHdr << endl; + } + } }