- Fixed a bug that was skipping the <system> initialization.
namespace JSBSim {
-IDENT(IdSrc,"$Id: FGFDMExec.cpp,v 1.187 2016/01/31 11:12:59 bcoconni Exp $");
+IDENT(IdSrc,"$Id: FGFDMExec.cpp,v 1.189 2016/04/16 12:24:39 bcoconni Exp $");
IDENT(IdHdr,ID_FDMEXEC);
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
StandAlone = false;
ResetMode = 0;
RandomSeed = 0;
+ HoldDown = false;
IncrementThenHolding = false; // increment then hold is off by default
TimeStepsUntilHold = -1;
instance->Tie("simulation/jsbsim-debug", this, &FGFDMExec::GetDebugLevel, &FGFDMExec::SetDebugLevel);
instance->Tie("simulation/frame", (int *)&Frame, false);
instance->Tie("simulation/trim-completed", (int *)&trim_completed, false);
+ instance->Tie("forces/hold-down", this, &FGFDMExec::GetHoldDown, &FGFDMExec::SetHoldDown);
Constructing = false;
}
switch(idx) {
case ePropagate:
Propagate->in.vPQRidot = Accelerations->GetPQRidot();
- Propagate->in.vQtrndot = Accelerations->GetQuaterniondot();
Propagate->in.vUVWidot = Accelerations->GetUVWidot();
Propagate->in.DeltaT = dT;
break;
Accelerations->in.Tb2i = Propagate->GetTb2i();
Accelerations->in.Tec2b = Propagate->GetTec2b();
Accelerations->in.Tec2i = Propagate->GetTec2i();
- Accelerations->in.qAttitudeECI = Propagate->GetQuaternionECI();
Accelerations->in.Moment = Aircraft->GetMoments();
Accelerations->in.GroundMoment = GroundReactions->GetMoments();
Accelerations->in.Force = Aircraft->GetForces();
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+void FGFDMExec::SetHoldDown(bool hd)
+{
+ HoldDown = hd;
+ Accelerations->SetHoldDown(hd);
+ if (hd) {
+ Propagate->in.vPQRidot = Accelerations->GetPQRidot();
+ Propagate->in.vUVWidot = Accelerations->GetUVWidot();
+ }
+ Propagate->SetHoldDown(hd);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
vector <string> FGFDMExec::EnumerateFDMs(void)
{
vector <string> FDMList;
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.104 2015/12/13 07:54:48 bcoconni Exp $"
+#define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.105 2016/04/16 12:24:39 bcoconni Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
property actually maps toa function call of DoTrim().
@author Jon S. Berndt
- @version $Revision: 1.104 $
+ @version $Revision: 1.105 $
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@param FGIC The initial conditions that will be passed to the simulation. */
void Initialize(FGInitialCondition *FGIC);
+ /** Sets the property forces/hold-down. This allows to do hard 'hold-down'
+ such as for rockets on a launch pad with engines ignited.
+ @param hd enables the 'hold-down' function if non-zero
+ */
+ void SetHoldDown(bool hd);
+
+ /** Gets the value of the property forces/hold-down.
+ @result zero if the 'hold-down' function is disabled, non-zero otherwise.
+ */
+ bool GetHoldDown(void) const {return HoldDown;}
+
private:
int Error;
unsigned int Frame;
FGPropertyManager* Root;
bool StandAlone;
FGPropertyManager* instance;
-
+
+ bool HoldDown;
+
// The FDM counter is used to give each child FDM an unique ID. The root FDM has the ID 0
unsigned int* FDMctr;
namespace JSBSim {
-IDENT(IdSrc,"$Id: FGAccelerations.cpp,v 1.26 2016/01/31 11:13:00 bcoconni Exp $");
+IDENT(IdSrc,"$Id: FGAccelerations.cpp,v 1.28 2016/04/16 12:24:39 bcoconni Exp $");
IDENT(IdHdr,ID_ACCELERATIONS);
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Name = "FGAccelerations";
gravType = gtWGS84;
gravTorque = false;
- HoldDown = 0;
vPQRidot.InitMatrix();
vUVWidot.InitMatrix();
vUVWdot.InitMatrix();
vGravAccel.InitMatrix();
vBodyAccel.InitMatrix();
- vQtrndot = FGQuaternion(0,0,0);
bind();
Debug(0);
vUVWdot.InitMatrix();
vGravAccel.InitMatrix();
vBodyAccel.InitMatrix();
- vQtrndot = FGQuaternion(0,0,0);
return true;
}
CalculatePQRdot(); // Angular rate derivative
CalculateUVWdot(); // Translational rate derivative
- CalculateQuatdot(); // Angular orientation derivative
- ResolveFrictionForces(in.DeltaT * rate); // Update rate derivatives with friction forces
+ if (!FDMExec->GetHoldDown())
+ ResolveFrictionForces(in.DeltaT * rate); // Update rate derivatives with friction forces
Debug(2);
return false;
// moments and the total inertial angular velocity expressed in the body
// frame.
// if (HoldDown && !FDMExec->GetTrimStatus()) {
- if (HoldDown) {
+ if (FDMExec->GetHoldDown()) {
// The rotational acceleration in ECI is calculated so that the rotational
// acceleration is zero in the body frame.
vPQRdot.InitMatrix();
}
}
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// Compute the quaternion orientation derivative
-//
-// vQtrndot is the quaternion derivative.
-// Reference: See Stevens and Lewis, "Aircraft Control and Simulation",
-// Second edition (2004), eqn 1.5-16b (page 50)
-
-void FGAccelerations::CalculateQuatdot(void)
-{
- // Compute quaternion orientation derivative on current body rates
- vQtrndot = in.qAttitudeECI.GetQDot(in.vPQRi);
-}
-
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// This set of calculations results in the body and inertial frame accelerations
// being computed.
void FGAccelerations::CalculateUVWdot(void)
{
- if (HoldDown && !FDMExec->GetTrimStatus())
+ if (FDMExec->GetHoldDown() && !FDMExec->GetTrimStatus())
vBodyAccel.InitMatrix();
else
vBodyAccel = in.Force / in.Mass;
// Include Gravitation accel
switch (gravType) {
- case gtStandard:
- {
- double radius = in.vInertialPosition.Magnitude();
- vGravAccel = -(in.GAccel / radius) * in.vInertialPosition;
- }
- break;
- case gtWGS84:
- vGravAccel = in.Tec2i * in.J2Grav;
- break;
+ case gtStandard:
+ {
+ double radius = in.vInertialPosition.Magnitude();
+ vGravAccel = -(in.GAccel / radius) * in.vInertialPosition;
+ }
+ break;
+ case gtWGS84:
+ vGravAccel = in.Tec2i * in.J2Grav;
+ break;
}
- if (HoldDown) {
+ if (FDMExec->GetHoldDown()) {
// The acceleration in ECI is calculated so that the acceleration is zero
// in the body frame.
- vUVWidot = -1.0 * (in.Tb2i * vUVWdot);
+ vUVWidot = in.vOmegaPlanet * (in.vOmegaPlanet * in.vInertialPosition);
vUVWdot.InitMatrix();
}
else {
}
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGAccelerations::SetHoldDown(bool hd)
+{
+ if (hd) {
+ vUVWidot = in.vOmegaPlanet * (in.vOmegaPlanet * in.vInertialPosition);
+ vUVWdot.InitMatrix();
+ vPQRidot = in.vPQRi * (in.Ti2b * in.vOmegaPlanet);
+ vPQRdot.InitMatrix();
+ }
+}
+
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Resolves the contact forces just before integrating the EOM.
// This routine is using Lagrange multipliers and the projected Gauss-Seidel
// Make an initial run and set past values
CalculatePQRdot(); // Angular rate derivative
CalculateUVWdot(); // Translational rate derivative
- CalculateQuatdot(); // Angular orientation derivative
ResolveFrictionForces(0.); // Update rate derivatives with friction forces
}
PropertyManager->Tie("forces/fbx-gear-lbs", this, eX, (PMF)&FGAccelerations::GetGroundForces);
PropertyManager->Tie("forces/fby-gear-lbs", this, eY, (PMF)&FGAccelerations::GetGroundForces);
PropertyManager->Tie("forces/fbz-gear-lbs", this, eZ, (PMF)&FGAccelerations::GetGroundForces);
-
- PropertyManager->Tie("forces/hold-down", this, &FGAccelerations::GetHoldDown, &FGAccelerations::SetHoldDown);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#include "math/FGColumnVector3.h"
#include "math/LagrangeMultiplier.h"
#include "math/FGMatrix33.h"
-#include "math/FGQuaternion.h"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#define ID_ACCELERATIONS "$Id: FGAccelerations.h,v 1.15 2013/11/29 18:56:30 jberndt Exp $"
+#define ID_ACCELERATIONS "$Id: FGAccelerations.h,v 1.19 2016/04/16 12:24:39 bcoconni Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
NASA SP-8024, May 1969
@author Jon S. Berndt, Mathias Froehlich, Bertrand Coconnier
- @version $Id: FGAccelerations.h,v 1.15 2013/11/29 18:56:30 jberndt Exp $
+ @version $Id: FGAccelerations.h,v 1.19 2016/04/16 12:24:39 bcoconni Exp $
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@return false if no error */
bool Run(bool Holding);
- /** Retrieves the time derivative of the body orientation quaternion.
- Retrieves the time derivative of the body orientation quaternion based on
- the rate of change of the orientation between the body and the ECI frame.
- The quaternion returned is represented by an FGQuaternion reference. The
- quaternion is 1-based, so that the first element can be retrieved using
- the "()" operator.
- units rad/sec^2
- @return The time derivative of the body orientation quaternion.
- */
- const FGQuaternion& GetQuaterniondot(void) const {return vQtrndot;}
-
/** Retrieves the body axis acceleration.
Retrieves the computed body axis accelerations based on the
applied forces and accounting for a rotating body frame.
/** Sets the property forces/hold-down. This allows to do hard 'hold-down'
such as for rockets on a launch pad with engines ignited.
@param hd enables the 'hold-down' function if non-zero
- */
- void SetHoldDown(int hd) {HoldDown = hd;}
- /** Gets the value of the property forces/hold-down.
- @result zero if the 'hold-down' function is disabled, non-zero otherwise.
- */
- int GetHoldDown(void) const {return HoldDown;}
+ */
+ void SetHoldDown(bool hd);
struct Inputs {
/// The body inertia matrix expressed in the body frame
FGMatrix33 Tec2b;
/// Transformation matrix from the ECEF to the ECI frame
FGMatrix33 Tec2i;
- /// Orientation quaternion of the body with respect to the ECI frame
- FGQuaternion qAttitudeECI;
/// Total moments applied to the body except friction and gravity (expressed in the body frame)
FGColumnVector3 Moment;
/// Moments generated by the ground normal reactions expressed in the body frame. Does not account for friction.
FGColumnVector3 vPQRdot, vPQRidot;
FGColumnVector3 vUVWdot, vUVWidot;
- FGQuaternion vQtrndot;
FGColumnVector3 vBodyAccel;
FGColumnVector3 vGravAccel;
FGColumnVector3 vFrictionForces;
int gravType;
bool gravTorque;
- int HoldDown;
void CalculatePQRdot(void);
- void CalculateQuatdot(void);
void CalculateUVWdot(void);
void ResolveFrictionForces(double dt);
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#define ID_FCSCHANNEL "$Id: FGFCSChannel.h,v 1.9 2016/04/03 17:06:24 bcoconni Exp $"
+#define ID_FCSCHANNEL "$Id: FGFCSChannel.h,v 1.10 2016/04/16 11:00:11 bcoconni Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
// and do not execute the channel.
if (OnOffNode && !OnOffNode->getBoolValue()) return;
- if (fcs->GetDt() != 0.0)
+ if (fcs->GetDt() != 0.0) {
+ if (ExecFrameCountSinceLastRun >= ExecRate) {
+ ExecFrameCountSinceLastRun = 0;
+ }
+
++ExecFrameCountSinceLastRun;
+ }
// channel will be run at rate 1 if trimming, or when the next execrate
// frame is reached
for (unsigned int i=0; i<FCSComponents.size(); i++)
FCSComponents[i]->Run();
}
-
- if (ExecFrameCountSinceLastRun >= ExecRate)
- ExecFrameCountSinceLastRun = 0;
}
/// Get the channel rate
int GetRate(void) const { return ExecRate; }
namespace JSBSim {
-IDENT(IdSrc,"$Id: FGPropagate.cpp,v 1.128 2016/01/23 10:48:11 bcoconni Exp $");
+IDENT(IdSrc,"$Id: FGPropagate.cpp,v 1.130 2016/04/16 12:24:39 bcoconni Exp $");
IDENT(IdHdr,ID_PROPAGATE);
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
VState.vPQRi = VState.vPQR + Ti2b * in.vOmegaPlanet;
CalculateInertialVelocity(); // Translational position derivative
+ CalculateQuatdot(); // Angular orientation derivative
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
VState.dqPQRidot.assign(5, in.vPQRidot);
VState.dqUVWidot.assign(5, in.vUVWidot);
VState.dqInertialVelocity.assign(5, VState.vInertialVelocity);
- VState.dqQtrndot.assign(5, in.vQtrndot);
+ VState.dqQtrndot.assign(5, VState.vQtrndot);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Propagate rotational / translational velocity, angular /translational position, respectively.
- Integrate(VState.qAttitudeECI, in.vQtrndot, VState.dqQtrndot, dt, integrator_rotational_position);
+ Integrate(VState.qAttitudeECI, VState.vQtrndot, VState.dqQtrndot, dt, integrator_rotational_position);
Integrate(VState.vPQRi, in.vPQRidot, VState.dqPQRidot, dt, integrator_rotational_rate);
Integrate(VState.vInertialPosition, VState.vInertialVelocity, VState.dqInertialVelocity, dt, integrator_translational_position);
Integrate(VState.vInertialVelocity, in.vUVWidot, VState.dqUVWidot, dt, integrator_translational_rate);
VState.vPQR = VState.vPQRi - Ti2b * in.vOmegaPlanet;
+ // Angular orientation derivative
+ CalculateQuatdot();
+
VState.qAttitudeLocal = Tl2b.GetQuaternion();
// Compute vehicle velocity wrt ECEF frame, expressed in Local horizontal frame.
return false;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGPropagate::SetHoldDown(bool hd)
+{
+ if (hd) {
+ VState.vUVW.InitMatrix();
+ CalculateInertialVelocity();
+ VState.vPQR.InitMatrix();
+ VState.vPQRi = Ti2b * in.vOmegaPlanet;
+ CalculateQuatdot();
+ InitializeDerivatives();
+ }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// Compute the quaternion orientation derivative
+//
+// vQtrndot is the quaternion derivative.
+// Reference: See Stevens and Lewis, "Aircraft Control and Simulation",
+// Second edition (2004), eqn 1.5-16b (page 50)
+
+void FGPropagate::CalculateQuatdot(void)
+{
+ // Compute quaternion orientation derivative on current body rates
+ VState.vQtrndot = VState.qAttitudeECI.GetQDot(VState.vPQRi);
+}
+
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Transform the velocity vector of the body relative to the origin (Earth
// center) to be expressed in the inertial frame, and add the vehicle velocity
VState.qAttitudeECI.Normalize();
UpdateBodyMatrices();
VState.qAttitudeLocal = Tl2b.GetQuaternion();
+ CalculateQuatdot();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGPropagate::SetInertialRates(const FGColumnVector3& vRates) {
VState.vPQRi = Ti2b * vRates;
VState.vPQR = VState.vPQRi - Ti2b * in.vOmegaPlanet;
+ CalculateQuatdot();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
VState.vPQR = vstate.vPQR;
VState.vPQRi = VState.vPQR + Ti2b * in.vOmegaPlanet;
VState.vInertialPosition = vstate.vInertialPosition;
+ CalculateQuatdot();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#define ID_PROPAGATE "$Id: FGPropagate.h,v 1.83 2016/01/23 10:48:11 bcoconni Exp $"
+#define ID_PROPAGATE "$Id: FGPropagate.h,v 1.85 2016/04/16 12:24:39 bcoconni Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
@endcode
@author Jon S. Berndt, Mathias Froehlich, Bertrand Coconnier
- @version $Id: FGPropagate.h,v 1.83 2016/01/23 10:48:11 bcoconni Exp $
+ @version $Id: FGPropagate.h,v 1.85 2016/04/16 12:24:39 bcoconni Exp $
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
body frame relative to the inertial (ECI) frame. */
FGQuaternion qAttitudeECI;
+ FGQuaternion vQtrndot;
+
FGColumnVector3 vInertialVelocity;
FGColumnVector3 vInertialPosition;
*/
const FGColumnVector3& GetPQRi(void) const {return VState.vPQRi;}
+ /** Retrieves the time derivative of the body orientation quaternion.
+ Retrieves the time derivative of the body orientation quaternion based on
+ the rate of change of the orientation between the body and the ECI frame.
+ The quaternion returned is represented by an FGQuaternion reference. The
+ quaternion is 1-based, so that the first element can be retrieved using
+ the "()" operator.
+ units rad/sec^2
+ @return The time derivative of the body orientation quaternion.
+ */
+ const FGQuaternion& GetQuaterniondot(void) const {return VState.vQtrndot;}
+
/** Retrieves the Euler angles that define the vehicle orientation.
Extracts the Euler angles from the quaternion that stores the orientation
in the Local frame. The order of rotation used is Yaw-Pitch-Roll. The
VState.vLocation -= Tb2ec*deltaLoc;
}
+ /** Sets the property forces/hold-down. This allows to do hard 'hold-down'
+ such as for rockets on a launch pad with engines ignited.
+ @param hd enables the 'hold-down' function if non-zero
+ */
+ void SetHoldDown(bool hd);
+
void DumpState(void);
struct Inputs {
FGColumnVector3 vPQRidot;
- FGQuaternion vQtrndot;
FGColumnVector3 vUVWidot;
FGColumnVector3 vOmegaPlanet;
double SemiMajor;
void CalculateInertialVelocity(void);
void CalculateUVW(void);
+ void CalculateQuatdot(void);
void Integrate( FGColumnVector3& Integrand,
FGColumnVector3& Val,
projects / flightgear.git / commitdiff