X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2FFGTranslation.cpp;h=8f19d519366194601df895d8a0d3834b838328e9;hb=eb05a298e9a9a830b23b6337d812dafa48d39bba;hp=90450dbef39526c36dc9f15ef83ccfdaa8b0cfe0;hpb=c4a1cc047e09b3e1004d6215e55b11f460c13bbe;p=flightgear.git diff --git a/src/FDM/JSBSim/FGTranslation.cpp b/src/FDM/JSBSim/FGTranslation.cpp index 90450dbef..8f19d5193 100644 --- a/src/FDM/JSBSim/FGTranslation.cpp +++ b/src/FDM/JSBSim/FGTranslation.cpp @@ -1,43 +1,43 @@ -/******************************************************************************* - +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + Module: FGTranslation.cpp Author: Jon Berndt Date started: 12/02/98 Purpose: Integrates the translational EOM Called by: FDMExec - + ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) ------------- - + This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. - + This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. - + 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. - + Further information about the GNU General Public License can also be found on the world wide web at http://www.gnu.org. - + FUNCTIONAL DESCRIPTION -------------------------------------------------------------------------------- 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 @@ -49,13 +49,13 @@ COMMENTS, REFERENCES, and NOTES Wiley & Sons, 1979 ISBN 0-471-03032-5 [5] Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons, 1982 ISBN 0-471-08936-2 - + 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" @@ -63,46 +63,54 @@ 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" + +static const char *IdSrc = "$Id$"; +static const char *IdHdr = ID_TRANSLATION; -/******************************************************************************* -************************************ CODE ************************************** -*******************************************************************************/ +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +CLASS IMPLEMENTATION +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex), - vUVW(3), - vWindUVW(3), - vUVWdot(3), - vNcg(3), - vPQR(3), - vForces(3), - vEuler(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; - rho = 0.002378; -} + adot = bdot = 0.0; -/******************************************************************************/ + vUVWdot.InitMatrix(); + vUVWdot_prev[0].InitMatrix(); + vUVWdot_prev[1].InitMatrix(); + vUVWdot_prev[2].InitMatrix(); -FGTranslation::~FGTranslation(void) {} + bind(); + Debug(0); +} -/******************************************************************************/ +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -bool FGTranslation::Run(void) { - static FGColumnVector vlastUVWdot(3); - static FGMatrix mVel(3,3); +FGTranslation::~FGTranslation(void) +{ + unbind(); + Debug(1); +} - if (!FGModel::Run()) { +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - GetState(); +bool FGTranslation::Run(void) +{ + if (!FGModel::Run()) { mVel(1,1) = 0.0; mVel(1,2) = -vUVW(eW); @@ -114,47 +122,204 @@ bool FGTranslation::Run(void) { mVel(3,2) = vUVW(eU); mVel(3,3) = 0.0; - vUVWdot = mVel*vPQR + vForces/Mass; + vUVWdot = mVel*Rotation->GetPQR() + Aircraft->GetBodyAccel(); - vNcg=vUVWdot*INVGRAVITY; + vUVW += State->Integrate(FGState::TRAPZ, State->Getdt()*rate, vUVWdot, vUVWdot_prev); - vUVW += 0.5*dt*rate*(vlastUVWdot + vUVWdot) + vWindUVW; + vAeroUVW = vUVW + State->GetTl2b()*Atmosphere->GetWindNED(); - Vt = vUVW.Magnitude(); + 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; - if (vUVW(eW) != 0.0) - alpha = vUVW(eU)*vUVW(eU) > 0.0 ? atan2(vUVW(eW), vUVW(eU)) : 0.0; - if (vUVW(eV) != 0.0) - beta = vUVW(eU)*vUVW(eU)+vUVW(eW)*vUVW(eW) > 0.0 ? atan2(vUVW(eV), - (fabs(vUVW(eU))/vUVW(eU))*sqrt(vUVW(eU)*vUVW(eU) + vUVW(eW)*vUVW(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)); - qbar = 0.5*rho*Vt*Vt; + 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); - vlastUVWdot = vUVWdot; - - } else {} - - return false; + return false; + } else { + return true; + } } -/******************************************************************************/ +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -void FGTranslation::GetState(void) { - dt = State->Getdt(); +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); +} - vPQR = Rotation->GetPQR(); - vForces = Aircraft->GetForces(); +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - Mass = Aircraft->GetMass(); - rho = Atmosphere->GetDensity(); +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 - vEuler = Rotation->GetEuler(); +void FGTranslation::Debug(int from) +{ + if (debug_lvl <= 0) return; - vWindUVW = Atmosphere->GetWindUVW(); + 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; + } + } }