X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2FFGTranslation.cpp;h=8f19d519366194601df895d8a0d3834b838328e9;hb=eb05a298e9a9a830b23b6337d812dafa48d39bba;hp=6c5c37aa21e515186bdd5a3962ac339c0714e3d1;hpb=d19ef5cd9931d532eb1b8e2de3f7be0f6f22f8ae;p=flightgear.git diff --git a/src/FDM/JSBSim/FGTranslation.cpp b/src/FDM/JSBSim/FGTranslation.cpp index 6c5c37aa2..8f19d5193 100644 --- a/src/FDM/JSBSim/FGTranslation.cpp +++ b/src/FDM/JSBSim/FGTranslation.cpp @@ -68,6 +68,7 @@ INCLUDES #include "FGPosition.h" #include "FGAuxiliary.h" #include "FGOutput.h" +#include "FGPropertyManager.h" static const char *IdSrc = "$Id$"; static const char *IdHdr = ID_TRANSLATION; @@ -77,36 +78,38 @@ CLASS IMPLEMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex), - vUVW(3), - vUVWdot(3), - vlastUVWdot(3), - mVel(3,3), - vAero(3) +FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex) { Name = "FGTranslation"; qbar = 0; + qbarUW = 0.0; + qbarUV = 0.0; Vt = 0.0; Mach = 0.0; alpha = beta = 0.0; adot = bdot = 0.0; - if (debug_lvl & 2) cout << "Instantiated: " << Name << endl; + vUVWdot.InitMatrix(); + vUVWdot_prev[0].InitMatrix(); + vUVWdot_prev[1].InitMatrix(); + vUVWdot_prev[2].InitMatrix(); + + bind(); + Debug(0); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -FGTranslation::~FGTranslation() +FGTranslation::~FGTranslation(void) { - if (debug_lvl & 2) cout << "Destroyed: FGTranslation" << endl; + unbind(); + Debug(1); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGTranslation::Run(void) { - double Tc = 0.5*State->Getdt()*rate; - if (!FGModel::Run()) { mVel(1,1) = 0.0; @@ -121,41 +124,42 @@ bool FGTranslation::Run(void) vUVWdot = mVel*Rotation->GetPQR() + Aircraft->GetBodyAccel(); - vUVW += Tc * (vlastUVWdot + vUVWdot); - vAero = vUVW + State->GetTl2b()*Atmosphere->GetWindNED(); + vUVW += State->Integrate(FGState::TRAPZ, State->Getdt()*rate, vUVWdot, vUVWdot_prev); + + vAeroUVW = vUVW + State->GetTl2b()*Atmosphere->GetWindNED(); - Vt = vAero.Magnitude(); + Vt = vAeroUVW.Magnitude(); if ( Vt > 1) { - if (vAero(eW) != 0.0) - alpha = vAero(eU)*vAero(eU) > 0.0 ? atan2(vAero(eW), vAero(eU)) : 0.0; - if (vAero(eV) != 0.0) - beta = vAero(eU)*vAero(eU)+vAero(eW)*vAero(eW) > 0.0 ? atan2(vAero(eV), - sqrt(vAero(eU)*vAero(eU) + vAero(eW)*vAero(eW))) : 0.0; + 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; // stolen, quite shamelessly, from LaRCsim - double mUW = (vAero(eU)*vAero(eU) + vAero(eW)*vAero(eW)); + double mUW = (vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW)); double signU=1; - if (vAero(eU) != 0.0) - signU = vAero(eU)/fabs(vAero(eU)); + 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 = (vAero(eU)*vAero(eW) - vAero(eW)*vUVWdot(eU))/mUW; - bdot = (signU*mUW*vUVWdot(eV) - vAero(eV)*(vAero(eU)*vUVWdot(eU) - + vAero(eW)*vUVWdot(eW)))/(Vt*Vt*sqrt(mUW)); + 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(); - vlastUVWdot = vUVWdot; - - if (debug_lvl > 1) Debug(); + if (debug_lvl > 1) Debug(1); return false; } else { @@ -165,9 +169,135 @@ bool FGTranslation::Run(void) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -void FGTranslation::Debug(void) +void FGTranslation::bind(void) +{ + 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); +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +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"); +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +// 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) { - if (debug_lvl & 16) { // Sanity check variables + 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) @@ -185,5 +315,11 @@ void FGTranslation::Debug(void) 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; + } + } }