X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FLaRCsim%2Fc172_main.c;h=1305f2eeaa15e3ac3ba4d23eb3b9722390ebfa54;hb=9c4953490780e9fa3436201213d43e416498bf28;hp=d528658476ca04d64d54e818b5b2340dca533b52;hpb=14a8533f636b7d4ad5d95cff30e4d46b42eb57ca;p=flightgear.git diff --git a/src/FDM/LaRCsim/c172_main.c b/src/FDM/LaRCsim/c172_main.c index d52865847..1305f2eea 100644 --- a/src/FDM/LaRCsim/c172_main.c +++ b/src/FDM/LaRCsim/c172_main.c @@ -28,6 +28,181 @@ #include #include #include +#include +/* #include */ +#include +#include + +#include +#include +#include +#include + +void do_trims(int kmax,FILE *out,InitialConditions IC) +{ + int bad_trim=0,i,j; + double speed,elevator,cmcl,maxspeed; + out=fopen("trims.out","w"); + speed=55; + + for(j=0;j<=0;j+=10) + { + IC.flap_handle=j; + for(i=4;i<=4;i++) + { + switch(i) + { + case 1: IC.weight=1500;IC.cg=0.155;break; + case 2: IC.weight=1500;IC.cg=0.364;break; + case 3: IC.weight=1950;IC.cg=0.155;break; + case 4: IC.weight=2400;IC.cg=0.257;break; + case 5: IC.weight=2550;IC.cg=0.364;break; + } + + speed=40; + if(j > 0) { maxspeed = 90; } + else { maxspeed = 170; } + while(speed <= maxspeed) + { + IC.vc=speed; + Long_control=0;Theta=0;Throttle_pct=0.0; + + bad_trim=trim_long(kmax,IC); + if(Long_control <= 0) + elevator=Long_control*28; + else + elevator=Long_control*23; + if(fabs(CL) > 1E-3) + { + cmcl=cm / CL; + } + if(!bad_trim) + { + fprintf(out,"%g,%g,%g,%g,%g",V_calibrated_kts,Alpha*RAD_TO_DEG,Long_control,Throttle_pct,Flap_Position); + fprintf(out,",%g,%g,%g,%g,%g\n",CL,cm,cmcl,Weight,Cg); + /* printf("%g,%g,%g,%g,%g,%g,%g,%g,%g,%g\n",V_calibrated_kts,Alpha*RAD_TO_DEG,elevator,CL,cm,Cmo,Cma,Cmde,Mass*32.174,Dx_cg); + */ } + else + { + printf("kmax exceeded at: %g knots, %g lbs, %g %%MAC, Flaps: %g\n",V_true_kts,Weight,Cg,Flap_Position); + printf("wdot: %g, udot: %g, qdot: %g\n",W_dot_body,U_dot_body,Q_dot_body); + printf("Alpha: %g, Throttle_pct: %g, Long_control: %g\n\n",Alpha*RAD_TO_DEG,Throttle_pct,Long_control); + } + speed+=10; + } + } + } + fclose(out); +} + +find_max_alt(int kmax,InitialConditions IC) +{ + int bad_trim=0,i=0; + float min=0,max=30000; + IC.use_gamma_tmg=1; + IC.gamma=0; + IC.vc=73; + IC.altitude==1000; + while(!bad_trim) + { + bad_trim=trim_long(200,IC); + IC.altitude+=1000; + } + while((fabs(max-min) > 100) && (i < 50)) + { + + IC.altitude=(max-min)/2 + min; + printf("\nIC.altitude: %g, max: %g, min: %g, bad_trim: %d\n",IC.altitude,max,min,bad_trim); + printf("Alpha: %g, Throttle_pct: %g, Long_control: %g\n\n",Alpha*RAD_TO_DEG,Throttle_pct,Long_control); + + bad_trim=trim_long(200,IC); + + if(bad_trim == 1 ) + max=IC.altitude; + else + min=IC.altitude; + i++; + } +} + + +void find_trim_stall(int kmax,FILE *out,InitialConditions IC) +{ + int k=0,i,j; + int failf; + char axis[10]; + double speed,elevator,cmcl,speed_inc,lastgood; + out=fopen("trim_stall.summary","w"); + speed=90; + speed_inc=10; + //failf=malloc(sizeof(int)); + + for(j=0;j<=30;j+=10) + { + IC.flap_handle=j; + for(i=1;i<=6;i++) + { + switch(i) + { + case 1: IC.weight=1500;IC.cg=0.155;break; + case 2: IC.weight=1500;IC.cg=0.364;break; + case 3: IC.weight=2400;IC.cg=0.155;break; + case 4: IC.weight=2400;IC.cg=0.364;break; + case 5: IC.weight=2550;IC.cg=0.257;break; + case 6: IC.weight=2550;IC.cg=0.364;break; + } + + speed=90; + speed_inc=10; + while(speed_inc >= 0.5) + { + IC.vc=speed; + Long_control=0;Theta=0;Throttle_pct=0.0; + failf=trim_longfr(kmax,IC); + if(Long_control <= 0) + elevator=Long_control*28; + else + elevator=Long_control*23; + if(fabs(CL) > 1E-3) + { + cmcl=cm / CL; + } + if(failf == 0) + { + lastgood=speed; + axis[0]='\0'; + //fprintf(out,"%g,%g,%g,%g,%g,%d",V_calibrated_kts,Alpha*RAD_TO_DEG,Long_control,Throttle_pct,Flap_Position,k); + //fprintf(out,",%g,%g,%g,%g,%g\n",CL,cm,cmcl,Weight,Cg); + /* printf("%g,%g,%g,%g,%g,%g,%g,%g,%g,%g\n",V_calibrated_kts,Alpha*RAD_TO_DEG,elevator,CL,cm,Cmo,Cma,Cmde,Mass*32.174,Dx_cg); + */ } + else + { + printf("trim failed at: %g knots, %g lbs, %g %%MAC, Flaps: %g\n",V_calibrated_kts,Weight,Cg,Flap_Position); + printf("wdot: %g, udot: %g, qdot: %g\n",W_dot_body,U_dot_body,Q_dot_body); + printf("Alpha: %g, Throttle_pct: %g, Long_control: %g\n\n",Alpha*RAD_TO_DEG,Throttle_pct,Long_control); + printf("Speed increment: %g\n",speed_inc); + speed+=speed_inc; + speed_inc/=2; + } + speed-=speed_inc; + + + } + printf("failf %d\n",failf); + if(failf == 1) + strcpy(axis,"lift"); + else if(failf == 2) + strcpy(axis,"thrust"); + else if(failf == 3) + strcpy(axis,"pitch"); + fprintf(out,"Last good speed: %g, Flaps: %g, Weight: %g, CG: %g, failed axis: %s\n",lastgood,Flap_handle,Weight,Cg,axis); + + + } + } + fclose(out); + //free(failf); +} // Initialize the LaRCsim flight model, dt is the time increment for @@ -38,376 +213,380 @@ int fgLaRCsimInit(double dt) { return(1); } +int wave_stats(float *var,float *var_rate,int N,FILE *out) +{ + int Nc,i,Nmaxima; + float varmax,slope,intercept,time,ld,zeta,omegad,omegan; + float varmaxima[100],vm_times[100]; + /*adjust N so that any constant slope region at the end is cut off */ + i=N; + while((fabs(var_rate[N]-var_rate[i]) < 0.1) && (i >= 0)) + { + i--; + } + Nc=N-i; + slope=(var[N]-var[Nc])/(N*0.01 - Nc*0.01); + intercept=var[N]-slope*N*0.01; + printf("\tRotating constant decay out of data using:\n"); + printf("\tslope: %g, intercept: %g\n",slope,intercept); + printf("\tUsing first %d points for dynamic response analysis\n",Nc); + varmax=0; + Nmaxima=0;i=0; + while((i <= Nc) && (i <= 801)) + { + + fprintf(out,"%g\t%g",i*0.01,var[i]); + var[i]-=slope*i*0.01+intercept; + /* printf("%g\n",var[i]); */ + fprintf(out,"\t%g\n",var[i]); + if(var[i] > varmax) + { + varmax=var[i]; + time=i*0.01; + + } + if((var[i-1]*var[i] < 0) && (var[i] > 0)) + { + varmaxima[Nmaxima]=varmax; + vm_times[Nmaxima]=time; + printf("\t%6.2f: %8.4f\n",vm_times[Nmaxima],varmaxima[Nmaxima]); + varmax=0;Nmaxima++; + + } + + i++; + } + varmaxima[Nmaxima]=varmax; + vm_times[Nmaxima]=time; + Nmaxima++; + if(Nmaxima > 2) + { + ld=log(varmaxima[1]/varmaxima[2]); //logarithmic decrement + zeta=ld/sqrt(4*LS_PI*LS_PI +ld*ld); //damping ratio + omegad=1/(vm_times[2]-vm_times[1]); //damped natural frequency Hz + if(zeta < 1) + { + omegan=omegad/sqrt(1-zeta*zeta); //natural frequency Hz + } + printf("\tDamping Ratio: %g\n",zeta); + printf("\tDamped Freqency: %g Hz\n\tNatural Freqency: %g Hz\n",omegad,omegan); + } + else + printf("\tNot enough points to take log decrement\n"); +/* printf("w: %g, u: %g, q: %g\n",W_body,U_body,Q_body); + */ + return 1; +} // Run an iteration of the EOM (equations of motion) -int main() { +int main(int argc, char *argv[]) { double save_alt = 0.0; - int multiloop=1; - double time=0; - - Altitude=1000; /*BFI as given by airnav*/ - Latitude=47.5299892; - Longitude=122.3019561; - Lat_geocentric=Latitude; - Lon_geocentric=Longitude; - Radius_to_vehicle=Altitude+EQUATORIAL_RADIUS; - Lat_control = 0; - Long_control = 0; - Long_trim = 0; - Rudder_pedal = 0; - Throttle_pct = 0.0; - Brake_pct = 1.0; - V_north=200; - V_east=0; - V_down=0; + int multiloop=1,k=0,i,j,touchdown,N; + double time=0,elev_trim,elev_trim_save,elevator,speed,cmcl; + FILE *out; + double hgain,hdiffgain,herr,herrprev,herr_diff,htarget; + double lastVt,vtdots,vtdott; + InitialConditions IC; + SCALAR *control[7]; + SCALAR *state[7]; + float old_state,effectiveness,tol,delta_state,lctrim; + float newcm,lastcm,cmalpha,td_vspeed,td_time,stop_time; + float h[801],hdot[801],altmin,lastAlt,theta[800],theta_dot[800]; - printf("Calling init...\n"); - fgLaRCsimInit(0.05); + if(argc < 6) + { + printf("Need args: $c172 speed alt alpha elev throttle\n"); + exit(1); + } + initIC(&IC); + + IC.latitude=47.5299892; //BFI + IC.longitude=122.3019561; + Runway_altitude = 18.0; - /* copy control positions into the LaRCsim structure */ + IC.altitude=strtod(argv[2],NULL); + printf("h: %g, argv[2]: %s\n",IC.altitude,argv[2]); + IC.vc=strtod(argv[1],NULL); + IC.alpha=0; + IC.beta=0; + IC.theta=strtod(argv[3],NULL); + IC.use_gamma_tmg=0; + IC.phi=0; + IC.psi=0; + IC.weight=2400; + IC.cg=0.25; + IC.flap_handle=10; + IC.long_control=0; + IC.rudder_pedal=0; - - /* Inform LaRCsim of the local terrain altitude */ - Runway_altitude = 18.0; - printf("Entering Loop\n"); - printf("Speed: %7.4f, Lat: %7.4f, Long: %7.4f, Alt: %7.4f\n\n",V_true_kts,Latitude,Longitude,Altitude); + + ls_ForceAltitude(IC.altitude); + fgLaRCsimInit(0.01); + setIC(IC); + printf("Dx_cg: %g\n",Dx_cg); + V_down=strtod(argv[4],NULL);; + ls_loop(0,-1); + i=0;time=0; + IC.long_control=0; + altmin=Altitude; + printf("\tAltitude: %g, Theta: %g, V_down: %g\n\n",Altitude,Theta*RAD_TO_DEG,V_down); - while (time < 0.2) + while(time < 5.0) { - time=time+0.05; - ls_update(multiloop); - printf("Speed: %7.4f, Fxeng: %7.4f, Fxaero: %7.4f, Fxgear: %7.4f Alt: %7.4f\n\n",V_true_kts,F_X_engine,F_X_aero,F_X_gear,Altitude); - - - + printf("Time: %g, Flap_handle: %g, Flap_position: %g, Transit: %d\n",time,Flap_handle,Flap_Position,Flaps_In_Transit); + if(time > 2.5) + Flap_handle=20; + else if (time > 0.5) + Flap_handle=20; + ls_update(1); + time+=0.01; } - /* // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048); - // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048); - - // translate LaRCsim back to FG structure so that the - // autopilot (and the rest of the sim can use the updated - // values - //fgLaRCsim_2_FGInterface(f); */ + + + + /*out=fopen("drop.out","w"); + N=800;touchdown=0; + + while(i <= N) + { + ls_update(1); + printf("\tAltitude: %g, Theta: %g, V_down: %g\n\n",D_cg_above_rwy,Theta*RAD_TO_DEG,V_down); + fprintf(out,"%g\t%g\t%g\t%g\t%g\t%g\n",time,D_cg_above_rwy,Theta*RAD_TO_DEG,V_down,F_Z_gear/1000.0,V_rel_ground); + h[i]=D_cg_above_rwy;hdot[i]=V_down; + theta[i]=Theta; theta_dot[i]=Theta_dot; + if(D_cg_above_rwy < altmin) + altmin=D_cg_above_rwy; + if((F_Z_gear < -10) && (! touchdown)) + { + touchdown=1; + td_vspeed=V_down; + td_time=time; + } + time+=0.01; + i++; + } + while(V_rel_ground > 1) + { + if(Brake_pct < 1) + { + Brake_pct+=0.02; + } + ls_update(1); + time=i*0.01; + fprintf(out,"%g\t%g\t%g\t%g\t%g\t%g\n",time,D_cg_above_rwy,Theta*RAD_TO_DEG,V_down,F_Z_gear/1000.0,V_rel_ground); + i++; + } + stop_time=time; + while((time-stop_time) < 5.0) + { + ls_update(1); + time=i*0.01; + fprintf(out,"%g\t%g\t%g\t%g\t%g\t%g\n",time,D_cg_above_rwy,Theta*RAD_TO_DEG,V_down,F_Z_gear/1000.0,V_rel_ground); + i++; + } + fclose(out); + + printf("Min Altitude: %g, Final Alitutde: %g, Delta: %g\n",altmin, h[N], D_cg_above_rwy-altmin); + printf("Vertical Speed at touchdown: %g, Time at touchdown: %g\n",td_vspeed,td_time); + printf("\nAltitude response:\n"); + out=fopen("alt.out","w"); + wave_stats(h,hdot,N,out); + fclose(out); + out=fopen("theta.out","w"); + printf("\nPitch Attitude response:\n"); + wave_stats(theta,theta_dot,N,out); + fclose(out);*/ - - return 1; -} + /*printf("Flap_handle: %g, Flap_Position: %g\n",Flap_handle,Flap_Position); + printf("k: %d, %g knots, %g lbs, %g %%MAC\n",k,V_calibrated_kts,Weight,Cg); + printf("wdot: %g, udot: %g, qdot: %g\n",W_dot_body,U_dot_body,Q_dot_body); + printf("Alpha: %g, Throttle_pct: %g, Long_control: %g\n\n",Alpha,Throttle_pct,Long_control); + + printf("Cme: %g, elevator: %g, Cmde: %g\n",elevator*Cmde,elevator,Cmde); + */ -/*// Convert from the FGInterface struct to the LaRCsim generic_ struct -int FGInterface_2_LaRCsim (FGInterface& f) { - - Mass = f.get_Mass(); - I_xx = f.get_I_xx(); - I_yy = f.get_I_yy(); - I_zz = f.get_I_zz(); - I_xz = f.get_I_xz(); - // Dx_pilot = f.get_Dx_pilot(); - // Dy_pilot = f.get_Dy_pilot(); - // Dz_pilot = f.get_Dz_pilot(); - Dx_cg = f.get_Dx_cg(); - Dy_cg = f.get_Dy_cg(); - Dz_cg = f.get_Dz_cg(); - // F_X = f.get_F_X(); - // F_Y = f.get_F_Y(); - // F_Z = f.get_F_Z(); - // F_north = f.get_F_north(); - // F_east = f.get_F_east(); - // F_down = f.get_F_down(); - // F_X_aero = f.get_F_X_aero(); - // F_Y_aero = f.get_F_Y_aero(); - // F_Z_aero = f.get_F_Z_aero(); - // F_X_engine = f.get_F_X_engine(); - // F_Y_engine = f.get_F_Y_engine(); - // F_Z_engine = f.get_F_Z_engine(); - // F_X_gear = f.get_F_X_gear(); - // F_Y_gear = f.get_F_Y_gear(); - // F_Z_gear = f.get_F_Z_gear(); - // M_l_rp = f.get_M_l_rp(); - // M_m_rp = f.get_M_m_rp(); - // M_n_rp = f.get_M_n_rp(); - // M_l_cg = f.get_M_l_cg(); - // M_m_cg = f.get_M_m_cg(); - // M_n_cg = f.get_M_n_cg(); - // M_l_aero = f.get_M_l_aero(); - // M_m_aero = f.get_M_m_aero(); - // M_n_aero = f.get_M_n_aero(); - // M_l_engine = f.get_M_l_engine(); - // M_m_engine = f.get_M_m_engine(); - // M_n_engine = f.get_M_n_engine(); - // M_l_gear = f.get_M_l_gear(); - // M_m_gear = f.get_M_m_gear(); - // M_n_gear = f.get_M_n_gear(); - // V_dot_north = f.get_V_dot_north(); - // V_dot_east = f.get_V_dot_east(); - // V_dot_down = f.get_V_dot_down(); - // U_dot_body = f.get_U_dot_body(); - // V_dot_body = f.get_V_dot_body(); - // W_dot_body = f.get_W_dot_body(); - // A_X_cg = f.get_A_X_cg(); - // A_Y_cg = f.get_A_Y_cg(); - // A_Z_cg = f.get_A_Z_cg(); - // A_X_pilot = f.get_A_X_pilot(); - // A_Y_pilot = f.get_A_Y_pilot(); - // A_Z_pilot = f.get_A_Z_pilot(); - // N_X_cg = f.get_N_X_cg(); - // N_Y_cg = f.get_N_Y_cg(); - // N_Z_cg = f.get_N_Z_cg(); - // N_X_pilot = f.get_N_X_pilot(); - // N_Y_pilot = f.get_N_Y_pilot(); - // N_Z_pilot = f.get_N_Z_pilot(); - // P_dot_body = f.get_P_dot_body(); - // Q_dot_body = f.get_Q_dot_body(); - // R_dot_body = f.get_R_dot_body(); - V_north = f.get_V_north(); - V_east = f.get_V_east(); - V_down = f.get_V_down(); - // V_north_rel_ground = f.get_V_north_rel_ground(); - // V_east_rel_ground = f.get_V_east_rel_ground(); - // V_down_rel_ground = f.get_V_down_rel_ground(); - // V_north_airmass = f.get_V_north_airmass(); - // V_east_airmass = f.get_V_east_airmass(); - // V_down_airmass = f.get_V_down_airmass(); - // V_north_rel_airmass = f.get_V_north_rel_airmass(); - // V_east_rel_airmass = f.get_V_east_rel_airmass(); - // V_down_rel_airmass = f.get_V_down_rel_airmass(); - // U_gust = f.get_U_gust(); - // V_gust = f.get_V_gust(); - // W_gust = f.get_W_gust(); - // U_body = f.get_U_body(); - // V_body = f.get_V_body(); - // W_body = f.get_W_body(); - // V_rel_wind = f.get_V_rel_wind(); - // V_true_kts = f.get_V_true_kts(); - // V_rel_ground = f.get_V_rel_ground(); - // V_inertial = f.get_V_inertial(); - // V_ground_speed = f.get_V_ground_speed(); - // V_equiv = f.get_V_equiv(); - // V_equiv_kts = f.get_V_equiv_kts(); - // V_calibrated = f.get_V_calibrated(); - // V_calibrated_kts = f.get_V_calibrated_kts(); - P_body = f.get_P_body(); - Q_body = f.get_Q_body(); - R_body = f.get_R_body(); - // P_local = f.get_P_local(); - // Q_local = f.get_Q_local(); - // R_local = f.get_R_local(); - // P_total = f.get_P_total(); - // Q_total = f.get_Q_total(); - // R_total = f.get_R_total(); - // Phi_dot = f.get_Phi_dot(); - // Theta_dot = f.get_Theta_dot(); - // Psi_dot = f.get_Psi_dot(); - // Latitude_dot = f.get_Latitude_dot(); - // Longitude_dot = f.get_Longitude_dot(); - // Radius_dot = f.get_Radius_dot(); - Lat_geocentric = f.get_Lat_geocentric(); - Lon_geocentric = f.get_Lon_geocentric(); - Radius_to_vehicle = f.get_Radius_to_vehicle(); - Latitude = f.get_Latitude(); - Longitude = f.get_Longitude(); - Altitude = f.get_Altitude(); - Phi = f.get_Phi(); - Theta = f.get_Theta(); - Psi = f.get_Psi(); - // T_local_to_body_11 = f.get_T_local_to_body_11(); - // T_local_to_body_12 = f.get_T_local_to_body_12(); - // T_local_to_body_13 = f.get_T_local_to_body_13(); - // T_local_to_body_21 = f.get_T_local_to_body_21(); - // T_local_to_body_22 = f.get_T_local_to_body_22(); - // T_local_to_body_23 = f.get_T_local_to_body_23(); - // T_local_to_body_31 = f.get_T_local_to_body_31(); - // T_local_to_body_32 = f.get_T_local_to_body_32(); - // T_local_to_body_33 = f.get_T_local_to_body_33(); - // Gravity = f.get_Gravity(); - // Centrifugal_relief = f.get_Centrifugal_relief(); - // Alpha = f.get_Alpha(); - // Beta = f.get_Beta(); - // Alpha_dot = f.get_Alpha_dot(); - // Beta_dot = f.get_Beta_dot(); - // Cos_alpha = f.get_Cos_alpha(); - // Sin_alpha = f.get_Sin_alpha(); - // Cos_beta = f.get_Cos_beta(); - // Sin_beta = f.get_Sin_beta(); - // Cos_phi = f.get_Cos_phi(); - // Sin_phi = f.get_Sin_phi(); - // Cos_theta = f.get_Cos_theta(); - // Sin_theta = f.get_Sin_theta(); - // Cos_psi = f.get_Cos_psi(); - // Sin_psi = f.get_Sin_psi(); - // Gamma_vert_rad = f.get_Gamma_vert_rad(); - // Gamma_horiz_rad = f.get_Gamma_horiz_rad(); - // Sigma = f.get_Sigma(); - // Density = f.get_Density(); - // V_sound = f.get_V_sound(); - // Mach_number = f.get_Mach_number(); - // Static_pressure = f.get_Static_pressure(); - // Total_pressure = f.get_Total_pressure(); - // Impact_pressure = f.get_Impact_pressure(); - // Dynamic_pressure = f.get_Dynamic_pressure(); - // Static_temperature = f.get_Static_temperature(); - // Total_temperature = f.get_Total_temperature(); - Sea_level_radius = f.get_Sea_level_radius(); - Earth_position_angle = f.get_Earth_position_angle(); - Runway_altitude = f.get_Runway_altitude(); - // Runway_latitude = f.get_Runway_latitude(); - // Runway_longitude = f.get_Runway_longitude(); - // Runway_heading = f.get_Runway_heading(); - // Radius_to_rwy = f.get_Radius_to_rwy(); - // D_cg_north_of_rwy = f.get_D_cg_north_of_rwy(); - // D_cg_east_of_rwy = f.get_D_cg_east_of_rwy(); - // D_cg_above_rwy = f.get_D_cg_above_rwy(); - // X_cg_rwy = f.get_X_cg_rwy(); - // Y_cg_rwy = f.get_Y_cg_rwy(); - // H_cg_rwy = f.get_H_cg_rwy(); - // D_pilot_north_of_rwy = f.get_D_pilot_north_of_rwy(); - // D_pilot_east_of_rwy = f.get_D_pilot_east_of_rwy(); - // D_pilot_above_rwy = f.get_D_pilot_above_rwy(); - // X_pilot_rwy = f.get_X_pilot_rwy(); - // Y_pilot_rwy = f.get_Y_pilot_rwy(); - // H_pilot_rwy = f.get_H_pilot_rwy(); - - return( 0 ); + + + + + + + /* ls_loop(0.0,-1); + + control[1]=&IC.long_control; + control[2]=&IC.throttle; + control[3]=&IC.alpha; + control[4]=&IC.beta; + control[5]=&IC.phi; + control[6]=&IC.lat_control; + + state[1]=&Q_dot_body;state[2]=&U_dot_body;state[3]=&W_dot_body; + state[4]=&R_dot_body;state[5]=&V_dot_body;state[6]=&P_dot_body; + + + for(i=1;i<=6;i++) + { + old_state=*state[i]; + tol=1E-4; + for(j=1;j<=6;j++) + { + *control[j]+=0.1; + setIC(IC); + ls_loop(0.0,-1); + delta_state=*state[i]-old_state; + effectiveness=(delta_state)/ 0.1; + if(delta_state < tol) + effectiveness = 0; + printf("%8.4f,",delta_state); + *control[j]-=0.1; + + } + printf("\n"); + setIC(IC); + ls_loop(0.0,-1); + } */ + + return 1; } +/* +void do_stick_pull(int kmax, SCALAR tmax,FILE *out,InitialConditions IC) +{ + + SCALAR htarget,hgain,hdiffgain,herr,herr_diff,herrprev; + SCALAR theta_trim,elev_trim,time; + int k; + k=trim_long(kmax,IC); + printf("Trim:\n\tAlpha: %10.6f, elev: %10.6f, Throttle: %10.6f\n\twdot: %10.6f, qdot: %10.6f, udot: %10.6f\n",Alpha*RAD_TO_DEG,Long_control,Throttle_pct,W_dot_body,U_dot_body,Q_dot_body); -// Convert from the LaRCsim generic_ struct to the FGInterface struct -int fgLaRCsim_2_FGInterface (FGInterface& f) { - - // Mass properties and geometry values - f.set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz ); - // f.set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot ); - f.set_CG_Position( Dx_cg, Dy_cg, Dz_cg ); - - // Forces - // f.set_Forces_Body_Total( F_X, F_Y, F_Z ); - // f.set_Forces_Local_Total( F_north, F_east, F_down ); - // f.set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero ); - // f.set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine ); - // f.set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear ); - - // Moments - // f.set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp ); - // f.set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg ); - // f.set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero ); - // f.set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine ); - // f.set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear ); - - // Accelerations - // f.set_Accels_Local( V_dot_north, V_dot_east, V_dot_down ); - // f.set_Accels_Body( U_dot_body, V_dot_body, W_dot_body ); - // f.set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg ); - // f.set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot ); - // f.set_Accels_CG_Body_N( N_X_cg, N_Y_cg, N_Z_cg ); - // f.set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot ); - // f.set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body ); - - // Velocities - f.set_Velocities_Local( V_north, V_east, V_down ); - // f.set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground, - // V_down_rel_ground ); - // f.set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass, - // V_down_airmass ); - // f.set_Velocities_Local_Rel_Airmass( V_north_rel_airmass, - // V_east_rel_airmass, V_down_rel_airmass ); - // f.set_Velocities_Gust( U_gust, V_gust, W_gust ); - // f.set_Velocities_Wind_Body( U_body, V_body, W_body ); - - // f.set_V_rel_wind( V_rel_wind ); - // f.set_V_true_kts( V_true_kts ); - // f.set_V_rel_ground( V_rel_ground ); - // f.set_V_inertial( V_inertial ); - // f.set_V_ground_speed( V_ground_speed ); - // f.set_V_equiv( V_equiv ); - f.set_V_equiv_kts( V_equiv_kts ); - // f.set_V_calibrated( V_calibrated ); - // f.set_V_calibrated_kts( V_calibrated_kts ); - - f.set_Omega_Body( P_body, Q_body, R_body ); - // f.set_Omega_Local( P_local, Q_local, R_local ); - // f.set_Omega_Total( P_total, Q_total, R_total ); + + htarget=0; + + hgain=1; + hdiffgain=1; + elev_trim=Long_control; + out=fopen("stick_pull.out","w"); + herr=Q_body-htarget; + + //fly steady-level for 2 seconds, well, zero pitch rate anyway + while(time < 2.0) + { + herrprev=herr; + ls_update(1); + herr=Q_body-htarget; + herr_diff=herr-herrprev; + Long_control=elev_trim+(hgain*herr + hdiffgain*herr_diff); + time+=0.01; + //printf("Time: %7.4f, Alt: %7.4f, Alpha: %7.4f, pelev: %7.4f, qdot: %7.4f, udot: %7.4f, Phi: %7.4f, Psi: %7.4f\n",time,Altitude,Alpha*RAD_TO_DEG,Long_control*100,Q_body*RAD_TO_DEG,U_dot_body,Phi,Psi); + //printf("Mcg: %7.4f, Mrp: %7.4f, Maero: %7.4f, Meng: %7.4f, Mgear: %7.4f, Dx_cg: %7.4f, Dz_cg: %7.4f\n\n",M_m_cg,M_m_rp,M_m_aero,M_m_engine,M_m_gear,Dx_cg,Dz_cg); + fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,",time,V_true_kts,Theta*RAD_TO_DEG,Alpha*RAD_TO_DEG,Q_body*RAD_TO_DEG,Alpha_dot*RAD_TO_DEG,Q_dot_body*RAD_TO_DEG,Throttle_pct,elevator*RAD_TO_DEG); + fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f\n",CL,CLwbh,cm,cd,Altitude); + } + + //begin untrimmed climb at theta_trim + 2 degrees + hgain=4; + hdiffgain=2; + theta_trim=Theta; + htarget=theta_trim; + herr=Theta-htarget; + while(time < tmax) + { + //ramp in the target theta + if(htarget < (theta_trim + 2*DEG_TO_RAD)) + { + htarget+= 0.01*DEG_TO_RAD; + } + herrprev=herr; + ls_update(1); + herr=Theta-htarget; + herr_diff=herr-herrprev; + Long_control=elev_trim+(hgain*herr + hdiffgain*herr_diff); + time+=0.01; + //printf("Time: %7.4f, Alt: %7.4f, Alpha: %7.4f, pelev: %7.4f, qdot: %7.4f, udot: %7.4f, Phi: %7.4f, Psi: %7.4f\n",time,Altitude,Alpha*RAD_TO_DEG,Long_control*100,Q_body*RAD_TO_DEG,U_dot_body,Phi,Psi); + //printf("Mcg: %7.4f, Mrp: %7.4f, Maero: %7.4f, Meng: %7.4f, Mgear: %7.4f, Dx_cg: %7.4f, Dz_cg: %7.4f\n\n",M_m_cg,M_m_rp,M_m_aero,M_m_engine,M_m_gear,Dx_cg,Dz_cg); + fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,",time,V_true_kts,Theta*RAD_TO_DEG,Alpha*RAD_TO_DEG,Q_body*RAD_TO_DEG,Alpha_dot*RAD_TO_DEG,Q_dot_body*RAD_TO_DEG,Throttle_pct,elevator*RAD_TO_DEG); + fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f\n",CL,CLwbh,cm,cd,Altitude); + } + printf("%g,%g\n",theta_trim*RAD_TO_DEG,htarget*RAD_TO_DEG); + fclose(out); +} + +void do_takeoff(FILE *out) +{ + SCALAR htarget,hgain,hdiffgain,elev_trim,elev_trim_save,herr; + SCALAR time,herrprev,herr_diff; + + htarget=0; + + hgain=1; + hdiffgain=1; + elev_trim=Long_control; + elev_trim_save=elev_trim; + + + out=fopen("takeoff.out","w"); + herr=Q_body-htarget; + + // attempt to maintain zero pitch rate during the roll + while((V_calibrated_kts < 61) && (time < 30.0)) + { + // herrprev=herr + ls_update(1); + // herr=Q_body-htarget; + // herr_diff=herr-herrprev; + // Long_control=elev_trim+(hgain*herr + hdiffgain*herr_diff); + time+=0.01; + printf("Time: %7.4f, Vc: %7.4f, Alpha: %7.4f, pelev: %7.4f, qdot: %7.4f, udot: %7.4f, U: %7.4f, W: %7.4f\n",time,V_calibrated_kts,Alpha*RAD_TO_DEG,Long_control*100,Q_body*RAD_TO_DEG,U_dot_body,U_body,W_body); +// printf("Mcg: %7.4f, Mrp: %7.4f, Maero: %7.4f, Meng: %7.4f, Mgear: %7.4f, Dx_cg: %7.4f, Dz_cg: %7.4f\n\n",M_m_cg,M_m_rp,M_m_aero,M_m_engine,M_m_gear,Dx_cg,Dz_cg); +// fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,",time,V_calibrated_kts,Theta*RAD_TO_DEG,Alpha*RAD_TO_DEG,Q_body*RAD_TO_DEG,Alpha_dot*RAD_TO_DEG,Q_dot_body*RAD_TO_DEG,Throttle_pct,elevator*RAD_TO_DEG); + fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f\n",CL,CLwbh,cm,cd,Altitude); + + } + //At Vr, ramp in 10% nose up elevator in 0.5 seconds + elev_trim_save=0; + printf("At Vr, rotate...\n"); + while((Q_body < 3.0*RAD_TO_DEG) && (time < 30.0)) + { + Long_control-=0.01; + ls_update(1); + printf("Time: %7.4f, Vc: %7.4f, Alpha: %7.4f, pelev: %7.4f, q: %7.4f, cm: %7.4f, U: %7.4f, W: %7.4f\n",time,V_calibrated_kts,Alpha*RAD_TO_DEG,Long_control*100,Q_body*RAD_TO_DEG,cm,U_body,W_body); + + fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,",time,V_calibrated_kts,Theta*RAD_TO_DEG,Alpha*RAD_TO_DEG,Q_body*RAD_TO_DEG,Alpha_dot*RAD_TO_DEG,Q_dot_body*RAD_TO_DEG,Throttle_pct,elevator*RAD_TO_DEG); + fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f\n",CL,CLwbh,cm,cd,Altitude); + time +=0.01; + + } + //Maintain 15 degrees theta for the climbout + htarget=15*DEG_TO_RAD; + herr=Theta-htarget; + hgain=10; + hdiffgain=1; + elev_trim=Long_control; + while(time < 30.0) + { + herrprev=herr; + ls_update(1); + herr=Theta-htarget; + herr_diff=herr-herrprev; + Long_control=elev_trim+(hgain*herr + hdiffgain*herr_diff); + time+=0.01; + printf("Time: %7.4f, Alt: %7.4f, Speed: %7.4f, Theta: %7.4f\n",time,Altitude,V_calibrated_kts,Theta*RAD_TO_DEG); + fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,",time,V_calibrated_kts,Theta*RAD_TO_DEG,Alpha*RAD_TO_DEG,Q_body*RAD_TO_DEG,Alpha_dot*RAD_TO_DEG,Q_dot_body*RAD_TO_DEG,Throttle_pct,elevator*RAD_TO_DEG); + fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f\n",CL,CLwbh,cm,cd,Altitude); + } + fclose(out); + printf("Speed: %7.4f, Alt: %7.4f, Alpha: %7.4f, pelev: %7.4f, q: %7.4f, udot: %7.4f\n",V_true_kts,Altitude,Alpha*RAD_TO_DEG,Long_control,Q_body*RAD_TO_DEG,U_dot_body); + printf("F_down_total: %7.4f, F_Z_aero: %7.4f, F_X: %7.4f, M_m_cg: %7.4f\n\n",F_down+Mass*Gravity,F_Z_aero,F_X,M_m_cg); + + + - // f.set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot ); - f.set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot ); +} +*/ + - FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << Longitude - << " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude - << " alt = " << Altitude << " sl_radius = " << Sea_level_radius - << " radius_to_vehicle = " << Radius_to_vehicle ); - - // Positions - f.set_Geocentric_Position( Lat_geocentric, Lon_geocentric, - Radius_to_vehicle ); - f.set_Geodetic_Position( Latitude, Longitude, Altitude ); - f.set_Euler_Angles( Phi, Theta, Psi ); - - // Miscellaneous quantities - f.set_T_Local_to_Body(T_local_to_body_m); - // f.set_Gravity( Gravity ); - // f.set_Centrifugal_relief( Centrifugal_relief ); - - f.set_Alpha( Alpha ); - f.set_Beta( Beta ); - // f.set_Alpha_dot( Alpha_dot ); - // f.set_Beta_dot( Beta_dot ); - - // f.set_Cos_alpha( Cos_alpha ); - // f.set_Sin_alpha( Sin_alpha ); - // f.set_Cos_beta( Cos_beta ); - // f.set_Sin_beta( Sin_beta ); - - // f.set_Cos_phi( Cos_phi ); - // f.set_Sin_phi( Sin_phi ); - // f.set_Cos_theta( Cos_theta ); - // f.set_Sin_theta( Sin_theta ); - // f.set_Cos_psi( Cos_psi ); - // f.set_Sin_psi( Sin_psi ); - - f.set_Gamma_vert_rad( Gamma_vert_rad ); - // f.set_Gamma_horiz_rad( Gamma_horiz_rad ); - - // f.set_Sigma( Sigma ); - // f.set_Density( Density ); - // f.set_V_sound( V_sound ); - // f.set_Mach_number( Mach_number ); - - // f.set_Static_pressure( Static_pressure ); - // f.set_Total_pressure( Total_pressure ); - // f.set_Impact_pressure( Impact_pressure ); - // f.set_Dynamic_pressure( Dynamic_pressure ); - - // f.set_Static_temperature( Static_temperature ); - // f.set_Total_temperature( Total_temperature ); - - f.set_Sea_level_radius( Sea_level_radius ); - f.set_Earth_position_angle( Earth_position_angle ); - - f.set_Runway_altitude( Runway_altitude ); - // f.set_Runway_latitude( Runway_latitude ); - // f.set_Runway_longitude( Runway_longitude ); - // f.set_Runway_heading( Runway_heading ); - // f.set_Radius_to_rwy( Radius_to_rwy ); - - // f.set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy); - // f.set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy ); - // f.set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy, - // D_pilot_above_rwy ); - // f.set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy ); - - f.set_sin_lat_geocentric(Lat_geocentric); - f.set_cos_lat_geocentric(Lat_geocentric); - f.set_sin_cos_longitude(Longitude); - f.set_sin_cos_latitude(Latitude); - - // printf("sin_lat_geo %f cos_lat_geo %f\n", sin_Lat_geoc, cos_Lat_geoc); - // printf("sin_lat %f cos_lat %f\n", - // f.get_sin_latitude(), f.get_cos_latitude()); - // printf("sin_lon %f cos_lon %f\n", - // f.get_sin_longitude(), f.get_cos_longitude()); - - return 0; -} */