+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Module: FGAerodynamics.cpp
- Author: Jon S. Berndt
- Date started: 09/13/00
- Purpose: Encapsulates the aerodynamic forces (gear and collision)
-
- ------------- Copyright (C) 2000 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
---------------------------------------------------------------------------------
-
-HISTORY
---------------------------------------------------------------------------------
-09/13/00 JSB Created
-04/22/01 JSB Moved code into here from FGAircraft
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef HAVE_CONFIG_H
-# include <config.h>
-#endif
-
-#include "FGAerodynamics.h"
-#include "FGPropagate.h"
-#include "FGAircraft.h"
-#include "FGState.h"
-#include "FGMassBalance.h"
-#include "FGFactorGroup.h"
-#include "FGPropertyManager.h"
-
-namespace JSBSim {
-
-static const char *IdSrc = "$Id$";
-static const char *IdHdr = ID_AERODYNAMICS;
-
-const unsigned NAxes=6;
-const char* AxisNames[] = { "drag", "side", "lift", "roll",
- "pitch","yaw" };
-const char* AxisNamesUpper[] = { "DRAG", "SIDE", "LIFT", "ROLL",
- "PITCH","YAW" };
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-
-FGAerodynamics::FGAerodynamics(FGFDMExec* FDMExec) : FGModel(FDMExec)
-{
- Name = "FGAerodynamics";
-
- AxisIdx["DRAG"] = 0;
- AxisIdx["SIDE"] = 1;
- AxisIdx["LIFT"] = 2;
- AxisIdx["ROLL"] = 3;
- AxisIdx["PITCH"] = 4;
- AxisIdx["YAW"] = 5;
-
- Coeff = new CoeffArray[6];
-
- impending_stall = stall_hyst = 0.0;
- alphaclmin = alphaclmax = 0.0;
- alphahystmin = alphahystmax = 0.0;
- clsq = lod = 0.0;
- alphaw = 0.0;
- bi2vel = ci2vel = 0.0;
- bind();
-
- Debug(0);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGAerodynamics::~FGAerodynamics()
-{
- unsigned int i,j;
-
- unbind();
-
- for (i=0; i<6; i++) {
- for (j=0; j<Coeff[i].size(); j++) {
- delete Coeff[i][j];
- }
- }
- delete[] Coeff;
-
- Debug(1);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-bool FGAerodynamics::Run(void)
-{
- unsigned int axis_ctr,ctr;
- double alpha, twovel;
-
- if (!FGModel::Run()) {
-
- twovel = 2*Auxiliary->GetVt();
- if (twovel != 0) {
- bi2vel = Aircraft->GetWingSpan() / twovel;
- ci2vel = Aircraft->Getcbar() / twovel;
- }
-
- alphaw = Auxiliary->Getalpha() + Aircraft->GetWingIncidence();
-
- alpha = Auxiliary->Getalpha();
-
- if (alphaclmax != 0) {
- if (alpha > 0.85*alphaclmax) {
- impending_stall = 10*(alpha/alphaclmax - 0.85);
- } else {
- impending_stall = 0;
- }
- }
-
- if (alphahystmax != 0.0 && alphahystmin != 0.0) {
- if (alpha > alphahystmax) {
- stall_hyst = 1;
- } else if (alpha < alphahystmin) {
- stall_hyst = 0;
- }
- }
-
- vLastFs = vFs;
- vFs.InitMatrix();
-
- for (axis_ctr = 0; axis_ctr < 3; axis_ctr++) {
- for (ctr=0; ctr < Coeff[axis_ctr].size(); ctr++) {
- vFs(axis_ctr+1) += Coeff[axis_ctr][ctr]->TotalValue();
- }
- }
-
- //correct signs of drag and lift to wind axes convention
- //positive forward, right, down
- if ( Auxiliary->Getqbar() > 0) {
- clsq = vFs(eLift) / (Aircraft->GetWingArea()*Auxiliary->Getqbar());
- clsq *= clsq;
- }
- if ( vFs(eDrag) > 0) {
- lod = vFs(eLift) / vFs(eDrag);
- }
-
- //correct signs of drag and lift to wind axes convention
- //positive forward, right, down
- vFs(eDrag)*=-1; vFs(eLift)*=-1;
-
- vForces = State->GetTs2b()*vFs;
-
- vDXYZcg = MassBalance->StructuralToBody(Aircraft->GetXYZrp());
-
- vMoments = vDXYZcg*vForces; // M = r X F
-
- for (axis_ctr = 0; axis_ctr < 3; axis_ctr++) {
- for (ctr = 0; ctr < Coeff[axis_ctr+3].size(); ctr++) {
- vMoments(axis_ctr+1) += Coeff[axis_ctr+3][ctr]->TotalValue();
- }
- }
-
- return false;
- } else {
- return true;
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-bool FGAerodynamics::Load(FGConfigFile* AC_cfg)
-{
- string parameter, axis, scratch;
-
- AC_cfg->GetNextConfigLine();
-
- while ((parameter = AC_cfg->GetValue()) != string("/AERODYNAMICS")) {
- if (parameter == "AXIS") {
- CoeffArray ca;
- axis = AC_cfg->GetValue("NAME");
- AC_cfg->GetNextConfigLine();
- while ((parameter = AC_cfg->GetValue()) != string("/AXIS")) {
- if ( parameter == "COEFFICIENT" ) {
- ca.push_back( new FGCoefficient(FDMExec) );
- ca.back()->Load(AC_cfg);
- } else if ( parameter == "GROUP" ) {
- ca.push_back( new FGFactorGroup(FDMExec) );
- ca.back()->Load(AC_cfg);
- }
- }
- Coeff[AxisIdx[axis]] = ca;
- AC_cfg->GetNextConfigLine();
- } else if (parameter == "AC_ALPHALIMITS") {
- *AC_cfg >> scratch >> alphaclmin >> alphaclmax;
- if (debug_lvl > 0) cout << " Maximum Alpha: " << alphaclmax
- << " Minimum Alpha: " << alphaclmin
- << endl;
- } else if (parameter == "AC_HYSTLIMITS") {
- *AC_cfg >> scratch >> alphahystmin >> alphahystmax;
- if (debug_lvl > 0) cout << " Hysteresis Start: " << alphahystmax
- << " Hysteresis End: " << alphahystmin
- << endl;
- }
- }
-
- bindModel();
-
- return true;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-string FGAerodynamics::GetCoefficientStrings(string delimeter)
-{
- string CoeffStrings = "";
- bool firstime = true;
- unsigned int axis, sd;
-
- for (axis = 0; axis < 6; axis++) {
- for (sd = 0; sd < Coeff[axis].size(); sd++) {
- if (firstime) {
- firstime = false;
- } else {
- CoeffStrings += delimeter;
- }
- CoeffStrings += Coeff[axis][sd]->GetCoefficientName();
- }
- }
- return CoeffStrings;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-string FGAerodynamics::GetCoefficientValues(string delimeter)
-{
- string SDValues = "";
- bool firstime = true;
-
- for (unsigned int axis = 0; axis < 6; axis++) {
- for (unsigned int sd = 0; sd < Coeff[axis].size(); sd++) {
- if (firstime) {
- firstime = false;
- } else {
- SDValues += delimeter;
- }
- SDValues += Coeff[axis][sd]->GetSDstring();
- }
- }
-
- return SDValues;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGAerodynamics::bind(void)
-{
- typedef double (FGAerodynamics::*PMF)(int) const;
-
- PropertyManager->Tie("forces/fbx-aero-lbs", this,1,
- (PMF)&FGAerodynamics::GetForces);
- PropertyManager->Tie("forces/fby-aero-lbs", this,2,
- (PMF)&FGAerodynamics::GetForces);
- PropertyManager->Tie("forces/fbz-aero-lbs", this,3,
- (PMF)&FGAerodynamics::GetForces);
- PropertyManager->Tie("moments/l-aero-lbsft", this,1,
- (PMF)&FGAerodynamics::GetMoments);
- PropertyManager->Tie("moments/m-aero-lbsft", this,2,
- (PMF)&FGAerodynamics::GetMoments);
- PropertyManager->Tie("moments/n-aero-lbsft", this,3,
- (PMF)&FGAerodynamics::GetMoments);
- PropertyManager->Tie("forces/fwx-aero-lbs", this,1,
- (PMF)&FGAerodynamics::GetvFs);
- PropertyManager->Tie("forces/fwy-aero-lbs", this,2,
- (PMF)&FGAerodynamics::GetvFs);
- PropertyManager->Tie("forces/fwz-aero-lbs", this,3,
- (PMF)&FGAerodynamics::GetvFs);
- PropertyManager->Tie("forces/lod-norm", this,
- &FGAerodynamics::GetLoD);
- PropertyManager->Tie("aero/cl-squared-norm", this,
- &FGAerodynamics::GetClSquared);
- PropertyManager->Tie("aero/alpha-max-deg", this,
- &FGAerodynamics::GetAlphaCLMax,
- &FGAerodynamics::SetAlphaCLMax,
- true);
- PropertyManager->Tie("aero/alpha-min-deg", this,
- &FGAerodynamics::GetAlphaCLMin,
- &FGAerodynamics::SetAlphaCLMin,
- true);
- PropertyManager->Tie("aero/bi2vel", this,
- &FGAerodynamics::GetBI2Vel);
- PropertyManager->Tie("aero/ci2vel", this,
- &FGAerodynamics::GetCI2Vel);
- PropertyManager->Tie("aero/alpha-wing-rad", this,
- &FGAerodynamics::GetAlphaW);
- PropertyManager->Tie("systems/stall-warn-norm", this,
- &FGAerodynamics::GetStallWarn);
- PropertyManager->Tie("aero/stall-hyst-norm", this,
- &FGAerodynamics::GetHysteresisParm);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGAerodynamics::bindModel(void)
-{
- unsigned i,j;
- FGPropertyManager* node;
- string axis_node_name;
- node = PropertyManager->GetNode("aero/buildup",true);
- for (i=0;i<NAxes;i++) {
- node = node->GetNode( string(AxisNames[i]),true );
- for (j=0; j < Coeff[i].size(); j++) {
- Coeff[i][j]->bind(node);
- }
- node = (FGPropertyManager*)node->getParent();
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGAerodynamics::unbind(void)
-{
- unsigned i,j;
-
- PropertyManager->Untie("forces/fbx-aero-lbs");
- PropertyManager->Untie("forces/fby-aero-lbs");
- PropertyManager->Untie("forces/fbz-aero-lbs");
- PropertyManager->Untie("moments/l-aero-lbsft");
- PropertyManager->Untie("moments/m-aero-lbsft");
- PropertyManager->Untie("moments/n-aero-lbsft");
- PropertyManager->Untie("forces/fwx-aero-lbs");
- PropertyManager->Untie("forces/fwy-aero-lbs");
- PropertyManager->Untie("forces/fwz-aero-lbs");
- PropertyManager->Untie("forces/lod-norm");
- PropertyManager->Untie("aero/cl-squared-norm");
- PropertyManager->Untie("aero/alpha-max-deg");
- PropertyManager->Untie("aero/alpha-min-deg");
- PropertyManager->Untie("aero/bi2vel");
- PropertyManager->Untie("aero/ci2vel");
- PropertyManager->Untie("aero/alpha-wing-rad");
- PropertyManager->Untie("aero/stall-hyst-norm");
- PropertyManager->Untie("systems/stall-warn-norm");
-
- for ( i=0; i<NAxes; i++ ) {
- for ( j=0; j < Coeff[i].size(); j++ ) {
- Coeff[i][j]->unbind();
-
- }
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGAerodynamics::convert(void)
-{
-
- for (int axis=0; axis<6; axis++) {
- if (Coeff[axis].size()>0) {
- cout << endl << " <axis name=\"" << AxisNamesUpper[axis] << "\">" << endl;
- for (int c=0; c<Coeff[axis].size(); c++) {
- Coeff[axis][c]->convert();
- }
- cout << " </axis>" << endl;
- }
- }
-
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// 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 FGAerodynamics::Debug(int from)
-{
- 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: FGAerodynamics" << endl;
- if (from == 1) cout << "Destroyed: FGAerodynamics" << 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 (debug_lvl & 64) {
- if (from == 0) { // Constructor
- cout << IdSrc << endl;
- cout << IdHdr << endl;
- }
- }
-}
-
-} // namespace JSBSim
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Header: FGAerodynamics.h
- Author: Jon S. Berndt
- Date started: 09/13/00
-
- ------------- 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.
-
-HISTORY
---------------------------------------------------------------------------------
-09/13/00 JSB Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-SENTRY
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifndef FGAERODYNAMICS_H
-#define FGAERODYNAMICS_H
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef FGFS
-# include <simgear/compiler.h>
-# ifdef SG_HAVE_STD_INCLUDES
-# include <vector>
-# include <map>
-# else
-# include <vector.h>
-# include <map.h>
-# endif
-#else
-# include <vector>
-# include <map>
-#endif
-
-#include "FGModel.h"
-#include "FGConfigFile.h"
-#include "FGCoefficient.h"
-#include "FGColumnVector3.h"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#define ID_AERODYNAMICS "$Id$"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FORWARD DECLARATIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-namespace JSBSim {
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DOCUMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/** Encapsulates the aerodynamic calculations.
- This class owns and contains the list of coefficients that define the
- aerodynamic properties of this aircraft. Here also, such unique phenomena
- as ground effect and maximum lift curve tailoff are handled.
- @config
- <pre>
- \<AERODYNAMICS>
- \<AXIS NAME="{LIFT|DRAG|SIDE|ROLL|PITCH|YAW}">
- {Coefficient definitions}
- \</AXIS>
- {Additional axis definitions}
- \</AERODYNAMICS> </pre>
-
- @author Jon S. Berndt, Tony Peden
- $Id$
-*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-class FGAerodynamics : public FGModel {
-
-public:
- /** Constructor
- @param Executive a pointer to the parent executive object */
- FGAerodynamics(FGFDMExec* Executive);
- /// Destructor
- ~FGAerodynamics();
-
- /** Runs the Aerodynamics model; called by the Executive
- @return false if no error */
- bool Run(void);
-
- /** Loads the Aerodynamics model.
- The Load function for this class expects the configuration file to
- have found the AERODYNAMICS keyword in the configution file and to
- have set that line to the current line.
- @param AC_cfg pointer to the current configuration file.
- @return true if successful */
- bool Load(FGConfigFile* AC_cfg);
-
- /** Gets the total aerodynamic force vector.
- @return a force vector reference. */
- FGColumnVector3& GetForces(void) {return vForces;}
-
- /** Gets the aerodynamic force for an axis.
- @param n Axis index. This could be 0, 1, or 2, or one of the
- axis enums: eX, eY, eZ.
- @return the force acting on an axis */
- double GetForces(int n) const {return vForces(n);}
-
- /** Gets the total aerodynamic moment vector.
- @return a moment vector reference. */
- FGColumnVector3& GetMoments(void) {return vMoments;}
-
- /** Gets the aerodynamic moment for an axis.
- @return the moment about a single axis (as described also in the
- similar call to GetForces(int n).*/
- double GetMoments(int n) const {return vMoments(n);}
-
- FGColumnVector3& GetvLastFs(void) { return vLastFs; }
- double GetvLastFs(int axis) const { return vLastFs(axis); }
- FGColumnVector3& GetvFs(void) { return vFs; }
- double GetvFs(int axis) const { return vFs(axis); }
- inline double GetLoD(void) const { return lod; }
- inline double GetClSquared(void) const { return clsq; }
- inline double GetAlphaCLMax(void) const { return alphaclmax; }
- inline double GetAlphaCLMin(void) const { return alphaclmin; }
-
- inline double GetAlphaHystMax(void) const { return alphahystmax; }
- inline double GetAlphaHystMin(void) const { return alphahystmin; }
- inline double GetHysteresisParm(void) const { return stall_hyst; }
- inline double GetStallWarn(void) const { return impending_stall; }
- double GetAlphaW(void) const { return alphaw; }
-
- double GetBI2Vel(void) const { return bi2vel; }
- double GetCI2Vel(void) const { return ci2vel; }
-
- inline void SetAlphaCLMax(double tt) { alphaclmax=tt; }
- inline void SetAlphaCLMin(double tt) { alphaclmin=tt; }
-
- /** Gets the strings for the current set of coefficients.
- @param delimeter either a tab or comma string depending on output type
- @return a string containing the descriptive names for all coefficients */
- string GetCoefficientStrings(string delimeter);
-
- /** Gets the coefficient values.
- @param delimeter either a tab or comma string depending on output type
- @return a string containing the numeric values for the current set of
- coefficients */
- string GetCoefficientValues(string delimeter);
-
- void bind(void);
- void bindModel(void);
- void unbind(void);
- void convert(void);
-
-private:
- typedef map<string,int> AxisIndex;
- AxisIndex AxisIdx;
- typedef vector<FGCoefficient*> CoeffArray;
- CoeffArray* Coeff;
- FGColumnVector3 vFs;
- FGColumnVector3 vForces;
- FGColumnVector3 vMoments;
- FGColumnVector3 vLastFs;
- FGColumnVector3 vDXYZcg;
- double alphaclmax, alphaclmin;
- double alphahystmax, alphahystmin;
- double impending_stall, stall_hyst;
- double bi2vel, ci2vel,alphaw;
- double clsq,lod;
-
- typedef double (FGAerodynamics::*PMF)(int) const;
-
- void Debug(int from);
-};
-
-} // namespace JSBSim
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-#endif
-
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Module: FGAircraft.cpp
- Author: Jon S. Berndt
- Date started: 12/12/98
- Purpose: Encapsulates an aircraft
- Called by: FGFDMExec
-
- ------------- 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
---------------------------------------------------------------------------------
-Models the aircraft reactions and forces. This class is instantiated by the
-FGFDMExec class and scheduled as an FDM entry.
-
-HISTORY
---------------------------------------------------------------------------------
-12/12/98 JSB Created
-04/03/99 JSB Changed Aero() method to correct body axis force calculation
- from wind vector. Fix provided by Tony Peden.
-05/03/99 JSB Changed (for the better?) the way configurations are read in.
-9/17/99 TP Combined force and moment functions. Added aero reference
- point to config file. Added calculations for moments due to
- difference in cg and aero reference point
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-COMMENTS, REFERENCES, and NOTES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef HAVE_CONFIG_H
-# include <config.h>
-#endif
-
-#include <sys/stat.h>
-#include <sys/types.h>
-
-#ifdef FGFS
-# ifndef __BORLANDC__
-# include <simgear/compiler.h>
-# endif
-# ifdef SG_HAVE_STD_INCLUDES
-# include <cmath>
-# else
-# include <math.h>
-# endif
-#else
-# if defined (sgi) && !defined(__GNUC__)
-# include <math.h>
-# else
-# include <cmath>
-# endif
-#endif
-
-#include "FGAircraft.h"
-#include "FGMassBalance.h"
-#include "FGInertial.h"
-#include "FGGroundReactions.h"
-#include "FGAerodynamics.h"
-#include "FGState.h"
-#include "FGFDMExec.h"
-#include "FGPropagate.h"
-#include "FGPropertyManager.h"
-
-namespace JSBSim {
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-GLOBAL DATA
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-static const char *IdSrc = "$Id$";
-static const char *IdHdr = ID_AIRCRAFT;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-FGAircraft::FGAircraft(FGFDMExec* fdmex) : FGModel(fdmex)
-{
- Name = "FGAircraft";
- WingSpan = 0.0;
- HTailArea = VTailArea = 0.0;
- HTailArm = VTailArm = 0.0;
- lbarh = lbarv = 0.0;
- vbarh = vbarv = 0.0;
- WingIncidence = 0.0;
-
- bind();
-
- Debug(0);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGAircraft::~FGAircraft()
-{
- unbind();
- Debug(1);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-bool FGAircraft::Run(void)
-{
- if (!FGModel::Run()) { // if false then execute this Run()
- vForces.InitMatrix();
- vForces += Aerodynamics->GetForces();
- vForces += Propulsion->GetForces();
- vForces += GroundReactions->GetForces();
-
- vMoments.InitMatrix();
- vMoments += Aerodynamics->GetMoments();
- vMoments += Propulsion->GetMoments();
- vMoments += GroundReactions->GetMoments();
-
- vBodyAccel = vForces/MassBalance->GetMass();
-
- vNcg = vBodyAccel/Inertial->gravity();
-
- vNwcg = State->GetTb2s() * vNcg;
- vNwcg(3) = -1*vNwcg(3) + 1;
-
- return false;
- } else { // skip Run() execution this time
- return true;
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-double FGAircraft::GetNlf(void)
-{
- return -1*Aerodynamics->GetvFs(3)/MassBalance->GetWeight();
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-bool FGAircraft::Load(FGConfigFile* AC_cfg)
-{
- string token = "";
- string parameter;
- double EW, bixx, biyy, bizz, bixy, bixz, biyz;
- double pmWt, pmX, pmY, pmZ;
- FGColumnVector3 vbaseXYZcg;
-
- bixx = biyy = bizz = bixy = bixz = biyz = 0.0;
-
- AC_cfg->GetNextConfigLine();
-
- while ((token = AC_cfg->GetValue()) != string("/METRICS")) {
- *AC_cfg >> parameter;
- if (parameter == "AC_WINGAREA") {
- *AC_cfg >> WingArea;
- if (debug_lvl > 0) cout << " WingArea: " << WingArea << endl;
- } else if (parameter == "AC_WINGSPAN") {
- *AC_cfg >> WingSpan;
- if (debug_lvl > 0) cout << " WingSpan: " << WingSpan << endl;
- } else if (parameter == "AC_WINGINCIDENCE") {
- *AC_cfg >> WingIncidence;
- if (debug_lvl > 0) cout << " Incidence: " << WingIncidence << endl;
- } else if (parameter == "AC_CHORD") {
- *AC_cfg >> cbar;
- if (debug_lvl > 0) cout << " Chord: " << cbar << endl;
- } else if (parameter == "AC_HTAILAREA") {
- *AC_cfg >> HTailArea;
- if (debug_lvl > 0) cout << " H. Tail Area: " << HTailArea << endl;
- } else if (parameter == "AC_HTAILARM") {
- *AC_cfg >> HTailArm;
- if (debug_lvl > 0) cout << " H. Tail Arm: " << HTailArm << endl;
- } else if (parameter == "AC_VTAILAREA") {
- *AC_cfg >> VTailArea;
- if (debug_lvl > 0) cout << " V. Tail Area: " << VTailArea << endl;
- } else if (parameter == "AC_VTAILARM") {
- *AC_cfg >> VTailArm;
- if (debug_lvl > 0) cout << " V. Tail Arm: " << VTailArm << endl;
- } else if (parameter == "AC_IXX") {
- *AC_cfg >> bixx;
- if (debug_lvl > 0) cout << " baseIxx: " << bixx << " slug-ft2" << endl;
- } else if (parameter == "AC_IYY") {
- *AC_cfg >> biyy;
- if (debug_lvl > 0) cout << " baseIyy: " << biyy << " slug-ft2" << endl;
- } else if (parameter == "AC_IZZ") {
- *AC_cfg >> bizz;
- if (debug_lvl > 0) cout << " baseIzz: " << bizz << " slug-ft2" << endl;
- } else if (parameter == "AC_IXY") {
- *AC_cfg >> bixy;
- if (debug_lvl > 0) cout << " baseIxy: " << bixy << " slug-ft2" << endl;
- } else if (parameter == "AC_IXZ") {
- *AC_cfg >> bixz;
- if (debug_lvl > 0) cout << " baseIxz: " << bixz << " slug-ft2" << endl;
- } else if (parameter == "AC_IYZ") {
- *AC_cfg >> biyz;
- if (debug_lvl > 0) cout << " baseIyz: " << biyz << " slug-ft2" << endl;
- } else if (parameter == "AC_EMPTYWT") {
- *AC_cfg >> EW;
- MassBalance->SetEmptyWeight(EW);
- if (debug_lvl > 0) cout << " EmptyWeight: " << EW << " lbm" << endl;
- } else if (parameter == "AC_CGLOC") {
- *AC_cfg >> vbaseXYZcg(eX) >> vbaseXYZcg(eY) >> vbaseXYZcg(eZ);
- MassBalance->SetBaseCG(vbaseXYZcg);
- if (debug_lvl > 0) cout << " CG (x, y, z): " << vbaseXYZcg << endl;
- } else if (parameter == "AC_EYEPTLOC") {
- *AC_cfg >> vXYZep(eX) >> vXYZep(eY) >> vXYZep(eZ);
- if (debug_lvl > 0) cout << " Eyepoint (x, y, z): " << vXYZep << endl;
- } else if (parameter == "AC_AERORP") {
- *AC_cfg >> vXYZrp(eX) >> vXYZrp(eY) >> vXYZrp(eZ);
- if (debug_lvl > 0) cout << " Ref Pt (x, y, z): " << vXYZrp << endl;
- } else if (parameter == "AC_VRP") {
- *AC_cfg >> vXYZvrp(eX) >> vXYZvrp(eY) >> vXYZvrp(eZ);
- if (debug_lvl > 0) cout << " Visual Ref Pt (x, y, z): " << vXYZvrp << endl;
- } else if (parameter == "AC_POINTMASS") {
- *AC_cfg >> pmWt >> pmX >> pmY >> pmZ;
- MassBalance->AddPointMass(pmWt, pmX, pmY, pmZ);
- if (debug_lvl > 0) cout << " Point Mass Object: " << pmWt << " lbs. at "
- << "X, Y, Z (in.): " << pmX << " " << pmY << " " << pmZ
- << endl;
- }
- }
-
- MassBalance->SetAircraftBaseInertias(FGMatrix33( bixx, -bixy, -bixz,
- -bixy, biyy, -biyz,
- -bixz, -biyz, bizz ));
-
- // calculate some derived parameters
- if (cbar != 0.0) {
- lbarh = HTailArm/cbar;
- lbarv = VTailArm/cbar;
- if (WingArea != 0.0) {
- vbarh = HTailArm*HTailArea / (cbar*WingArea);
- vbarv = VTailArm*VTailArea / (cbar*WingArea);
- }
- }
- return true;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGAircraft::bind(void)
-{
- typedef double (FGAircraft::*PMF)(int) const;
- PropertyManager->Tie("metrics/Sw-sqft", this,
- &FGAircraft::GetWingArea);
- PropertyManager->Tie("metrics/bw-ft", this,
- &FGAircraft::GetWingSpan);
- PropertyManager->Tie("metrics/cbarw-ft", this,
- &FGAircraft::Getcbar);
- PropertyManager->Tie("metrics/iw-deg", this,
- &FGAircraft::GetWingIncidence);
- PropertyManager->Tie("metrics/Sh-sqft", this,
- &FGAircraft::GetHTailArea);
- PropertyManager->Tie("metrics/lh-ft", this,
- &FGAircraft::GetHTailArm);
- PropertyManager->Tie("metrics/Sv-sqft", this,
- &FGAircraft::GetVTailArea);
- PropertyManager->Tie("metrics/lv-ft", this,
- &FGAircraft::GetVTailArm);
- PropertyManager->Tie("metrics/lh-norm", this,
- &FGAircraft::Getlbarh);
- PropertyManager->Tie("metrics/lv-norm", this,
- &FGAircraft::Getlbarv);
- PropertyManager->Tie("metrics/vbarh-norm", this,
- &FGAircraft::Getvbarh);
- PropertyManager->Tie("metrics/vbarv-norm", this,
- &FGAircraft::Getvbarv);
- PropertyManager->Tie("moments/l-total-lbsft", this,1,
- (PMF)&FGAircraft::GetMoments);
- PropertyManager->Tie("moments/m-total-lbsft", this,2,
- (PMF)&FGAircraft::GetMoments);
- PropertyManager->Tie("moments/n-total-lbsft", this,3,
- (PMF)&FGAircraft::GetMoments);
- PropertyManager->Tie("forces/fbx-total-lbs", this,1,
- (PMF)&FGAircraft::GetForces);
- PropertyManager->Tie("forces/fby-total-lbs", this,2,
- (PMF)&FGAircraft::GetForces);
- PropertyManager->Tie("forces/fbz-total-lbs", this,3,
- (PMF)&FGAircraft::GetForces);
- PropertyManager->Tie("metrics/aero-rp-x-in", this,1,
- (PMF)&FGAircraft::GetXYZrp);
- PropertyManager->Tie("metrics/aero-rp-y-in", this,2,
- (PMF)&FGAircraft::GetXYZrp);
- PropertyManager->Tie("metrics/aero-rp-z-in", this,3,
- (PMF)&FGAircraft::GetXYZrp);
- PropertyManager->Tie("metrics/eyepoint-x-in", this,1,
- (PMF)&FGAircraft::GetXYZep);
- PropertyManager->Tie("metrics/eyepoint-y-in", this,2,
- (PMF)&FGAircraft::GetXYZep);
- PropertyManager->Tie("metrics/eyepoint-z-in", this,3,
- (PMF)&FGAircraft::GetXYZep);
- PropertyManager->Tie("metrics/visualrefpoint-x-in", this,1,
- (PMF)&FGAircraft::GetXYZvrp);
- PropertyManager->Tie("metrics/visualrefpoint-y-in", this,2,
- (PMF)&FGAircraft::GetXYZvrp);
- PropertyManager->Tie("metrics/visualrefpoint-z-in", this,3,
- (PMF)&FGAircraft::GetXYZvrp);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGAircraft::unbind(void)
-{
- PropertyManager->Untie("metrics/Sw-sqft");
- PropertyManager->Untie("metrics/bw-ft");
- PropertyManager->Untie("metrics/cbarw-ft");
- PropertyManager->Untie("metrics/iw-deg");
- PropertyManager->Untie("metrics/Sh-sqft");
- PropertyManager->Untie("metrics/lh-ft");
- PropertyManager->Untie("metrics/Sv-sqft");
- PropertyManager->Untie("metrics/lv-ft");
- PropertyManager->Untie("metrics/lh-norm");
- PropertyManager->Untie("metrics/lv-norm");
- PropertyManager->Untie("metrics/vbarh-norm");
- PropertyManager->Untie("metrics/vbarv-norm");
- PropertyManager->Untie("moments/l-total-lbsft");
- PropertyManager->Untie("moments/m-total-lbsft");
- PropertyManager->Untie("moments/n-total-lbsft");
- PropertyManager->Untie("forces/fbx-total-lbs");
- PropertyManager->Untie("forces/fby-total-lbs");
- PropertyManager->Untie("forces/fbz-total-lbs");
- PropertyManager->Untie("metrics/aero-rp-x-in");
- PropertyManager->Untie("metrics/aero-rp-y-in");
- PropertyManager->Untie("metrics/aero-rp-z-in");
- PropertyManager->Untie("metrics/eyepoint-x-in");
- PropertyManager->Untie("metrics/eyepoint-y-in");
- PropertyManager->Untie("metrics/eyepoint-z-in");
- PropertyManager->Untie("metrics/visualrefpoint-x-in");
- PropertyManager->Untie("metrics/visualrefpoint-y-in");
- PropertyManager->Untie("metrics/visualrefpoint-z-in");
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// 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 FGAircraft::Debug(int from)
-{
- 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: FGAircraft" << endl;
- if (from == 1) cout << "Destroyed: FGAircraft" << 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 (debug_lvl & 64) {
- if (from == 0) { // Constructor
- cout << IdSrc << endl;
- cout << IdHdr << endl;
- }
- }
-}
-
-} // namespace JSBSim
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Header: FGAircraft.h
- Author: Jon S. Berndt
- Date started: 12/12/98
-
- ------------- 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.
-
-HISTORY
---------------------------------------------------------------------------------
-12/12/98 JSB Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-SENTRY
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifndef FGAIRCRAFT_H
-#define FGAIRCRAFT_H
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef FGFS
-# include <simgear/compiler.h>
-# ifdef SG_HAVE_STD_INCLUDES
-# include <vector>
-# include <iterator>
-# else
-# include <vector.h>
-# include <iterator.h>
-# endif
-#else
-# include <vector>
-# include <iterator>
-#endif
-
-#include "FGModel.h"
-#include "FGConfigFile.h"
-#include "FGColumnVector3.h"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#define ID_AIRCRAFT "$Id$"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FORWARD DECLARATIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-namespace JSBSim {
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DOCUMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/** Encapsulates an Aircraft and its systems.
- Owns all the parts (other classes) which make up this aircraft. This includes
- the Engines, Tanks, Propellers, Nozzles, Aerodynamic and Mass properties,
- landing gear, etc. These constituent parts may actually run as separate
- JSBSim models themselves, but the responsibility for initializing them and
- for retrieving their force and moment contributions falls to FGAircraft.
- @author Jon S. Berndt
- @version $Id$
- @see 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
- @see D. M. Henderson, "Euler Angles, Quaternions, and Transformation Matrices",
- JSC 12960, July 1977
- @see Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
- NASA-Ames", NASA CR-2497, January 1975
- @see Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
- Wiley & Sons, 1979 ISBN 0-471-03032-5
- @see Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
- 1982 ISBN 0-471-08936-2
-*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-class FGAircraft : public FGModel {
-public:
- /** Constructor
- @param Executive a pointer to the parent executive object */
- FGAircraft(FGFDMExec *Executive);
-
- /// Destructor
- ~FGAircraft();
-
- /** Runs the Aircraft model; called by the Executive
- @see JSBSim.cpp documentation
- @return false if no error */
- bool Run(void);
-
- /** Loads the aircraft.
- The executive calls this method to load the aircraft into JSBSim.
- @param AC_cfg a pointer to the config file instance
- @return true if successful */
- bool Load(FGConfigFile* AC_cfg);
-
- /** Gets the aircraft name
- @return the name of the aircraft as a string type */
- inline string GetAircraftName(void) { return AircraftName; }
-
- /// Gets the wing area
- double GetWingArea(void) const { return WingArea; }
- /// Gets the wing span
- double GetWingSpan(void) const { return WingSpan; }
- /// Gets the average wing chord
- double Getcbar(void) const { return cbar; }
- inline double GetWingIncidence(void) const { return WingIncidence; }
- inline double GetHTailArea(void) const { return HTailArea; }
- inline double GetHTailArm(void) const { return HTailArm; }
- inline double GetVTailArea(void) const { return VTailArea; }
- inline double GetVTailArm(void) const { return VTailArm; }
- inline double Getlbarh(void) const { return lbarh; } // HTailArm / cbar
- inline double Getlbarv(void) const { return lbarv; } // VTailArm / cbar
- inline double Getvbarh(void) const { return vbarh; } // H. Tail Volume
- inline double Getvbarv(void) const { return vbarv; } // V. Tail Volume
- inline FGColumnVector3& GetMoments(void) { return vMoments; }
- inline double GetMoments(int idx) const { return vMoments(idx); }
- inline FGColumnVector3& GetForces(void) { return vForces; }
- inline double GetForces(int idx) const { return vForces(idx); }
- inline FGColumnVector3& GetBodyAccel(void) { return vBodyAccel; }
- inline double GetBodyAccel(int idx) { return vBodyAccel(idx); }
- inline FGColumnVector3& GetNcg (void) { return vNcg; }
- inline double GetNcg(int idx) { return vNcg(idx); }
- inline FGColumnVector3& GetXYZrp(void) { return vXYZrp; }
- inline FGColumnVector3& GetXYZvrp(void) { return vXYZvrp; }
- inline FGColumnVector3& GetXYZep(void) { return vXYZep; }
- inline double GetXYZrp(int idx) const { return vXYZrp(idx); }
- inline double GetXYZvrp(int idx) const { return vXYZvrp(idx); }
- inline double GetXYZep(int idx) const { return vXYZep(idx); }
- inline void SetAircraftName(string name) {AircraftName = name;}
-
- double GetNlf(void);
-
- inline FGColumnVector3& GetNwcg(void) { return vNwcg; }
-
- void bind(void);
- void unbind(void);
-
-private:
- FGColumnVector3 vMoments;
- FGColumnVector3 vForces;
- FGColumnVector3 vXYZrp;
- FGColumnVector3 vXYZvrp;
- FGColumnVector3 vXYZep;
- FGColumnVector3 vDXYZcg;
- FGColumnVector3 vBodyAccel;
- FGColumnVector3 vNcg;
- FGColumnVector3 vNwcg;
-
- double WingArea, WingSpan, cbar, WingIncidence;
- double HTailArea, VTailArea, HTailArm, VTailArm;
- double lbarh,lbarv,vbarh,vbarv;
- string AircraftName;
-
- void Debug(int from);
-};
-
-} // namespace JSBSim
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-#endif
-
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Module: FGAtmosphere.cpp
- Author: Jon Berndt
- Implementation of 1959 Standard Atmosphere added by Tony Peden
- Date started: 11/24/98
- Purpose: Models the atmosphere
- Called by: FGSimExec
-
- ------------- 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
---------------------------------------------------------------------------------
-Models the atmosphere. The equation used below was determined by a third order
-curve fit using Excel. The data is from the ICAO atmosphere model.
-
-HISTORY
---------------------------------------------------------------------------------
-11/24/98 JSB Created
-07/23/99 TP Added implementation of 1959 Standard Atmosphere
- Moved calculation of Mach number to FGPropagate
- Later updated to '76 model
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-COMMENTS, REFERENCES, and NOTES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-[1] Anderson, John D. "Introduction to Flight, Third Edition", McGraw-Hill,
- 1989, ISBN 0-07-001641-0
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#include "FGAtmosphere.h"
-#include "FGState.h"
-#include "FGFDMExec.h"
-#include "FGAircraft.h"
-#include "FGPropagate.h"
-#include "FGInertial.h"
-#include "FGPropertyManager.h"
-
-namespace JSBSim {
-
-static const char *IdSrc = "$Id$";
-static const char *IdHdr = ID_ATMOSPHERE;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-
-FGAtmosphere::FGAtmosphere(FGFDMExec* fdmex) : FGModel(fdmex)
-{
- Name = "FGAtmosphere";
- lastIndex = 0;
- h = 0.0;
- psiw = 0.0;
- htab[0]=0;
- htab[1]=36089.239;
- htab[2]=65616.798;
- htab[3]=104986.878;
- htab[4]=154199.475;
- htab[5]=170603.675;
- htab[6]=200131.234;
- htab[7]=259186.352; //ft.
-
- MagnitudedAccelDt = MagnitudeAccel = Magnitude = 0.0;
-// turbType = ttNone;
- turbType = ttStandard;
-// turbType = ttBerndt;
- TurbGain = 0.0;
- TurbRate = 1.0;
-
- T_dev_sl = T_dev = delta_T = 0.0;
-
- bind();
- Debug(0);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGAtmosphere::~FGAtmosphere()
-{
- unbind();
- Debug(1);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-bool FGAtmosphere::InitModel(void)
-{
- FGModel::InitModel();
-
- Calculate(h);
- SLtemperature = intTemperature;
- SLpressure = intPressure;
- SLdensity = intDensity;
- SLsoundspeed = sqrt(SHRatio*Reng*intTemperature);
- rSLtemperature = 1.0/intTemperature;
- rSLpressure = 1.0/intPressure;
- rSLdensity = 1.0/intDensity;
- rSLsoundspeed = 1.0/SLsoundspeed;
- temperature=&intTemperature;
- pressure=&intPressure;
- density=&intDensity;
-
- useExternal=false;
-
- return true;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-bool FGAtmosphere::Run(void)
-{
- if (!FGModel::Run()) { // if false then execute this Run()
- //do temp, pressure, and density first
- if (!useExternal) {
- h = Propagate->Geth();
- Calculate(h);
- }
-
- if (turbType != ttNone) {
- Turbulence();
- vWindNED += vTurbulence;
- }
-
- if (vWindNED(1) != 0.0) psiw = atan2( vWindNED(2), vWindNED(1) );
-
- if (psiw < 0) psiw += 2*M_PI;
-
- soundspeed = sqrt(SHRatio*Reng*(*temperature));
-
- Debug(2);
-
- return false;
- } else { // skip Run() execution this time
- return true;
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-//
-// See reference 1
-
-void FGAtmosphere::Calculate(double altitude)
-{
- double slope, reftemp, refpress;
- int i = 0;
-
- i = lastIndex;
- if (altitude < htab[lastIndex]) {
- if (altitude <= 0) {
- i = 0;
- altitude=0;
- } else {
- i = lastIndex-1;
- while (htab[i] > altitude) i--;
- }
- } else if (altitude > htab[lastIndex+1]) {
- if (altitude >= htab[7]) {
- i = 7;
- altitude = htab[7];
- } else {
- i = lastIndex+1;
- while (htab[i+1] < altitude) i++;
- }
- }
-
- switch(i) {
- case 1: // 36089 ft.
- slope = 0;
- reftemp = 389.97;
- refpress = 472.452;
- //refdens = 0.000706032;
- break;
- case 2: // 65616 ft.
- slope = 0.00054864;
- reftemp = 389.97;
- refpress = 114.636;
- //refdens = 0.000171306;
- break;
- case 3: // 104986 ft.
- slope = 0.00153619;
- reftemp = 411.57;
- refpress = 8.36364;
- //refdens = 1.18422e-05;
- break;
- case 4: // 154199 ft.
- slope = 0;
- reftemp = 487.17;
- refpress = 0.334882;
- //refdens = 4.00585e-7;
- break;
- case 5: // 170603 ft.
- slope = -0.00109728;
- reftemp = 487.17;
- refpress = 0.683084;
- //refdens = 8.17102e-7;
- break;
- case 6: // 200131 ft.
- slope = -0.00219456;
- reftemp = 454.17;
- refpress = 0.00684986;
- //refdens = 8.77702e-9;
- break;
- case 7: // 259186 ft.
- slope = 0;
- reftemp = 325.17;
- refpress = 0.000122276;
- //refdens = 2.19541e-10;
- break;
- case 0:
- default: // sea level
- slope = -0.00356616; // R/ft.
- reftemp = 518.67; // R
- refpress = 2116.22; // psf
- //refdens = 0.00237767; // slugs/cubic ft.
- break;
-
- }
-
- T_dev = 0.0;
- if (delta_T != 0.0) {
- T_dev = delta_T;
- } else {
- if ((h < 36089.239) && (T_dev_sl != 0.0)) {
- T_dev = T_dev_sl * ( 1.0 - (h/36089.239));
- }
- }
- density_altitude = h + T_dev * 66.7;
-
- reftemp+=T_dev;
- if (slope == 0) {
- intTemperature = reftemp;
- intPressure = refpress*exp(-Inertial->SLgravity()/(reftemp*Reng)*(altitude-htab[i]));
- //intDensity = refdens*exp(-Inertial->SLgravity()/(reftemp*Reng)*(altitude-htab[i]));
- intDensity = intPressure/(Reng*intTemperature);
- } else {
- intTemperature = reftemp+slope*(altitude-htab[i]);
- intPressure = refpress*pow(intTemperature/reftemp,-Inertial->SLgravity()/(slope*Reng));
- //intDensity = refdens*pow(intTemperature/reftemp,-(Inertial->SLgravity()/(slope*Reng)+1));
- intDensity = intPressure/(Reng*intTemperature);
- }
- lastIndex=i;
- //cout << "Atmosphere: h=" << altitude << " rho= " << intDensity << endl;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// Return the pressure at an arbitrary altitude and then restore the internal state
-
-double FGAtmosphere::GetPressure(double alt) {
- Calculate(alt);
- double p = *pressure;
- // Reset the internal atmospheric state
- Run();
- return(p);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// square a value, but preserve the original sign
-
-static inline double square_signed (double value)
-{
- if (value < 0)
- return value * value * -1;
- else
- return value * value;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGAtmosphere::Turbulence(void)
-{
- switch (turbType) {
- case ttStandard: {
- vDirectiondAccelDt(eX) = 1 - 2.0*(double(rand())/double(RAND_MAX));
- vDirectiondAccelDt(eY) = 1 - 2.0*(double(rand())/double(RAND_MAX));
- vDirectiondAccelDt(eZ) = 1 - 2.0*(double(rand())/double(RAND_MAX));
-
- MagnitudedAccelDt = 1 - 2.0*(double(rand())/double(RAND_MAX)) - Magnitude;
- // Scale the magnitude so that it moves
- // away from the peaks
- MagnitudedAccelDt = ((MagnitudedAccelDt - Magnitude) /
- (1 + fabs(Magnitude)));
- MagnitudeAccel += MagnitudedAccelDt*rate*TurbRate*State->Getdt();
- Magnitude += MagnitudeAccel*rate*State->Getdt();
-
- vDirectiondAccelDt.Normalize();
-
- // deemphasise non-vertical forces
- vDirectiondAccelDt(eX) = square_signed(vDirectiondAccelDt(eX));
- vDirectiondAccelDt(eY) = square_signed(vDirectiondAccelDt(eY));
-
- vDirectionAccel += vDirectiondAccelDt*rate*TurbRate*State->Getdt();
- vDirectionAccel.Normalize();
- vDirection += vDirectionAccel*rate*State->Getdt();
-
- vDirection.Normalize();
-
- // Diminish turbulence within three wingspans
- // of the ground
- vTurbulence = TurbGain * Magnitude * vDirection;
- double HOverBMAC = Auxiliary->GetHOverBMAC();
- if (HOverBMAC < 3.0)
- vTurbulence *= (HOverBMAC / 3.0) * (HOverBMAC / 3.0);
-
- vTurbulenceGrad = TurbGain*MagnitudeAccel * vDirection;
-
- vBodyTurbGrad = Propagate->GetTl2b()*vTurbulenceGrad;
-
- if (Aircraft->GetWingSpan() > 0) {
- vTurbPQR(eP) = vBodyTurbGrad(eY)/Aircraft->GetWingSpan();
- } else {
- vTurbPQR(eP) = vBodyTurbGrad(eY)/30.0;
- }
-// if (Aircraft->GetHTailArm() != 0.0)
-// vTurbPQR(eQ) = vBodyTurbGrad(eZ)/Aircraft->GetHTailArm();
-// else
-// vTurbPQR(eQ) = vBodyTurbGrad(eZ)/10.0;
-
- if (Aircraft->GetVTailArm() > 0)
- vTurbPQR(eR) = vBodyTurbGrad(eX)/Aircraft->GetVTailArm();
- else
- vTurbPQR(eR) = vBodyTurbGrad(eX)/10.0;
-
- // Clear the horizontal forces
- // actually felt by the plane, now
- // that we've used them to calculate
- // moments.
- vTurbulence(eX) = 0.0;
- vTurbulence(eY) = 0.0;
-
- break;
- }
- case ttBerndt: {
- vDirectiondAccelDt(eX) = 1 - 2.0*(double(rand())/double(RAND_MAX));
- vDirectiondAccelDt(eY) = 1 - 2.0*(double(rand())/double(RAND_MAX));
- vDirectiondAccelDt(eZ) = 1 - 2.0*(double(rand())/double(RAND_MAX));
-
-
- MagnitudedAccelDt = 1 - 2.0*(double(rand())/double(RAND_MAX)) - Magnitude;
- MagnitudeAccel += MagnitudedAccelDt*rate*State->Getdt();
- Magnitude += MagnitudeAccel*rate*State->Getdt();
-
- vDirectiondAccelDt.Normalize();
- vDirectionAccel += vDirectiondAccelDt*rate*State->Getdt();
- vDirectionAccel.Normalize();
- vDirection += vDirectionAccel*rate*State->Getdt();
-
- // Diminish z-vector within two wingspans
- // of the ground
- double HOverBMAC = Auxiliary->GetHOverBMAC();
- if (HOverBMAC < 2.0)
- vDirection(eZ) *= HOverBMAC / 2.0;
-
- vDirection.Normalize();
-
- vTurbulence = TurbGain*Magnitude * vDirection;
- vTurbulenceGrad = TurbGain*MagnitudeAccel * vDirection;
-
- vBodyTurbGrad = Propagate->GetTl2b()*vTurbulenceGrad;
- vTurbPQR(eP) = vBodyTurbGrad(eY)/Aircraft->GetWingSpan();
- if (Aircraft->GetHTailArm() > 0)
- vTurbPQR(eQ) = vBodyTurbGrad(eZ)/Aircraft->GetHTailArm();
- else
- vTurbPQR(eQ) = vBodyTurbGrad(eZ)/10.0;
-
- if (Aircraft->GetVTailArm() > 0)
- vTurbPQR(eR) = vBodyTurbGrad(eX)/Aircraft->GetVTailArm();
- else
- vTurbPQR(eR) = vBodyTurbGrad(eX)/10.0;
-
- break;
- }
- default:
- break;
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGAtmosphere::UseExternal(void) {
- temperature=&exTemperature;
- pressure=&exPressure;
- density=&exDensity;
- useExternal=true;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGAtmosphere::UseInternal(void) {
- temperature=&intTemperature;
- pressure=&intPressure;
- density=&intDensity;
- useExternal=false;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGAtmosphere::bind(void)
-{
- typedef double (FGAtmosphere::*PMF)(int) const;
- PropertyManager->Tie("atmosphere/T-R", this,
- &FGAtmosphere::GetTemperature);
- PropertyManager->Tie("atmosphere/rho-slugs_ft3", this,
- &FGAtmosphere::GetDensity);
-// PropertyManager->Tie("atmosphere/P-psf", this,
-// &FGAtmosphere::GetPressure);
- PropertyManager->Tie("atmosphere/a-fps", this,
- &FGAtmosphere::GetSoundSpeed);
- PropertyManager->Tie("atmosphere/T-sl-R", this,
- &FGAtmosphere::GetTemperatureSL);
- PropertyManager->Tie("atmosphere/rho-sl-slugs_ft3", this,
- &FGAtmosphere::GetDensitySL);
- PropertyManager->Tie("atmosphere/P-sl-psf", this,
- &FGAtmosphere::GetPressureSL);
- PropertyManager->Tie("atmosphere/a-sl-fps", this,
- &FGAtmosphere::GetSoundSpeedSL);
- PropertyManager->Tie("atmosphere/theta-norm", this,
- &FGAtmosphere::GetTemperatureRatio);
- PropertyManager->Tie("atmosphere/sigma-norm", this,
- &FGAtmosphere::GetDensityRatio);
- PropertyManager->Tie("atmosphere/delta-norm", this,
- &FGAtmosphere::GetPressureRatio);
- PropertyManager->Tie("atmosphere/a-norm", this,
- &FGAtmosphere::GetSoundSpeedRatio);
- PropertyManager->Tie("atmosphere/psiw-rad", this,
- &FGAtmosphere::GetWindPsi);
- PropertyManager->Tie("atmosphere/delta-T", this,
- &FGAtmosphere::GetDeltaT, &FGAtmosphere::SetDeltaT);
- PropertyManager->Tie("atmosphere/T-sl-dev-F", this,
- &FGAtmosphere::GetSLTempDev, &FGAtmosphere::SetSLTempDev);
- PropertyManager->Tie("atmosphere/density-altitude", this,
- &FGAtmosphere::GetDensityAltitude);
- PropertyManager->Tie("atmosphere/p-turb-rad_sec", this,1,
- (PMF)&FGAtmosphere::GetTurbPQR);
- PropertyManager->Tie("atmosphere/q-turb-rad_sec", this,2,
- (PMF)&FGAtmosphere::GetTurbPQR);
- PropertyManager->Tie("atmosphere/r-turb-rad_sec", this,3,
- (PMF)&FGAtmosphere::GetTurbPQR);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGAtmosphere::unbind(void)
-{
- PropertyManager->Untie("atmosphere/T-R");
- PropertyManager->Untie("atmosphere/rho-slugs_ft3");
-// PropertyManager->Untie("atmosphere/P-psf");
- PropertyManager->Untie("atmosphere/a-fps");
- PropertyManager->Untie("atmosphere/T-sl-R");
- PropertyManager->Untie("atmosphere/rho-sl-slugs_ft3");
- PropertyManager->Untie("atmosphere/P-sl-psf");
- PropertyManager->Untie("atmosphere/a-sl-fps");
- PropertyManager->Untie("atmosphere/delta-T");
- PropertyManager->Untie("atmosphere/T-sl-dev-F");
- PropertyManager->Untie("atmosphere/density-altitude");
- PropertyManager->Untie("atmosphere/theta-norm");
- PropertyManager->Untie("atmosphere/sigma-norm");
- PropertyManager->Untie("atmosphere/delta-norm");
- PropertyManager->Untie("atmosphere/a-norm");
- PropertyManager->Untie("atmosphere/psiw-rad");
- PropertyManager->Untie("atmosphere/p-turb-rad_sec");
- PropertyManager->Untie("atmosphere/q-turb-rad_sec");
- PropertyManager->Untie("atmosphere/r-turb-rad_sec");
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// 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 FGAtmosphere::Debug(int from)
-{
- 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: FGAtmosphere" << endl;
- if (from == 1) cout << "Destroyed: FGAtmosphere" << 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 (debug_lvl & 32) { // Turbulence
- if (frame == 0 && from == 2) {
- cout << "vTurbulence(X), vTurbulence(Y), vTurbulence(Z), "
- << "vTurbulenceGrad(X), vTurbulenceGrad(Y), vTurbulenceGrad(Z), "
- << "vDirection(X), vDirection(Y), vDirection(Z), "
- << "Magnitude, "
- << "vTurbPQR(P), vTurbPQR(Q), vTurbPQR(R), " << endl;
- } else if (from == 2) {
- cout << vTurbulence << ", " << vTurbulenceGrad << ", " << vDirection << ", " << Magnitude << ", " << vTurbPQR << endl;
- }
- }
- if (debug_lvl & 64) {
- if (from == 0) { // Constructor
- cout << IdSrc << endl;
- cout << IdHdr << endl;
- }
- }
-}
-
-} // namespace JSBSim
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Header: FGAtmosphere.h
- Author: Jon Berndt
- Implementation of 1959 Standard Atmosphere added by Tony Peden
- Date started: 11/24/98
-
- ------------- 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.
-
-HISTORY
---------------------------------------------------------------------------------
-11/24/98 JSB Created
-07/23/99 TP Added implementation of 1959 Standard Atmosphere
- Moved calculation of Mach number to FGPropagate
- Updated to '76 model
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-SENTRY
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifndef FGAtmosphere_H
-#define FGAtmosphere_H
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#include "FGModel.h"
-#include "FGColumnVector3.h"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#define ID_ATMOSPHERE "$Id$"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FORWARD DECLARATIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-namespace JSBSim {
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DOCUMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/** Models the standard atmosphere.
- @author Tony Peden, Jon Berndt
- @version $Id$
- @see Anderson, John D. "Introduction to Flight, Third Edition", McGraw-Hill,
- 1989, ISBN 0-07-001641-0
-*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-class FGAtmosphere : public FGModel {
-public:
-
- /// Constructor
- FGAtmosphere(FGFDMExec*);
- /// Destructor
- ~FGAtmosphere();
- /** Runs the Atmosphere model; called by the Executive
- @return false if no error */
- bool Run(void);
-
- bool InitModel(void);
-
- /// Returns the temperature in degrees Rankine.
- inline double GetTemperature(void) const {return *temperature;}
- /** Returns the density in slugs/ft^3.
- <i>This function may <b>only</b> be used if Run() is called first.</i> */
- inline double GetDensity(void) const {return *density;}
- /// Returns the pressure in psf.
- inline double GetPressure(void) const {return *pressure;}
- /// Returns the pressure at an arbitrary altitude in psf
- double GetPressure(double alt);
- /// Returns the speed of sound in ft/sec.
- inline double GetSoundSpeed(void) const {return soundspeed;}
-
- /// Returns the sea level temperature in degrees Rankine.
- inline double GetTemperatureSL(void) const { return SLtemperature; }
- /// Returns the sea level density in slugs/ft^3
- inline double GetDensitySL(void) const { return SLdensity; }
- /// Returns the sea level pressure in psf.
- inline double GetPressureSL(void) const { return SLpressure; }
- /// Returns the sea level speed of sound in ft/sec.
- inline double GetSoundSpeedSL(void) const { return SLsoundspeed; }
-
- /// Returns the ratio of at-altitude temperature over the sea level value.
- inline double GetTemperatureRatio(void) const { return (*temperature)*rSLtemperature; }
- /// Returns the ratio of at-altitude density over the sea level value.
- inline double GetDensityRatio(void) const { return (*density)*rSLdensity; }
- /// Returns the ratio of at-altitude pressure over the sea level value.
- inline double GetPressureRatio(void) const { return (*pressure)*rSLpressure; }
- /// Returns the ratio of at-altitude sound speed over the sea level value.
- inline double GetSoundSpeedRatio(void) const { return soundspeed*rSLsoundspeed; }
-
- /// Tells the simulator to use an externally calculated atmosphere model.
- void UseExternal(void);
- /// Tells the simulator to use the internal atmosphere model.
- void UseInternal(void); //this is the default
- /// Gets the boolean that tells if the external atmosphere model is being used.
- bool External(void) { return useExternal; }
-
- /// Provides the external atmosphere model with an interface to set the temperature.
- inline void SetExTemperature(double t) { exTemperature=t; }
- /// Provides the external atmosphere model with an interface to set the density.
- inline void SetExDensity(double d) { exDensity=d; }
- /// Provides the external atmosphere model with an interface to set the pressure.
- inline void SetExPressure(double p) { exPressure=p; }
-
- /// Sets the temperature deviation at sea-level in degrees Fahrenheit
- inline void SetSLTempDev(double d) { T_dev_sl = d; }
- /// Gets the temperature deviation at sea-level in degrees Fahrenheit
- inline double GetSLTempDev(void) const { return T_dev_sl; }
- /// Sets the current delta-T in degrees Fahrenheit
- inline void SetDeltaT(double d) { delta_T = d; }
- /// Gets the current delta-T in degrees Fahrenheit
- inline double GetDeltaT(void) const { return delta_T; }
- /// Gets the at-altitude temperature deviation in degrees Fahrenheit
- inline double GetTempDev(void) const { return T_dev; }
- /// Gets the density altitude in feet
- inline double GetDensityAltitude(void) const { return density_altitude; }
-
- /// Sets the wind components in NED frame.
- inline void SetWindNED(double wN, double wE, double wD) { vWindNED(1)=wN; vWindNED(2)=wE; vWindNED(3)=wD;}
-
- /// Retrieves the wind components in NED frame.
- inline FGColumnVector3& GetWindNED(void) { return vWindNED; }
-
- /** Retrieves the wind direction. The direction is defined as north=0 and
- increases counterclockwise. The wind heading is returned in radians.*/
- inline double GetWindPsi(void) const { return psiw; }
-
- inline void SetTurbGain(double tt) {TurbGain = tt;}
- inline void SetTurbRate(double tt) {TurbRate = tt;}
-
- inline double GetTurbPQR(int idx) const {return vTurbPQR(idx);}
- inline FGColumnVector3& GetTurbPQR(void) {return vTurbPQR;}
-
- void bind(void);
- void unbind(void);
-
-
-protected:
- double rho;
-
- enum tType {ttStandard, ttBerndt, ttNone} turbType;
-
- int lastIndex;
- double h;
- double htab[8];
- double SLtemperature,SLdensity,SLpressure,SLsoundspeed;
- double rSLtemperature,rSLdensity,rSLpressure,rSLsoundspeed; //reciprocals
- double *temperature,*density,*pressure;
- double soundspeed;
- bool useExternal;
- double exTemperature,exDensity,exPressure;
- double intTemperature, intDensity, intPressure;
- double T_dev_sl, T_dev, delta_T, density_altitude;
-
- double MagnitudedAccelDt, MagnitudeAccel, Magnitude;
- double TurbGain;
- double TurbRate;
- FGColumnVector3 vDirectiondAccelDt;
- FGColumnVector3 vDirectionAccel;
- FGColumnVector3 vDirection;
- FGColumnVector3 vTurbulence;
- FGColumnVector3 vTurbulenceGrad;
- FGColumnVector3 vBodyTurbGrad;
- FGColumnVector3 vTurbPQR;
-
- FGColumnVector3 vWindNED;
- double psiw;
-
- void Calculate(double altitude);
- void Turbulence(void);
- void Debug(int from);
-};
-
-} // namespace JSBSim
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-#endif
-
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Module: FGAuxiliary.cpp
- Author: Tony Peden, Jon Berndt
- Date started: 01/26/99
- Purpose: Calculates additional parameters needed by the visual system, etc.
- Called by: FGSimExec
-
- ------------- 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 calculates various auxiliary parameters.
-
-REFERENCES
- Anderson, John D. "Introduction to Flight", 3rd Edition, McGraw-Hill, 1989
- pgs. 112-126
-HISTORY
---------------------------------------------------------------------------------
-01/26/99 JSB Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#include "FGAuxiliary.h"
-#include "FGAerodynamics.h"
-#include "FGPropagate.h"
-#include "FGAtmosphere.h"
-#include "FGState.h"
-#include "FGFDMExec.h"
-#include "FGAircraft.h"
-#include "FGInertial.h"
-#include "FGPropertyManager.h"
-
-namespace JSBSim {
-
-static const char *IdSrc = "$Id$";
-static const char *IdHdr = ID_AUXILIARY;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-
-FGAuxiliary::FGAuxiliary(FGFDMExec* fdmex) : FGModel(fdmex)
-{
- Name = "FGAuxiliary";
- vcas = veas = pt = tat = 0;
- psl = rhosl = 1;
- earthPosAngle = 0.0;
- qbar = 0;
- qbarUW = 0.0;
- qbarUV = 0.0;
- Mach = 0.0;
- alpha = beta = 0.0;
- adot = bdot = 0.0;
- gamma = Vt = Vground = 0.0;
- psigt = 0.0;
- day_of_year = 1;
- seconds_in_day = 0.0;
- hoverbmac = hoverbcg = 0.0;
-
- vPilotAccel.InitMatrix();
- vPilotAccelN.InitMatrix();
- vToEyePt.InitMatrix();
- vAeroPQR.InitMatrix();
- vEulerRates.InitMatrix();
-
- bind();
-
- Debug(0);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGAuxiliary::~FGAuxiliary()
-{
- unbind();
- Debug(1);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-bool FGAuxiliary::Run()
-{
- double A,B,D, hdot_Vt;
- const FGColumnVector3& vPQR = Propagate->GetPQR();
- const FGColumnVector3& vUVW = Propagate->GetUVW();
- const FGColumnVector3& vUVWdot = Propagate->GetUVWdot();
- const FGColumnVector3& vVel = Propagate->GetVel();
-
- if (!FGModel::Run())
- {
- p = Atmosphere->GetPressure();
- rhosl = Atmosphere->GetDensitySL();
- psl = Atmosphere->GetPressureSL();
- sat = Atmosphere->GetTemperature();
-
-// Rotation
-
- double cTht = Propagate->GetCosEuler(eTht);
- double cPhi = Propagate->GetCosEuler(ePhi);
- double sPhi = Propagate->GetSinEuler(ePhi);
-
- vEulerRates(eTht) = vPQR(eQ)*cPhi - vPQR(eR)*sPhi;
- if (cTht != 0.0) {
- vEulerRates(ePsi) = (vPQR(eQ)*sPhi + vPQR(eR)*cPhi)/cTht;
- vEulerRates(ePhi) = vPQR(eP) + vEulerRates(ePsi)*sPhi;
- }
-
- vAeroPQR = vPQR + Atmosphere->GetTurbPQR();
-
-// Translation
-
- vAeroUVW = vUVW + Propagate->GetTl2b()*Atmosphere->GetWindNED();
-
- Vt = vAeroUVW.Magnitude();
- if ( Vt > 0.05) {
- 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;
-
- 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)*vUVWdot(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 / Atmosphere->GetSoundSpeed();
- MachU = vMachUVW(eU) = vAeroUVW(eU) / Atmosphere->GetSoundSpeed();
- vMachUVW(eV) = vAeroUVW(eV) / Atmosphere->GetSoundSpeed();
- vMachUVW(eW) = vAeroUVW(eW) / Atmosphere->GetSoundSpeed();
-
-// Position
-
- Vground = sqrt( vVel(eNorth)*vVel(eNorth) + vVel(eEast)*vVel(eEast) );
-
- if (vVel(eNorth) == 0) psigt = 0;
- else psigt = atan2(vVel(eEast), vVel(eNorth));
-
- if (psigt < 0.0) psigt += 2*M_PI;
-
- if (Vt != 0) {
- hdot_Vt = -vVel(eDown)/Vt;
- if (fabs(hdot_Vt) <= 1) gamma = asin(hdot_Vt);
- } else {
- gamma = 0.0;
- }
-
- tat = sat*(1 + 0.2*Mach*Mach); // Total Temperature, isentropic flow
- tatc = RankineToCelsius(tat);
-
- if (MachU < 1) { // Calculate total pressure assuming isentropic flow
- pt = p*pow((1 + 0.2*MachU*MachU),3.5);
- } else {
- // Use Rayleigh pitot tube formula for normal shock in front of pitot tube
- B = 5.76*MachU*MachU/(5.6*MachU*MachU - 0.8);
- D = (2.8*MachU*MachU-0.4)*0.4167;
- pt = p*pow(B,3.5)*D;
- }
-
- A = pow(((pt-p)/psl+1),0.28571);
- if (MachU > 0.0) {
- vcas = sqrt(7*psl/rhosl*(A-1));
- veas = sqrt(2*qbar/rhosl);
- } else {
- vcas = veas = 0.0;
- }
-
- vPilotAccel.InitMatrix();
- if ( Vt > 1.0 ) {
- vPilotAccel = Aerodynamics->GetForces()
- + Propulsion->GetForces()
- + GroundReactions->GetForces();
- vPilotAccel /= MassBalance->GetMass();
- vToEyePt = MassBalance->StructuralToBody(Aircraft->GetXYZep());
- vPilotAccel += Propagate->GetPQRdot() * vToEyePt;
- vPilotAccel += vPQR * (vPQR * vToEyePt);
- } else {
- vPilotAccel = Propagate->GetTl2b() * FGColumnVector3( 0.0, 0.0, Inertial->gravity() );
- }
-
- vPilotAccelN = vPilotAccel/Inertial->gravity();
-
- earthPosAngle += State->Getdt()*Inertial->omega();
-
- // VRP computation
- const FGLocation& vLocation = Propagate->GetLocation();
- FGColumnVector3 vrpStructural = Aircraft->GetXYZvrp();
- FGColumnVector3 vrpBody = MassBalance->StructuralToBody( vrpStructural );
- FGColumnVector3 vrpLocal = Propagate->GetTb2l() * vrpBody;
- vLocationVRP = vLocation.LocalToLocation( vrpLocal );
-
- // Recompute some derived values now that we know the dependent parameters values ...
- hoverbcg = Propagate->GetDistanceAGL() / Aircraft->GetWingSpan();
-
- FGColumnVector3 vMac = Propagate->GetTb2l()*MassBalance->StructuralToBody(Aircraft->GetXYZrp());
- hoverbmac = (Propagate->GetDistanceAGL() + vMac(3)) / Aircraft->GetWingSpan();
-
- return false;
- } else {
- return true;
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-double FGAuxiliary::GetHeadWind(void)
-{
- double psiw,vw;
-
- psiw = Atmosphere->GetWindPsi();
- vw = Atmosphere->GetWindNED().Magnitude();
-
- return vw*cos(psiw - Propagate->GetEuler(ePsi));
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-double FGAuxiliary::GetCrossWind(void)
-{
- double psiw,vw;
-
- psiw = Atmosphere->GetWindPsi();
- vw = Atmosphere->GetWindNED().Magnitude();
-
- return vw*sin(psiw - Propagate->GetEuler(ePsi));
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGAuxiliary::bind(void)
-{
- typedef double (FGAuxiliary::*PMF)(int) const;
- typedef double (FGAuxiliary::*PF)(void) const;
- PropertyManager->Tie("velocities/vc-fps", this, &FGAuxiliary::GetVcalibratedFPS);
- PropertyManager->Tie("velocities/vc-kts", this, &FGAuxiliary::GetVcalibratedKTS);
- PropertyManager->Tie("velocities/ve-fps", this, &FGAuxiliary::GetVequivalentFPS);
- PropertyManager->Tie("velocities/ve-kts", this, &FGAuxiliary::GetVequivalentKTS);
- PropertyManager->Tie("velocities/machU", this, &FGAuxiliary::GetMachU);
- PropertyManager->Tie("velocities/tat-r", this, &FGAuxiliary::GetTotalTemperature);
- PropertyManager->Tie("velocities/tat-c", this, &FGAuxiliary::GetTAT_C);
- PropertyManager->Tie("velocities/pt-lbs_sqft", this, &FGAuxiliary::GetTotalPressure);
- PropertyManager->Tie("velocities/p-aero-rad_sec", this, eX, (PMF)&FGAuxiliary::GetAeroPQR);
- PropertyManager->Tie("velocities/q-aero-rad_sec", this, eY, (PMF)&FGAuxiliary::GetAeroPQR);
- PropertyManager->Tie("velocities/r-aero-rad_sec", this, eZ, (PMF)&FGAuxiliary::GetAeroPQR);
- PropertyManager->Tie("velocities/phidot-rad_sec", this, ePhi, (PMF)&FGAuxiliary::GetEulerRates);
- PropertyManager->Tie("velocities/thetadot-rad_sec", this, eTht, (PMF)&FGAuxiliary::GetEulerRates);
- PropertyManager->Tie("velocities/psidot-rad_sec", this, ePsi, (PMF)&FGAuxiliary::GetEulerRates);
- PropertyManager->Tie("velocities/u-aero-fps", this, eU, (PMF)&FGAuxiliary::GetAeroUVW);
- PropertyManager->Tie("velocities/v-aero-fps", this, eV, (PMF)&FGAuxiliary::GetAeroUVW);
- PropertyManager->Tie("velocities/w-aero-fps", this, eW, (PMF)&FGAuxiliary::GetAeroUVW);
- PropertyManager->Tie("velocities/vt-fps", this, &FGAuxiliary::GetVt, &FGAuxiliary::SetVt, true);
- PropertyManager->Tie("velocities/mach-norm", this, &FGAuxiliary::GetMach, &FGAuxiliary::SetMach, true);
- PropertyManager->Tie("velocities/vg-fps", this, &FGAuxiliary::GetVground);
- PropertyManager->Tie("accelerations/a-pilot-x-ft_sec2", this, eX, (PMF)&FGAuxiliary::GetPilotAccel);
- PropertyManager->Tie("accelerations/a-pilot-y-ft_sec2", this, eY, (PMF)&FGAuxiliary::GetPilotAccel);
- PropertyManager->Tie("accelerations/a-pilot-z-ft_sec2", this, eZ, (PMF)&FGAuxiliary::GetPilotAccel);
- PropertyManager->Tie("accelerations/n-pilot-x-norm", this, eX, (PMF)&FGAuxiliary::GetNpilot);
- PropertyManager->Tie("accelerations/n-pilot-y-norm", this, eY, (PMF)&FGAuxiliary::GetNpilot);
- PropertyManager->Tie("accelerations/n-pilot-z-norm", this, eZ, (PMF)&FGAuxiliary::GetNpilot);
- PropertyManager->Tie("position/epa-rad", this, &FGAuxiliary::GetEarthPositionAngle);
- /* PropertyManager->Tie("atmosphere/headwind-fps", this, &FGAuxiliary::GetHeadWind, true);
- PropertyManager->Tie("atmosphere/crosswind-fps", this, &FGAuxiliary::GetCrossWind, true); */
- PropertyManager->Tie("aero/alpha-rad", this, (PF)&FGAuxiliary::Getalpha, &FGAuxiliary::Setalpha, true);
- PropertyManager->Tie("aero/beta-rad", this, (PF)&FGAuxiliary::Getbeta, &FGAuxiliary::Setbeta, true);
- PropertyManager->Tie("aero/mag-beta-rad", this, (PF)&FGAuxiliary::GetMagBeta);
- PropertyManager->Tie("aero/alpha-deg", this, inDegrees, (PMF)&FGAuxiliary::Getalpha);
- PropertyManager->Tie("aero/beta-deg", this, inDegrees, (PMF)&FGAuxiliary::Getbeta);
- PropertyManager->Tie("aero/mag-beta-deg", this, inDegrees, (PMF)&FGAuxiliary::GetMagBeta);
- PropertyManager->Tie("aero/qbar-psf", this, &FGAuxiliary::Getqbar, &FGAuxiliary::Setqbar, true);
- PropertyManager->Tie("aero/qbarUW-psf", this, &FGAuxiliary::GetqbarUW, &FGAuxiliary::SetqbarUW, true);
- PropertyManager->Tie("aero/qbarUV-psf", this, &FGAuxiliary::GetqbarUV, &FGAuxiliary::SetqbarUV, true);
- PropertyManager->Tie("aero/alphadot-rad_sec", this, (PF)&FGAuxiliary::Getadot, &FGAuxiliary::Setadot, true);
- PropertyManager->Tie("aero/betadot-rad_sec", this, (PF)&FGAuxiliary::Getbdot, &FGAuxiliary::Setbdot, true);
- PropertyManager->Tie("aero/alphadot-deg_sec", this, inDegrees, (PMF)&FGAuxiliary::Getadot);
- PropertyManager->Tie("aero/betadot-deg_sec", this, inDegrees, (PMF)&FGAuxiliary::Getbdot);
- PropertyManager->Tie("aero/h_b-cg-ft", this, &FGAuxiliary::GetHOverBCG);
- PropertyManager->Tie("aero/h_b-mac-ft", this, &FGAuxiliary::GetHOverBMAC);
- PropertyManager->Tie("flight-path/gamma-rad", this, &FGAuxiliary::GetGamma, &FGAuxiliary::SetGamma);
- PropertyManager->Tie("flight-path/psi-gt-rad", this, &FGAuxiliary::GetGroundTrack);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGAuxiliary::unbind(void)
-{
- PropertyManager->Untie("velocities/vc-fps");
- PropertyManager->Untie("velocities/vc-kts");
- PropertyManager->Untie("velocities/ve-fps");
- PropertyManager->Untie("velocities/ve-kts");
- PropertyManager->Untie("velocities/machU");
- PropertyManager->Untie("velocities/tat-r");
- PropertyManager->Untie("velocities/tat-c");
- PropertyManager->Untie("velocities/p-aero-rad_sec");
- PropertyManager->Untie("velocities/q-aero-rad_sec");
- PropertyManager->Untie("velocities/r-aero-rad_sec");
- PropertyManager->Untie("velocities/pt-lbs_sqft");
- PropertyManager->Untie("velocities/phidot-rad_sec");
- PropertyManager->Untie("velocities/thetadot-rad_sec");
- PropertyManager->Untie("velocities/psidot-rad_sec");
- PropertyManager->Untie("velocities/u-aero-fps");
- PropertyManager->Untie("velocities/v-aero-fps");
- PropertyManager->Untie("velocities/w-aero-fps");
- PropertyManager->Untie("velocities/vt-fps");
- PropertyManager->Untie("velocities/mach-norm");
- PropertyManager->Untie("velocities/vg-fps");
- PropertyManager->Untie("accelerations/a-pilot-x-ft_sec2");
- PropertyManager->Untie("accelerations/a-pilot-y-ft_sec2");
- PropertyManager->Untie("accelerations/a-pilot-z-ft_sec2");
- PropertyManager->Untie("accelerations/n-pilot-x-norm");
- PropertyManager->Untie("accelerations/n-pilot-y-norm");
- PropertyManager->Untie("accelerations/n-pilot-z-norm");
- PropertyManager->Untie("position/epa-rad");
- /* PropertyManager->Untie("atmosphere/headwind-fps");
- PropertyManager->Untie("atmosphere/crosswind-fps"); */
- PropertyManager->Untie("aero/qbar-psf");
- PropertyManager->Untie("aero/qbarUW-psf");
- PropertyManager->Untie("aero/qbarUV-psf");
- PropertyManager->Untie("aero/alpha-rad");
- PropertyManager->Untie("aero/beta-rad");
- PropertyManager->Untie("aero/alpha-deg");
- PropertyManager->Untie("aero/beta-deg");
- PropertyManager->Untie("aero/alphadot-rad_sec");
- PropertyManager->Untie("aero/betadot-rad_sec");
- PropertyManager->Untie("aero/mag-beta-rad");
- PropertyManager->Untie("aero/alphadot-deg_sec");
- PropertyManager->Untie("aero/betadot-deg_sec");
- PropertyManager->Untie("aero/mag-beta-deg");
- PropertyManager->Untie("aero/h_b-cg-ft");
- PropertyManager->Untie("aero/h_b-mac-ft");
- PropertyManager->Untie("flight-path/gamma-rad");
- PropertyManager->Untie("flight-path/psi-gt-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 FGAuxiliary::Debug(int from)
-{
- 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: FGAuxiliary" << endl;
- if (from == 1) cout << "Destroyed: FGAuxiliary" << 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 (Mach > 100 || Mach < 0.00)
- cout << "FGPropagate::Mach is out of bounds: " << Mach << endl;
- if (qbar > 1e6 || qbar < 0.00)
- cout << "FGPropagate::qbar is out of bounds: " << qbar << endl;
- }
- if (debug_lvl & 64) {
- if (from == 0) { // Constructor
- cout << IdSrc << endl;
- cout << IdHdr << endl;
- }
- }
-}
-
-} // namespace JSBSim
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Header: FGAuxiliary.h
- Author: Jon Berndt
- Date started: 01/26/99
-
- ------------- 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.
-
-HISTORY
---------------------------------------------------------------------------------
-11/22/98 JSB Created
- 1/1/00 TP Added calcs and getters for VTAS, VCAS, VEAS, Vground, in knots
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-SENTRY
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifndef FGAUXILIARY_H
-#define FGAUXILIARY_H
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#include "FGModel.h"
-#include "FGColumnVector3.h"
-#include "FGLocation.h"
-#include "FGPropagate.h"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#define ID_AUXILIARY "$Id$"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FORWARD DECLARATIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-namespace JSBSim {
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DOCUMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/** Encapsulates various uncategorized scheduled functions.
- Pilot sensed accelerations are calculated here. This is used
- for the coordinated turn ball instrument. Motion base platforms sometimes
- use the derivative of pilot sensed accelerations as the driving parameter,
- rather than straight accelerations.
-
- The theory behind pilot-sensed calculations is presented:
-
- For purposes of discussion and calculation, assume for a minute that the
- pilot is in space and motionless in inertial space. She will feel
- no accelerations. If the aircraft begins to accelerate along any axis or
- axes (without rotating), the pilot will sense those accelerations. If
- any rotational moment is applied, the pilot will sense an acceleration
- due to that motion in the amount:
-
- [wdot X R] + [w X (w X R)]
- Term I Term II
-
- where:
-
- wdot = omegadot, the rotational acceleration rate vector
- w = omega, the rotational rate vector
- R = the vector from the aircraft CG to the pilot eyepoint
-
- The sum total of these two terms plus the acceleration of the aircraft
- body axis gives the acceleration the pilot senses in inertial space.
- In the presence of a large body such as a planet, a gravity field also
- provides an accelerating attraction. This acceleration can be transformed
- from the reference frame of the planet so as to be expressed in the frame
- of reference of the aircraft. This gravity field accelerating attraction
- is felt by the pilot as a force on her tushie as she sits in her aircraft
- on the runway awaiting takeoff clearance.
-
- In JSBSim the acceleration of the body frame in inertial space is given
- by the F = ma relation. If the vForces vector is divided by the aircraft
- mass, the acceleration vector is calculated. The term wdot is equivalent
- to the JSBSim vPQRdot vector, and the w parameter is equivalent to vPQR.
- The radius R is calculated below in the vector vToEyePt.
-
- @author Tony Peden, Jon Berndt
- @version $Id$
-*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-class FGAuxiliary : public FGModel {
-public:
- /** Constructor
- @param Executive a pointer to the parent executive object */
- FGAuxiliary(FGFDMExec* Executive);
-
- /// Destructor
- ~FGAuxiliary();
-
- /** Runs the Auxiliary routines; called by the Executive
- @return false if no error */
- bool Run(void);
-
-// GET functions
-
- // Atmospheric parameters GET functions
- double GetVcalibratedFPS(void) const { return vcas; }
- double GetVcalibratedKTS(void) const { return vcas*fpstokts; }
- double GetVequivalentFPS(void) const { return veas; }
- double GetVequivalentKTS(void) const { return veas*fpstokts; }
-
- // total pressure above is freestream total pressure for subsonic only
- // for supersonic it is the 1D total pressure behind a normal shock
- double GetTotalPressure(void) const { return pt; }
- double GetTotalTemperature(void) const { return tat; }
- double GetTAT_C(void) const { return tatc; }
-
- double GetPilotAccel(int idx) const { return vPilotAccel(idx); }
- double GetNpilot(int idx) const { return vPilotAccelN(idx); }
- double GetAeroPQR(int axis) const { return vAeroPQR(axis); }
- double GetEulerRates(int axis) const { return vEulerRates(axis); }
-
- const FGColumnVector3& GetPilotAccel (void) const { return vPilotAccel; }
- const FGColumnVector3& GetNpilot (void) const { return vPilotAccelN; }
- const FGColumnVector3& GetAeroPQR (void) const { return vAeroPQR; }
- const FGColumnVector3& GetEulerRates (void) const { return vEulerRates; }
- const FGColumnVector3& GetAeroUVW (void) const { return vAeroUVW; }
- const FGLocation& GetLocationVRP(void) const { return vLocationVRP; }
-
- double GethVRP(void) const { return vLocationVRP.GetRadius() - Propagate->GetSeaLevelRadius(); }
- double GetAeroUVW (int idx) const { return vAeroUVW(idx); }
- double Getalpha (void) const { return alpha; }
- double Getbeta (void) const { return beta; }
- double Getadot (void) const { return adot; }
- double Getbdot (void) const { return bdot; }
- double GetMagBeta (void) const { return fabs(beta); }
-
- double Getalpha (int unit) const { if (unit == inDegrees) return alpha*radtodeg;
- else cerr << "Bad units" << endl; return 0.0;}
- double Getbeta (int unit) const { if (unit == inDegrees) return beta*radtodeg;
- else cerr << "Bad units" << endl; return 0.0;}
- double Getadot (int unit) const { if (unit == inDegrees) return adot*radtodeg;
- else cerr << "Bad units" << endl; return 0.0;}
- double Getbdot (int unit) const { if (unit == inDegrees) return bdot*radtodeg;
- else cerr << "Bad units" << endl; return 0.0;}
- double GetMagBeta (int unit) const { if (unit == inDegrees) return fabs(beta)*radtodeg;
- else cerr << "Bad units" << endl; return 0.0;}
-
- double Getqbar (void) const { return qbar; }
- double GetqbarUW (void) const { return qbarUW; }
- double GetqbarUV (void) const { return qbarUV; }
- double GetVt (void) const { return Vt; }
- double GetVground (void) const { return Vground; }
- double GetMach (void) const { return Mach; }
- double GetMachU (void) const { return MachU; }
-
- double GetHOverBCG(void) const { return hoverbcg; }
- double GetHOverBMAC(void) const { return hoverbmac; }
-
- double GetGamma(void) const { return gamma; }
- double GetGroundTrack(void) const { return psigt; }
- double GetEarthPositionAngle(void) const { return earthPosAngle; }
-
- double GetHeadWind(void);
- double GetCrossWind(void);
-
-// SET functions
-
- void SetAeroUVW(FGColumnVector3 tt) { vAeroUVW = tt; }
-
- void Setalpha (double tt) { alpha = tt; }
- void Setbeta (double tt) { beta = tt; }
- void Setqbar (double tt) { qbar = tt; }
- void SetqbarUW (double tt) { qbarUW = tt; }
- void SetqbarUV (double tt) { qbarUV = tt; }
- void SetVt (double tt) { Vt = tt; }
- void SetMach (double tt) { Mach=tt; }
- void Setadot (double tt) { adot = tt; }
- void Setbdot (double tt) { bdot = tt; }
-
- void SetAB (double t1, double t2) { alpha=t1; beta=t2; }
- void SetGamma (double tt) { gamma = tt; }
-
-// Time routines, SET and GET functions
-
- void SetDayOfYear (int doy) { day_of_year = doy; }
- void SetSecondsInDay (double sid) { seconds_in_day = sid; }
-
- int GetDayOfYear (void) const { return day_of_year; }
- double GetSecondsInDay (void) const { return seconds_in_day; }
-
- void bind(void);
- void unbind(void);
-
-private:
- double vcas, veas;
- double rhosl, rho, p, psl, pt, tat, sat, tatc; // Don't add a getter for pt!
-
- FGColumnVector3 vPilotAccel;
- FGColumnVector3 vPilotAccelN;
- FGColumnVector3 vToEyePt;
- FGColumnVector3 vAeroPQR;
- FGColumnVector3 vAeroUVW;
- FGColumnVector3 vEuler;
- FGColumnVector3 vEulerRates;
- FGColumnVector3 vMachUVW;
- FGLocation vLocationVRP;
-
- double Vt, Vground, Mach, MachU;
- double qbar, qbarUW, qbarUV;
- double alpha, beta;
- double adot,bdot;
- double psigt, gamma;
- double seconds_in_day; // seconds since current GMT day began
- int day_of_year; // GMT day, 1 .. 366
-
- double earthPosAngle;
- double hoverbcg, hoverbmac;
-
- void Debug(int from);
-};
-
-} // namespace JSBSim
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-#endif
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Module: FGCoefficient.cpp
- Author: Jon S. Berndt
- Date started: 12/28/98
- Purpose: Encapsulates the stability derivative class FGCoefficient;
- Called by: FGAircraft
-
- ------------- 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 models the stability derivative coefficient lookup tables or
-equations. Note that the coefficients need not be calculated each delta-t.
-
-Note that the values in a row which index into the table must be the same value
-for each column of data, so the first column of numbers for each altitude are
-seen to be equal, and there are the same number of values for each altitude.
-
-See the header file FGCoefficient.h for the values of the identifiers.
-
-HISTORY
---------------------------------------------------------------------------------
-12/28/98 JSB Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef HAVE_CONFIG_H
-# include <config.h>
-#endif
-
-#include <stdio.h>
-
-#include "FGCoefficient.h"
-#include "FGState.h"
-#include "FGFDMExec.h"
-#include "FGPropertyManager.h"
-
-#ifndef FGFS
-# if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740)
-# include <iomanip.h>
-# else
-# include <iomanip>
-# endif
-#else
-# include STL_IOMANIP
-#endif
-
-namespace JSBSim {
-
-static const char *IdSrc = "$Id$";
-static const char *IdHdr = ID_COEFFICIENT;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-FGCoefficient::FGCoefficient( FGFDMExec* fdex )
-{
- FDMExec = fdex;
- State = FDMExec->GetState();
- Table = 0;
- IsFactor = false;
-
- PropertyManager = FDMExec->GetPropertyManager();
-
- Table = (FGTable*)0L;
- LookupR = LookupC = 0;
- numInstances = 0;
- rows = columns = tables = 0;
-
- StaticValue = 0.0;
- totalValue = 0.0;
- bias = 0.0;
- gain = 1.0;
- SD = 0.0;
-
- filename.erase();
- description.erase();
- name.erase();
- method.erase();
- multparms.erase();
- multparmsRow.erase();
- multparmsCol.erase();
-
- Debug(0);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGCoefficient::~FGCoefficient()
-{
- if (Table) delete Table;
- Debug(1);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-bool FGCoefficient::Load(FGConfigFile *AC_cfg)
-{
- int start, end, n;
- string mult;
-
- if (AC_cfg) {
- name = AC_cfg->GetValue("NAME");
- method = AC_cfg->GetValue("TYPE");
- AC_cfg->GetNextConfigLine();
- *AC_cfg >> description;
- if (method == "EQUATION") type = EQUATION;
- else if (method == "TABLE") type = TABLE;
- else if (method == "TABLE3D") type = TABLE3D;
- else if (method == "VECTOR") type = VECTOR;
- else if (method == "VALUE") type = VALUE;
- else type = UNKNOWN;
-
- if (type == VECTOR || type == TABLE || type == TABLE3D) {
-
- if (type == TABLE3D) {
- *AC_cfg >> rows >> columns >> tables;
- Table = new FGTable(rows, columns, tables);
- *AC_cfg >> multparmsRow >> multparmsCol >> multparmsTable;
- LookupR = PropertyManager->GetNode( multparmsRow );
- LookupC = PropertyManager->GetNode( multparmsCol );
- LookupT = PropertyManager->GetNode( multparmsTable );
- } else if (type == TABLE) {
- *AC_cfg >> rows >> columns;
- Table = new FGTable(rows, columns);
- *AC_cfg >> multparmsRow >> multparmsCol;
- LookupR = PropertyManager->GetNode( multparmsRow );
- LookupC = PropertyManager->GetNode( multparmsCol );
- } else {
- *AC_cfg >> rows;
- Table = new FGTable(rows);
- *AC_cfg >> multparmsRow;
- LookupR = PropertyManager->GetNode( multparmsRow );
- }
- }
-
- // Here, read in the line of the form:
- // {property1} | {property2} | {property3}
- // where each non-dimensionalizing property for this coefficient is
- // separated by a | character
-
- string line=AC_cfg->GetCurrentLine();
- unsigned j=0;
- char tmp[255];
- for(unsigned i=0;i<line.length(); i++ ) {
- if( !isspace(line[i]) ) {
- tmp[j]=line[i];
- j++;
- }
- }
- tmp[j]='\0'; multparms=tmp;
- end = multparms.length();
-
- n = multparms.find("|");
- if (n == string::npos) n = end;
- start = 0;
- if (multparms != string("none")) {
- while (n < end && n != string::npos) {
- n -= start;
- mult = multparms.substr(start,n);
- multipliers.push_back( resolveSymbol( mult ) );
- start += n+1;
- n = multparms.find("|",start);
- }
- mult = multparms.substr(start,n);
- multipliers.push_back( resolveSymbol( mult ) );
- // End of non-dimensionalizing parameter read-in
- }
- AC_cfg->GetNextConfigLine();
-
- if (type == VALUE) {
- *AC_cfg >> StaticValue;
- } else if (type == VECTOR || type == TABLE || type == TABLE3D) {
- *Table << *AC_cfg;
- } else {
- cerr << "Unimplemented coefficient type: " << type << endl;
- }
-
- AC_cfg->GetNextConfigLine();
- FGCoefficient::Debug(2);
-
- return true;
- } else {
- return false;
- }
-}
-
-
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-double FGCoefficient::Value(double rVal, double cVal, double tVal)
-{
- double Value;
- unsigned int midx;
-
- SD = Value = gain*Table->GetValue(rVal, cVal, tVal) + bias;
-
- for (midx=0; midx < multipliers.size(); midx++) {
- Value *= multipliers[midx]->getDoubleValue();
- }
- return Value;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-double FGCoefficient::Value(double rVal, double cVal)
-{
- double Value;
- unsigned int midx;
-
- SD = Value = gain*Table->GetValue(rVal, cVal) + bias;
-
- for (midx=0; midx < multipliers.size(); midx++) {
- Value *= multipliers[midx]->getDoubleValue();
- }
- return Value;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-double FGCoefficient::Value(double Val)
-{
- double Value;
-
- SD = Value = gain*Table->GetValue(Val) + bias;
-
- for (unsigned int midx=0; midx < multipliers.size(); midx++)
- Value *= multipliers[midx]->getDoubleValue();
-
- return Value;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-double FGCoefficient::Value(void)
-{
- double Value;
-
- SD = Value = gain*StaticValue + bias;
-
- for (unsigned int midx=0; midx < multipliers.size(); midx++)
- Value *= multipliers[midx]->getDoubleValue();
-
- return Value;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-double FGCoefficient::TotalValue(void)
-{
- switch(type) {
-
- case UNKNOWN:
- totalValue = -1;
- break;
-
- case VALUE:
- totalValue = Value();
- break;
-
- case VECTOR:
- totalValue = Value( LookupR->getDoubleValue() );
- break;
-
- case TABLE:
- totalValue = Value( LookupR->getDoubleValue(),
- LookupC->getDoubleValue() );
- break;
-
- case TABLE3D:
- totalValue = Value( LookupR->getDoubleValue(),
- LookupC->getDoubleValue(),
- LookupT->getDoubleValue() );
- break;
-
- case EQUATION:
- totalValue = 0.0;
- break;
- }
- return totalValue;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGCoefficient::DisplayCoeffFactors(void)
-{
- unsigned int i;
-
- cout << " Non-Dimensionalized by: ";
-
- if (multipliers.size() == 0) {
- cout << "none" << endl;
- } else {
- for (i=0; i<multipliers.size(); i++)
- cout << multipliers[i]->getName() << " ";
- }
- cout << endl;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-string FGCoefficient::GetSDstring(void)
-{
- char buffer[20];
- string value;
-
- sprintf(buffer,"%9.6f",SD);
- value = string(buffer);
- return value;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGCoefficient::bind(FGPropertyManager *parent)
-{
- string mult;
- unsigned i;
-
- node = parent->GetNode(name,true);
-
- node->SetString("description",description);
- if (LookupR) node->SetString("row-parm",LookupR->getName() );
- if (LookupC) node->SetString("column-parm",LookupC->getName() );
-
- mult="";
- if (multipliers.size() == 0)
- mult="none";
-
- for (i=0; i<multipliers.size(); i++) {
- mult += multipliers[i]->getName();
- if ( i < multipliers.size()-1 ) mult += " ";
- }
- node->SetString("multipliers",mult);
-
- node->Tie("SD-norm",this,&FGCoefficient::GetSD );
- node->Tie("value-lbs",this,&FGCoefficient::GetValue );
-
- node->Tie("bias", this, &FGCoefficient::getBias,
- &FGCoefficient::setBias );
-
- node->Tie("gain", this, &FGCoefficient::getGain,
- &FGCoefficient::setGain );
-
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGCoefficient::unbind(void)
-{
- node->Untie("SD-norm");
- node->Untie("value-lbs");
- node->Untie("bias");
- node->Untie("gain");
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGPropertyManager* FGCoefficient::resolveSymbol(string name)
-{
- FGPropertyManager* tmpn;
-
- tmpn = PropertyManager->GetNode(name,false);
- if ( !tmpn ) {
- cerr << "Coefficient multipliers cannot create properties, check spelling?" << endl;
- exit(1);
- }
- return tmpn;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGCoefficient::convert(string prop)
-{
- if (IsFactor)
- cout << " <function name=\"aero/function/" << name << "\">" << endl;
- else
- cout << " <function name=\"aero/coefficient/" << name << "\">" << endl;
-
- cout << " <description>" << description << "</description>" << endl;
- cout << " <product>" << endl;
-
- for (int i=0; i<multipliers.size(); i++)
- cout << " <property>" << (multipliers[i]->GetFullyQualifiedName()).substr(12) << "</property>" << endl;
-
- if (!prop.empty())
- cout << " <property>aero/function/" << prop << "</property>" << endl;
-
- switch (type) {
- case VALUE:
- cout << " <value>" << StaticValue << "</value>" << endl;
- break;
-
- case VECTOR:
- cout << " <table>" << endl;
- cout << " <independentVar>" << (LookupR->GetFullyQualifiedName()).substr(12) << "</independentVar>" << endl;
- cout << " <tableData>" << endl;
- Table->Print(30);
- cout << " </tableData>" << endl;
- cout << " </table>" << endl;
- break;
-
- case TABLE:
- cout << " <table>" << endl;
- cout << " <independentVar lookup=\"row\">" << (LookupR->GetFullyQualifiedName()).substr(12) << "</independentVar>" << endl;
- cout << " <independentVar lookup=\"column\">" << (LookupC->GetFullyQualifiedName()).substr(12) << "</independentVar>" << endl;
- cout << " <tableData>" << endl;
- Table->Print(30);
- cout << " </tableData>" << endl;
- cout << " </table>" << endl;
- break;
-
- case TABLE3D:
- cout << " <table>" << endl;
- cout << " <independentVar lookup=\"row\">" << (LookupR->GetFullyQualifiedName()).substr(12) << "</independentVar>" << endl;
- cout << " <independentVar lookup=\"column\">" << (LookupC->GetFullyQualifiedName()).substr(12) << "</independentVar>" << endl;
- cout << " <independentVar lookup=\"table\">" << (LookupT->GetFullyQualifiedName()).substr(12) << "</independentVar>" << endl;
- cout << " <tableData>" << endl;
- Table->Print(30);
- cout << " </tableData>" << endl;
- cout << " </table>" << endl;
- break;
-
- }
-
- cout << " </product>" << endl;
- cout << " </function>" << endl;
-
- if (IsFactor) {
- cout << " === MOVE THE ABOVE FACTOR " << name << " OUTSIDE OF AND BEFORE ANY <AXIS> DEFINITION ===" << endl;
- for (int i=0; i<sum.size(); i++) {
- sum[i]->convert(name);
- }
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// 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 FGCoefficient::Debug(int from)
-{
- if (debug_lvl <= 0) return;
-
- if (debug_lvl & 1) { // Standard console startup message output
-
- if (from == 2) { // Loading
- cout << "\n " << highint << underon << name << underoff << normint << endl;
- cout << " " << description << endl;
- cout << " " << method << endl;
-
- if (type == VECTOR || type == TABLE || type == TABLE3D) {
- cout << " Rows: " << rows << " indexed by: " << LookupR->getName() << endl;
- if (type == TABLE || type == TABLE3D) {
- cout << " Cols: " << columns << " indexed by: " << LookupC->getName() << endl;
- if (type == TABLE3D) {
- cout << " Tables: " << tables << " indexed by: " << LookupT->getName() << endl;
- }
- }
- Table->Print();
- } else if (type == VALUE) {
- cout << " Value = " << StaticValue << endl;
- }
-
- DisplayCoeffFactors();
- }
- }
- if (debug_lvl & 2 ) { // Instantiation/Destruction notification
- if (from == 0) cout << "Instantiated: FGCoefficient" << endl;
- if (from == 1) cout << "Destroyed: FGCoefficient" << 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 (debug_lvl & 64) {
- if (from == 0) { // Constructor
- cout << IdSrc << endl;
- cout << IdHdr << endl;
- }
- }
-}
-
-} // namespace JSBSim
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Header: FGCoefficient.h
- Author: Jon Berndt
- Date started: 12/28/98
-
- ------------- 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.
-
-HISTORY
---------------------------------------------------------------------------------
-12/28/98 JSB Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-SENTRY
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifndef FGCOEFFICIENT_H
-#define FGCOEFFICIENT_H
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef FGFS
-# include <simgear/compiler.h>
-#endif
-
-#include <vector>
-#include <string>
-#include "FGConfigFile.h"
-#include "FGTable.h"
-#include "FGJSBBase.h"
-#include "FGPropertyManager.h"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#define ID_COEFFICIENT "$Id$"
-
-using std::vector;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FORWARD DECLARATIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-namespace JSBSim {
-
-class FGFDMExec;
-class FGState;
-class FGAtmosphere;
-class FGFCS;
-class FGAircraft;
-class FGPropagate;
-class FGAuxiliary;
-class FGOutput;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DOCUMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/** This class models the aero coefficient and stability derivative coefficient
- lookup table, value, vector, or equation (equation not modeled, yet).
- Each coefficient for an axis is stored in that axes' vector of coefficients.
- Each FDM execution frame the Run() method of the FGAerodynamics model
- is called and the coefficient values are calculated.
- @author Jon S. Berndt
- @version $Id$
-*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-class FGCoefficient : public FGJSBBase
-{
-public:
- /** Constructor.
- @param exec a pointer to the FGFDMExec instance. */
- FGCoefficient(FGFDMExec* exec);
- /// Destructor.
- virtual ~FGCoefficient();
-
- /** Loads the stability derivative/aero coefficient data from the config file
- as directed by the FGAerodynamics instance.
- @param AC_cfg a pointer to the current config file instance. */
- virtual bool Load(FGConfigFile* AC_cfg);
-
- typedef vector <FGPropertyManager*> MultVec;
-
- enum Type {UNKNOWN, VALUE, VECTOR, TABLE, TABLE3D, EQUATION};
-
- /** Returns the value for this coefficient.
- Each instance of FGCoefficient stores a value for the "type" of coefficient
- it is, one of: VALUE, VECTOR, TABLE, or EQUATION. This TotalValue function
- is called when the value for a coefficient needs to be known. When it is called,
- depending on what type of coefficient is represented by the FGCoefficient
- instance, TotalValue() directs the appropriate Value() function to be called.
- The type of coefficient represented is determined when the config file is read.
- The coefficient definition includes the "type" specifier.
- @return the current value of the coefficient represented by this instance of
- FGCoefficient. */
- virtual double TotalValue(void);
-
- /** Returns the value for this coefficient.
- TotalValue is stored each time TotalValue() is called. This function returns
- the stored value but does not calculate it anew. This is valuable for merely
- printing out the value.
- @return the most recently calculated and stored value of the coefficient
- represented by this instance of FGCoefficient. */
- virtual inline double GetValue(void) const { return totalValue; }
-
- /// Returns the name of this coefficient.
- virtual inline string Getname(void) const {return name;}
-
- /// Returns the value of the coefficient only - before it is re-dimensionalized.
- virtual inline double GetSD(void) const { return SD;}
-
- /** Outputs coefficient information.
- Non-dimensionalizing parameter descriptions are output
- for each aero coefficient defined. */
- virtual void DisplayCoeffFactors(void);
-
- /// Returns the name of the coefficient.
- virtual inline string GetCoefficientName(void) { return name; }
- /// Returns the stability derivative or coefficient value as a string.
- virtual string GetSDstring(void);
-
- inline void setBias(double b) { bias=b; }
- inline void setGain(double g) { gain=g; };
- inline double getBias(void) const { return bias; }
- inline double getGain(void) const { return gain; }
-
- virtual void bind(FGPropertyManager *parent);
- virtual void unbind(void);
- void convert(string prop="");
-
-protected:
- FGFDMExec* FDMExec;
- bool IsFactor;
- typedef vector<FGCoefficient*> CoeffArray;
- CoeffArray sum;
-
-private:
- int numInstances;
- string description;
- string name;
- string filename;
- string method;
- string multparms;
- string multparmsRow;
- string multparmsCol;
- string multparmsTable;
- double Value(double, double, double);
- double Value(double, double);
- double Value(double);
- double Value(void);
- double StaticValue;
- double totalValue;
- double bias,gain;
- FGPropertyManager *LookupR, *LookupC, *LookupT;
-
- FGPropertyManager *node; // must be private!!
-
- MultVec multipliers;
- int rows, columns, tables;
- Type type;
- double SD; // Actual stability derivative (or other coefficient) value
- FGTable *Table;
-
- FGState* State;
- FGAtmosphere* Atmosphere;
- FGFCS* FCS;
- FGAircraft* Aircraft;
- FGPropagate* Propagate;
- FGAuxiliary* Auxiliary;
- FGOutput* Output;
- FGPropertyManager* PropertyManager;
-
- FGPropertyManager* resolveSymbol(string name);
-
- virtual void Debug(int from);
-};
-
-} // using namespace JSBSim
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-#endif
-
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-Module: FGColumnVector3.cpp
-Author: Originally by Tony Peden [formatted here (and broken??) by JSB]
-Date started: 1998
-Purpose: FGColumnVector3 class
-Called by: Various
-
-FUNCTIONAL DESCRIPTION
---------------------------------------------------------------------------------
-
-HISTORY
---------------------------------------------------------------------------------
-??/??/?? TP Created
-03/16/2000 JSB Added exception throwing
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef HAVE_CONFIG_H
-# include <config.h>
-#endif
-
-#include "FGColumnVector3.h"
-#include <cstdio>
-
-namespace JSBSim {
-
-static const char *IdSrc = "$Id$";
-static const char *IdHdr = ID_COLUMNVECTOR3;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-FGColumnVector3::FGColumnVector3(void)
-{
- data[0] = data[1] = data[2] = 0.0;
- Debug(0);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-string FGColumnVector3::Dump(string delimeter) const
-{
- char buffer[256];
- sprintf(buffer, "%f%s%f%s%f", Entry(1), delimeter.c_str(), Entry(2), delimeter.c_str(), Entry(3));
- return string(buffer);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGColumnVector3 FGColumnVector3::operator/(const double scalar) const
-{
- if (scalar != 0.0)
- return operator*( 1.0/scalar );
-
- cerr << "Attempt to divide by zero in method "
- "FGColumnVector3::operator/(const double scalar), "
- "object " << this << endl;
- return FGColumnVector3();
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGColumnVector3& FGColumnVector3::operator/=(const double scalar)
-{
- if (scalar != 0.0)
- operator*=( 1.0/scalar );
- else
- cerr << "Attempt to divide by zero in method "
- "FGColumnVector3::operator/=(const double scalar), "
- "object " << this << endl;
-
- return *this;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-double FGColumnVector3::Magnitude(void) const
-{
- if (Entry(1) == 0.0 && Entry(2) == 0.0 && Entry(3) == 0.0)
- return 0.0;
- else
- return sqrt( Entry(1)*Entry(1) + Entry(2)*Entry(2) + Entry(3)*Entry(3) );
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGColumnVector3& FGColumnVector3::Normalize(void)
-{
- double Mag = Magnitude();
-
- if (Mag != 0.0)
- operator*=( 1.0/Mag );
-
- return *this;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGColumnVector3 FGColumnVector3::multElementWise(const FGColumnVector3& V) const
-{
- return FGColumnVector3(Entry(1) * V(1), Entry(2) * V(2), Entry(3) * V(3));
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-ostream& operator<<(ostream& os, const FGColumnVector3& col)
-{
- os << col(1) << " , " << col(2) << " , " << col(3);
- return os;
-}
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-// 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 FGColumnVector3::Debug(int from)
-{
- if (debug_lvl <= 0) return;
-
- if (debug_lvl & 1) { // Standard console startup message output
- }
- if (debug_lvl & 2 ) { // Instantiation/Destruction notification
- if (from == 0) cout << "Instantiated: FGColumnVector3" << endl;
- if (from == 1) cout << "Destroyed: FGColumnVector3" << 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 (debug_lvl & 64) {
- if (from == 0) { // Constructor
- cout << IdSrc << endl;
- cout << IdHdr << endl;
- }
- }
-}
-
-} // namespace JSBSim
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-Header: FGColumnVector3.h
-Author: Originally by Tony Peden [formatted and adapted here by Jon Berndt]
-Date started: Unknown
-
-HISTORY
---------------------------------------------------------------------------------
-??/??/???? ?? Initial version and more.
-03/06/2004 MF Rework, document and do much inlineing.
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-SENTRY
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifndef FGCOLUMNVECTOR3_H
-#define FGCOLUMNVECTOR3_H
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#include <stdlib.h>
-#ifdef FGFS
-# include <math.h>
-# include <simgear/compiler.h>
-# include STL_STRING
-# include STL_FSTREAM
-# include STL_IOSTREAM
- SG_USING_STD(string);
- SG_USING_STD(ostream);
- SG_USING_STD(istream);
- SG_USING_STD(cerr);
- SG_USING_STD(cout);
- SG_USING_STD(endl);
-// SG_USING_STD(sqrt);
-#else
-# include <string>
-# if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740)
-# include <fstream.h>
-# include <iostream.h>
-# include <math.h>
-# else
-# include <fstream>
-# include <iostream>
-# if defined(sgi) && !defined(__GNUC__)
-# include <math.h>
-# else
-# include <cmath>
-# endif
- using std::ostream;
- using std::istream;
- using std::cerr;
- using std::cout;
- using std::endl;
- using std::sqrt;
-# endif
- using std::string;
-#endif
-
-#include "FGJSBBase.h"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#define ID_COLUMNVECTOR3 "$Id$"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FORWARD DECLARATIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-namespace JSBSim {
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DOCUMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/** This class implements a 3 dimensional vector.
- @author Jon S. Berndt, Tony Peden, et. al.
- @version $Id$
-*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-class FGColumnVector3 : public FGJSBBase
-{
-public:
- /** Default initializer.
- Create a zero vector. */
- FGColumnVector3(void);
-
- /** Initialization by given values.
- @param X value of the x-conponent.
- @param Y value of the y-conponent.
- @param Z value of the z-conponent.
- Create a vector from the doubles given in the arguments. */
- FGColumnVector3(double X, double Y, double Z) {
- data[0] = X;
- data[1] = Y;
- data[2] = Z;
- Debug(0);
- }
-
- /** Copy constructor.
- @param v Vector which is used for initialization.
- Create copy of the vector given in the argument. */
- FGColumnVector3(const FGColumnVector3& v) {
- data[0] = v.data[0];
- data[1] = v.data[1];
- data[2] = v.data[2];
- Debug(0);
- }
-
- /// Destructor.
- ~FGColumnVector3(void) { Debug(1); }
-
- /** Read access the entries of the vector.
- @param idx the component index.
- Return the value of the matrix entry at the given index.
- Indices are counted starting with 1.
- Note that the index given in the argument is unchecked. */
- double operator()(unsigned int idx) const { return Entry(idx); }
-
- /** Write access the entries of the vector.
- @param idx the component index.
- Return a reference to the vector entry at the given index.
- Indices are counted starting with 1.
- Note that the index given in the argument is unchecked. */
- double& operator()(unsigned int idx) { return Entry(idx); }
-
- /** Read access the entries of the vector.
- @param idx the component index.
- Return the value of the matrix entry at the given index.
- Indices are counted starting with 1.
- This function is just a shortcut for the @ref double
- operator()(unsigned int idx) const function. It is
- used internally to access the elements in a more convenient way.
- Note that the index given in the argument is unchecked. */
- double Entry(unsigned int idx) const { return data[idx-1]; }
-
- /** Write access the entries of the vector.
- @param idx the component index.
- Return a reference to the vector entry at the given index.
- Indices are counted starting with 1.
- This function is just a shortcut for the @ref double&
- operator()(unsigned int idx) function. It is
- used internally to access the elements in a more convenient way.
- Note that the index given in the argument is unchecked. */
- double& Entry(unsigned int idx) { return data[idx-1]; }
-
- /** Prints the contents of the vector
- @param delimeter the item separator (tab or comma)
- @return a string with the delimeter-separated contents of the vector */
- string Dump(string delimeter) const;
-
- /** Assignment operator.
- @param b source vector.
- Copy the content of the vector given in the argument into *this. */
- FGColumnVector3& operator=(const FGColumnVector3& b) {
- data[0] = b.data[0];
- data[1] = b.data[1];
- data[2] = b.data[2];
- return *this;
- }
-
- /** Comparison operator.
- @param b other vector.
- Returns true if both vectors are exactly the same. */
- bool operator==(const FGColumnVector3& b) const {
- return data[0] == b.data[0] && data[1] == b.data[1] && data[2] == b.data[2];
- }
-
- /** Comparison operator.
- @param b other vector.
- Returns false if both vectors are exactly the same. */
- bool operator!=(const FGColumnVector3& b) const { return ! operator==(b); }
-
- /** Multiplication by a scalar.
- @param scalar scalar value to multiply the vector with.
- @return The resulting vector from the multiplication with that scalar.
- Multiply the vector with the scalar given in the argument. */
- FGColumnVector3 operator*(const double scalar) const {
- return FGColumnVector3(scalar*Entry(1), scalar*Entry(2), scalar*Entry(3));
- }
-
- /** Multiply by 1/scalar.
- @param scalar scalar value to devide the vector through.
- @return The resulting vector from the division through that scalar.
- Multiply the vector with the 1/scalar given in the argument. */
- FGColumnVector3 operator/(const double scalar) const;
-
- /** Cross product multiplication.
- @param v vector to multiply with.
- @return The resulting vector from the cross product multiplication.
- Compute and return the cross product of the current vector with
- the given argument. */
- FGColumnVector3 operator*(const FGColumnVector3& V) const {
- return FGColumnVector3( Entry(2) * V(3) - Entry(3) * V(2),
- Entry(3) * V(1) - Entry(1) * V(3),
- Entry(1) * V(2) - Entry(2) * V(1) );
- }
-
- /// Addition operator.
- FGColumnVector3 operator+(const FGColumnVector3& B) const {
- return FGColumnVector3( Entry(1) + B(1), Entry(2) + B(2), Entry(3) + B(3) );
- }
-
- /// Subtraction operator.
- FGColumnVector3 operator-(const FGColumnVector3& B) const {
- return FGColumnVector3( Entry(1) - B(1), Entry(2) - B(2), Entry(3) - B(3) );
- }
-
- /// Subtract an other vector.
- FGColumnVector3& operator-=(const FGColumnVector3 &B) {
- Entry(1) -= B(1);
- Entry(2) -= B(2);
- Entry(3) -= B(3);
- return *this;
- }
-
- /// Add an other vector.
- FGColumnVector3& operator+=(const FGColumnVector3 &B) {
- Entry(1) += B(1);
- Entry(2) += B(2);
- Entry(3) += B(3);
- return *this;
- }
-
- /// Scale by a scalar.
- FGColumnVector3& operator*=(const double scalar) {
- Entry(1) *= scalar;
- Entry(2) *= scalar;
- Entry(3) *= scalar;
- return *this;
- }
-
- /// Scale by a 1/scalar.
- FGColumnVector3& operator/=(const double scalar);
-
- void InitMatrix(void) { data[0] = data[1] = data[2] = 0.0; }
- void InitMatrix(double a) { data[0] = data[1] = data[2] = a; }
- void InitMatrix(double a, double b, double c) {
- data[0]=a; data[1]=b; data[2]=c;
- }
-
- /** Length of the vector.
- Compute and return the euclidean norm of this vector. */
- double Magnitude(void) const;
-
- /** Length of the vector in a coordinate axis plane.
- Compute and return the euclidean norm of this vector projected into
- the coordinate axis plane idx1-idx2. */
- double Magnitude(int idx1, int idx2) const {
- return sqrt( Entry(idx1)*Entry(idx1) + Entry(idx2)*Entry(idx2) );
- }
-
- /** Normalize.
- Normalize the vector to have the Magnitude() == 1.0. If the vector
- is equal to zero it is left untouched. */
- FGColumnVector3& Normalize(void);
-
- // ??? Is this something sensible ??
- FGColumnVector3 multElementWise(const FGColumnVector3& V) const;
-
- // little trick here.
- struct AssignRef {
- AssignRef(FGColumnVector3& r, int i) : Ref(r), idx(i) {}
- AssignRef operator<<(const double ff) {
- Ref.Entry(idx) = ff;
- return AssignRef(Ref, idx+1);
- }
- FGColumnVector3& Ref;
- int idx;
- };
- AssignRef operator<<(const double ff) {
- Entry(1) = ff;
- return AssignRef(*this, 2);
- }
-
-private:
- double data[3];
-
- void Debug(int from);
-};
-
-/** Scalar multiplication.
- @param scalar scalar value to multiply with.
- @param A Vector to multiply.
- Multiply the Vector with a scalar value.*/
-inline FGColumnVector3 operator*(double scalar, const FGColumnVector3& A) {
- // use already defined operation.
- return A*scalar;
-}
-
-/** Write vector to a stream.
- @param os Stream to write to.
- @param M Matrix to write.
- Write the matrix to a stream.*/
-ostream& operator<<(ostream& os, const FGColumnVector3& col);
-
-} // namespace JSBSim
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-#endif
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Header: FGConfigFile.h
- Author: Jon Berndt
- Date started: 03/29/00
- Purpose: Config file read-in class
- Called by: FGAircraft
-
-FUNCTIONAL DESCRIPTION
---------------------------------------------------------------------------------
-
-HISTORY
---------------------------------------------------------------------------------
-03/16/2000 JSB Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef HAVE_CONFIG_H
-# include <config.h>
-#endif
-
-#include "FGConfigFile.h"
-#include <stdlib.h>
-#include <math.h>
-
-namespace JSBSim {
-
-static const char *IdSrc = "$Id$";
-static const char *IdHdr = ID_CONFIGFILE;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-FGConfigFile::FGConfigFile(string cfgFileName)
-{
-#if defined ( sgi ) && !defined( __GNUC__ ) && (_COMPILER_VERSION < 740)
- cfgfile.open(cfgFileName.c_str(), ios::in );
-#else
- cfgfile.open(cfgFileName.c_str(), ios::in | ios::binary );
-#endif
- CommentsOn = false;
- CurrentIndex = 0;
- Opened = true;
-#if defined ( sgi ) && !defined( __GNUC__ ) && (_COMPILER_VERSION < 740)
- if (!cfgfile.fail() && !cfgfile.eof()) GetNextConfigLine();
-#else
- if (cfgfile.is_open()) GetNextConfigLine();
-#endif
- else Opened = false;
-
- Debug(0);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGConfigFile::~FGConfigFile()
-{
- cfgfile.close();
- Debug(1);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-string FGConfigFile::GetNextConfigLine(void)
-{
- int comment_starts_at;
- int comment_ends_at;
- int comment_length;
- int line_length;
- bool start_comment, end_comment;
- string CommentStringTemp;
-
- do {
- CurrentLine = GetLine();
- line_length = CurrentLine.length();
- comment_starts_at = CurrentLine.find("<!--");
-
- if (comment_starts_at >= 0) start_comment = true;
- else start_comment = false;
-
- comment_ends_at = CurrentLine.find("-->");
-
- if (comment_ends_at >= 0) end_comment = true;
- else end_comment = false;
-
- if (!start_comment && !end_comment) { // command comment
- if (CommentsOn) CommentStringTemp = CurrentLine;
- CommentString += CommentStringTemp + "\r\n";
- } else if (start_comment && comment_ends_at > comment_starts_at) { // <!-- ... -->
- CommentsOn = false;
- comment_length = comment_ends_at + 2 - comment_starts_at + 1;
- LineComment = CurrentLine.substr(comment_starts_at+4, comment_length-4-3);
- CurrentLine.erase(comment_starts_at, comment_length);
- if (CurrentLine.find_first_not_of(" ") == string::npos) {
- CurrentLine.erase();
- }
- } else if ( start_comment && !end_comment) { // <!-- ...
- CommentsOn = true;
- comment_length = line_length - comment_starts_at;
- CommentStringTemp = CurrentLine.substr(comment_starts_at+4, comment_length-4);
- CommentString = CommentStringTemp + "\r\n";
- CurrentLine.erase(comment_starts_at, comment_length);
- } else if (!start_comment && end_comment) { // ... -->
- CommentsOn = false;
- comment_length = comment_ends_at + 2 + 1;
- CommentStringTemp = CurrentLine.substr(0, comment_length-4);
- CommentString += CommentStringTemp + "\r\n";
- CurrentLine.erase(0, comment_length);
- } else if (start_comment && comment_ends_at < comment_starts_at) { // --> command <!--
- cerr << "Old comment ends and new one starts - bad JSBSim config file form." << endl;
- CommentsOn = false;
- comment_length = comment_ends_at + 2 + 1;
- CommentStringTemp = CurrentLine.substr(0, comment_length-4);
- CommentString += CommentStringTemp + "\r\n";
- CurrentLine.erase(0, comment_length);
- }
- } while (CommentsOn);
-
- CurrentIndex = 0;
- if (CurrentLine.length() == 0) {
- GetNextConfigLine();
- }
- return CurrentLine;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-string FGConfigFile::GetValue(string val)
-{
- string::size_type pos, p1, p2, ptest;
-
- if (val == "") { // this call is to return the tag value
- pos = CurrentLine.find("<");
- if (pos != CurrentLine.npos) { // beginning brace found "<"
- p1 = CurrentLine.find_first_not_of(" ",pos+1);
- if (p1 != CurrentLine.npos) { // found first character of tag
- p2 = CurrentLine.find_first_of(" >",p1+1);
- if (p2 == CurrentLine.npos) p2 = p1+1;
- return CurrentLine.substr(p1,p2-p1);
- }
- } else { // beginning brace "<" not found; this is a regular data line
- pos = CurrentLine.find_first_not_of(" ");
- if (pos != CurrentLine.npos) { // first character in line found
- p2 = CurrentLine.find_first_of(" ",pos+1);
- if (p2 != CurrentLine.npos) {
- return CurrentLine.substr(pos,p2-pos);
- } else {
- return CurrentLine.substr(pos,CurrentLine.length()-pos);
- }
- }
- }
- } else { // return a value for a specific tag
- pos = CurrentLine.find(val);
- if (pos != CurrentLine.npos) {
- pos = CurrentLine.find("=",pos);
- if (pos != CurrentLine.npos) {
- ptest = CurrentLine.find_first_not_of(" ",pos+1);
- if (ptest != CurrentLine.npos) {
- p1 = ptest + 1;
- if (CurrentLine[ptest] == '"') { // quoted
- p2 = CurrentLine.find_first_of("\"",p1);
- } else { // not quoted
- p2 = CurrentLine.find_first_of(" ",p1);
- }
- if (p2 != CurrentLine.npos) {
- return CurrentLine.substr(p1,p2-p1);
- }
- }
- } else { // "=" not found
- pos = CurrentLine.find(val);
- pos = CurrentLine.find_first_of(" ",pos+1);
- ptest = CurrentLine.find_first_not_of(" ",pos+1);
- if (ptest != CurrentLine.npos) {
- if (CurrentLine[ptest] == '"') { // quoted
- p1 = ptest + 1;
- p2 = CurrentLine.find_first_of("\"",p1);
- } else { // not quoted
- p1 = ptest;
- p2 = CurrentLine.find_first_of(" ",p1);
- }
- if (p2 != CurrentLine.npos) {
- return CurrentLine.substr(p1,p2-p1);
- } else {
- p2 = CurrentLine.length();
- return CurrentLine.substr(p1,p2-p1);
- }
- }
- }
- }
- }
-
- return string("");
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-string FGConfigFile::GetValue(void)
-{
- return GetValue("");
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-string FGConfigFile::GetLine(void)
-{
- string scratch = "";
- int test;
-
- while ((test = cfgfile.get()) != EOF) {
- if (test >= 0x20 || test == 0x09) {
- if (test == 0x09) {
- scratch += (char)0x20;
- } else {
- scratch += (char)test;
- }
- } else {
- if ((test = cfgfile.get()) != EOF) { // get *next* character
-#if defined ( sgi ) && !defined( __GNUC__ ) && (_COMPILER_VERSION < 740) || defined (_MSC_VER)
- if (test >= 0x20 || test == 0x09) cfgfile.putback(test);
-#else
- if (test >= 0x20 || test == 0x09) cfgfile.unget();
-#endif
- break;
- }
- }
- }
-
- int index = scratch.find_last_not_of(" ");
- if (index != string::npos && index < (scratch.size()-1)) {
- scratch = scratch.substr(0,index+1);
- }
-
- if (cfgfile.eof() && scratch.empty()) return string("EOF");
- return scratch;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGConfigFile& FGConfigFile::operator>>(double& val)
-{
- string::size_type pos, end;
-
- pos = CurrentLine.find_first_not_of(", ",CurrentIndex);
- if (pos == CurrentLine.npos) pos = CurrentLine.length();
- end = CurrentLine.find_first_of(", ",pos+1);
- if (end == CurrentLine.npos) end = CurrentLine.length();
- string str = CurrentLine.substr(pos, end - pos);
- val = strtod(str.c_str(),NULL);
- CurrentIndex = end+1;
- if (end == pos) {
- GetNextConfigLine();
- *this >> val;
- } else {
- if (CurrentIndex >= CurrentLine.length()) GetNextConfigLine();
- }
- return *this;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGConfigFile& FGConfigFile::operator>>(int& val)
-{
- string::size_type pos, end;
-
- pos = CurrentLine.find_first_not_of(", ",CurrentIndex);
- if (pos == CurrentLine.npos) pos = CurrentLine.length();
- end = CurrentLine.find_first_of(", ",pos+1);
- if (end == CurrentLine.npos) end = CurrentLine.length();
- string str = CurrentLine.substr(pos, end - pos);
- val = atoi(str.c_str());
- CurrentIndex = end+1;
- if (end == pos) {
- GetNextConfigLine();
- *this >> val;
- } else {
- if (CurrentIndex >= CurrentLine.length()) GetNextConfigLine();
- }
- return *this;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGConfigFile& FGConfigFile::operator>>(string& str)
-{
- string::size_type pos, end;
-
- pos = CurrentLine.find_first_not_of(", ",CurrentIndex);
- if (pos == CurrentLine.npos) pos = CurrentLine.length();
- end = CurrentLine.find_first_of(", ",pos+1);
- if (end == CurrentLine.npos) end = CurrentLine.length();
- str = CurrentLine.substr(pos, end - pos);
- CurrentIndex = end+1;
- if (end == pos) {
- GetNextConfigLine();
- *this >> str;
- } else {
- if (CurrentIndex >= CurrentLine.length()) GetNextConfigLine();
- }
- return *this;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGConfigFile::ResetLineIndexToZero(void)
-{
- CurrentIndex = 0;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// 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 FGConfigFile::Debug(int from)
-{
- if (debug_lvl <= 0) return;
-
- if (debug_lvl & 1) { // Standard console startup message output
- }
- if (debug_lvl & 2 ) { // Instantiation/Destruction notification
- if (from == 0) cout << "Instantiated: FGConfigFile" << endl;
- if (from == 1) cout << "Destroyed: FGConfigFile" << 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 (debug_lvl & 64) {
- if (from == 0) { // Constructor
- cout << IdSrc << endl;
- cout << IdHdr << endl;
- }
- }
-}
-}
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Header: FGConfigFile.h
- Author: Jon Berndt
- Date started: 03/29/00
-
- ------------- 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.
-
-HISTORY
---------------------------------------------------------------------------------
-03/29/00 JSB Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-SENTRY
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifndef FGCONFIGFILE_H
-#define FGCONFIGFILE_H
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef FGFS
-# include <simgear/compiler.h>
-# include STL_STRING
-# include STL_FSTREAM
-# include STL_IOSTREAM
- SG_USING_STD(string);
- SG_USING_STD(ostream);
- SG_USING_STD(istream);
- SG_USING_STD(ifstream);
- SG_USING_STD(cerr);
- SG_USING_STD(endl);
- SG_USING_STD(ios);
- SG_USING_STD(cout);
-#else
-# include <string>
-# if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740)
-# include <fstream.h>
-# include <iostream.h>
-# else
-# include <fstream>
-# include <iostream>
- using std::ostream;
- using std::istream;
- using std::ios;
- using std::cerr;
- using std::cout;
- using std::ifstream;
- using std::endl;
-# endif
- using std::string;
-#endif
-
-#include "FGJSBBase.h"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#define ID_CONFIGFILE "$Id$"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FORWARD DECLARATIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-namespace JSBSim {
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DOCUMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/** Encapsulates reading a JSBSim config file.
- JSBSim config files are in XML format.
- @author Jon S. Berndt
- @version $Id$
-*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-class FGConfigFile : public FGJSBBase
-{
-public:
- /** Constructor
- @param Filename the name of the config file to be read. */
- FGConfigFile(string Filename);
- /// Destructor
- ~FGConfigFile();
-
- /** Returns the next line from the currently open config file.
- Comments are bypassed and ignored.
- @return the next valid line from the config file OR "EOF" if end of file is
- reached.*/
- string GetNextConfigLine(void);
-
- string GetCurrentLine(void) { return CurrentLine; }
-
- /** Returns the value of the tag supplied.
- @param tag the tag for the value that is desired.
- @return tthe value of the tag supplied.*/
- string GetValue(string tag);
-
- string GetValue(void);
- string GetCommentString(void) {return CommentString;}
- string GetLineComment(void) {return LineComment;}
- bool IsOpen(void) {return Opened;}
- FGConfigFile& operator>>(double&);
- FGConfigFile& operator>>(int&);
- FGConfigFile& operator>>(string&);
- void ResetLineIndexToZero(void);
-
-private:
- ifstream cfgfile;
- string CurrentLine;
- string CommentString;
- string LineComment;
- bool CommentsOn;
- bool Opened;
- unsigned int CurrentIndex;
- string GetLine(void);
-
- void Debug(int from);
-};
-}
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-#endif
-
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Module: FGElectric.cpp
- Author: David Culp
- Date started: 04/07/2004
- Purpose: This module models an electric motor
-
- --------- Copyright (C) 2004 David Culp (davidculp2@comcast.net) -------------
-
- 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 descends from the FGEngine class and models an electric motor based on
-parameters given in the engine config file for this class
-
-HISTORY
---------------------------------------------------------------------------------
-04/07/2004 DPC Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef HAVE_CONFIG_H
-# include <config.h>
-#endif
-
-#include "FGElectric.h"
-#include "FGPropulsion.h"
-
-namespace JSBSim {
-
-static const char *IdSrc = "$Id$";
-static const char *IdHdr = ID_ELECTRIC;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-FGElectric::FGElectric(FGFDMExec* exec, FGConfigFile* Eng_cfg, int engine_number)
- : FGEngine(exec, engine_number)
-{
- string token;
-
- Type = etElectric;
- PowerWatts = 745.7;
- hptowatts = 745.7;
-
- dt = State->Getdt();
-
- Name = Eng_cfg->GetValue("NAME");
- Eng_cfg->GetNextConfigLine();
- while (Eng_cfg->GetValue() != string("/FG_ELECTRIC")) {
- *Eng_cfg >> token;
- if (token == "POWER_WATTS") *Eng_cfg >> PowerWatts;
- else cerr << "Unhandled token in Engine config file: " << token << endl;
- }
-
- Debug(0); // Call Debug() routine from constructor if needed
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGElectric::~FGElectric()
-{
- Debug(1); // Call Debug() routine from constructor if needed
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-double FGElectric::Calculate(void)
-{
- Throttle = FCS->GetThrottlePos(EngineNumber);
-
- RPM = Thruster->GetRPM() * Thruster->GetGearRatio();
-
- HP = PowerWatts * Throttle / hptowatts;
-
- PowerAvailable = (HP * hptoftlbssec) - Thruster->GetPowerRequired();
-
- return Thrust = Thruster->Calculate(PowerAvailable);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-string FGElectric::GetEngineLabels(string delimeter)
-{
- return ""; // currently no labels are returned for this engine
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-string FGElectric::GetEngineValues(string delimeter)
-{
- return ""; // currently no values are returned for this engine
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-//
-// 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 FGElectric::Debug(int from)
-{
- if (debug_lvl <= 0) return;
-
- if (debug_lvl & 1) { // Standard console startup message output
- if (from == 0) { // Constructor
-
- cout << "\n Engine Name: " << Name << endl;
- cout << " Power Watts: " << PowerWatts << endl;
-
- }
- }
- if (debug_lvl & 2 ) { // Instantiation/Destruction notification
- if (from == 0) cout << "Instantiated: FGElectric" << endl;
- if (from == 1) cout << "Destroyed: FGElectric" << 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 (debug_lvl & 64) {
- if (from == 0) { // Constructor
- cout << IdSrc << endl;
- cout << IdHdr << endl;
- }
- }
-}
-
-double
-FGElectric::CalcFuelNeed(void)
-{
- return 0;
-}
-
-} // namespace JSBSim
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Header: FGElectric.h
- Author: David Culp
- Date started: 04/07/2004
-
- ----- Copyright (C) 2004 David P. Culp (davidculp2@comcast.net) --------------
-
- 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.
-
-HISTORY
---------------------------------------------------------------------------------
-04/07/2004 DPC Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-SENTRY
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifndef FGELECTRIC_H
-#define FGELECTRIC_H
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#include "FGEngine.h"
-#include "FGConfigFile.h"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#define ID_ELECTRIC "$Id$";
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FORWARD DECLARATIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-namespace JSBSim {
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DOCUMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/** Models and electric motor.
- FGElectric models an electric motor based on the configuration file
- POWER_WATTS parameter. The throttle controls motor output linearly from
- zero to POWER_WATTS. This power value (converted internally to horsepower)
- is then used by FGPropeller to apply torque to the propeller.
- @author David Culp
- @version "$Id$"
- */
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-class FGElectric : public FGEngine
-{
-public:
- /// Constructor
- FGElectric(FGFDMExec* exec, FGConfigFile* Eng_cfg, int engine_number);
- /// Destructor
- ~FGElectric();
-
- double Calculate(void);
- double GetPowerAvailable(void) {return PowerAvailable;}
- double CalcFuelNeed(void);
- double getRPM(void) {return RPM;}
- string GetEngineLabels(string delimeter);
- string GetEngineValues(string delimeter);
-
-private:
-
- double BrakeHorsePower;
- double PowerAvailable;
-
- // timestep
- double dt;
-
- // constants
- double hptowatts;
-
- double PowerWatts; // maximum engine power
- double RPM; // revolutions per minute
- double HP;
-
- void Debug(int from);
-};
-}
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-#endif
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Module: FGEngine.cpp
- Author: Jon Berndt
- Date started: 01/21/99
- Called by: FGAircraft
-
- ------------- 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
---------------------------------------------------------------------------------
-See header file.
-
-HISTORY
---------------------------------------------------------------------------------
-01/21/99 JSB Created
-09/03/99 JSB Changed Rocket thrust equation to correct -= Thrust instead of
- += Thrust (thanks to Tony Peden)
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef HAVE_CONFIG_H
-# include <config.h>
-#endif
-
-#ifdef FGFS
-# include <simgear/compiler.h>
-# ifdef SG_HAVE_STD_INCLUDES
-# include <fstream>
-# else
-# include <fstream.h>
-# endif
-#else
-# if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740)
-# include <fstream.h>
-# else
-# include <fstream>
-# endif
-#endif
-
-#include "FGEngine.h"
-#include "FGTank.h"
-#include "FGPropeller.h"
-#include "FGNozzle.h"
-
-namespace JSBSim {
-
-static const char *IdSrc = "$Id$";
-static const char *IdHdr = ID_ENGINE;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-
-FGEngine::FGEngine(FGFDMExec* exec, int engine_number) : EngineNumber(engine_number)
-{
- Name = "";
- Type = etUnknown;
- X = Y = Z = 0.0;
- EnginePitch = EngineYaw = 0.0;
- SLFuelFlowMax = SLOxiFlowMax = 0.0;
- MaxThrottle = 1.0;
- MinThrottle = 0.0;
- Thrust = 0.0;
- Throttle = 0.0;
- Mixture = 1.0;
- Starter = false;
- FuelNeed = OxidizerNeed = 0.0;
- Starved = Running = Cranking = false;
- PctPower = 0.0;
- TrimMode = false;
- FuelFlow_gph = 0.0;
- FuelFlow_pph = 0.0;
- FuelFreeze = false;
-
- FDMExec = exec;
- State = FDMExec->GetState();
- Atmosphere = FDMExec->GetAtmosphere();
- FCS = FDMExec->GetFCS();
- Propulsion = FDMExec->GetPropulsion();
- Aircraft = FDMExec->GetAircraft();
- Propagate = FDMExec->GetPropagate();
- Auxiliary = FDMExec->GetAuxiliary();
- Output = FDMExec->GetOutput();
-
- PropertyManager = FDMExec->GetPropertyManager();
-
- char property_name[80];
- snprintf(property_name, 80, "propulsion/engine[%u]/thrust", EngineNumber);
- PropertyManager->Tie( property_name, &Thrust);
-
- Debug(0);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGEngine::~FGEngine()
-{
- if (Thruster) delete Thruster;
-
- char property_name[80];
- snprintf(property_name, 80, "propulsion/engine[%u]/thrust", EngineNumber);
- PropertyManager->Untie( property_name);
-
- Debug(1);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// This base class function should be called from within the
-// derived class' Calculate() function before any other calculations are done.
-// This base class method removes fuel from the fuel tanks as appropriate,
-// and sets the starved flag if necessary.
-
-void FGEngine::ConsumeFuel(void)
-{
- if (FuelFreeze) return;
- unsigned int i;
- double Fshortage, Oshortage, TanksWithFuel, TanksWithOxidizer;
- FGTank* Tank;
- bool haveOxTanks = false;
-
- if (TrimMode) return;
- Fshortage = Oshortage = TanksWithFuel = TanksWithOxidizer = 0.0;
-
- // count how many assigned tanks have fuel or oxidizer
- for (i=0; i<SourceTanks.size(); i++) {
- Tank = Propulsion->GetTank(SourceTanks[i]);
- if (Tank->GetType() == FGTank::ttFUEL){
- if (Tank->GetContents() > 0.0) {
- ++TanksWithFuel;
- }
- } else if (Tank->GetType() == FGTank::ttOXIDIZER) {
- haveOxTanks = true;
- if (Tank->GetContents() > 0.0) {
- ++TanksWithOxidizer;
- }
- }
- }
- if (!TanksWithFuel || (haveOxTanks && !TanksWithOxidizer)) return;
-
- for (i=0; i<SourceTanks.size(); i++) {
- Tank = Propulsion->GetTank(SourceTanks[i]);
- if (Tank->GetType() == FGTank::ttFUEL) {
- Fshortage += Tank->Drain(CalcFuelNeed()/TanksWithFuel);
- } else if (Tank->GetType() == FGTank::ttOXIDIZER) {
- Oshortage += Tank->Drain(CalcOxidizerNeed()/TanksWithOxidizer);
- }
- }
-
- if (Fshortage < 0.00 || Oshortage < 0.00) Starved = true;
- else Starved = false;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-double FGEngine::CalcFuelNeed(void)
-{
- FuelNeed = SLFuelFlowMax*PctPower*State->Getdt()*Propulsion->GetRate();
- return FuelNeed;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-double FGEngine::CalcOxidizerNeed(void)
-{
- OxidizerNeed = SLOxiFlowMax*PctPower*State->Getdt()*Propulsion->GetRate();
- return OxidizerNeed;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGEngine::SetPlacement(double x, double y, double z, double pitch, double yaw)
-{
- X = x;
- Y = y;
- Z = z;
- EnginePitch = pitch;
- EngineYaw = yaw;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGEngine::AddFeedTank(int tkID)
-{
- SourceTanks.push_back(tkID);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGColumnVector3& FGEngine::GetBodyForces(void)
-{
- return Thruster->GetBodyForces();
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGColumnVector3& FGEngine::GetMoments(void)
-{
- return Thruster->GetMoments();
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-bool FGEngine::LoadThruster(FGConfigFile* AC_cfg)
-{
- string token, fullpath, localpath;
- string thrType, engineFileName;
- FGConfigFile* Cfg_ptr = 0;
- double xLoc, yLoc, zLoc, Pitch, Yaw;
- double P_Factor = 0, Sense = 0.0;
- string enginePath = FDMExec->GetEnginePath();
- string aircraftPath = FDMExec->GetAircraftPath();
- thrusterFileName = AC_cfg->GetValue("FILE");
-
-# ifndef macintosh
- fullpath = enginePath + "/";
- localpath = aircraftPath + "/" + "/Engines/";
-# else
- fullpath = enginePath + ";";
- localpath = aircraftPath + ";" + ";Engines;";
-# endif
-
- // Look in the Aircraft/Engines directory first
- FGConfigFile Local_Thruster_cfg(localpath + thrusterFileName + ".xml");
- FGConfigFile Thruster_cfg(fullpath + thrusterFileName + ".xml");
-
- if (Local_Thruster_cfg.IsOpen()) {
- Cfg_ptr = &Local_Thruster_cfg;
- if (debug_lvl > 0) cout << "\n Reading thruster from file: " << localpath
- + thrusterFileName + ".xml"<< endl;
- } else {
- if (Thruster_cfg.IsOpen()) {
- Cfg_ptr = &Thruster_cfg;
- if (debug_lvl > 0) cout << "\n Reading thruster from file: " << fullpath
- + thrusterFileName + ".xml"<< endl;
- }
- }
-
- if (Cfg_ptr) {
- Cfg_ptr->GetNextConfigLine();
- thrType = Cfg_ptr->GetValue();
-
- if (thrType == "FG_PROPELLER") {
- Thruster = new FGPropeller(FDMExec, Cfg_ptr, EngineNumber);
- } else if (thrType == "FG_NOZZLE") {
- Thruster = new FGNozzle(FDMExec, Cfg_ptr, EngineNumber);
- } else if (thrType == "FG_DIRECT") {
- Thruster = new FGThruster( FDMExec, Cfg_ptr, EngineNumber);
- }
-
- AC_cfg->GetNextConfigLine();
- while ((token = AC_cfg->GetValue()) != string("/AC_THRUSTER")) {
- *AC_cfg >> token;
- if (token == "XLOC") *AC_cfg >> xLoc;
- else if (token == "YLOC") *AC_cfg >> yLoc;
- else if (token == "ZLOC") *AC_cfg >> zLoc;
- else if (token == "PITCH") *AC_cfg >> Pitch;
- else if (token == "YAW") *AC_cfg >> Yaw;
- else if (token == "P_FACTOR") *AC_cfg >> P_Factor;
- else if (token == "SENSE") *AC_cfg >> Sense;
- else cerr << "Unknown identifier: " << token << " in engine file: "
- << engineFileName << endl;
- }
-
- Thruster->SetLocation(xLoc, yLoc, zLoc);
- Thruster->SetAnglesToBody(0, Pitch, Yaw);
- if (thrType == "FG_PROPELLER" && P_Factor > 0.001) {
- ((FGPropeller*)Thruster)->SetPFactor(P_Factor);
- if (debug_lvl > 0) cout << " P-Factor: " << P_Factor << endl;
- ((FGPropeller*)Thruster)->SetSense(fabs(Sense)/Sense);
- if (debug_lvl > 0) cout << " Sense: " << Sense << endl;
- }
- Thruster->SetdeltaT(State->Getdt() * Propulsion->GetRate());
- return true;
- } else {
-
- cerr << "Could not read thruster config file: " << fullpath
- + thrusterFileName + ".xml" << endl;
- return false;
- }
-
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// 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 FGEngine::Debug(int from)
-{
- 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: FGEngine" << endl;
- if (from == 1) cout << "Destroyed: FGEngine" << 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 (debug_lvl & 64) {
- if (from == 0) { // Constructor
- cout << IdSrc << endl;
- cout << IdHdr << endl;
- }
- }
-}
-}
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Header: FGEngine.h
- Author: Jon S. Berndt
- Date started: 01/21/99
-
- ------------- 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
---------------------------------------------------------------------------------
-
-Based on Flightgear code, which is based on LaRCSim. This class simulates
-a generic engine.
-
-HISTORY
---------------------------------------------------------------------------------
-01/21/99 JSB Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-SENTRY
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifndef FGENGINE_H
-#define FGENGINE_H
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef FGFS
-# include <simgear/compiler.h>
-# include STL_STRING
- SG_USING_STD(string);
-# ifdef SG_HAVE_STD_INCLUDES
-# include <vector>
-# else
-# include <vector.h>
-# endif
-#else
-# include <vector>
-# include <string>
-#endif
-
-#include "FGJSBBase.h"
-#include "FGThruster.h"
-#include "FGPropertyManager.h"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#define ID_ENGINE "$Id$"
-
-using std::string;
-using std::vector;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FORWARD DECLARATIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-namespace JSBSim {
-
-class FGFDMExec;
-class FGState;
-class FGAtmosphere;
-class FGFCS;
-class FGAircraft;
-class FGPropagate;
-class FGPropulsion;
-class FGAuxiliary;
-class FGOutput;
-class FGThruster;
-class FGConfigFile;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DOCUMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/** Base class for all engines.
- This base class contains methods and members common to all engines, such as
- logic to drain fuel from the appropriate tank, etc.
- @author Jon S. Berndt
- @version $Id$
-*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-class FGEngine : public FGJSBBase
-{
-public:
- FGEngine(FGFDMExec* exec, int engine_number);
- virtual ~FGEngine();
-
- enum EngineType {etUnknown, etRocket, etPiston, etTurbine, etElectric};
-
- EngineType GetType(void) { return Type; }
- virtual string GetName(void) { return Name; }
- string GetThrusterFileName(void) {return thrusterFileName;}
- void SetEngineFileName(string eng) {engineFileName = eng;}
- string GetEngineFileName(void) {return engineFileName;}
-
- // Engine controls
- virtual double GetThrottleMin(void) { return MinThrottle; }
- virtual double GetThrottleMax(void) { return MaxThrottle; }
- virtual double GetThrottle(void) { return Throttle; }
- virtual double GetMixture(void) { return Mixture; }
- virtual bool GetStarter(void) { return Starter; }
-
- virtual double getFuelFlow_gph () const {return FuelFlow_gph;}
- virtual double getFuelFlow_pph () const {return FuelFlow_pph;}
- virtual double GetThrust(void) { return Thrust; }
- virtual bool GetStarved(void) { return Starved; }
- virtual bool GetRunning(void) { return Running; }
- virtual bool GetCranking(void) { return Cranking; }
-
- virtual void SetStarved(bool tt) { Starved = tt; }
- virtual void SetStarved(void) { Starved = true; }
-
- virtual void SetRunning(bool bb) { Running=bb; }
- virtual void SetName(string name) { Name = name; }
- virtual void AddFeedTank(int tkID);
- virtual void SetFuelFreeze(bool f) { FuelFreeze = f; }
-
- virtual void SetStarter(bool s) { Starter = s; }
-
- /** Calculates the thrust of the engine, and other engine functions.
- @return Thrust in pounds */
- virtual double Calculate(void) {return 0.0;}
-
- /** Reduces the fuel in the active tanks by the amount required.
- This function should be called from within the
- derived class' Calculate() function before any other calculations are
- done. This base class method removes fuel from the fuel tanks as
- appropriate, and sets the starved flag if necessary. */
- virtual void ConsumeFuel(void);
-
- /** The fuel need is calculated based on power levels and flow rate for that
- power level. It is also turned from a rate into an actual amount (pounds)
- by multiplying it by the delta T and the rate.
- @return Total fuel requirement for this engine in pounds. */
- virtual double CalcFuelNeed(void);
-
- /** The oxidizer need is calculated based on power levels and flow rate for that
- power level. It is also turned from a rate into an actual amount (pounds)
- by multiplying it by the delta T and the rate.
- @return Total oxidizer requirement for this engine in pounds. */
- virtual double CalcOxidizerNeed(void);
-
- /// Sets engine placement information
- virtual void SetPlacement(double x, double y, double z, double pitch, double yaw);
- double GetPlacementX(void) const {return X;}
- double GetPlacementY(void) const {return Y;}
- double GetPlacementZ(void) const {return Z;}
- double GetPitch(void) const {return EnginePitch;}
- double GetYaw(void) const {return EngineYaw;}
-
- virtual double GetPowerAvailable(void) {return 0.0;};
-
- virtual bool GetTrimMode(void) {return TrimMode;}
- virtual void SetTrimMode(bool state) {TrimMode = state;}
-
- virtual FGColumnVector3& GetBodyForces(void);
- virtual FGColumnVector3& GetMoments(void);
-
- bool LoadThruster(FGConfigFile* AC_cfg);
- FGThruster* GetThruster(void) {return Thruster;}
-
- virtual string GetEngineLabels(string delimeter) = 0;
- virtual string GetEngineValues(string delimeter) = 0;
- int GetNumSourceTanks(void) {return SourceTanks.size();}
- int GetSourceTank(int t) {return SourceTanks[t];}
-
-protected:
- FGPropertyManager* PropertyManager;
- string Name;
- string thrusterFileName;
- string engineFileName;
- const int EngineNumber;
- EngineType Type;
- double X, Y, Z;
- double EnginePitch;
- double EngineYaw;
- double SLFuelFlowMax;
- double SLOxiFlowMax;
- double MaxThrottle;
- double MinThrottle;
-
- double Thrust;
- double Throttle;
- double Mixture;
- double FuelNeed;
- double OxidizerNeed;
- double PctPower;
- bool Starter;
- bool Starved;
- bool Running;
- bool Cranking;
- bool TrimMode;
- bool FuelFreeze;
-
- double FuelFlow_gph;
- double FuelFlow_pph;
-
- FGFDMExec* FDMExec;
- FGState* State;
- FGAtmosphere* Atmosphere;
- FGFCS* FCS;
- FGPropulsion* Propulsion;
- FGAircraft* Aircraft;
- FGPropagate* Propagate;
- FGAuxiliary* Auxiliary;
- FGOutput* Output;
- FGThruster* Thruster;
-
- vector <int> SourceTanks;
- void Debug(int from);
-};
-}
-#include "FGState.h"
-#include "FGFDMExec.h"
-#include "FGAtmosphere.h"
-#include "FGFCS.h"
-#include "FGAircraft.h"
-#include "FGPropagate.h"
-#include "FGPropulsion.h"
-#include "FGAuxiliary.h"
-#include "FGOutput.h"
-#include "FGThruster.h"
-#include "FGConfigFile.h"
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-#endif
-
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Module: FGFCS.cpp
- Author: Jon Berndt
- Date started: 12/12/98
- Purpose: Model the flight controls
- 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 models the flight controls for a specific airplane
-
-HISTORY
---------------------------------------------------------------------------------
-12/12/98 JSB Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef HAVE_CONFIG_H
-# include <config.h>
-#endif
-
-#include "FGFCS.h"
-#include "FGFDMExec.h"
-#include "FGPropertyManager.h"
-
-#include "filtersjb/FGFilter.h"
-#include "filtersjb/FGDeadBand.h"
-#include "filtersjb/FGGain.h"
-#include "filtersjb/FGGradient.h"
-#include "filtersjb/FGSwitch.h"
-#include "filtersjb/FGSummer.h"
-#include "filtersjb/FGKinemat.h"
-
-namespace JSBSim {
-
-static const char *IdSrc = "$Id$";
-static const char *IdHdr = ID_FCS;
-
-#if defined(WIN32) && !defined(__CYGWIN__)
-#define snprintf _snprintf
-#endif
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
-{
- int i;
- Name = "FGFCS";
-
- DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = 0.0;
- AP_DaCmd = AP_DeCmd = AP_DrCmd = AP_ThrottleCmd = 0.0;
- PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
- GearCmd = GearPos = 1; // default to gear down
- LeftBrake = RightBrake = CenterBrake = 0.0;
- APAttitudeSetPt = APAltitudeSetPt = APHeadingSetPt = APAirspeedSetPt = 0.0;
- DoNormalize=true;
-
- bind();
- for (i=0;i<=NForms;i++) {
- DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
- DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
- }
-
- for (i=0;i<NNorm;i++) { ToNormalize[i]=-1;}
- Debug(0);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGFCS::~FGFCS()
-{
- unbind( PropertyManager->GetNode("fcs") );
- unbind( PropertyManager->GetNode("ap") );
- PropertyManager->Untie( "gear/gear-cmd-norm" );
- PropertyManager->Untie( "gear/gear-pos-norm" );
-
- ThrottleCmd.clear();
- ThrottlePos.clear();
- MixtureCmd.clear();
- MixturePos.clear();
- PropAdvanceCmd.clear();
- PropAdvance.clear();
- SteerPosDeg.clear();
-
- unsigned int i;
-
- for (i=0;i<APComponents.size();i++) delete APComponents[i];
- for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
-
- Debug(1);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-bool FGFCS::Run(void)
-{
- unsigned int i;
-
- if (FGModel::Run()) return true; // fast exit if nothing to do
-
- // Set the default engine commands
- for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
- for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
- for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
-
- // Set the default steering angle
- for (i=0; i<SteerPosDeg.size(); i++) {
- FGLGear* gear = GroundReactions->GetGearUnit(i);
- SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
- }
-
- for (i=0; i<APComponents.size(); i++) APComponents[i]->Run(); // cycle AP components
- for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run(); // cycle FCS components
-
- if (DoNormalize) Normalize();
-
- return false;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFCS::SetThrottleCmd(int engineNum, double setting)
-{
- unsigned int ctr;
-
- if (engineNum < (int)ThrottlePos.size()) {
- if (engineNum < 0) {
- for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
- } else {
- ThrottleCmd[engineNum] = setting;
- }
- } else {
- cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
- << " engines exist, but attempted throttle command is for engine "
- << engineNum << endl;
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFCS::SetThrottlePos(int engineNum, double setting)
-{
- unsigned int ctr;
-
- if (engineNum < (int)ThrottlePos.size()) {
- if (engineNum < 0) {
- for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
- } else {
- ThrottlePos[engineNum] = setting;
- }
- } else {
- cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
- << " engines exist, but attempted throttle position setting is for engine "
- << engineNum << endl;
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-double FGFCS::GetThrottleCmd(int engineNum) const
-{
- if (engineNum < (int)ThrottlePos.size()) {
- if (engineNum < 0) {
- cerr << "Cannot get throttle value for ALL engines" << endl;
- } else {
- return ThrottleCmd[engineNum];
- }
- } else {
- cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
- << " engines exist, but throttle setting for engine " << engineNum
- << " is selected" << endl;
- }
- return 0.0;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-double FGFCS::GetThrottlePos(int engineNum) const
-{
- if (engineNum < (int)ThrottlePos.size()) {
- if (engineNum < 0) {
- cerr << "Cannot get throttle value for ALL engines" << endl;
- } else {
- return ThrottlePos[engineNum];
- }
- } else {
- cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
- << " engines exist, but attempted throttle position setting is for engine "
- << engineNum << endl;
- }
- return 0.0;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFCS::SetMixtureCmd(int engineNum, double setting)
-{
- unsigned int ctr;
-
- if (engineNum < (int)ThrottlePos.size()) {
- if (engineNum < 0) {
- for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
- } else {
- MixtureCmd[engineNum] = setting;
- }
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFCS::SetMixturePos(int engineNum, double setting)
-{
- unsigned int ctr;
-
- if (engineNum < (int)ThrottlePos.size()) {
- if (engineNum < 0) {
- for (ctr=0;ctr<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
- } else {
- MixturePos[engineNum] = setting;
- }
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
-{
- unsigned int ctr;
-
- if (engineNum < (int)ThrottlePos.size()) {
- if (engineNum < 0) {
- for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
- } else {
- PropAdvanceCmd[engineNum] = setting;
- }
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFCS::SetPropAdvance(int engineNum, double setting)
-{
- unsigned int ctr;
-
- if (engineNum < (int)ThrottlePos.size()) {
- if (engineNum < 0) {
- for (ctr=0;ctr<=PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
- } else {
- PropAdvance[engineNum] = setting;
- }
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-bool FGFCS::Load(FGConfigFile* AC_cfg)
-{
- string token, delimiter;
- string name, file, fname;
- unsigned i;
- vector <FGFCSComponent*> *Components;
- FGConfigFile *FCS_cfg;
-
- Components=0;
- // Determine if the FCS/Autopilot is defined inline in the aircraft configuration
- // file or in a separate file. Set up the config file class as appropriate.
-
- delimiter = AC_cfg->GetValue();
- name = AC_cfg->GetValue("NAME");
- fname = AC_cfg->GetValue("FILE");
-
- if ( AC_cfg->GetValue("NORMALIZE") == "FALSE") {
- DoNormalize = false;
- cout << " Automatic Control Surface Normalization Disabled" << endl;
- }
-
-# ifndef macintosh
-// file = "control/" + fname + ".xml";
- file = FDMExec->GetAircraftPath() + "/" + FDMExec->GetModelName() + "/" + fname + ".xml";
-# else
-// file = "control;" + fname + ".xml";
- file = FDMExec->GetAircraftPath() + ";" + FDMExec->GetModelName() + ";" + fname + ".xml";
-# endif
-
- if (name.empty()) {
- name = fname;
- if (file.empty()) {
- cerr << "FCS/Autopilot does not appear to be defined inline nor in a file" << endl;
- } else {
- FCS_cfg = new FGConfigFile(file);
- if (!FCS_cfg->IsOpen()) {
- cerr << "Could not open " << delimiter << " file: " << file << endl;
- return false;
- } else {
- AC_cfg = FCS_cfg; // set local config file object pointer to FCS config
- // file object pointer
- }
- }
- } else {
- AC_cfg->GetNextConfigLine();
- }
-
- if (delimiter == "AUTOPILOT") {
- Components = &APComponents;
- Name = "Autopilot: " + name;
- } else if (delimiter == "FLIGHT_CONTROL") {
- Components = &FCSComponents;
- Name = "FCS: " + name;
- } else {
- cerr << endl << "Unknown FCS delimiter" << endl << endl;
- }
-
- if (debug_lvl > 0) cout << " Control System Name: " << Name << endl;
-
- while ((token = AC_cfg->GetValue()) != string("/" + delimiter)) {
- if (token == "COMPONENT") {
- token = AC_cfg->GetValue("TYPE");
- if (debug_lvl > 0) cout << endl << " Loading Component \""
- << AC_cfg->GetValue("NAME")
- << "\" of type: " << token << endl;
- if ((token == "LAG_FILTER") ||
- (token == "LEAD_LAG_FILTER") ||
- (token == "SECOND_ORDER_FILTER") ||
- (token == "WASHOUT_FILTER") ||
- (token == "INTEGRATOR") ) {
- Components->push_back(new FGFilter(this, AC_cfg));
- } else if ((token == "PURE_GAIN") ||
- (token == "SCHEDULED_GAIN") ||
- (token == "AEROSURFACE_SCALE") ) {
-
- Components->push_back(new FGGain(this, AC_cfg));
-
- } else if (token == "SUMMER") {
- Components->push_back(new FGSummer(this, AC_cfg));
- } else if (token == "DEADBAND") {
- Components->push_back(new FGDeadBand(this, AC_cfg));
- } else if (token == "GRADIENT") {
- Components->push_back(new FGGradient(this, AC_cfg));
- } else if (token == "SWITCH") {
- Components->push_back(new FGSwitch(this, AC_cfg));
- } else if (token == "KINEMAT") {
- Components->push_back(new FGKinemat(this, AC_cfg));
- } else {
- cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
- return false;
- }
- if (AC_cfg->GetNextConfigLine() == "EOF") break;
- }
- }
-
- //collect information for normalizing control surfaces
-
- string nodeName;
- for (i=0; i<Components->size(); i++) {
-
- if ( (((*Components)[i])->GetType() == "AEROSURFACE_SCALE"
- || ((*Components)[i])->GetType() == "KINEMAT")
- && ((*Components)[i])->GetOutputNode() ) {
- nodeName = ((*Components)[i])->GetOutputNode()->GetName();
- if ( nodeName == "elevator-pos-rad" ) {
- ToNormalize[iDe]=i;
- } else if ( nodeName == "left-aileron-pos-rad"
- || nodeName == "aileron-pos-rad" ) {
- ToNormalize[iDaL]=i;
- } else if ( nodeName == "right-aileron-pos-rad" ) {
- ToNormalize[iDaR]=i;
- } else if ( nodeName == "rudder-pos-rad" ) {
- ToNormalize[iDr]=i;
- } else if ( nodeName == "speedbrake-pos-rad" ) {
- ToNormalize[iDsb]=i;
- } else if ( nodeName == "spoiler-pos-rad" ) {
- ToNormalize[iDsp]=i;
- } else if ( nodeName == "flap-pos-deg" ) {
- ToNormalize[iDf]=i;
- }
- }
- }
-
- if (delimiter == "FLIGHT_CONTROL") bindModel();
-
- return true;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
-{
- switch (bg) {
- case FGLGear::bgLeft:
- return LeftBrake;
- case FGLGear::bgRight:
- return RightBrake;
- case FGLGear::bgCenter:
- return CenterBrake;
- default:
- cerr << "GetBrake asked to return a bogus brake value" << endl;
- }
- return 0.0;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-string FGFCS::GetComponentStrings(string delimeter)
-{
- unsigned int comp;
- string CompStrings = "";
- bool firstime = true;
-
- for (comp = 0; comp < FCSComponents.size(); comp++) {
- if (firstime) firstime = false;
- else CompStrings += delimeter;
-
- CompStrings += FCSComponents[comp]->GetName();
- }
-
- for (comp = 0; comp < APComponents.size(); comp++)
- {
- CompStrings += delimeter;
- CompStrings += APComponents[comp]->GetName();
- }
-
- return CompStrings;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-string FGFCS::GetComponentValues(string delimeter)
-{
- unsigned int comp;
- string CompValues = "";
- char buffer[12];
- bool firstime = true;
-
- for (comp = 0; comp < FCSComponents.size(); comp++) {
- if (firstime) firstime = false;
- else CompValues += delimeter;
-
- sprintf(buffer, "%9.6f", FCSComponents[comp]->GetOutput());
- CompValues += string(buffer);
- }
-
- for (comp = 0; comp < APComponents.size(); comp++) {
- sprintf(buffer, "%s%9.6f", delimeter.c_str(), APComponents[comp]->GetOutput());
- CompValues += string(buffer);
- }
-
- return CompValues;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFCS::AddThrottle(void)
-{
- ThrottleCmd.push_back(0.0);
- ThrottlePos.push_back(0.0);
- MixtureCmd.push_back(0.0); // assume throttle and mixture are coupled
- MixturePos.push_back(0.0);
- PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
- PropAdvance.push_back(0.0);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFCS::AddGear(void)
-{
- SteerPosDeg.push_back(0.0);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFCS::Normalize(void) {
-
- //not all of these are guaranteed to be defined for every model
- //those that are have an index >=0 in the ToNormalize array
- //ToNormalize is filled in Load()
-
- if ( ToNormalize[iDe] > -1 ) {
- DePos[ofNorm] = FCSComponents[ToNormalize[iDe]]->GetOutputPct();
- }
-
- if ( ToNormalize[iDaL] > -1 ) {
- DaLPos[ofNorm] = FCSComponents[ToNormalize[iDaL]]->GetOutputPct();
- }
-
- if ( ToNormalize[iDaR] > -1 ) {
- DaRPos[ofNorm] = FCSComponents[ToNormalize[iDaR]]->GetOutputPct();
- }
-
- if ( ToNormalize[iDr] > -1 ) {
- DrPos[ofNorm] = FCSComponents[ToNormalize[iDr]]->GetOutputPct();
- }
-
- if ( ToNormalize[iDsb] > -1 ) {
- DsbPos[ofNorm] = FCSComponents[ToNormalize[iDsb]]->GetOutputPct();
- }
-
- if ( ToNormalize[iDsp] > -1 ) {
- DspPos[ofNorm] = FCSComponents[ToNormalize[iDsp]]->GetOutputPct();
- }
-
- if ( ToNormalize[iDf] > -1 ) {
- DfPos[ofNorm] = FCSComponents[ToNormalize[iDf]]->GetOutputPct();
- }
-
- DePos[ofMag] = fabs(DePos[ofRad]);
- DaLPos[ofMag] = fabs(DaLPos[ofRad]);
- DaRPos[ofMag] = fabs(DaRPos[ofRad]);
- DrPos[ofMag] = fabs(DrPos[ofRad]);
- DsbPos[ofMag] = fabs(DsbPos[ofRad]);
- DspPos[ofMag] = fabs(DspPos[ofRad]);
- DfPos[ofMag] = fabs(DfPos[ofRad]);
-
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFCS::bind(void)
-{
- PropertyManager->Tie("fcs/aileron-cmd-norm", this,
- &FGFCS::GetDaCmd,
- &FGFCS::SetDaCmd,
- true);
- PropertyManager->Tie("fcs/elevator-cmd-norm", this,
- &FGFCS::GetDeCmd,
- &FGFCS::SetDeCmd,
- true);
- PropertyManager->Tie("fcs/rudder-cmd-norm", this,
- &FGFCS::GetDrCmd,
- &FGFCS::SetDrCmd,
- true);
- PropertyManager->Tie("fcs/steer-cmd-norm", this,
- &FGFCS::GetDsCmd,
- &FGFCS::SetDsCmd,
- true);
- PropertyManager->Tie("fcs/flap-cmd-norm", this,
- &FGFCS::GetDfCmd,
- &FGFCS::SetDfCmd,
- true);
- PropertyManager->Tie("fcs/speedbrake-cmd-norm", this,
- &FGFCS::GetDsbCmd,
- &FGFCS::SetDsbCmd,
- true);
- PropertyManager->Tie("fcs/spoiler-cmd-norm", this,
- &FGFCS::GetDspCmd,
- &FGFCS::SetDspCmd,
- true);
- PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this,
- &FGFCS::GetPitchTrimCmd,
- &FGFCS::SetPitchTrimCmd,
- true);
- PropertyManager->Tie("fcs/roll-trim-cmd-norm", this,
- &FGFCS::GetRollTrimCmd,
- &FGFCS::SetRollTrimCmd,
- true);
- PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this,
- &FGFCS::GetYawTrimCmd,
- &FGFCS::SetYawTrimCmd,
- true);
- PropertyManager->Tie("gear/gear-cmd-norm", this,
- &FGFCS::GetGearCmd,
- &FGFCS::SetGearCmd,
- true);
-
- PropertyManager->Tie("fcs/left-aileron-pos-rad", this,ofRad,
- &FGFCS::GetDaLPos,
- &FGFCS::SetDaLPos,
- true);
- PropertyManager->Tie("fcs/left-aileron-pos-norm", this,ofNorm,
- &FGFCS::GetDaLPos,
- &FGFCS::SetDaLPos,
- true);
- PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this,ofMag,
- &FGFCS::GetDaLPos,
- &FGFCS::SetDaLPos,
- true);
-
- PropertyManager->Tie("fcs/right-aileron-pos-rad", this,ofRad,
- &FGFCS::GetDaRPos,
- &FGFCS::SetDaRPos,
- true);
- PropertyManager->Tie("fcs/right-aileron-pos-norm", this,ofNorm,
- &FGFCS::GetDaRPos,
- &FGFCS::SetDaRPos,
- true);
- PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this,ofMag,
- &FGFCS::GetDaRPos,
- &FGFCS::SetDaRPos,
- true);
-
- PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad,
- &FGFCS::GetDePos,
- &FGFCS::SetDePos,
- true );
- PropertyManager->Tie("fcs/elevator-pos-norm", this,ofNorm,
- &FGFCS::GetDePos,
- &FGFCS::SetDePos,
- true );
- PropertyManager->Tie("fcs/mag-elevator-pos-rad", this,ofMag,
- &FGFCS::GetDePos,
- &FGFCS::SetDePos,
- true );
-
- PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad,
- &FGFCS::GetDrPos,
- &FGFCS::SetDrPos,
- true);
- PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm,
- &FGFCS::GetDrPos,
- &FGFCS::SetDrPos,
- true);
- PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag,
- &FGFCS::GetDrPos,
- &FGFCS::SetDrPos,
- true);
-
- PropertyManager->Tie("fcs/flap-pos-deg", this,ofRad,
- &FGFCS::GetDfPos,
- &FGFCS::SetDfPos,
- true);
- PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm,
- &FGFCS::GetDfPos,
- &FGFCS::SetDfPos,
- true);
-
- PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad,
- &FGFCS::GetDsbPos,
- &FGFCS::SetDsbPos,
- true);
- PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm,
- &FGFCS::GetDsbPos,
- &FGFCS::SetDsbPos,
- true);
- PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag,
- &FGFCS::GetDsbPos,
- &FGFCS::SetDsbPos,
- true);
-
- PropertyManager->Tie("fcs/spoiler-pos-rad", this,ofRad,
- &FGFCS::GetDspPos,
- &FGFCS::SetDspPos,
- true);
- PropertyManager->Tie("fcs/spoiler-pos-norm", this,ofNorm,
- &FGFCS::GetDspPos,
- &FGFCS::SetDspPos,
- true);
- PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this,ofMag,
- &FGFCS::GetDspPos,
- &FGFCS::SetDspPos,
- true);
-
- PropertyManager->Tie("gear/gear-pos-norm", this,
- &FGFCS::GetGearPos,
- &FGFCS::SetGearPos,
- true);
-
- PropertyManager->Tie("ap/elevator_cmd", this,
- &FGFCS::GetAPDeCmd,
- &FGFCS::SetAPDeCmd,
- true);
-
- PropertyManager->Tie("ap/aileron_cmd", this,
- &FGFCS::GetAPDaCmd,
- &FGFCS::SetAPDaCmd,
- true);
-
- PropertyManager->Tie("ap/rudder_cmd", this,
- &FGFCS::GetAPDrCmd,
- &FGFCS::SetAPDrCmd,
- true);
-
- PropertyManager->Tie("ap/throttle_cmd", this,
- &FGFCS::GetAPThrottleCmd,
- &FGFCS::SetAPThrottleCmd,
- true);
-
- PropertyManager->Tie("ap/attitude_setpoint", this,
- &FGFCS::GetAPAttitudeSetPt,
- &FGFCS::SetAPAttitudeSetPt,
- true);
-
- PropertyManager->Tie("ap/altitude_setpoint", this,
- &FGFCS::GetAPAltitudeSetPt,
- &FGFCS::SetAPAltitudeSetPt,
- true);
-
- PropertyManager->Tie("ap/heading_setpoint", this,
- &FGFCS::GetAPHeadingSetPt,
- &FGFCS::SetAPHeadingSetPt,
- true);
-
- PropertyManager->Tie("ap/airspeed_setpoint", this,
- &FGFCS::GetAPAirspeedSetPt,
- &FGFCS::SetAPAirspeedSetPt,
- true);
-
- PropertyManager->Tie("ap/acquire_attitude", this,
- &FGFCS::GetAPAcquireAttitude,
- &FGFCS::SetAPAcquireAttitude,
- true);
-
- PropertyManager->Tie("ap/acquire_altitude", this,
- &FGFCS::GetAPAcquireAltitude,
- &FGFCS::SetAPAcquireAltitude,
- true);
-
- PropertyManager->Tie("ap/acquire_heading", this,
- &FGFCS::GetAPAcquireHeading,
- &FGFCS::SetAPAcquireHeading,
- true);
-
- PropertyManager->Tie("ap/acquire_airspeed", this,
- &FGFCS::GetAPAcquireAirspeed,
- &FGFCS::SetAPAcquireAirspeed,
- true);
-
- PropertyManager->Tie("ap/attitude_hold", this,
- &FGFCS::GetAPAttitudeHold,
- &FGFCS::SetAPAttitudeHold,
- true);
-
- PropertyManager->Tie("ap/altitude_hold", this,
- &FGFCS::GetAPAltitudeHold,
- &FGFCS::SetAPAltitudeHold,
- true);
-
- PropertyManager->Tie("ap/heading_hold", this,
- &FGFCS::GetAPHeadingHold,
- &FGFCS::SetAPHeadingHold,
- true);
-
- PropertyManager->Tie("ap/airspeed_hold", this,
- &FGFCS::GetAPAirspeedHold,
- &FGFCS::SetAPAirspeedHold,
- true);
-
- PropertyManager->Tie("ap/wingslevel_hold", this,
- &FGFCS::GetAPWingsLevelHold,
- &FGFCS::SetAPWingsLevelHold,
- true);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFCS::bindModel(void)
-{
- unsigned i;
- char tmp[80];
-
- for (i=0; i<ThrottleCmd.size(); i++) {
- snprintf(tmp,80,"fcs/throttle-cmd-norm[%u]",i);
- PropertyManager->Tie( tmp,this,i,
- &FGFCS::GetThrottleCmd,
- &FGFCS::SetThrottleCmd,
- true );
- snprintf(tmp,80,"fcs/throttle-pos-norm[%u]",i);
- PropertyManager->Tie( tmp,this,i,
- &FGFCS::GetThrottlePos,
- &FGFCS::SetThrottlePos,
- true );
- if ( MixtureCmd.size() > i ) {
- snprintf(tmp,80,"fcs/mixture-cmd-norm[%u]",i);
- PropertyManager->Tie( tmp,this,i,
- &FGFCS::GetMixtureCmd,
- &FGFCS::SetMixtureCmd,
- true );
- snprintf(tmp,80,"fcs/mixture-pos-norm[%u]",i);
- PropertyManager->Tie( tmp,this,i,
- &FGFCS::GetMixturePos,
- &FGFCS::SetMixturePos,
- true );
- }
- if ( PropAdvanceCmd.size() > i ) {
- snprintf(tmp,80,"fcs/advance-cmd-norm[%u]",i);
- PropertyManager->Tie( tmp,this,i,
- &FGFCS::GetPropAdvanceCmd,
- &FGFCS::SetPropAdvanceCmd,
- true );
- snprintf(tmp,80,"fcs/advance-pos-norm[%u]",i);
- PropertyManager->Tie( tmp,this,i,
- &FGFCS::GetPropAdvance,
- &FGFCS::SetPropAdvance,
- true );
- }
- }
-
- for (i=0; i<SteerPosDeg.size(); i++) {
- if (GroundReactions->GetGearUnit(i)->GetSteerable()) {
- snprintf(tmp,80,"fcs/steer-pos-deg[%u]",i);
- PropertyManager->Tie( tmp, this, i,
- &FGFCS::GetSteerPosDeg,
- &FGFCS::SetSteerPosDeg,
- true );
- }
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFCS::unbind(FGPropertyManager *node)
-{
- int N = node->nChildren();
- for(int i=0;i<N;i++) {
- if(node->getChild(i)->nChildren() ) {
- unbind( (FGPropertyManager*)node->getChild(i) );
- } else if( node->getChild(i)->isTied() ) {
- node->getChild(i)->untie();
- }
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFCS::convert(void)
-{
- for (int i=0; i<FCSComponents.size(); i++) {
- FCSComponents[i]->convert();
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// 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 FGFCS::Debug(int from)
-{
- 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: FGFCS" << endl;
- if (from == 1) cout << "Destroyed: FGFCS" << 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 (debug_lvl & 64) {
- if (from == 0) { // Constructor
- cout << IdSrc << endl;
- cout << IdHdr << endl;
- }
- }
-}
-
-}
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Header: FGGFCS.h
- Author: Jon S. Berndt
- Date started: 12/12/98
-
- ------------- 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.
-
-HISTORY
---------------------------------------------------------------------------------
-12/12/98 JSB Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-SENTRY
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifndef FGFCS_H
-#define FGFCS_H
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef FGFS
-# include <simgear/compiler.h>
-# ifdef SG_HAVE_STD_INCLUDES
-# include <vector>
-# else
-# include <vector.h>
-# endif
-#else
-# include <vector>
-#endif
-
-#include <string>
-#include "filtersjb/FGFCSComponent.h"
-#include "FGModel.h"
-#include "FGLGear.h"
-#include "FGConfigFile.h"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#define ID_FCS "$Id$"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FORWARD DECLARATIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-namespace JSBSim {
-
-typedef enum { iDe=0, iDaL, iDaR, iDr, iDsb, iDsp, iDf, NNorm } FcIdx;
-typedef enum { ofRad=0, ofNorm, ofMag , NForms} OutputForm;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DOCUMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/** Encapsulates the Flight Control System (FCS) functionality.
- This class owns and contains the list of FGFCSComponents
- that define the control system for this aircraft. The config file for the
- aircraft contains a description of the control path that starts at an input
- or command and ends at an effector, e.g. an aerosurface. The FCS components
- which comprise the control laws for an axis are defined sequentially in
- the configuration file. For instance, for the X-15:
-
- <pre>
- \<FLIGHT_CONTROL NAME="X-15 SAS">
-
- \<COMPONENT NAME="Pitch Trim Sum" TYPE="SUMMER">
- INPUT fcs/elevator-cmd-norm
- INPUT fcs/pitch-trim-cmd-norm
- CLIPTO -1 1
- \</COMPONENT>
-
- \<COMPONENT NAME="Pitch Command Scale" TYPE="AEROSURFACE_SCALE">
- INPUT fcs/pitch-trim-sum
- MIN -50
- MAX 50
- \</COMPONENT>
-
- \<COMPONENT NAME="Pitch Gain 1" TYPE="PURE_GAIN">
- INPUT fcs/pitch-command-scale
- GAIN -0.36
- \</COMPONENT>
-
- ... etc.
- </pre>
-
- In the above case we can see the first few components of the pitch channel
- defined. The input to the first component, as can be seen in the "Pitch trim
- sum" component, is really the sum of two parameters: elevator command (from
- the stick - a pilot input), and pitch trim. The type of this component is
- "Summer".
- The next component created is an aerosurface scale component - a type of
- gain (see the LoadFCS() method for insight on how the various types of
- components map into the actual component classes). This continues until the
- final component for an axis when the
- OUTPUT keyword specifies where the output is supposed to go. See the
- individual components for more information on how they are mechanized.
-
- Another option for the flight controls portion of the config file is that in
- addition to using the "NAME" attribute in,
-
- <pre>
- \<FLIGHT_CONTROL NAME="X-15 SAS">
- </pre>
-
- one can also supply a filename:
-
- <pre>
- \<FLIGHT_CONTROL NAME="X-15 SAS" FILE="X15.xml">
- \</FLIGHT_CONTROL>
- </pre>
-
- In this case, the FCS would be read in from another file.
-
- @author Jon S. Berndt
- @version $Id$
- @see FGFCSComponent
- @see FGConfigFile
- @see FGGain
- @see FGSummer
- @see FGSwitch
- @see FGGradient
- @see FGFilter
- @see FGDeadBand
-*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-class FGFCS : public FGModel {
-
-public:
- /** Constructor
- @param Executive a pointer to the parent executive object */
- FGFCS(FGFDMExec*);
- /// Destructor
- ~FGFCS();
-
- /** Runs the Flight Controls model; called by the Executive
- @return false if no error */
- bool Run(void);
-
- /// @name Pilot input command retrieval
- //@{
- /** Gets the aileron command.
- @return aileron command in percent */
- inline double GetDaCmd(void) const { return DaCmd; }
-
- /** Gets the elevator command.
- @return elevator command in percent */
- inline double GetDeCmd(void) const { return DeCmd; }
-
- /** Gets the rudder command.
- @return rudder command in percent */
- inline double GetDrCmd(void) const { return DrCmd; }
-
- /** Gets the steering command.
- @return steering command in percent */
- inline double GetDsCmd(void) const { return DsCmd; }
-
- /** Gets the flaps command.
- @return flaps command in percent */
- inline double GetDfCmd(void) const { return DfCmd; }
-
- /** Gets the speedbrake command.
- @return speedbrake command in percent */
- inline double GetDsbCmd(void) const { return DsbCmd; }
-
- /** Gets the spoiler command.
- @return spoiler command in percent */
- inline double GetDspCmd(void) const { return DspCmd; }
-
- /** Gets the throttle command.
- @param engine engine ID number
- @return throttle command in percent ( 0 - 100) for the given engine */
- double GetThrottleCmd(int engine) const;
-
- /** Gets the mixture command.
- @param engine engine ID number
- @return mixture command in percent ( 0 - 100) for the given engine */
- inline double GetMixtureCmd(int engine) const { return MixtureCmd[engine]; }
-
- /** Gets the prop pitch command.
- @param engine engine ID number
- @return pitch command in percent ( 0.0 - 1.0) for the given engine */
- inline double GetPropAdvanceCmd(int engine) const { return PropAdvanceCmd[engine]; }
-
- /** Gets the pitch trim command.
- @return pitch trim command in percent */
- inline double GetPitchTrimCmd(void) const { return PTrimCmd; }
-
- /** Gets the rudder trim command.
- @return rudder trim command in percent */
- inline double GetYawTrimCmd(void) const { return YTrimCmd; }
-
- /** Gets the aileron trim command.
- @return aileron trim command in percent */
- inline double GetRollTrimCmd(void) const { return RTrimCmd; }
-
- /** Get the gear extend/retract command. 0 commands gear up, 1 down.
- defaults to down.
- @return the current value of the gear extend/retract command*/
- inline double GetGearCmd(void) const { return GearCmd; }
- //@}
-
- /// @name AUTOPilot -> FCS effectors command retrieval
- //@{
- /** Gets the AUTOPilot aileron command.
- @return aileron command in radians */
- inline double GetAPDaCmd(void) const { return AP_DaCmd; }
-
- /** Gets the AUTOPilot elevator command.
- @return elevator command in radians */
- inline double GetAPDeCmd(void) const { return AP_DeCmd; }
-
- /** Gets the AUTOPilot rudder command.
- @return rudder command in radians */
- inline double GetAPDrCmd(void) const { return AP_DrCmd; }
-
- /** Gets the AUTOPilot throttle (all engines) command.
- @return throttle command in percent */
- inline double GetAPThrottleCmd(void) const { return AP_ThrottleCmd; }
- //@}
-
- /// @name AUTOPilot setpoint retrieval
- //@{
- /** Gets the autopilot pitch attitude setpoint
- @return Pitch attitude setpoint in radians */
- inline double GetAPAttitudeSetPt(void) const {return APAttitudeSetPt;}
-
- /** Gets the autopilot altitude setpoint
- @return Altitude setpoint in feet */
- inline double GetAPAltitudeSetPt(void) const {return APAltitudeSetPt;}
-
- /** Gets the autopilot heading setpoint
- @return Heading setpoint in radians */
- inline double GetAPHeadingSetPt(void) const {return APHeadingSetPt;}
-
- /** Gets the autopilot airspeed setpoint
- @return Airspeed setpoint in fps */
- inline double GetAPAirspeedSetPt(void) const {return APAirspeedSetPt;}
- //@}
-
- /// @name AUTOPilot setpoint setting
- //@{
- /// Sets the autopilot pitch attitude setpoint
- inline void SetAPAttitudeSetPt(double set) {APAttitudeSetPt = set;}
-
- /// Sets the autopilot altitude setpoint
- inline void SetAPAltitudeSetPt(double set) {APAltitudeSetPt = set;}
-
- /// Sets the autopilot heading setpoint
- inline void SetAPHeadingSetPt(double set) {APHeadingSetPt = set;}
-
- /// Sets the autopilot airspeed setpoint
- inline void SetAPAirspeedSetPt(double set) {APAirspeedSetPt = set;}
- //@}
-
-
- /// @name AUTOPilot mode setting
- //@{
- /** Turns on/off the attitude-seeking autopilot.
- @param set true turns the mode on, false turns it off **/
- inline void SetAPAcquireAttitude(bool set) {APAcquireAttitude = set;}
-
- /** Turns on/off the altitude-seeking autopilot.
- @param set true turns the mode on, false turns it off **/
- inline void SetAPAcquireAltitude(bool set) {APAcquireAltitude = set;}
-
- /** Turns on/off the heading-seeking autopilot.
- @param set true turns the mode on, false turns it off **/
- inline void SetAPAcquireHeading(bool set) {APAcquireHeading = set;}
-
- /** Turns on/off the airspeed-seeking autopilot.
- @param set true turns the mode on, false turns it off **/
- inline void SetAPAcquireAirspeed(bool set) {APAcquireAirspeed = set;}
-
- /** Turns on/off the attitude-holding autopilot.
- @param set true turns the mode on, false turns it off **/
- inline void SetAPAttitudeHold(bool set) {APAttitudeHold = set;}
-
- /** Turns on/off the altitude-holding autopilot.
- @param set true turns the mode on, false turns it off **/
- inline void SetAPAltitudeHold(bool set) {APAltitudeHold = set;}
-
- /** Turns on/off the heading-holding autopilot.
- @param set true turns the mode on, false turns it off **/
- inline void SetAPHeadingHold(bool set) {APHeadingHold = set;}
-
- /** Turns on/off the airspeed-holding autopilot.
- @param set true turns the mode on, false turns it off **/
- inline void SetAPAirspeedHold(bool set) {APAirspeedHold = set;}
-
- /** Turns on/off the wing-leveler autopilot.
- @param set true turns the mode on, false turns it off **/
- inline void SetAPWingsLevelHold(bool set) {APWingsLevelHold = set;}
- //@}
-
- /// @name AUTOPilot mode retrieval
- //@{
- /** Retrieves the on/off mode of the autopilot AcquireAttitude mode
- @return true if on, false if off */
- inline bool GetAPAcquireAttitude(void) const {return APAcquireAttitude;}
-
- /** Retrieves the on/off mode of the autopilot AcquireAltitude mode
- @return true if on, false if off */
- inline bool GetAPAcquireAltitude(void) const {return APAcquireAltitude;}
-
- /** Retrieves the on/off mode of the autopilot AcquireHeading mode
- @return true if on, false if off */
- inline bool GetAPAcquireHeading(void) const {return APAcquireHeading;}
-
- /** Retrieves the on/off mode of the autopilot AcquireAirspeed mode
- @return true if on, false if off */
- inline bool GetAPAcquireAirspeed(void) const {return APAcquireAirspeed;}
-
- /** Retrieves the on/off mode of the autopilot AttitudeHold mode
- @return true if on, false if off */
- inline bool GetAPAttitudeHold(void) const {return APAttitudeHold;}
-
- /** Retrieves the on/off mode of the autopilot AltitudeHold mode
- @return true if on, false if off */
- inline bool GetAPAltitudeHold(void) const {return APAltitudeHold;}
-
- /** Retrieves the on/off mode of the autopilot HeadingHold mode
- @return true if on, false if off */
- inline bool GetAPHeadingHold(void) const {return APHeadingHold;}
-
- /** Retrieves the on/off mode of the autopilot AirspeedHold mode
- @return true if on, false if off */
- inline bool GetAPAirspeedHold(void) const {return APAirspeedHold;}
-
- /** Retrieves the on/off mode of the autopilot WingsLevelHold mode
- @return true if on, false if off */
- inline bool GetAPWingsLevelHold(void) const {return APWingsLevelHold;}
- //@}
-
- /// @name Aerosurface position retrieval
- //@{
- /** Gets the left aileron position.
- @return aileron position in radians */
- inline double GetDaLPos( int form = ofRad )
- const { return DaLPos[form]; }
-
- /// @name Aerosurface position retrieval
- //@{
- /** Gets the right aileron position.
- @return aileron position in radians */
- inline double GetDaRPos( int form = ofRad )
- const { return DaRPos[form]; }
-
- /** Gets the elevator position.
- @return elevator position in radians */
- inline double GetDePos( int form = ofRad )
- const { return DePos[form]; }
-
- /** Gets the rudder position.
- @return rudder position in radians */
- inline double GetDrPos( int form = ofRad )
- const { return DrPos[form]; }
-
- /** Gets the speedbrake position.
- @return speedbrake position in radians */
- inline double GetDsbPos( int form = ofRad )
- const { return DsbPos[form]; }
-
- /** Gets the spoiler position.
- @return spoiler position in radians */
- inline double GetDspPos( int form = ofRad )
- const { return DspPos[form]; }
-
- /** Gets the flaps position.
- @return flaps position in radians */
- inline double GetDfPos( int form = ofRad )
- const { return DfPos[form]; }
-
- /** Gets the throttle position.
- @param engine engine ID number
- @return throttle position for the given engine in percent ( 0 - 100)*/
- double GetThrottlePos(int engine) const;
-
- /** Gets the mixture position.
- @param engine engine ID number
- @return mixture position for the given engine in percent ( 0 - 100)*/
- inline double GetMixturePos(int engine) const { return MixturePos[engine]; }
-
- /** Gets the steering position.
- @return steering position in degrees */
- double GetSteerPosDeg(int gear) const { return SteerPosDeg[gear]; }
-
- /** Gets the gear position (0 up, 1 down), defaults to down
- @return gear position (0 up, 1 down) */
- inline double GetGearPos(void) const { return GearPos; }
-
- /** Gets the prop pitch position.
- @param engine engine ID number
- @return prop pitch position for the given engine in percent ( 0.0-1.0)*/
- inline double GetPropAdvance(int engine) const { return PropAdvance[engine]; }
- //@}
-
- /** Retrieves the State object pointer.
- This is used by the FGFCS-owned components.
- @return pointer to the State object */
- inline FGState* GetState(void) { return State; }
-
- /** Retrieves all component names for inclusion in output stream
- @param delimeter either a tab or comma string depending on output type
- @return a string containing the descriptive names for all components */
- string GetComponentStrings(string delimeter);
-
- /** Retrieves all component outputs for inclusion in output stream
- @param delimeter either a tab or comma string depending on output type
- @return a string containing the numeric values for the current set of
- component outputs */
- string GetComponentValues(string delimeter);
-
- /// @name Pilot input command setting
- //@{
- /** Sets the aileron command
- @param cmd aileron command in percent*/
- inline void SetDaCmd( double cmd ) { DaCmd = cmd; }
-
- /** Sets the elevator command
- @param cmd elevator command in percent*/
- inline void SetDeCmd(double cmd ) { DeCmd = cmd; }
-
- /** Sets the rudder command
- @param cmd rudder command in percent*/
- inline void SetDrCmd(double cmd) { DrCmd = cmd; }
-
- /** Sets the steering command
- @param cmd steering command in percent*/
- inline void SetDsCmd(double cmd) { DsCmd = cmd; }
-
- /** Sets the flaps command
- @param cmd flaps command in percent*/
- inline void SetDfCmd(double cmd) { DfCmd = cmd; }
-
- /** Sets the speedbrake command
- @param cmd speedbrake command in percent*/
- inline void SetDsbCmd(double cmd) { DsbCmd = cmd; }
-
- /** Sets the spoilers command
- @param cmd spoilers command in percent*/
- inline void SetDspCmd(double cmd) { DspCmd = cmd; }
-
- /** Sets the pitch trim command
- @param cmd pitch trim command in percent*/
- inline void SetPitchTrimCmd(double cmd) { PTrimCmd = cmd; }
-
- /** Sets the rudder trim command
- @param cmd rudder trim command in percent*/
- inline void SetYawTrimCmd(double cmd) { YTrimCmd = cmd; }
-
- /** Sets the aileron trim command
- @param cmd aileron trim command in percent*/
- inline void SetRollTrimCmd(double cmd) { RTrimCmd = cmd; }
-
- /** Sets the throttle command for the specified engine
- @param engine engine ID number
- @param cmd throttle command in percent (0 - 100)*/
- void SetThrottleCmd(int engine, double cmd);
-
- /** Sets the mixture command for the specified engine
- @param engine engine ID number
- @param cmd mixture command in percent (0 - 100)*/
- void SetMixtureCmd(int engine, double cmd);
-
- /** Set the gear extend/retract command, defaults to down
- @param gear command 0 for up, 1 for down */
- void SetGearCmd(double gearcmd) { GearCmd = gearcmd; }
-
- /** Sets the propeller pitch command for the specified engine
- @param engine engine ID number
- @param cmd mixture command in percent (0.0 - 1.0)*/
- void SetPropAdvanceCmd(int engine, double cmd);
- //@}
-
- /// @name AUTOPilot -> FCS effector command setting
- //@{
- /** Sets the AUTOPilot aileron command
- @param cmd AUTOPilot aileron command in radians*/
- inline void SetAPDaCmd( double cmd ) { AP_DaCmd = cmd; }
-
- /** Sets the AUTOPilot elevator command
- @param cmd AUTOPilot elevator command in radians*/
- inline void SetAPDeCmd(double cmd ) { AP_DeCmd = cmd; }
-
- /** Sets the AUTOPilot rudder command
- @param cmd AUTOPilot rudder command in radians*/
- inline void SetAPDrCmd(double cmd) { AP_DrCmd = cmd; }
-
- /** Sets the AUTOPilot throttle command
- @param cmd AUTOPilot throttle command in percent*/
- inline void SetAPThrottleCmd(double cmd) { AP_ThrottleCmd = cmd; }
- //@}
-
- /// @name Aerosurface position setting
- //@{
- /** Sets the left aileron position
- @param cmd left aileron position in radians*/
- inline void SetDaLPos( int form , double pos )
- { DaLPos[form] = pos; }
-
- /** Sets the right aileron position
- @param cmd right aileron position in radians*/
- inline void SetDaRPos( int form , double pos )
- { DaRPos[form] = pos; }
-
- /** Sets the elevator position
- @param cmd elevator position in radians*/
- inline void SetDePos( int form , double pos )
- { DePos[form] = pos; }
-
- /** Sets the rudder position
- @param cmd rudder position in radians*/
- inline void SetDrPos( int form , double pos )
- { DrPos[form] = pos; }
-
- /** Sets the flaps position
- @param cmd flaps position in radians*/
- inline void SetDfPos( int form , double pos )
- { DfPos[form] = pos; }
-
- /** Sets the speedbrake position
- @param cmd speedbrake position in radians*/
- inline void SetDsbPos( int form , double pos )
- { DsbPos[form] = pos; }
-
- /** Sets the spoiler position
- @param cmd spoiler position in radians*/
- inline void SetDspPos( int form , double pos )
- { DspPos[form] = pos; }
-
- /** Sets the actual throttle setting for the specified engine
- @param engine engine ID number
- @param cmd throttle setting in percent (0 - 100)*/
- void SetThrottlePos(int engine, double cmd);
-
- /** Sets the actual mixture setting for the specified engine
- @param engine engine ID number
- @param cmd mixture setting in percent (0 - 100)*/
- void SetMixturePos(int engine, double cmd);
-
- /** Sets the steering position
- @param cmd steering position in degrees*/
- void SetSteerPosDeg(int gear, double pos) { SteerPosDeg[gear] = pos; }
-
- /** Set the gear extend/retract position, defaults to down
- @param gear position 0 up, 1 down */
- void SetGearPos(double gearpos) { GearPos = gearpos; }
-
-
- /** Sets the actual prop pitch setting for the specified engine
- @param engine engine ID number
- @param cmd prop pitch setting in percent (0.0 - 1.0)*/
- void SetPropAdvance(int engine, double cmd);
- //@}
-
- /// @name Landing Gear brakes
- //@{
- /** Sets the left brake group
- @param cmd brake setting in percent (0.0 - 1.0) */
- void SetLBrake(double cmd) {LeftBrake = cmd;}
-
- /** Sets the right brake group
- @param cmd brake setting in percent (0.0 - 1.0) */
- void SetRBrake(double cmd) {RightBrake = cmd;}
-
- /** Sets the center brake group
- @param cmd brake setting in percent (0.0 - 1.0) */
- void SetCBrake(double cmd) {CenterBrake = cmd;}
-
- /** Gets the brake for a specified group.
- @param bg which brakegroup to retrieve the command for
- @return the brake setting for the supplied brake group argument */
- double GetBrake(FGLGear::BrakeGroup bg);
- //@}
-
- /** Loads the Flight Control System.
- The FGAircraft instance is actually responsible for reading the config file
- and calling the various Loadxx() methods of the other systems, passing in
- the config file instance pointer. LoadFCS() is called from FGAircraft.
- @param AC_cfg pointer to the config file instance
- @return true if succesful */
- bool Load(FGConfigFile* AC_cfg);
-
- void AddThrottle(void);
- void AddGear(void);
-
- FGPropertyManager* GetPropertyManager(void) { return PropertyManager; }
- void convert(void);
-
- void bind(void);
- void bindModel(void);
- void unbind(FGPropertyManager *node);
-
-private:
- double DaCmd, DeCmd, DrCmd, DsCmd, DfCmd, DsbCmd, DspCmd;
- double AP_DaCmd, AP_DeCmd, AP_DrCmd, AP_ThrottleCmd;
- double DePos[NForms], DaLPos[NForms], DaRPos[NForms], DrPos[NForms];
- double DfPos[NForms], DsbPos[NForms], DspPos[NForms];
- double PTrimCmd, YTrimCmd, RTrimCmd;
- vector <double> ThrottleCmd;
- vector <double> ThrottlePos;
- vector <double> MixtureCmd;
- vector <double> MixturePos;
- vector <double> PropAdvanceCmd;
- vector <double> PropAdvance;
- vector <double> SteerPosDeg;
- double LeftBrake, RightBrake, CenterBrake; // Brake settings
- double GearCmd,GearPos;
-
- double APAttitudeSetPt, APAltitudeSetPt, APHeadingSetPt, APAirspeedSetPt;
- bool APAcquireAttitude, APAcquireAltitude, APAcquireHeading, APAcquireAirspeed;
- bool APAttitudeHold, APAltitudeHold, APHeadingHold, APAirspeedHold, APWingsLevelHold;
-
- bool DoNormalize;
- void Normalize(void);
-
- vector <FGFCSComponent*> FCSComponents;
- vector <FGFCSComponent*> APComponents;
- int ToNormalize[NNorm];
- void Debug(int from);
-};
-}
-
-#endif
-
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Module: FGFactorGroup.cpp
- Author: Tony Peden
- Date started: 7/21/01
- Purpose: Encapsulates coefficients in the mathematical construct:
- factor*(coeff1 + coeff2 + coeff3 + ... + coeffn)
- Called by: FGAerodynamics
-
- ------------- Copyright (C) 2001 Tony Peden (apeden@earthlink.net) -----------
-
- 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 models the stability derivative coefficient lookup tables or
-equations. Note that the coefficients need not be calculated each delta-t.
-
-Note that the values in a row which index into the table must be the same value
-for each column of data, so the first column of numbers for each altitude are
-seen to be equal, and there are the same number of values for each altitude.
-
-See the header file FGFactorGroup.h for the values of the identifiers.
-
-HISTORY
---------------------------------------------------------------------------------
-7/21/01 TP Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef HAVE_CONFIG_H
-# include <config.h>
-#endif
-
-#include "FGCoefficient.h"
-#include "FGFactorGroup.h"
-#include "FGState.h"
-#include "FGFDMExec.h"
-
-#ifndef FGFS
-# if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740)
-# include <iomanip.h>
-# else
-# include <iomanip>
-# endif
-#else
-# include STL_IOMANIP
-#endif
-
-namespace JSBSim {
-
-static const char *IdSrc = "$Id$";
-static const char *IdHdr = ID_FACTORGROUP;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-FGFactorGroup::FGFactorGroup( FGFDMExec* fdmex ) : FGCoefficient( fdmex)
-{
- FDMExec = fdmex;
- totalValue = 0;
- IsFactor = true;
- Debug(0);
-}
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-FGFactorGroup::~FGFactorGroup()
-{
- for (unsigned int i=0; i<sum.size(); i++) delete sum[i];
-
- Debug(1);
-}
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-bool FGFactorGroup::Load(FGConfigFile *AC_cfg)
-{
- string token;
-
- if (AC_cfg) {
- name = AC_cfg->GetValue("NAME");
- AC_cfg->GetNextConfigLine();
- *AC_cfg >> description;
- token = AC_cfg->GetValue();
- if (token == "FACTOR") {
- FGCoefficient::Load(AC_cfg);
- }
- token = AC_cfg->GetValue();
- while (token != string("/GROUP") ) {
- sum.push_back( new FGCoefficient(FDMExec) );
- sum.back()->Load(AC_cfg);
- token = AC_cfg->GetValue();
- }
- AC_cfg->GetNextConfigLine();
- return true;
- } else {
- return false;
- }
-}
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-double FGFactorGroup::TotalValue(void)
-{
- unsigned int i;
- SDtotal = 0.0;
- totalValue = 0.0;
- for (i=0; i<sum.size(); i++) {
- totalValue += sum[i]->TotalValue();
- SDtotal += sum[i]->GetSD();
- }
- totalValue *= FGCoefficient::TotalValue();
- SDtotal *= FGCoefficient::GetSD();
- Debug(2);
- return totalValue;
-}
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-void FGFactorGroup::bind(FGPropertyManager* parent)
-{
- unsigned i;
- node=parent->GetNode(name,true);
- node->SetString("description",description);
- FGCoefficient::bind(node);
- for (i=0; i < sum.size(); i++) {
- sum[i]->bind(node);
- }
- node=(FGPropertyManager*)node->getParent();
-
-}
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-void FGFactorGroup::unbind(void)
-{
- unsigned i;
- FGCoefficient::unbind();
- for (i=0; i < sum.size(); i++) {
- sum[i]->unbind();
- }
-}
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-// 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 FGFactorGroup::Debug(int from)
-{
- if (debug_lvl <= 0) return;
-
- if (debug_lvl & 1) { // Standard console startup message output
- }
- if (debug_lvl & 2 ) { // Instantiation/Destruction notification
- if (from == 0) cout << "Instantiated: FGFactorGroup" << endl;
- if (from == 1) cout << "Destroyed: FGFactorGroup" << endl;
- }
- if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
- }
- if (debug_lvl & 8 ) { // Runtime state variables
- if (from == 2) {
- cout << "FGCoefficient::GetSD(): " << FGCoefficient::GetSD() << endl;
- cout << "FGFactorGroup::SDtotal: " << SDtotal << endl;
- }
- }
- if (debug_lvl & 16) { // Sanity checking
- }
- if (debug_lvl & 64) {
- if (from == 0) { // Constructor
- cout << IdSrc << endl;
- cout << IdHdr << endl;
- }
- }
-}
-
-}
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Header: FGFactorGroup.h
- Author: Tony Peden
- Date started: 7/14/01
-
- ------------- Copyright (C) 2001 Tony Peden (apeden@earthlink.net ------------
-
- 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.
-
-HISTORY
---------------------------------------------------------------------------------
-12/28/98 JSB Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-SENTRY
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifndef FGFACTORGROUP_H
-#define FGFACTORGROUP_H
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef FGFS
-# include <simgear/compiler.h>
-#endif
-
-#include <vector>
-#include <string>
-#include "FGConfigFile.h"
-#include "FGTable.h"
-#include "FGCoefficient.h"
-#include "FGAerodynamics.h"
-#include "FGFactorGroup.h"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#define ID_FACTORGROUP "$Id$"
-
-using std::vector;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FORWARD DECLARATIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-namespace JSBSim {
-
-class FGFDMExec;
-class FGState;
-class FGAtmosphere;
-class FGFCS;
-class FGAircraft;
-class FGPropagate;
-class FGAuxiliary;
-class FGOutput;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DOCUMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/** This class encapsulates the functionality needed to manage a factor group
- i.e. factor*(coeff1 + coeff2 + coeff3)
- @author Tony Peden
-*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-class FGFactorGroup: public FGCoefficient
-{
-public:
- FGFactorGroup(FGFDMExec* fdmex);
- ~FGFactorGroup();
-
- bool Load(FGConfigFile *AC_cfg);
- double TotalValue(void);
- inline double GetValue(void) const { return totalValue; }
- inline double GetSD(void) { return SDtotal; }
- inline double GetFactorSD(void) { return FGCoefficient::GetSD(); }
-
- void bind(FGPropertyManager* parent);
- void unbind(void);
-
-private:
-// typedef vector<FGCoefficient*> CoeffArray;
-// CoeffArray sum;
- double SDtotal;
- double totalValue;
- string description;
- string name;
- FGPropertyManager *node;
- void Debug(int from);
-};
-}
-#endif
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Source: FGForce.cpp
- Author: Tony Peden
- Date started: 6/10/00
-
- ------------- Copyright (C) 1999 Anthony K. Peden (apeden@earthlink.net) -------------
-
- 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.
-
-
- HISTORY
---------------------------------------------------------------------------------
-6/10/00 TP Created
-
-
-FUNCTIONAL DESCRIPTION
---------------------------------------------------------------------------------
-
-The purpose of this class is to provide storage for computed forces and
-encapsulate all the functionality associated with transforming those
-forces from their native coord system to the body system. This includes
-computing the moments due to the difference between the point of application
-and the cg.
-
-*/
-
-#include "FGFDMExec.h"
-#include "FGAircraft.h"
-#include "FGPropagate.h"
-#include "FGMassBalance.h"
-#include "FGState.h"
-#include "FGForce.h"
-
-namespace JSBSim {
-
-static const char *IdSrc = "$Id$";
-static const char *IdHdr = ID_FORCE;
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGForce::FGForce(FGFDMExec *FDMExec) :
- ttype(tNone),
- fdmex(FDMExec)
-{
- mT(1,1) = 1; //identity matrix
- mT(2,2) = 1;
- mT(3,3) = 1;
- vSense.InitMatrix(1);
- Debug(0);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGForce::~FGForce()
-{
- Debug(1);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGColumnVector3& FGForce::GetBodyForces(void)
-{
- vFb = Transform()*(vFn.multElementWise(vSense));
-
- // Find the distance from this vector's acting location to the cg; this
- // needs to be done like this to convert from structural to body coords.
- // CG and RP values are in inches
-
- vDXYZ = fdmex->GetMassBalance()->StructuralToBody(vActingXYZn);
-
- vM = vMn + vDXYZ*vFb;
-
- return vFb;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGMatrix33 FGForce::Transform(void)
-{
- switch(ttype) {
- case tWindBody:
- return fdmex->GetState()->GetTs2b();
- case tLocalBody:
- return fdmex->GetPropagate()->GetTl2b();
- case tCustom:
- case tNone:
- return mT;
- default:
- cout << "Unrecognized tranform requested from FGForce::Transform()" << endl;
- exit(1);
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGForce::SetAnglesToBody(double broll, double bpitch, double byaw)
-{
- if (ttype == tCustom) {
- double cp,sp,cr,sr,cy,sy;
-
- cp=cos(bpitch); sp=sin(bpitch);
- cr=cos(broll); sr=sin(broll);
- cy=cos(byaw); sy=sin(byaw);
-
- mT(1,1)=cp*cy;
- mT(1,2)=cp*sy;
- mT(1,3)=-1*sp;
-
- mT(2,1)=sr*sp*cy-cr*sy;
- mT(2,2)=sr*sp*sy+cr*cy;
- mT(2,3)=sr*cp;
-
- mT(3,1)=cr*sp*cy+sr*sy;
- mT(3,2)=cr*sp*sy-sr*cy;
- mT(3,3)=cr*cp;
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// 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 FGForce::Debug(int from)
-{
- 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: FGForce" << endl;
- if (from == 1) cout << "Destroyed: FGForce" << 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 (debug_lvl & 64) {
- if (from == 0) { // Constructor
- cout << IdSrc << endl;
- cout << IdHdr << endl;
- }
- }
-}
-}
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Header: FGForce.h
- Author: Tony Peden
- Date started: 5/20/00
-
- ------------- Copyright (C) 1999 Anthony K. Peden (apeden@earthlink.net) -------------
-
- 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.
-
-
- HISTORY
---------------------------------------------------------------------------------
-5/20/00 TP Created
-
-
-FUNCTIONAL DESCRIPTION
---------------------------------------------------------------------------------
-
-The purpose of this class is to provide storage for computed forces and
-encapsulate all the functionality associated with transforming those
-forces from their native coord system to the body system. This includes
-computing the moments due to the difference between the point of application
-and the cg.
-
-CAVEAT: if the custom transform is used for wind-to-body transforms then the
- user *must* always pass this class the negative of beta. This is true
- because sideslip angle does not follow the right hand rule i.e. it is
- positive for aircraft nose left sideslip. Note that use of the custom
- transform for this purpose shouldn't be necessary as it is already
- provided by SetTransform(tWindBody) and is not subject to the same
- restriction.
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-SENTRY
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifndef FGFORCE_H
-#define FGFORCE_H
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#include "FGFDMExec.h"
-#include "FGJSBBase.h"
-#include "FGMatrix33.h"
-#include "FGColumnVector3.h"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#define ID_FORCE "$Id$"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FORWARD DECLARATIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-namespace JSBSim {
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DOCUMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/** Utility class that aids in the conversion of forces between coordinate systems
- and calculation of moments.
-<br><h3>Resolution of Applied Forces into Moments and Body Axes Components</h3>
-<br><p>
-All forces acting on the aircraft that cannot be considered a change in weight
-need to be resolved into body axis components so that the aircraft acceleration
-vectors, both translational and rotational, can be computed. Furthermore, the
-moments produced by each force that does not act at a location corresponding to
-the center of gravity also need to be computed. Unfortunately, the math required
-to do this can be a bit messy and errors are easily introduced so the class
-FGForce was created to provide these services in a consistent and reusable
-manner.<br><br></p>
-
-<h4>Basic usage</h4>
-
-<p>FGForce requires that its users supply it with the location of the applied
-force vector in JSBSim structural coordinates, the sense of each axis in that
-coordinate system relative to the body system, the orientation of the vector
-also relative to body coordinates and, of course, the force vector itself. With
-this information it will compute both the body axis force components and the
-resulting moments. Any moments inherently produced by the native system can be
-supplied as well and they will be summed with those computed.</p>
-
-<p>A good example for demonstrating the use of this class are the aerodynamic
-forces: lift, drag, and side force and the aerodynamic moments about the pitch,
-roll and yaw axes. These "native" forces and moments are computed and stored
-in the FGColumnVector objects vFs and vMoments. Their native coordinate system
-is often referred to as the wind system and is defined as a right-handed system
-having its x-axis aligned with the relative velocity vector and pointing towards
-the rear of the aircraft , the y-axis extending out the right wing, and the
-z-axis directed upwards. This is different than body axes; they are defined such
-that the x-axis is lies on the aircraft's roll axis and positive forward, the
-y-axis is positive out the right wing, and the z-axis is positive downwards. In
-this instance, JSBSim already provides the needed transform and FGForce can make
-use of it by calling SetTransformType() once an object is created:</p>
-
-<p><tt>FGForce fgf(FDMExec);</tt><br>
-<tt>fgf.SetTransformType(tWindBody);</tt><br><br>
-
-This call need only be made once for each object. The available transforms are
-defined in the enumerated type TransformType and are tWindBody, tLocalBody,
-tCustom, and tNone. The local-to-body transform, like the wind-to-body, also
-makes use of that already available in JSBSim. tNone sets FGForce to do no
-angular transform at all, and tCustom allows for modeling force vectors at
-arbitrary angles relative to the body system such as that produced by propulsion
-systems. Setting up and using a custom transform is covered in more detail below.
-Continuing with the example, the point of application of the aerodynamic forces,
-the aerodynamic reference point in JSBSim, also needs to be set:</p>
-<p><tt>
-fgf.SetLocation(x, y, z)</tt></p>
-
-<p>where x, y, and z are in JSBSim structural coordinates.</p>
-
-<p>Initialization is complete and the FGForce object is ready to do its job. As
-stated above, the lift, drag, and side force are computed and stored in the
-vector vFs and need to be passed to FGForce:</p>
-
-<p><tt>fgf.SetNativeForces(vFs);</tt> </p>
-
-<p>The same applies to the aerodynamic pitching, rolling and yawing moments:</p>
-
-<p><tt>fgf.SetNativeMoments(vMoments);</tt></p>
-
-<p>Note that storing the native forces and moments outside of this class is not
-strictly necessary, overloaded SetNativeForces() and SetNativeMoments() methods
-which each accept three doubles (rather than a vector) are provided and can be
-repeatedly called without incurring undue overhead. The body axes force vector
-can now be retrieved by calling:</p>
-
-<p><tt>vFb=fgf.GetBodyForces();</tt></p>
-
-<p>This method is where the bulk of the work gets done so calling it more than
-once for the same set of native forces and moments should probably be avoided.
-Note that the moment calculations are done here as well so they should not be
-retrieved after calling the GetBodyForces() method:</p>
-
-<p><tt>vM=fgf.GetMoments();</tt> </p>
-
-<p>As an aside, the native moments are not needed to perform the computations
-correctly so, if the FGForce object is not being used to store them then an
-alternate approach is to avoid the SetNativeMoments call and perform the sum</p>
-
-<p><tt>vMoments+=fgf.GetMoments();</tt> <br><br>
-
-after the forces have been retrieved. </p>
-
-<h4>Use of the Custom Transform Type</h4>
-
-<p>In cases where the native force vector is not aligned with the body, wind, or
-local coordinate systems a custom transform type is provided. A vectorable engine
-nozzle will be used to demonstrate its usage. Initialization is much the same:</p>
-
-<p><tt>FGForce fgf(FDMExec);</tt> <br>
-<tt>fgf.SetTransformType(tCustom);</tt> <br>
-<tt>fgf.SetLocation(x,y,z);</tt> </p>
-
-<p>Except that here the tCustom transform type is specified and the location of
-the thrust vector is used rather than the aerodynamic reference point. Thrust is
-typically considered to be positive when directed aft while the body x-axis is
-positive forward and, if the native system is right handed, the z-axis will be
-reversed as well. These differences in sense need to be specified using by the
-call: </p>
-
-<p><tt>fgf.SetSense(-1,1,-1);</tt></p>
-
-<p>The angles are specified by calling the method: </p>
-
-<p><tt>fgf.SetAnglesToBody(pitch, roll, yaw);</tt> </p>
-
-<p>in which the transform matrix is computed. Note that these angles should be
-taken relative to the body system and not the local as the names might suggest.
-For an aircraft with vectorable thrust, this method will need to be called
-every time the nozzle angle changes, a fixed engine/nozzle installation, on the
-other hand, will require it to be be called only once.</p>
-
-<p>Retrieval of the computed forces and moments is done as detailed above.</p>
-<br>
-<blockquote>
- <p><i>CAVEAT: If the custom system is used to compute
- the wind-to-body transform, then the sign of the sideslip
- angle must be reversed when calling SetAnglesToBody().
- This is true because sideslip angle does not follow the right
- hand rule. Using the custom transform type this way
- should not be necessary, as it is already provided as a built
- in type (and the sign differences are correctly accounted for).</i>
- <br></p>
-</blockquote>
-
-<h4>Use as a Base Type</h4>
-
-<p>For use as a base type, the native force and moment vector data members are
-defined as protected. In this case the SetNativeForces() and SetNativeMoments()
-methods need not be used and, instead, the assignments to vFn, the force vector,
-and vMn, the moments, can be made directly. Otherwise, the usage is similar.<br>
-<br><br></p>
-
- @author Tony Peden
- @version $Id$
-*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-class FGForce : public FGJSBBase
-{
-public:
- /// Constructor
- FGForce(FGFDMExec *FDMExec);
- /// Destructor
- ~FGForce();
-
- enum TransformType { tNone, tWindBody, tLocalBody, tCustom } ttype;
-
- inline void SetNativeForces(double Fnx, double Fny, double Fnz) {
- vFn(1)=Fnx;
- vFn(2)=Fny;
- vFn(3)=Fnz;
- }
- inline void SetNativeForces(FGColumnVector3 vv) { vFn = vv; };
-
- inline void SetNativeMoments(double Ln,double Mn, double Nn) {
- vMn(1)=Ln;
- vMn(2)=Mn;
- vMn(3)=Nn;
- }
- inline void SetNativeMoments(FGColumnVector3 vv) { vMn = vv; }
-
- inline FGColumnVector3& GetNativeForces(void) { return vFn; }
- inline FGColumnVector3& GetNativeMoments(void) { return vMn; }
-
- FGColumnVector3& GetBodyForces(void);
-
- inline FGColumnVector3& GetMoments(void) { return vM; }
-
- // Normal point of application, JSBsim structural coords
- // (inches, x +back, y +right, z +up)
- inline void SetLocation(double x, double y, double z) {
- vXYZn(eX) = x;
- vXYZn(eY) = y;
- vXYZn(eZ) = z;
- SetActingLocation(x, y, z);
- }
-
- /** Acting point of application.
- JSBsim structural coords used (inches, x +back, y +right, z +up).
- This function sets the point at which the force acts - this may
- not be the same as where the object resides. One area where this
- is true is P-Factor modeling.
- @param x acting location of force
- @param y acting location of force
- @param z acting location of force */
- inline void SetActingLocation(double x, double y, double z) {
- vActingXYZn(eX) = x;
- vActingXYZn(eY) = y;
- vActingXYZn(eZ) = z;
- }
- inline void SetLocationX(double x) {vXYZn(eX) = x; vActingXYZn(eX) = x;}
- inline void SetLocationY(double y) {vXYZn(eY) = y; vActingXYZn(eY) = y;}
- inline void SetLocationZ(double z) {vXYZn(eZ) = z; vActingXYZn(eZ) = z;}
- inline double SetActingLocationX(double x) {vActingXYZn(eX) = x; return x;}
- inline double SetActingLocationY(double y) {vActingXYZn(eY) = y; return y;}
- inline double SetActingLocationZ(double z) {vActingXYZn(eZ) = z; return z;}
- inline void SetLocation(FGColumnVector3 vv) { vXYZn = vv; SetActingLocation(vv);}
- inline void SetActingLocation(FGColumnVector3 vv) { vActingXYZn = vv; }
-
- inline double GetLocationX( void ) { return vXYZn(eX);}
- inline double GetLocationY( void ) { return vXYZn(eY);}
- inline double GetLocationZ( void ) { return vXYZn(eZ);}
- inline double GetActingLocationX( void ) { return vActingXYZn(eX);}
- inline double GetActingLocationY( void ) { return vActingXYZn(eY);}
- inline double GetActingLocationZ( void ) { return vActingXYZn(eZ);}
- FGColumnVector3& GetLocation(void) { return vXYZn; }
- FGColumnVector3& GetActingLocation(void) { return vActingXYZn; }
-
- //these angles are relative to body axes, not earth!!!!!
- //I'm using these because pitch, roll, and yaw are easy to visualize,
- //there's no equivalent to roll in wind axes i.e. alpha, ? , beta
- //making up new names or using these is a toss-up: either way people
- //are going to get confused.
- //They are in radians.
-
- void SetAnglesToBody(double broll, double bpitch, double byaw);
- inline void SetAnglesToBody(FGColumnVector3 vv) {
- SetAnglesToBody(vv(eRoll), vv(ePitch), vv(eYaw));
- }
-
- inline void SetSense(double x, double y, double z) { vSense(eX)=x, vSense(eY)=y, vSense(eZ)=z; }
- inline void SetSense(FGColumnVector3 vv) { vSense=vv; }
-
- inline FGColumnVector3& GetSense(void) { return vSense; }
-
- inline void SetTransformType(TransformType ii) { ttype=ii; }
- inline TransformType GetTransformType(void) { return ttype; }
-
- FGMatrix33 Transform(void);
-
-protected:
- FGFDMExec *fdmex;
- FGColumnVector3 vFn;
- FGColumnVector3 vMn;
- FGColumnVector3 vH;
-
-private:
- FGColumnVector3 vFb;
- FGColumnVector3 vM;
- FGColumnVector3 vXYZn;
- FGColumnVector3 vActingXYZn;
- FGColumnVector3 vDXYZ;
- FGColumnVector3 vSense;
-
- FGMatrix33 mT;
-
- void Debug(int from);
-};
-}
-#endif
-
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Header: FGGroundCallback.cpp
- Author: Mathias Froehlich
- Date started: 05/21/04
-
- ------ Copyright (C) 2004 Mathias Froehlich (Mathias.Froehlich@web.de) -------
-
- 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.
-
-HISTORY
--------------------------------------------------------------------------------
-05/21/00 MF Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-SENTRY
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef HAVE_CONFIG_H
-#include <config.h>
-#endif
-
-#include "FGColumnVector3.h"
-#include "FGLocation.h"
-#include "FGGroundCallback.h"
-
-namespace JSBSim {
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGGroundCallback::FGGroundCallback()
-{
- mReferenceRadius = 20925650;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGGroundCallback::~FGGroundCallback()
-{
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-double FGGroundCallback::GetAltitude(const FGLocation& l) const
-{
- return l.GetRadius() - mReferenceRadius;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-double FGGroundCallback::GetAGLevel(double t, const FGLocation& l,
- FGLocation& cont, FGColumnVector3& n,
- FGColumnVector3& v) const
-{
- v = FGColumnVector3(0.0, 0.0, 0.0);
- n = (-1/FGColumnVector3(l).Magnitude())*FGColumnVector3(l);
- double r = l.GetRadius();
- double agl = GetAltitude(l);
- cont = ((r-agl)/r)*FGColumnVector3(l);
- return agl;
-}
-
-}
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Header: FGGroundCallback.h
- Author: Mathias Froehlich
- Date started: 05/21/04
-
- ------ Copyright (C) 2004 Mathias Froehlich (Mathias.Froehlich@web.de) -------
-
- 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.
-
-HISTORY
--------------------------------------------------------------------------------
-05/21/00 MF Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-SENTRY
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifndef FGGROUNDCALLBACK_H
-#define FGGROUNDCALLBACK_H
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#include "FGColumnVector3.h"
-#include "FGLocation.h"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#define ID_GROUNDCALLBACK "$Id$"
-
-namespace JSBSim {
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DOCUMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/** This class provides callback slots to get ground specific data like
- ground elevation and such.
- There is a default implementation, which returns values for a
- ball formed earth.
-
- @author Mathias Froehlich
- @version $Id$
-*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-class FGGroundCallback
- : public FGJSBBase {
-public:
- FGGroundCallback();
- virtual ~FGGroundCallback();
-
- /** Compute the altitude above sealevel. */
- virtual double GetAltitude(const FGLocation& l) const;
- /** Compute the altitude above ground. Defaults to sealevel altitude. */
- virtual double GetAGLevel(double t, const FGLocation& l, FGLocation& cont,
- FGColumnVector3& n, FGColumnVector3& v) const;
-
-private:
- /// Reference radius.
- double mReferenceRadius;
-};
-
-}
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-#endif
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Module: FGGroundReactions.cpp
- Author: Jon S. Berndt
- Date started: 09/13/00
- Purpose: Encapsulates the ground reaction forces (gear and collision)
-
- ------------- Copyright (C) 2000 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
---------------------------------------------------------------------------------
-
-HISTORY
---------------------------------------------------------------------------------
-09/13/00 JSB Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef HAVE_CONFIG_H
-# include <config.h>
-#endif
-
-#include <sstream>
-#include <iomanip>
-
-#include "FGGroundReactions.h"
-#include "FGPropertyManager.h"
-
-namespace JSBSim {
-
-static const char *IdSrc = "$Id$";
-static const char *IdHdr = ID_GROUNDREACTIONS;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-
-FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex)
-{
- Name = "FGGroundReactions";
-
- bind();
-
- Debug(0);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGGroundReactions::~FGGroundReactions(void)
-{
- unbind();
-
- Debug(1);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-bool FGGroundReactions::Run(void)
-{
- if (!FGModel::Run()) {
- vForces.InitMatrix();
- vMoments.InitMatrix();
-
- // Only execute gear force code below 300 feet
- if ( Propagate->GetDistanceAGL() < 300.0 ) {
- vector <FGLGear>::iterator iGear = lGear.begin();
- // Sum forces and moments for all gear, here.
- // Some optimizations may be made here - or rather in the gear code itself.
- // The gear ::Run() method is called several times - once for each gear.
- // Perhaps there is some commonality for things which only need to be
- // calculated once.
- while (iGear != lGear.end()) {
- vForces += iGear->Force();
- vMoments += iGear->Moment();
- iGear++;
- }
-
- } else {
- // Crash Routine
- }
-
- return false;
- } else {
- return true;
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-bool FGGroundReactions::Load(FGConfigFile* AC_cfg)
-{
- string token;
-
- AC_cfg->GetNextConfigLine();
-
- while ((token = AC_cfg->GetValue()) != string("/UNDERCARRIAGE")) {
- string type;
- *AC_cfg >> type;
- if (type == "AC_GEAR") {
- int num = lGear.size();
- lGear.push_back(FGLGear(AC_cfg, FDMExec, num));
- FCS->AddGear();
- } else {
- cerr << "Unknown undercarriage type \"" << type << "\"" << endl;
- }
- }
-
- return true;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-string FGGroundReactions::GetGroundReactionStrings(string delimeter)
-{
- std::ostringstream buf;
-
- for (unsigned int i=0;i<lGear.size();i++) {
- string name = lGear[i].GetName();
- buf << name << "_WOW" << delimeter
- << name << "_stroke" << delimeter
- << name << "_strokeVel" << delimeter
- << name << "_CompressForce" << delimeter
- << name << "_WhlSideForce" << delimeter
- << name << "_WhlVelVecX" << delimeter
- << name << "_WhlVelVecY" << delimeter
- << name << "_WhlRollForce" << delimeter
- << name << "_BodyXForce" << delimeter
- << name << "_BodyYForce" << delimeter
- << name << "_WhlSlipDegrees" << delimeter;
- }
-
- buf << "TotalGearForce_X" << delimeter
- << "TotalGearForce_Y" << delimeter
- << "TotalGearForce_Z" << delimeter
- << "TotalGearMoment_L" << delimeter
- << "TotalGearMoment_M" << delimeter
- << "TotalGearMoment_N";
-
- return buf.str();
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-string FGGroundReactions::GetGroundReactionValues(string delimeter)
-{
- std::ostringstream buf;
-
- for (unsigned int i=0;i<lGear.size();i++) {
- FGLGear& gear = lGear[i];
- buf << (gear.GetWOW() ? "1, " : "0, ")
- << setprecision(5) << gear.GetCompLen() << delimeter
- << setprecision(6) << gear.GetCompVel() << delimeter
- << setprecision(10) << gear.GetCompForce() << delimeter
- << setprecision(6) << gear.GetWheelVel(eX) << delimeter
- << gear.GetWheelVel(eY) << delimeter
- << gear.GetWheelSideForce() << delimeter
- << gear.GetWheelRollForce() << delimeter
- << gear.GetBodyXForce() << delimeter
- << gear.GetBodyYForce() << delimeter
- << gear.GetWheelSlipAngle() << delimeter;
- }
-
- buf << vForces(eX) << delimeter
- << vForces(eY) << delimeter
- << vForces(eZ) << delimeter
- << vMoments(eX) << delimeter
- << vMoments(eY) << delimeter
- << vMoments(eZ);
-
- return buf.str();
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGGroundReactions::bind(void)
-{
- typedef double (FGGroundReactions::*PMF)(int) const;
- PropertyManager->Tie("gear/num-units", this,
- &FGGroundReactions::GetNumGearUnits);
- PropertyManager->Tie("moments/l-gear-lbsft", this,1,
- (PMF)&FGGroundReactions::GetMoments);
- PropertyManager->Tie("moments/m-gear-lbsft", this,2,
- (PMF)&FGGroundReactions::GetMoments);
- PropertyManager->Tie("moments/n-gear-lbsft", this,3,
- (PMF)&FGGroundReactions::GetMoments);
- PropertyManager->Tie("forces/fbx-gear-lbs", this,1,
- (PMF)&FGGroundReactions::GetForces);
- PropertyManager->Tie("forces/fby-gear-lbs", this,2,
- (PMF)&FGGroundReactions::GetForces);
- PropertyManager->Tie("forces/fbz-gear-lbs", this,3,
- (PMF)&FGGroundReactions::GetForces);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGGroundReactions::unbind(void)
-{
- PropertyManager->Untie("gear/num-units");
- PropertyManager->Untie("moments/l-gear-lbsft");
- PropertyManager->Untie("moments/m-gear-lbsft");
- PropertyManager->Untie("moments/n-gear-lbsft");
- PropertyManager->Untie("forces/fbx-gear-lbs");
- PropertyManager->Untie("forces/fby-gear-lbs");
- PropertyManager->Untie("forces/fbz-gear-lbs");
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// 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 FGGroundReactions::Debug(int from)
-{
- 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: FGGroundReactions" << endl;
- if (from == 1) cout << "Destroyed: FGGroundReactions" << 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 (debug_lvl & 64) {
- if (from == 0) { // Constructor
- cout << IdSrc << endl;
- cout << IdHdr << endl;
- }
- }
-}
-}
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Header: FGGroundReactions.h
- Author: Jon S. Berndt
- Date started: 09/13/00
-
- ------------- 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.
-
-HISTORY
---------------------------------------------------------------------------------
-09/13/00 JSB Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-SENTRY
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifndef FGGROUNDREACTIONS_H
-#define FGGROUNDREACTIONS_H
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef FGFS
-# include <simgear/compiler.h>
-# ifdef SG_HAVE_STD_INCLUDES
-# include <vector>
-# else
-# include <vector.h>
-# endif
-#else
-# include <vector>
-#endif
-
-#include "FGModel.h"
-#include "FGConfigFile.h"
-#include "FGLGear.h"
-#include "FGColumnVector3.h"
-
-#define ID_GROUNDREACTIONS "$Id$"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FORWARD DECLARATIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-namespace JSBSim {
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DOCUMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/** Manages ground reactions modeling.
- */
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-class FGGroundReactions : public FGModel
-{
-public:
- FGGroundReactions(FGFDMExec*);
- ~FGGroundReactions(void);
-
- bool Run(void);
- bool Load(FGConfigFile* AC_cfg);
- FGColumnVector3& GetForces(void) {return vForces;}
- double GetForces(int idx) const {return vForces(idx);}
- FGColumnVector3& GetMoments(void) {return vMoments;}
- double GetMoments(int idx) const {return vMoments(idx);}
- string GetGroundReactionStrings(string delimeter);
- string GetGroundReactionValues(string delimeter);
-
- inline int GetNumGearUnits(void) const { return lGear.size(); }
-
- /** Gets a gear instance
- @param gear index of gear instance
- @return a pointer to the FGLGear instance of the gear unit requested */
- inline FGLGear* GetGearUnit(int gear) { return &(lGear[gear]); }
-
- void bind(void);
- void unbind(void);
-
-private:
- vector <FGLGear> lGear;
- FGColumnVector3 vForces;
- FGColumnVector3 vMoments;
- FGColumnVector3 vMaxStaticGrip;
- FGColumnVector3 vMaxMomentResist;
-
- void Debug(int from);
-};
-}
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-#endif
-
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Module: FGInertial.cpp
- Author: Jon S. Berndt
- Date started: 09/13/00
- Purpose: Encapsulates the inertial frame forces (coriolis and centrifugal)
-
- ------------- Copyright (C) 2000 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
---------------------------------------------------------------------------------
-
-HISTORY
---------------------------------------------------------------------------------
-09/13/00 JSB Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef HAVE_CONFIG_H
-# include <config.h>
-#endif
-
-#include "FGInertial.h"
-#include "FGPropagate.h"
-#include "FGState.h"
-#include "FGMassBalance.h"
-
-namespace JSBSim {
-
-static const char *IdSrc = "$Id$";
-static const char *IdHdr = ID_INERTIAL;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-
-FGInertial::FGInertial(FGFDMExec* fgex) : FGModel(fgex)
-{
- Name = "FGInertial";
-
- // Defaults
- RotationRate = 0.00007272205217;
- GM = 14.06252720E15;
- RadiusReference = 20925650.00;
- gAccelReference = GM/(RadiusReference*RadiusReference);
- gAccel = GM/(RadiusReference*RadiusReference);
-
- Debug(0);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGInertial::~FGInertial(void)
-{
- Debug(1);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-bool FGInertial::Run(void)
-{
- // Fast return if we have nothing to do ...
- if (FGModel::Run()) return true;
-
- // Gravitation accel
- double r = Propagate->GetRadius();
- gAccel = GetGAccel(r);
-
- return false;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-bool FGInertial::LoadInertial(FGConfigFile* AC_cfg)
-{
- return true;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-// 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 FGInertial::Debug(int from)
-{
- 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: FGInertial" << endl;
- if (from == 1) cout << "Destroyed: FGInertial" << 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 (debug_lvl & 64) {
- if (from == 0) { // Constructor
- cout << IdSrc << endl;
- cout << IdHdr << endl;
- }
- }
-}
-}
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Header: FGInertial.h
- Author: Jon S. Berndt
- Date started: 09/13/00
-
- ------------- 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.
-
-HISTORY
---------------------------------------------------------------------------------
-09/13/00 JSB Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-SENTRY
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifndef FGINERTIAL_H
-#define FGINERTIAL_H
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef FGFS
-# include <simgear/compiler.h>
-# ifdef SG_HAVE_STD_INCLUDES
-# include <vector>
-# else
-# include <vector.h>
-# endif
-#else
-# include <vector>
-#endif
-
-#include "FGModel.h"
-#include "FGConfigFile.h"
-#include "FGColumnVector3.h"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#define ID_INERTIAL "$Id$"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FORWARD DECLARATIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-namespace JSBSim {
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DOCUMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/** Models inertial forces (e.g. centripetal and coriolis accelerations).
- */
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-class FGInertial : public FGModel {
-
-public:
- FGInertial(FGFDMExec*);
- ~FGInertial(void);
-
- bool Run(void);
- bool LoadInertial(FGConfigFile* AC_cfg);
- double SLgravity(void) const {return gAccelReference;}
- double gravity(void) const {return gAccel;}
- double omega(void) const {return RotationRate;}
- double GetGAccel(double r) const { return GM/(r*r); }
- double RefRadius(void) const {return RadiusReference;}
-
-private:
- double gAccel;
- double gAccelReference;
- double RadiusReference;
- double RotationRate;
- double GM;
- void Debug(int from);
-};
-}
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-#endif
+++ /dev/null
-/*******************************************************************************
-
- Header: FGInitialCondition.cpp
- Author: Tony Peden
- Date started: 7/1/99
-
- ------------- Copyright (C) 1999 Anthony K. Peden (apeden@earthlink.net) -------------
-
- 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.
-
-
- HISTORY
---------------------------------------------------------------------------------
-7/1/99 TP Created
-
-
-FUNCTIONAL DESCRIPTION
---------------------------------------------------------------------------------
-
-The purpose of this class is to take a set of initial conditions and provide
-a kinematically consistent set of body axis velocity components, euler
-angles, and altitude. This class does not attempt to trim the model i.e.
-the sim will most likely start in a very dynamic state (unless, of course,
-you have chosen your IC's wisely) even after setting it up with this class.
-
-********************************************************************************
-INCLUDES
-*******************************************************************************/
-
-#include "FGInitialCondition.h"
-#include "FGFDMExec.h"
-#include "FGInertial.h"
-#include "FGAtmosphere.h"
-#include "FGAerodynamics.h"
-#include "FGPropagate.h"
-#include "FGConfigFile.h"
-#include "FGPropertyManager.h"
-
-namespace JSBSim {
-
-static const char *IdSrc = "$Id$";
-static const char *IdHdr = ID_INITIALCONDITION;
-
-//******************************************************************************
-
-FGInitialCondition::FGInitialCondition(FGFDMExec *FDMExec)
-{
- vt=vc=ve=vg=0;
- mach=0;
- alpha=beta=gamma=0;
- theta=phi=psi=0;
- altitude=hdot=0;
- latitude=longitude=0;
- u=v=w=0;
- p=q=r=0;
- uw=vw=ww=0;
- vnorth=veast=vdown=0;
- wnorth=weast=wdown=0;
- whead=wcross=0;
- wdir=wmag=0;
- lastSpeedSet=setvt;
- lastWindSet=setwned;
- sea_level_radius = FDMExec->GetInertial()->RefRadius();
- radius_to_vehicle = FDMExec->GetInertial()->RefRadius();
- terrain_altitude = 0;
-
- salpha=sbeta=stheta=sphi=spsi=sgamma=0;
- calpha=cbeta=ctheta=cphi=cpsi=cgamma=1;
-
- if(FDMExec != NULL ) {
- fdmex=FDMExec;
- fdmex->GetPropagate()->Seth(altitude);
- fdmex->GetAtmosphere()->Run();
- PropertyManager=fdmex->GetPropertyManager();
- bind();
- } else {
- cout << "FGInitialCondition: This class requires a pointer to a valid FGFDMExec object" << endl;
- }
-
- Debug(0);
-}
-
-//******************************************************************************
-
-FGInitialCondition::~FGInitialCondition()
-{
- unbind();
- Debug(1);
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetVcalibratedKtsIC(double tt) {
-
- if(getMachFromVcas(&mach,tt*ktstofps)) {
- //cout << "Mach: " << mach << endl;
- lastSpeedSet=setvc;
- vc=tt*ktstofps;
- vt=mach*fdmex->GetAtmosphere()->GetSoundSpeed();
- ve=vt*sqrt(fdmex->GetAtmosphere()->GetDensityRatio());
- //cout << "Vt: " << vt*fpstokts << " Vc: " << vc*fpstokts << endl;
- }
- else {
- cout << "Failed to get Mach number for given Vc and altitude, Vc unchanged." << endl;
- cout << "Please mail the set of initial conditions used to apeden@earthlink.net" << endl;
- }
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetVequivalentKtsIC(double tt) {
- ve=tt*ktstofps;
- lastSpeedSet=setve;
- vt=ve*1/sqrt(fdmex->GetAtmosphere()->GetDensityRatio());
- mach=vt/fdmex->GetAtmosphere()->GetSoundSpeed();
- vc=calcVcas(mach);
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetVgroundFpsIC(double tt) {
- double ua,va,wa;
- double vxz;
-
- vg=tt;
- lastSpeedSet=setvg;
- vnorth = vg*cos(psi); veast = vg*sin(psi); vdown = 0;
- calcUVWfromNED();
- ua = u + uw; va = v + vw; wa = w + ww;
- vt = sqrt( ua*ua + va*va + wa*wa );
- alpha = beta = 0;
- vxz = sqrt( u*u + w*w );
- if( w != 0 ) alpha = atan2( w, u );
- if( vxz != 0 ) beta = atan2( v, vxz );
- mach=vt/fdmex->GetAtmosphere()->GetSoundSpeed();
- vc=calcVcas(mach);
- ve=vt*sqrt(fdmex->GetAtmosphere()->GetDensityRatio());
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetVtrueFpsIC(double tt) {
- vt=tt;
- lastSpeedSet=setvt;
- mach=vt/fdmex->GetAtmosphere()->GetSoundSpeed();
- vc=calcVcas(mach);
- ve=vt*sqrt(fdmex->GetAtmosphere()->GetDensityRatio());
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetMachIC(double tt) {
- mach=tt;
- lastSpeedSet=setmach;
- vt=mach*fdmex->GetAtmosphere()->GetSoundSpeed();
- vc=calcVcas(mach);
- ve=vt*sqrt(fdmex->GetAtmosphere()->GetDensityRatio());
- //cout << "Vt: " << vt*fpstokts << " Vc: " << vc*fpstokts << endl;
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetClimbRateFpmIC(double tt) {
- SetClimbRateFpsIC(tt/60.0);
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetClimbRateFpsIC(double tt) {
-
- if(vt > 0.1) {
- hdot=tt;
- gamma=asin(hdot/vt);
- sgamma=sin(gamma); cgamma=cos(gamma);
- }
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetFlightPathAngleRadIC(double tt) {
- gamma=tt;
- sgamma=sin(gamma); cgamma=cos(gamma);
- getTheta();
- hdot=vt*sgamma;
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetAlphaRadIC(double tt) {
- alpha=tt;
- salpha=sin(alpha); calpha=cos(alpha);
- getTheta();
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetPitchAngleRadIC(double tt) {
- theta=tt;
- stheta=sin(theta); ctheta=cos(theta);
- getAlpha();
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetBetaRadIC(double tt) {
- beta=tt;
- sbeta=sin(beta); cbeta=cos(beta);
- getTheta();
-
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetRollAngleRadIC(double tt) {
- phi=tt;
- sphi=sin(phi); cphi=cos(phi);
- getTheta();
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetTrueHeadingRadIC(double tt) {
- psi=tt;
- spsi=sin(psi); cpsi=cos(psi);
- calcWindUVW();
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetUBodyFpsIC(double tt) {
- u=tt;
- vt=sqrt(u*u + v*v + w*w);
- lastSpeedSet=setuvw;
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetVBodyFpsIC(double tt) {
- v=tt;
- vt=sqrt(u*u + v*v + w*w);
- lastSpeedSet=setuvw;
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetWBodyFpsIC(double tt) {
- w=tt;
- vt=sqrt( u*u + v*v + w*w );
- lastSpeedSet=setuvw;
-}
-
-//******************************************************************************
-
-double FGInitialCondition::GetUBodyFpsIC(void) const {
- if(lastSpeedSet == setvg )
- return u;
- else
- return vt*calpha*cbeta - uw;
-}
-
-//******************************************************************************
-
-double FGInitialCondition::GetVBodyFpsIC(void) const {
- if( lastSpeedSet == setvg )
- return v;
- else {
- return vt*sbeta - vw;
- }
-}
-
-//******************************************************************************
-
-double FGInitialCondition::GetWBodyFpsIC(void) const {
- if( lastSpeedSet == setvg )
- return w;
- else
- return vt*salpha*cbeta -ww;
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetWindNEDFpsIC(double wN, double wE, double wD ) {
- wnorth = wN; weast = wE; wdown = wD;
- lastWindSet = setwned;
- calcWindUVW();
- if(lastSpeedSet == setvg)
- SetVgroundFpsIC(vg);
-}
-
-//******************************************************************************
-
-// positive from left
-void FGInitialCondition::SetHeadWindKtsIC(double head){
- whead=head*ktstofps;
- lastWindSet=setwhc;
- calcWindUVW();
- if(lastSpeedSet == setvg)
- SetVgroundFpsIC(vg);
-
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetCrossWindKtsIC(double cross){
- wcross=cross*ktstofps;
- lastWindSet=setwhc;
- calcWindUVW();
- if(lastSpeedSet == setvg)
- SetVgroundFpsIC(vg);
-
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetWindDownKtsIC(double wD) {
- wdown=wD;
- calcWindUVW();
- if(lastSpeedSet == setvg)
- SetVgroundFpsIC(vg);
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetWindMagKtsIC(double mag) {
- wmag=mag*ktstofps;
- lastWindSet=setwmd;
- calcWindUVW();
- if(lastSpeedSet == setvg)
- SetVgroundFpsIC(vg);
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetWindDirDegIC(double dir) {
- wdir=dir*degtorad;
- lastWindSet=setwmd;
- calcWindUVW();
- if(lastSpeedSet == setvg)
- SetVgroundFpsIC(vg);
-}
-
-
-//******************************************************************************
-
-void FGInitialCondition::calcWindUVW(void) {
-
- switch(lastWindSet) {
- case setwmd:
- wnorth=wmag*cos(wdir);
- weast=wmag*sin(wdir);
- break;
- case setwhc:
- wnorth=whead*cos(psi) + wcross*cos(psi+M_PI/2);
- weast=whead*sin(psi) + wcross*sin(psi+M_PI/2);
- break;
- case setwned:
- break;
- }
- uw=wnorth*ctheta*cpsi +
- weast*ctheta*spsi -
- wdown*stheta;
- vw=wnorth*( sphi*stheta*cpsi - cphi*spsi ) +
- weast*( sphi*stheta*spsi + cphi*cpsi ) +
- wdown*sphi*ctheta;
- ww=wnorth*(cphi*stheta*cpsi + sphi*spsi) +
- weast*(cphi*stheta*spsi - sphi*cpsi) +
- wdown*cphi*ctheta;
-
-
- /* cout << "FGInitialCondition::calcWindUVW: wnorth, weast, wdown "
- << wnorth << ", " << weast << ", " << wdown << endl;
- cout << "FGInitialCondition::calcWindUVW: theta, phi, psi "
- << theta << ", " << phi << ", " << psi << endl;
- cout << "FGInitialCondition::calcWindUVW: uw, vw, ww "
- << uw << ", " << vw << ", " << ww << endl; */
-
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetAltitudeFtIC(double tt) {
- altitude=tt;
- fdmex->GetPropagate()->Seth(altitude);
- fdmex->GetAtmosphere()->Run();
- //lets try to make sure the user gets what they intended
-
- switch(lastSpeedSet) {
- case setned:
- case setuvw:
- case setvt:
- SetVtrueKtsIC(vt*fpstokts);
- break;
- case setvc:
- SetVcalibratedKtsIC(vc*fpstokts);
- break;
- case setve:
- SetVequivalentKtsIC(ve*fpstokts);
- break;
- case setmach:
- SetMachIC(mach);
- break;
- case setvg:
- SetVgroundFpsIC(vg);
- break;
- }
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetAltitudeAGLFtIC(double tt) {
- SetAltitudeFtIC(terrain_altitude + tt);
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetSeaLevelRadiusFtIC(double tt) {
- sea_level_radius = tt;
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetTerrainAltitudeFtIC(double tt) {
- terrain_altitude=tt;
-}
-
-//******************************************************************************
-
-void FGInitialCondition::calcUVWfromNED(void) {
- u=vnorth*ctheta*cpsi +
- veast*ctheta*spsi -
- vdown*stheta;
- v=vnorth*( sphi*stheta*cpsi - cphi*spsi ) +
- veast*( sphi*stheta*spsi + cphi*cpsi ) +
- vdown*sphi*ctheta;
- w=vnorth*( cphi*stheta*cpsi + sphi*spsi ) +
- veast*( cphi*stheta*spsi - sphi*cpsi ) +
- vdown*cphi*ctheta;
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetVnorthFpsIC(double tt) {
- vnorth=tt;
- calcUVWfromNED();
- vt=sqrt(u*u + v*v + w*w);
- lastSpeedSet=setned;
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetVeastFpsIC(double tt) {
- veast=tt;
- calcUVWfromNED();
- vt=sqrt(u*u + v*v + w*w);
- lastSpeedSet=setned;
-}
-
-//******************************************************************************
-
-void FGInitialCondition::SetVdownFpsIC(double tt) {
- vdown=tt;
- calcUVWfromNED();
- vt=sqrt(u*u + v*v + w*w);
- SetClimbRateFpsIC(-1*vdown);
- lastSpeedSet=setned;
-}
-
-//******************************************************************************
-
-bool FGInitialCondition::getMachFromVcas(double *Mach,double vcas) {
-
- bool result=false;
- double guess=1.5;
- xlo=xhi=0;
- xmin=0;xmax=50;
- sfunc=&FGInitialCondition::calcVcas;
- if(findInterval(vcas,guess)) {
- if(solve(&mach,vcas))
- result=true;
- }
- return result;
-}
-
-//******************************************************************************
-
-bool FGInitialCondition::getAlpha(void) {
- bool result=false;
- double guess=theta-gamma;
-
- if(vt < 0.01) return 0;
-
- xlo=xhi=0;
- xmin=fdmex->GetAerodynamics()->GetAlphaCLMin();
- xmax=fdmex->GetAerodynamics()->GetAlphaCLMax();
- sfunc=&FGInitialCondition::GammaEqOfAlpha;
- if(findInterval(0,guess)){
- if(solve(&alpha,0)){
- result=true;
- salpha=sin(alpha);
- calpha=cos(alpha);
- }
- }
- calcWindUVW();
- return result;
-}
-
-//******************************************************************************
-
-bool FGInitialCondition::getTheta(void) {
- bool result=false;
- double guess=alpha+gamma;
-
- if(vt < 0.01) return 0;
-
- xlo=xhi=0;
- xmin=-89;xmax=89;
- sfunc=&FGInitialCondition::GammaEqOfTheta;
- if(findInterval(0,guess)){
- if(solve(&theta,0)){
- result=true;
- stheta=sin(theta);
- ctheta=cos(theta);
- }
- }
- calcWindUVW();
- return result;
-}
-
-//******************************************************************************
-
-double FGInitialCondition::GammaEqOfTheta(double Theta) {
- double a,b,c;
- double sTheta,cTheta;
-
- //theta=Theta; stheta=sin(theta); ctheta=cos(theta);
- sTheta=sin(Theta); cTheta=cos(Theta);
- calcWindUVW();
- a=wdown + vt*calpha*cbeta + uw;
- b=vt*sphi*sbeta + vw*sphi;
- c=vt*cphi*salpha*cbeta + ww*cphi;
- return vt*sgamma - ( a*sTheta - (b+c)*cTheta);
-}
-
-//******************************************************************************
-
-double FGInitialCondition::GammaEqOfAlpha(double Alpha) {
- double a,b,c;
- double sAlpha,cAlpha;
- sAlpha=sin(Alpha); cAlpha=cos(Alpha);
- a=wdown + vt*cAlpha*cbeta + uw;
- b=vt*sphi*sbeta + vw*sphi;
- c=vt*cphi*sAlpha*cbeta + ww*cphi;
-
- return vt*sgamma - ( a*stheta - (b+c)*ctheta );
-}
-
-//******************************************************************************
-
-double FGInitialCondition::calcVcas(double Mach) {
-
- double p=fdmex->GetAtmosphere()->GetPressure();
- double psl=fdmex->GetAtmosphere()->GetPressureSL();
- double rhosl=fdmex->GetAtmosphere()->GetDensitySL();
- double pt,A,B,D,vcas;
- if(Mach < 0) Mach=0;
- if(Mach < 1) //calculate total pressure assuming isentropic flow
- pt=p*pow((1 + 0.2*Mach*Mach),3.5);
- else {
- // shock in front of pitot tube, we'll assume its normal and use
- // the Rayleigh Pitot Tube Formula, i.e. the ratio of total
- // pressure behind the shock to the static pressure in front
-
-
- //the normal shock assumption should not be a bad one -- most supersonic
- //aircraft place the pitot probe out front so that it is the forward
- //most point on the aircraft. The real shock would, of course, take
- //on something like the shape of a rounded-off cone but, here again,
- //the assumption should be good since the opening of the pitot probe
- //is very small and, therefore, the effects of the shock curvature
- //should be small as well. AFAIK, this approach is fairly well accepted
- //within the aerospace community
-
- B = 5.76*Mach*Mach/(5.6*Mach*Mach - 0.8);
-
- // The denominator above is zero for Mach ~ 0.38, for which
- // we'll never be here, so we're safe
-
- D = (2.8*Mach*Mach-0.4)*0.4167;
- pt = p*pow(B,3.5)*D;
- }
-
- A = pow(((pt-p)/psl+1),0.28571);
- vcas = sqrt(7*psl/rhosl*(A-1));
- //cout << "calcVcas: vcas= " << vcas*fpstokts << " mach= " << Mach << " pressure: " << pt << endl;
- return vcas;
-}
-
-//******************************************************************************
-
-bool FGInitialCondition::findInterval(double x,double guess) {
- //void find_interval(inter_params &ip,eqfunc f,double y,double constant, int &flag){
-
- int i=0;
- bool found=false;
- double flo,fhi,fguess;
- double lo,hi,step;
- step=0.1;
- fguess=(this->*sfunc)(guess)-x;
- lo=hi=guess;
- do {
- step=2*step;
- lo-=step;
- hi+=step;
- if(lo < xmin) lo=xmin;
- if(hi > xmax) hi=xmax;
- i++;
- flo=(this->*sfunc)(lo)-x;
- fhi=(this->*sfunc)(hi)-x;
- if(flo*fhi <=0) { //found interval with root
- found=true;
- if(flo*fguess <= 0) { //narrow interval down a bit
- hi=lo+step; //to pass solver interval that is as
- //small as possible
- }
- else if(fhi*fguess <= 0) {
- lo=hi-step;
- }
- }
- //cout << "findInterval: i=" << i << " Lo= " << lo << " Hi= " << hi << endl;
- }
- while((found == 0) && (i <= 100));
- xlo=lo;
- xhi=hi;
- return found;
-}
-
-//******************************************************************************
-
-bool FGInitialCondition::solve(double *y,double x)
-{
- double x1,x2,x3,f1,f2,f3,d,d0;
- double eps=1E-5;
- double const relax =0.9;
- int i;
- bool success=false;
-
- //initializations
- d=1;
- x2 = 0;
- x1=xlo;x3=xhi;
- f1=(this->*sfunc)(x1)-x;
- f3=(this->*sfunc)(x3)-x;
- d0=fabs(x3-x1);
-
- //iterations
- i=0;
- while ((fabs(d) > eps) && (i < 100)) {
- d=(x3-x1)/d0;
- x2 = x1-d*d0*f1/(f3-f1);
-
- f2=(this->*sfunc)(x2)-x;
- //cout << "solve x1,x2,x3: " << x1 << "," << x2 << "," << x3 << endl;
- //cout << " " << f1 << "," << f2 << "," << f3 << endl;
-
- if(fabs(f2) <= 0.001) {
- x1=x3=x2;
- } else if(f1*f2 <= 0.0) {
- x3=x2;
- f3=f2;
- f1=relax*f1;
- } else if(f2*f3 <= 0) {
- x1=x2;
- f1=f2;
- f3=relax*f3;
- }
- //cout << i << endl;
- i++;
- }//end while
- if(i < 100) {
- success=true;
- *y=x2;
- }
-
- //cout << "Success= " << success << " Vcas: " << vcas*fpstokts << " Mach: " << x2 << endl;
- return success;
-}
-
-//******************************************************************************
-
-double FGInitialCondition::GetWindDirDegIC(void) {
- if(weast != 0.0)
- return atan2(weast,wnorth)*radtodeg;
- else if(wnorth > 0)
- return 0.0;
- else
- return 180.0;
-}
-
-//******************************************************************************
-
-bool FGInitialCondition::Load(string rstfile, bool useStoredPath)
-{
- string resetDef, acpath;
- string token="";
-
- double temp;
- # ifndef macintosh
- string sep = "/";
- # else
- string sep = ";";
- #endif
-
- if( useStoredPath ) {
- acpath = fdmex->GetAircraftPath() + sep + fdmex->GetModelName();
- resetDef = acpath + sep + rstfile + ".xml";
- } else {
- resetDef = rstfile;
- }
-
- FGConfigFile resetfile(resetDef);
- if (!resetfile.IsOpen()) {
- cerr << "Failed to open reset file: " << resetDef << endl;
- return false;
- }
-
- resetfile.GetNextConfigLine();
- token = resetfile.GetValue();
- if (token != string("initialize")) {
- cerr << "The reset file " << resetDef
- << " does not appear to be a reset file" << endl;
- return false;
- }
-
- resetfile.GetNextConfigLine();
- resetfile >> token;
- while (token != string("/initialize") && token != string("EOF")) {
- if (token == "UBODY" ) { resetfile >> temp; SetUBodyFpsIC(temp); }
- if (token == "VBODY" ) { resetfile >> temp; SetVBodyFpsIC(temp); }
- if (token == "WBODY" ) { resetfile >> temp; SetWBodyFpsIC(temp); }
- if (token == "LATITUDE" ) { resetfile >> temp; SetLatitudeDegIC(temp); }
- if (token == "LONGITUDE" ) { resetfile >> temp; SetLongitudeDegIC(temp); }
- if (token == "PHI" ) { resetfile >> temp; SetRollAngleDegIC(temp); }
- if (token == "THETA" ) { resetfile >> temp; SetPitchAngleDegIC(temp); }
- if (token == "PSI" ) { resetfile >> temp; SetTrueHeadingDegIC(temp); }
- if (token == "ALPHA" ) { resetfile >> temp; SetAlphaDegIC(temp); }
- if (token == "BETA" ) { resetfile >> temp; SetBetaDegIC(temp); }
- if (token == "GAMMA" ) { resetfile >> temp; SetFlightPathAngleDegIC(temp); }
- if (token == "ROC" ) { resetfile >> temp; SetClimbRateFpmIC(temp); }
- if (token == "ALTITUDE" ) { resetfile >> temp; SetAltitudeFtIC(temp); }
- if (token == "WINDDIR" ) { resetfile >> temp; SetWindDirDegIC(temp); }
- if (token == "VWIND" ) { resetfile >> temp; SetWindMagKtsIC(temp); }
- if (token == "HWIND" ) { resetfile >> temp; SetHeadWindKtsIC(temp); }
- if (token == "XWIND" ) { resetfile >> temp; SetCrossWindKtsIC(temp); }
- if (token == "VC" ) { resetfile >> temp; SetVcalibratedKtsIC(temp); }
- if (token == "MACH" ) { resetfile >> temp; SetMachIC(temp); }
- if (token == "VGROUND" ) { resetfile >> temp; SetVgroundKtsIC(temp); }
- resetfile >> token;
- }
-
- fdmex->RunIC();
-
- return true;
-}
-
-//******************************************************************************
-
-void FGInitialCondition::bind(void){
- PropertyManager->Tie("ic/vc-kts", this,
- &FGInitialCondition::GetVcalibratedKtsIC,
- &FGInitialCondition::SetVcalibratedKtsIC,
- true);
- PropertyManager->Tie("ic/ve-kts", this,
- &FGInitialCondition::GetVequivalentKtsIC,
- &FGInitialCondition::SetVequivalentKtsIC,
- true);
- PropertyManager->Tie("ic/vg-kts", this,
- &FGInitialCondition::GetVgroundKtsIC,
- &FGInitialCondition::SetVgroundKtsIC,
- true);
- PropertyManager->Tie("ic/vt-kts", this,
- &FGInitialCondition::GetVtrueKtsIC,
- &FGInitialCondition::SetVtrueKtsIC,
- true);
- PropertyManager->Tie("ic/mach-norm", this,
- &FGInitialCondition::GetMachIC,
- &FGInitialCondition::SetMachIC,
- true);
- PropertyManager->Tie("ic/roc-fpm", this,
- &FGInitialCondition::GetClimbRateFpmIC,
- &FGInitialCondition::SetClimbRateFpmIC,
- true);
- PropertyManager->Tie("ic/gamma-deg", this,
- &FGInitialCondition::GetFlightPathAngleDegIC,
- &FGInitialCondition::SetFlightPathAngleDegIC,
- true);
- PropertyManager->Tie("ic/alpha-deg", this,
- &FGInitialCondition::GetAlphaDegIC,
- &FGInitialCondition::SetAlphaDegIC,
- true);
- PropertyManager->Tie("ic/beta-deg", this,
- &FGInitialCondition::GetBetaDegIC,
- &FGInitialCondition::SetBetaDegIC,
- true);
- PropertyManager->Tie("ic/theta-deg", this,
- &FGInitialCondition::GetPitchAngleDegIC,
- &FGInitialCondition::SetPitchAngleDegIC,
- true);
- PropertyManager->Tie("ic/phi-deg", this,
- &FGInitialCondition::GetRollAngleDegIC,
- &FGInitialCondition::SetRollAngleDegIC,
- true);
- PropertyManager->Tie("ic/psi-true-deg", this,
- &FGInitialCondition::GetHeadingDegIC );
- PropertyManager->Tie("ic/lat-gc-deg", this,
- &FGInitialCondition::GetLatitudeDegIC,
- &FGInitialCondition::SetLatitudeDegIC,
- true);
- PropertyManager->Tie("ic/long-gc-deg", this,
- &FGInitialCondition::GetLongitudeDegIC,
- &FGInitialCondition::SetLongitudeDegIC,
- true);
- PropertyManager->Tie("ic/h-sl-ft", this,
- &FGInitialCondition::GetAltitudeFtIC,
- &FGInitialCondition::SetAltitudeFtIC,
- true);
- PropertyManager->Tie("ic/h-agl-ft", this,
- &FGInitialCondition::GetAltitudeAGLFtIC,
- &FGInitialCondition::SetAltitudeAGLFtIC,
- true);
- PropertyManager->Tie("ic/sea-level-radius-ft", this,
- &FGInitialCondition::GetSeaLevelRadiusFtIC,
- &FGInitialCondition::SetSeaLevelRadiusFtIC,
- true);
- PropertyManager->Tie("ic/terrain-altitude-ft", this,
- &FGInitialCondition::GetTerrainAltitudeFtIC,
- &FGInitialCondition::SetTerrainAltitudeFtIC,
- true);
- PropertyManager->Tie("ic/vg-fps", this,
- &FGInitialCondition::GetVgroundFpsIC,
- &FGInitialCondition::SetVgroundFpsIC,
- true);
- PropertyManager->Tie("ic/vt-fps", this,
- &FGInitialCondition::GetVtrueFpsIC,
- &FGInitialCondition::SetVtrueFpsIC,
- true);
- PropertyManager->Tie("ic/vw-bx-fps", this,
- &FGInitialCondition::GetWindUFpsIC);
- PropertyManager->Tie("ic/vw-by-fps", this,
- &FGInitialCondition::GetWindVFpsIC);
- PropertyManager->Tie("ic/vw-bz-fps", this,
- &FGInitialCondition::GetWindWFpsIC);
- PropertyManager->Tie("ic/vw-north-fps", this,
- &FGInitialCondition::GetWindNFpsIC);
- PropertyManager->Tie("ic/vw-east-fps", this,
- &FGInitialCondition::GetWindEFpsIC);
- PropertyManager->Tie("ic/vw-down-fps", this,
- &FGInitialCondition::GetWindDFpsIC);
- PropertyManager->Tie("ic/vw-mag-fps", this,
- &FGInitialCondition::GetWindFpsIC);
- /* PropertyManager->Tie("ic/vw-dir-deg", this,
- &FGInitialCondition::GetWindDirDegIC,
- &FGInitialCondition::SetWindDirDegIC,
- true); */
-
- PropertyManager->Tie("ic/roc-fps", this,
- &FGInitialCondition::GetClimbRateFpsIC,
- &FGInitialCondition::SetClimbRateFpsIC,
- true);
- /* PropertyManager->Tie("ic/u-fps", this,
- &FGInitialCondition::GetUBodyFpsIC,
- &FGInitialCondition::SetUBodyFpsIC,
- true);
- PropertyManager->Tie("ic/v-fps", this,
- &FGInitialCondition::GetVBodyFpsIC,
- &FGInitialCondition::SetVBodyFpsIC,
- true);
- PropertyManager->Tie("ic/w-fps", this,
- &FGInitialCondition::GetWBodyFpsIC,
- &FGInitialCondition::SetWBodyFpsIC,
- true); */
-
- PropertyManager->Tie("ic/gamma-rad", this,
- &FGInitialCondition::GetFlightPathAngleRadIC,
- &FGInitialCondition::SetFlightPathAngleRadIC,
- true);
- PropertyManager->Tie("ic/alpha-rad", this,
- &FGInitialCondition::GetAlphaRadIC,
- &FGInitialCondition::SetAlphaRadIC,
- true);
- PropertyManager->Tie("ic/theta-rad", this,
- &FGInitialCondition::GetPitchAngleRadIC,
- &FGInitialCondition::SetPitchAngleRadIC,
- true);
- PropertyManager->Tie("ic/beta-rad", this,
- &FGInitialCondition::GetBetaRadIC,
- &FGInitialCondition::SetBetaRadIC,
- true);
- PropertyManager->Tie("ic/phi-rad", this,
- &FGInitialCondition::GetRollAngleRadIC,
- &FGInitialCondition::SetRollAngleRadIC,
- true);
- PropertyManager->Tie("ic/psi-true-rad", this,
- &FGInitialCondition::GetHeadingRadIC);
- PropertyManager->Tie("ic/lat-gc-rad", this,
- &FGInitialCondition::GetLatitudeRadIC,
- &FGInitialCondition::SetLatitudeRadIC,
- true);
- PropertyManager->Tie("ic/long-gc-rad", this,
- &FGInitialCondition::GetLongitudeRadIC,
- &FGInitialCondition::SetLongitudeRadIC,
- true);
- PropertyManager->Tie("ic/p-rad_sec", this,
- &FGInitialCondition::GetPRadpsIC,
- &FGInitialCondition::SetPRadpsIC,
- true);
- PropertyManager->Tie("ic/q-rad_sec", this,
- &FGInitialCondition::GetQRadpsIC,
- &FGInitialCondition::SetQRadpsIC,
- true);
- PropertyManager->Tie("ic/r-rad_sec", this,
- &FGInitialCondition::GetRRadpsIC,
- &FGInitialCondition::SetRRadpsIC,
- true);
-
-}
-
-//******************************************************************************
-
-void FGInitialCondition::unbind(void){
- PropertyManager->Untie("ic/vc-kts");
- PropertyManager->Untie("ic/ve-kts");
- PropertyManager->Untie("ic/vg-kts");
- PropertyManager->Untie("ic/vt-kts");
- PropertyManager->Untie("ic/mach-norm");
- PropertyManager->Untie("ic/roc-fpm");
- PropertyManager->Untie("ic/gamma-deg");
- PropertyManager->Untie("ic/alpha-deg");
- PropertyManager->Untie("ic/beta-deg");
- PropertyManager->Untie("ic/theta-deg");
- PropertyManager->Untie("ic/phi-deg");
- PropertyManager->Untie("ic/psi-true-deg");
- PropertyManager->Untie("ic/lat-gc-deg");
- PropertyManager->Untie("ic/long-gc-deg");
- PropertyManager->Untie("ic/h-sl-ft");
- PropertyManager->Untie("ic/h-agl-ft");
- PropertyManager->Untie("ic/sea-level-radius-ft");
- PropertyManager->Untie("ic/terrain-altitude-ft");
- PropertyManager->Untie("ic/vg-fps");
- PropertyManager->Untie("ic/vt-fps");
- PropertyManager->Untie("ic/vw-bx-fps");
- PropertyManager->Untie("ic/vw-by-fps");
- PropertyManager->Untie("ic/vw-bz-fps");
- PropertyManager->Untie("ic/vw-north-fps");
- PropertyManager->Untie("ic/vw-east-fps");
- PropertyManager->Untie("ic/vw-down-fps");
- PropertyManager->Untie("ic/vw-mag-fps");
- /* PropertyManager->Untie("ic/vw-dir-deg"); */
-
- PropertyManager->Untie("ic/roc-fps");
-
- /* PropertyManager->Untie("ic/u-fps");
- PropertyManager->Untie("ic/v-fps");
- PropertyManager->Untie("ic/w-fps"); */
-
- PropertyManager->Untie("ic/gamma-rad");
- PropertyManager->Untie("ic/alpha-rad");
- PropertyManager->Untie("ic/theta-rad");
- PropertyManager->Untie("ic/beta-rad");
- PropertyManager->Untie("ic/phi-rad");
- PropertyManager->Untie("ic/psi-true-rad");
- PropertyManager->Untie("ic/lat-gc-rad");
- PropertyManager->Untie("ic/long-gc-rad");
- PropertyManager->Untie("ic/p-rad_sec");
- PropertyManager->Untie("ic/q-rad_sec");
- PropertyManager->Untie("ic/r-rad_sec");
-
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// 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 FGInitialCondition::Debug(int from)
-{
- if (debug_lvl <= 0) return;
-
- if (debug_lvl & 1) { // Standard console startup message output
- }
- if (debug_lvl & 2 ) { // Instantiation/Destruction notification
- if (from == 0) cout << "Instantiated: FGInitialCondition" << endl;
- if (from == 1) cout << "Destroyed: FGInitialCondition" << 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 (debug_lvl & 64) {
- if (from == 0) { // Constructor
- cout << IdSrc << endl;
- cout << IdHdr << endl;
- }
- }
-}
-}
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Header: FGInitialCondition.h
- Author: Tony Peden
- Date started: 7/1/99
-
- ------------- Copyright (C) 1999 Anthony K. Peden (apeden@earthlink.net) -------------
-
- 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.
-
- HISTORY
---------------------------------------------------------------------------------
-7/1/99 TP Created
-
-FUNCTIONAL DESCRIPTION
---------------------------------------------------------------------------------
-
-The purpose of this class is to take a set of initial conditions and provide
-a kinematically consistent set of body axis velocity components, euler
-angles, and altitude. This class does not attempt to trim the model i.e.
-the sim will most likely start in a very dynamic state (unless, of course,
-you have chosen your IC's wisely) even after setting it up with this class.
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-SENTRY
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifndef FGINITIALCONDITION_H
-#define FGINITIALCONDITION_H
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#include "FGFDMExec.h"
-#include "FGJSBBase.h"
-#include "FGColumnVector3.h"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#define ID_INITIALCONDITION "$Id$"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FORWARD DECLARATIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-namespace JSBSim {
-
-typedef enum { setvt, setvc, setve, setmach, setuvw, setned, setvg } speedset;
-typedef enum { setwned, setwmd, setwhc } windset;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DOCUMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/** Takes a set of initial conditions and provide a kinematically consistent set
- of body axis velocity components, euler angles, and altitude. This class
- does not attempt to trim the model i.e. the sim will most likely start in a
- very dynamic state (unless, of course, you have chosen your IC's wisely)
- even after setting it up with this class.
-
- USAGE NOTES
-
- With a valid object of FGFDMExec and an aircraft model loaded
- FGInitialCondition fgic=new FGInitialCondition(FDMExec);
- fgic->SetVcalibratedKtsIC()
- fgic->SetAltitudeFtIC();
-
- //to directly into Run
- FDMExec->GetState()->Initialize(fgic)
- delete fgic;
- FDMExec->Run()
-
- //or to loop the sim w/o integrating
- FDMExec->RunIC(fgic)
-
- Speed:
-
- Since vc, ve, vt, and mach all represent speed, the remaining
- three are recalculated each time one of them is set (using the
- current altitude). The most recent speed set is remembered so
- that if and when altitude is reset, the last set speed is used
- to recalculate the remaining three. Setting any of the body
- components forces a recalculation of vt and vt then becomes the
- most recent speed set.
-
- Alpha,Gamma, and Theta:
-
- This class assumes that it will be used to set up the sim for a
- steady, zero pitch rate condition. Since any two of those angles
- specifies the third gamma (flight path angle) is favored when setting
- alpha and theta and alpha is favored when setting gamma. i.e.
-
- - set alpha : recalculate theta using gamma as currently set
- - set theta : recalculate alpha using gamma as currently set
- - set gamma : recalculate theta using alpha as currently set
-
- The idea being that gamma is most interesting to pilots (since it
- is indicative of climb rate).
-
- Setting climb rate is, for the purpose of this discussion,
- considered equivalent to setting gamma.
- @author Tony Peden
- @version "$Id$"
-*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-class FGInitialCondition : public FGJSBBase
-{
-public:
- /// Constructor
- FGInitialCondition(FGFDMExec *fdmex);
- /// Destructor
- ~FGInitialCondition();
-
- void SetVcalibratedKtsIC(double tt);
- void SetVequivalentKtsIC(double tt);
- inline void SetVtrueKtsIC(double tt) { SetVtrueFpsIC(tt*ktstofps); }
- inline void SetVgroundKtsIC(double tt) { SetVgroundFpsIC(tt*ktstofps); }
- void SetMachIC(double tt);
-
- inline void SetAlphaDegIC(double tt) { SetAlphaRadIC(tt*degtorad); }
- inline void SetBetaDegIC(double tt) { SetBetaRadIC(tt*degtorad);}
-
- inline void SetPitchAngleDegIC(double tt) { SetPitchAngleRadIC(tt*degtorad); }
- inline void SetRollAngleDegIC(double tt) { SetRollAngleRadIC(tt*degtorad);}
- inline void SetTrueHeadingDegIC(double tt){ SetTrueHeadingRadIC(tt*degtorad); }
-
- void SetClimbRateFpmIC(double tt);
- inline void SetFlightPathAngleDegIC(double tt) { SetFlightPathAngleRadIC(tt*degtorad); }
-
- void SetAltitudeFtIC(double tt);
- void SetAltitudeAGLFtIC(double tt);
-
- void SetSeaLevelRadiusFtIC(double tt);
- void SetTerrainAltitudeFtIC(double tt);
-
- inline void SetLatitudeDegIC(double tt) { latitude=tt*degtorad; }
- inline void SetLongitudeDegIC(double tt) { longitude=tt*degtorad; }
-
-
- inline double GetVcalibratedKtsIC(void) const { return vc*fpstokts; }
- inline double GetVequivalentKtsIC(void) const { return ve*fpstokts; }
- inline double GetVgroundKtsIC(void) const { return vg*fpstokts; }
- inline double GetVtrueKtsIC(void) const { return vt*fpstokts; }
- inline double GetMachIC(void) const { return mach; }
-
- inline double GetClimbRateFpmIC(void) const { return hdot*60; }
- inline double GetFlightPathAngleDegIC(void)const { return gamma*radtodeg; }
-
- inline double GetAlphaDegIC(void) const { return alpha*radtodeg; }
- inline double GetBetaDegIC(void) const { return beta*radtodeg; }
-
- inline double GetPitchAngleDegIC(void) const { return theta*radtodeg; }
- inline double GetRollAngleDegIC(void) const { return phi*radtodeg; }
- inline double GetHeadingDegIC(void) const { return psi*radtodeg; }
-
- inline double GetLatitudeDegIC(void) const { return latitude*radtodeg; }
- inline double GetLongitudeDegIC(void) const { return longitude*radtodeg; }
-
- inline double GetAltitudeFtIC(void) const { return altitude; }
- inline double GetAltitudeAGLFtIC(void) const { return altitude - terrain_altitude; }
-
- inline double GetSeaLevelRadiusFtIC(void) const { return sea_level_radius; }
- inline double GetTerrainAltitudeFtIC(void) const { return terrain_altitude; }
-
- void SetVgroundFpsIC(double tt);
- void SetVtrueFpsIC(double tt);
- void SetUBodyFpsIC(double tt);
- void SetVBodyFpsIC(double tt);
- void SetWBodyFpsIC(double tt);
- void SetVnorthFpsIC(double tt);
- void SetVeastFpsIC(double tt);
- void SetVdownFpsIC(double tt);
- void SetPRadpsIC(double tt) { p = tt; }
- void SetQRadpsIC(double tt) { q = tt; }
- void SetRRadpsIC(double tt) { r = tt; }
-
- void SetWindNEDFpsIC(double wN, double wE, double wD);
-
- void SetWindMagKtsIC(double mag);
- void SetWindDirDegIC(double dir);
-
- void SetHeadWindKtsIC(double head);
- void SetCrossWindKtsIC(double cross);// positive from left
-
- void SetWindDownKtsIC(double wD);
-
- void SetClimbRateFpsIC(double tt);
- inline double GetVgroundFpsIC(void) const { return vg; }
- inline double GetVtrueFpsIC(void) const { return vt; }
- inline double GetWindUFpsIC(void) const { return uw; }
- inline double GetWindVFpsIC(void) const { return vw; }
- inline double GetWindWFpsIC(void) const { return ww; }
- inline double GetWindNFpsIC(void) const { return wnorth; }
- inline double GetWindEFpsIC(void) const { return weast; }
- inline double GetWindDFpsIC(void) const { return wdown; }
- inline double GetWindFpsIC(void) const { return sqrt(wnorth*wnorth + weast*weast); }
- double GetWindDirDegIC(void);
- inline double GetClimbRateFpsIC(void) const { return hdot; }
- double GetUBodyFpsIC(void) const;
- double GetVBodyFpsIC(void) const;
- double GetWBodyFpsIC(void) const;
- double GetPRadpsIC() const { return p; }
- double GetQRadpsIC() const { return q; }
- double GetRRadpsIC() const { return r; }
- void SetFlightPathAngleRadIC(double tt);
- void SetAlphaRadIC(double tt);
- void SetPitchAngleRadIC(double tt);
- void SetBetaRadIC(double tt);
- void SetRollAngleRadIC(double tt);
- void SetTrueHeadingRadIC(double tt);
- inline void SetLatitudeRadIC(double tt) { latitude=tt; }
- inline void SetLongitudeRadIC(double tt) { longitude=tt; }
- inline double GetFlightPathAngleRadIC(void) const { return gamma; }
- inline double GetAlphaRadIC(void) const { return alpha; }
- inline double GetPitchAngleRadIC(void) const { return theta; }
- inline double GetBetaRadIC(void) const { return beta; }
- inline double GetRollAngleRadIC(void) const { return phi; }
- inline double GetHeadingRadIC(void) const { return psi; }
- inline double GetLatitudeRadIC(void) const { return latitude; }
- inline double GetLongitudeRadIC(void) const { return longitude; }
- inline double GetThetaRadIC(void) const { return theta; }
- inline double GetPhiRadIC(void) const { return phi; }
- inline double GetPsiRadIC(void) const { return psi; }
-
- inline speedset GetSpeedSet(void) { return lastSpeedSet; }
- inline windset GetWindSet(void) { return lastWindSet; }
-
- bool Load(string rstname, bool useStoredPath = true );
-
- void bind(void);
- void unbind(void);
-
-
-private:
- double vt,vc,ve,vg;
- double mach;
- double altitude,hdot;
- double latitude,longitude;
- double u,v,w;
- double p,q,r;
- double uw,vw,ww;
- double vnorth,veast,vdown;
- double wnorth,weast,wdown;
- double whead, wcross, wdir, wmag;
- double sea_level_radius;
- double terrain_altitude;
- double radius_to_vehicle;
-
- double alpha, beta, theta, phi, psi, gamma;
- double salpha,sbeta,stheta,sphi,spsi,sgamma;
- double calpha,cbeta,ctheta,cphi,cpsi,cgamma;
-
- double xlo, xhi,xmin,xmax;
-
- typedef double (FGInitialCondition::*fp)(double x);
- fp sfunc;
-
- speedset lastSpeedSet;
- windset lastWindSet;
-
- FGFDMExec *fdmex;
- FGPropertyManager *PropertyManager;
-
- bool getAlpha(void);
- bool getTheta(void);
- bool getMachFromVcas(double *Mach,double vcas);
-
- double GammaEqOfTheta(double Theta);
- double GammaEqOfAlpha(double Alpha);
- double calcVcas(double Mach);
- void calcUVWfromNED(void);
- void calcWindUVW(void);
-
- bool findInterval(double x,double guess);
- bool solve(double *y, double x);
- void Debug(int from);
-};
-}
-#endif
-
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Module: FGLGear.cpp
- Author: Jon S. Berndt
- Norman H. Princen
- Date started: 11/18/99
- Purpose: Encapsulates the landing gear elements
- Called by: FGAircraft
-
- ------------- 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
---------------------------------------------------------------------------------
-
-HISTORY
---------------------------------------------------------------------------------
-11/18/99 JSB Created
-01/30/01 NHP Extended gear model to properly simulate steering and braking
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#include "FGLGear.h"
-
-namespace JSBSim {
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-GLOBAL DATA
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-static const char *IdSrc = "$Id$";
-static const char *IdHdr = ID_LGEAR;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-FGLGear::FGLGear(FGConfigFile* AC_cfg, FGFDMExec* fdmex, int number) : Exec(fdmex)
-{
- GearNumber = number;
-
- *AC_cfg >> name >> vXYZ(1) >> vXYZ(2) >> vXYZ(3)
- >> kSpring >> bDamp>> dynamicFCoeff >> staticFCoeff
- >> rollingFCoeff >> sSteerType >> sBrakeGroup
- >> maxSteerAngle >> sRetractable;
-
- if (sBrakeGroup == "LEFT" ) eBrakeGrp = bgLeft;
- else if (sBrakeGroup == "RIGHT" ) eBrakeGrp = bgRight;
- else if (sBrakeGroup == "CENTER") eBrakeGrp = bgCenter;
- else if (sBrakeGroup == "NOSE" ) eBrakeGrp = bgNose;
- else if (sBrakeGroup == "TAIL" ) eBrakeGrp = bgTail;
- else if (sBrakeGroup == "NONE" ) eBrakeGrp = bgNone;
- else {
- cerr << "Improper braking group specification in config file: "
- << sBrakeGroup << " is undefined." << endl;
- }
-
- if (sSteerType == "STEERABLE") eSteerType = stSteer;
- else if (sSteerType == "FIXED" ) eSteerType = stFixed;
- else if (sSteerType == "CASTERED" ) eSteerType = stCaster;
- else {
- cerr << "Improper steering type specification in config file: "
- << sSteerType << " is undefined." << endl;
- }
-
- if ( sRetractable == "RETRACT" ) {
- isRetractable = true;
- } else {
- isRetractable = false;
- }
-
- GearUp = false;
- GearDown = true;
- Servicable = true;
-
-// Add some AI here to determine if gear is located properly according to its
-// brake group type ??
-
- State = Exec->GetState();
- Aircraft = Exec->GetAircraft();
- Propagate = Exec->GetPropagate();
- Auxiliary = Exec->GetAuxiliary();
- FCS = Exec->GetFCS();
- MassBalance = Exec->GetMassBalance();
-
- WOW = lastWOW = true; // should the value be initialized to true?
- ReportEnable = true;
- FirstContact = false;
- StartedGroundRun = false;
- TakeoffReported = LandingReported = false;
- LandingDistanceTraveled = TakeoffDistanceTraveled = TakeoffDistanceTraveled50ft = 0.0;
- MaximumStrutForce = MaximumStrutTravel = 0.0;
- SideForce = RollingForce = 0.0;
- SinkRate = GroundSpeed = 0.0;
-
- vWhlBodyVec = MassBalance->StructuralToBody(vXYZ);
-
- vLocalGear = Propagate->GetTb2l() * vWhlBodyVec;
-
- compressLength = 0.0;
- compressSpeed = 0.0;
- brakePct = 0.0;
- maxCompLen = 0.0;
-
- WheelSlip = lastWheelSlip = 0.0;
-
- compressLength = 0.0;
- compressSpeed = 0.0;
- brakePct = 0.0;
- maxCompLen = 0.0;
-
- TirePressureNorm = 1.0;
-
- Debug(0);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGLGear::FGLGear(const FGLGear& lgear)
-{
- GearNumber = lgear.GearNumber;
-
- State = lgear.State;
- Aircraft = lgear.Aircraft;
- Propagate = lgear.Propagate;
- Auxiliary = lgear.Auxiliary;
- Exec = lgear.Exec;
- FCS = lgear.FCS;
- MassBalance = lgear.MassBalance;
-
- vXYZ = lgear.vXYZ;
- vMoment = lgear.vMoment;
- vWhlBodyVec = lgear.vWhlBodyVec;
- vLocalGear = lgear.vLocalGear;
-
- WOW = lgear.WOW;
- lastWOW = lgear.lastWOW;
- ReportEnable = lgear.ReportEnable;
- FirstContact = lgear.FirstContact;
- StartedGroundRun = lgear.StartedGroundRun;
- LandingDistanceTraveled = lgear.LandingDistanceTraveled;
- TakeoffDistanceTraveled = lgear.TakeoffDistanceTraveled;
- TakeoffDistanceTraveled50ft = lgear.TakeoffDistanceTraveled50ft;
- MaximumStrutForce = lgear.MaximumStrutForce;
- MaximumStrutTravel = lgear.MaximumStrutTravel;
- SideForce = lgear.SideForce;
- RollingForce = lgear.RollingForce;
-
- kSpring = lgear.kSpring;
- bDamp = lgear.bDamp;
- compressLength = lgear.compressLength;
- compressSpeed = lgear.compressSpeed;
- staticFCoeff = lgear.staticFCoeff;
- dynamicFCoeff = lgear.dynamicFCoeff;
- rollingFCoeff = lgear.rollingFCoeff;
- brakePct = lgear.brakePct;
- maxCompLen = lgear.maxCompLen;
- SinkRate = lgear.SinkRate;
- GroundSpeed = lgear.GroundSpeed;
- LandingReported = lgear.LandingReported;
- TakeoffReported = lgear.TakeoffReported;
- name = lgear.name;
- sSteerType = lgear.sSteerType;
- sRetractable = lgear.sRetractable;
- eSteerType = lgear.eSteerType;
- sBrakeGroup = lgear.sBrakeGroup;
- eBrakeGrp = lgear.eBrakeGrp;
- maxSteerAngle = lgear.maxSteerAngle;
- isRetractable = lgear.isRetractable;
- GearUp = lgear.GearUp;
- GearDown = lgear.GearDown;
- WheelSlip = lgear.WheelSlip;
- lastWheelSlip = lgear.lastWheelSlip;
- TirePressureNorm = lgear.TirePressureNorm;
- Servicable = lgear.Servicable;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGLGear::~FGLGear()
-{
- Debug(1);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGColumnVector3& FGLGear::Force(void)
-{
- double SinWheel, CosWheel;
- double deltaT = State->Getdt()*Exec->GetGroundReactions()->GetRate();
-
- vForce.InitMatrix();
- vMoment.InitMatrix();
-
- if (isRetractable) {
- if (FCS->GetGearPos() < 0.01) {
- GearUp = true;
- GearDown = false;
- } else if (FCS->GetGearPos() > 0.99) {
- GearDown = true;
- GearUp = false;
- } else {
- GearUp = false;
- GearDown = false;
- }
- } else {
- GearUp = false;
- GearDown = true;
- }
-
- // Compute the steering angle in any case.
- // Will make shure that animations will look right.
- switch (eSteerType) {
- case stSteer:
- SteerAngle = degtorad * FCS->GetSteerPosDeg(GearNumber);
- break;
- case stFixed:
- SteerAngle = 0.0;
- break;
- case stCaster:
- // Note to Jon: This is not correct for castering gear. I'll fix it later.
- SteerAngle = 0.0;
- break;
- default:
- cerr << "Improper steering type membership detected for this gear." << endl;
- break;
- }
-
- if (GearDown) {
- double t = Exec->GetState()->Getsim_time();
-
- vWhlBodyVec = MassBalance->StructuralToBody(vXYZ);
-
-// vWhlBodyVec now stores the vector from the cg to this wheel
-
- vLocalGear = Propagate->GetTb2l() * vWhlBodyVec;
-
-// vLocalGear now stores the vector from the cg to the wheel in local coords.
-
- FGColumnVector3 normal, cvel;
- FGLocation contact;
- FGLocation gearLoc = Propagate->GetLocation().LocalToLocation(vLocalGear);
- compressLength = - Exec->GetGroundCallback()->GetAGLevel(t, gearLoc, contact, normal, cvel);
-
-// The compression length is currently measured in the Z-axis, only, at this time.
-// It should be measured along the strut axis. If the local-frame gear position
-// "hangs down" below the CG greater than the altitude, then the compressLength
-// will be positive - i.e. the gear will have made contact.
-
- if (compressLength > 0.00) {
-
- WOW = true; // Weight-On-Wheels is true
-
-// The next equation should really use the vector to the contact patch of the tire
-// including the strut compression and not vWhlBodyVec. Will fix this later.
-// As it stands, now, the following equation takes the aircraft body-frame
-// rotational rate and calculates the cross-product with the vector from the CG
-// to the wheel, thus producing the instantaneous velocity vector of the tire
-// in Body coords. The frame is also converted to local coordinates. When the
-// aircraft local-frame velocity is added to this quantity, the total velocity of
-// the wheel in local frame is then known. Subsequently, the compression speed
-// (used for calculating damping force) is found by taking the Z-component of the
-// wheel velocity.
-
- vWhlVelVec = Propagate->GetTb2l() * (Propagate->GetPQR() * vWhlBodyVec);
- vWhlVelVec += Propagate->GetVel() - cvel;
- compressSpeed = vWhlVelVec(eZ);
-
-// If this is the first time the wheel has made contact, remember some values
-// for later printout.
-
- if (!FirstContact) {
- FirstContact = true;
- SinkRate = compressSpeed;
- GroundSpeed = Propagate->GetVel().Magnitude();
- TakeoffReported = false;
- }
-
-// If the takeoff run is starting, initialize.
-
- if ((Propagate->GetVel().Magnitude() > 0.1) &&
- (FCS->GetBrake(bgLeft) == 0) &&
- (FCS->GetBrake(bgRight) == 0) &&
- (FCS->GetThrottlePos(0) == 1) && !StartedGroundRun)
- {
- TakeoffDistanceTraveled = 0;
- TakeoffDistanceTraveled50ft = 0;
- StartedGroundRun = true;
- }
-
-// The following needs work regarding friction coefficients and braking and
-// steering The BrakeFCoeff formula assumes that an anti-skid system is used.
-// It also assumes that we won't be turning and braking at the same time.
-// Will fix this later.
-// [JSB] The braking force coefficients include normal rolling coefficient +
-// a percentage of the static friction coefficient based on braking applied.
-
- switch (eBrakeGrp) {
- case bgLeft:
- BrakeFCoeff = ( rollingFCoeff*(1.0 - FCS->GetBrake(bgLeft)) +
- staticFCoeff*FCS->GetBrake(bgLeft) );
- break;
- case bgRight:
- BrakeFCoeff = ( rollingFCoeff*(1.0 - FCS->GetBrake(bgRight)) +
- staticFCoeff*FCS->GetBrake(bgRight) );
- break;
- case bgCenter:
- BrakeFCoeff = ( rollingFCoeff*(1.0 - FCS->GetBrake(bgCenter)) +
- staticFCoeff*FCS->GetBrake(bgCenter) );
- break;
- case bgNose:
- BrakeFCoeff = ( rollingFCoeff*(1.0 - FCS->GetBrake(bgCenter)) +
- staticFCoeff*FCS->GetBrake(bgCenter) );
- break;
- case bgTail:
- BrakeFCoeff = ( rollingFCoeff*(1.0 - FCS->GetBrake(bgCenter)) +
- staticFCoeff*FCS->GetBrake(bgCenter) );
- break;
- case bgNone:
- BrakeFCoeff = rollingFCoeff;
- break;
- default:
- cerr << "Improper brake group membership detected for this gear." << endl;
- break;
- }
-
-// Transform the wheel velocities from the local axis system to the wheel axis system.
-// For now, steering angle is assumed to happen in the Local Z axis,
-// not the strut axis as it should be. Will fix this later.
-
- SinWheel = sin(Propagate->GetEuler(ePsi) + SteerAngle);
- CosWheel = cos(Propagate->GetEuler(ePsi) + SteerAngle);
- RollingWhlVel = vWhlVelVec(eX)*CosWheel + vWhlVelVec(eY)*SinWheel;
- SideWhlVel = vWhlVelVec(eY)*CosWheel - vWhlVelVec(eX)*SinWheel;
-
-// Calculate tire slip angle.
-
- if (RollingWhlVel == 0.0 && SideWhlVel == 0.0) {
- WheelSlip = 0.0;
- } else if (fabs(RollingWhlVel) < 1.0) {
- WheelSlip = 0.05*radtodeg*atan2(SideWhlVel, fabs(RollingWhlVel)) + 0.95*WheelSlip;
- } else {
- WheelSlip = radtodeg*atan2(SideWhlVel, fabs(RollingWhlVel));
- }
-/*
- double maxdeltaSlip = 0.5*deltaT;
-
- if (RollingWhlVel == 0.0 && SideWhlVel == 0.0) {
- WheelSlip = 0.0;
- } else if (RollingWhlVel < 1.0) {
- WheelSlip = radtodeg*atan2(SideWhlVel, RollingWhlVel);
- deltaSlip = WheelSlip - lastWheelSlip;
- if (fabs(deltaSlip) > maxdeltaSlip) {
- if (WheelSlip > lastWheelSlip) {
- WheelSlip = lastWheelSlip + maxdeltaSlip;
- } else if (WheelSlip < lastWheelSlip) {
- WheelSlip = lastWheelSlip - maxdeltaSlip;
- }
- }
- } else {
- WheelSlip = radtodeg*atan2(SideWhlVel, RollingWhlVel);
- }
-
- if ((WheelSlip < 0.0 && lastWheelSlip > 0.0) ||
- (WheelSlip > 0.0 && lastWheelSlip < 0.0))
- {
- WheelSlip = 0.0;
- }
-*/
- lastWheelSlip = WheelSlip;
-
-// Compute the sideforce coefficients using similar assumptions to LaRCSim for now.
-// Allow a maximum of 10 degrees tire slip angle before wheel slides. At that point,
-// transition from static to dynamic friction. There are more complicated formulations
-// of this that avoid the discrete jump (similar to Pacejka). Will fix this later.
-
- if (fabs(WheelSlip) <= 20.0) {
- FCoeff = staticFCoeff*WheelSlip/20.0;
- } else if (fabs(WheelSlip) <= 40.0) {
-// FCoeff = dynamicFCoeff*fabs(WheelSlip)/WheelSlip;
- FCoeff = (dynamicFCoeff*(fabs(WheelSlip) - 20.0)/20.0 +
- staticFCoeff*(40.0 - fabs(WheelSlip))/20.0)*fabs(WheelSlip)/WheelSlip;
- } else {
- FCoeff = dynamicFCoeff*fabs(WheelSlip)/WheelSlip;
- }
-
-// Compute the vertical force on the wheel using square-law damping (per comment
-// in paper AIAA-2000-4303 - see header prologue comments). We might consider
-// allowing for both square and linear damping force calculation. Also need to
-// possibly give a "rebound damping factor" that differs from the compression
-// case.
-
- vLocalForce(eZ) = min(-compressLength * kSpring
- - compressSpeed * bDamp, (double)0.0);
-
- MaximumStrutForce = max(MaximumStrutForce, fabs(vLocalForce(eZ)));
- MaximumStrutTravel = max(MaximumStrutTravel, fabs(compressLength));
-
-// Compute the forces in the wheel ground plane.
-
- RollingForce = 0;
- if (fabs(RollingWhlVel) > 1E-3) {
- double badPresResis = (1.0 - TirePressureNorm) * 30;
- RollingForce = (badPresResis * min(fabs(RollingWhlVel), 1.0)
- + vLocalForce(eZ) * BrakeFCoeff)
- * fabs(RollingWhlVel)/RollingWhlVel;
- }
- SideForce = vLocalForce(eZ) * FCoeff;
-
-// Transform these forces back to the local reference frame.
-
- vLocalForce(eX) = RollingForce*CosWheel - SideForce*SinWheel;
- vLocalForce(eY) = SideForce*CosWheel + RollingForce*SinWheel;
-
-// Note to Jon: At this point the forces will be too big when the airplane is
-// stopped or rolling to a stop. We need to make sure that the gear forces just
-// balance out the non-gear forces when the airplane is stopped. That way the
-// airplane won't start to accelerate until the non-gear/ forces are larger than
-// the gear forces. I think that the proper fix should go into FGAircraft::FMGear.
-// This routine would only compute the local strut forces and return them to
-// FMGear. All of the gear forces would get adjusted in FMGear using the total
-// non-gear forces. Then the gear moments would be calculated. If strange things
-// start happening to the airplane during testing as it rolls to a stop, then we
-// need to implement this change. I ran out of time to do it now but have the
-// equations.
-
-// Transform the forces back to the body frame and compute the moment.
-
- vForce = Propagate->GetTl2b() * vLocalForce;
- vMoment = vWhlBodyVec * vForce;
-
- } else { // Gear is NOT compressed
-
- WOW = false;
-
- // Return to neutral position between 1.0 and 0.8 gear pos.
- SteerAngle *= max(FCS->GetGearPos()-0.8, 0.0)/0.2;
-
- if (Propagate->GetDistanceAGL() > 200.0) {
- FirstContact = false;
- StartedGroundRun = false;
- LandingReported = false;
- LandingDistanceTraveled = 0.0;
- MaximumStrutForce = MaximumStrutTravel = 0.0;
- }
-
- compressLength = 0.0; // reset compressLength to zero for data output validity
- }
-
- if (FirstContact) LandingDistanceTraveled += Auxiliary->GetVground()*deltaT;
-
- if (StartedGroundRun) {
- TakeoffDistanceTraveled50ft += Auxiliary->GetVground()*deltaT;
- if (WOW) TakeoffDistanceTraveled += Auxiliary->GetVground()*deltaT;
- }
-
- if (ReportEnable && Auxiliary->GetVground() <= 0.05 && !LandingReported) {
- if (debug_lvl > 0) Report(erLand);
- }
-
- if (ReportEnable && !TakeoffReported &&
- (vLocalGear(eZ) - Propagate->GetDistanceAGL()) < -50.0)
- {
- if (debug_lvl > 0) Report(erTakeoff);
- }
-
- if (lastWOW != WOW) {
- PutMessage("GEAR_CONTACT: " + name, WOW);
- }
-
- lastWOW = WOW;
-
-// Crash detection logic (really out-of-bounds detection)
-
- if (compressLength > 500.0 ||
- vForce.Magnitude() > 100000000.0 ||
- vMoment.Magnitude() > 5000000000.0 ||
- SinkRate > 1.4666*30)
- {
- PutMessage("Crash Detected: Simulation FREEZE.");
- Exec->Freeze();
- }
- }
- return vForce;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGLGear::Report(ReportType repType)
-{
- switch(repType) {
- case erLand:
- cout << endl << "Touchdown report for " << name << endl;
- cout << " Sink rate at contact: " << SinkRate << " fps, "
- << SinkRate*0.3048 << " mps" << endl;
- cout << " Contact ground speed: " << GroundSpeed*.5925 << " knots, "
- << GroundSpeed*0.3048 << " mps" << endl;
- cout << " Maximum contact force: " << MaximumStrutForce << " lbs, "
- << MaximumStrutForce*4.448 << " Newtons" << endl;
- cout << " Maximum strut travel: " << MaximumStrutTravel*12.0 << " inches, "
- << MaximumStrutTravel*30.48 << " cm" << endl;
- cout << " Distance traveled: " << LandingDistanceTraveled << " ft, "
- << LandingDistanceTraveled*0.3048 << " meters" << endl;
- LandingReported = true;
- break;
- case erTakeoff:
- cout << endl << "Takeoff report for " << name << endl;
- cout << " Distance traveled: " << TakeoffDistanceTraveled
- << " ft, " << TakeoffDistanceTraveled*0.3048 << " meters" << endl;
- cout << " Distance traveled (over 50'): " << TakeoffDistanceTraveled50ft
- << " ft, " << TakeoffDistanceTraveled50ft*0.3048 << " meters" << endl;
- TakeoffReported = true;
- break;
- }
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// 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 FGLGear::Debug(int from)
-{
- if (debug_lvl <= 0) return;
-
- if (debug_lvl & 1) { // Standard console startup message output
- if (from == 0) { // Constructor
- cout << " Name: " << name << endl;
- cout << " Location: " << vXYZ << endl;
- cout << " Spring Constant: " << kSpring << endl;
- cout << " Damping Constant: " << bDamp << endl;
- cout << " Dynamic Friction: " << dynamicFCoeff << endl;
- cout << " Static Friction: " << staticFCoeff << endl;
- cout << " Rolling Friction: " << rollingFCoeff << endl;
- cout << " Steering Type: " << sSteerType << endl;
- cout << " Grouping: " << sBrakeGroup << endl;
- cout << " Max Steer Angle: " << maxSteerAngle << endl;
- cout << " Retractable: " << sRetractable << endl;
- }
- }
- if (debug_lvl & 2 ) { // Instantiation/Destruction notification
- if (from == 0) cout << "Instantiated: FGLGear" << endl;
- if (from == 1) cout << "Destroyed: FGLGear" << 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 (debug_lvl & 64) {
- if (from == 0) { // Constructor
- cout << IdSrc << endl;
- cout << IdHdr << endl;
- }
- }
-}
-
-} // namespace JSBSim
-
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Header: FGLGear.h
- Author: Jon S. Berndt
- Date started: 11/18/99
-
- ------------- 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.
-
-HISTORY
---------------------------------------------------------------------------------
-11/18/99 JSB Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-SENTRY
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifndef FGLGEAR_H
-#define FGLGEAR_H
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef FGFS
-# include <simgear/compiler.h>
-#endif
-
-#include "FGJSBBase.h"
-#include "FGFDMExec.h"
-#include "FGConfigFile.h"
-#include "FGColumnVector3.h"
-#include <string>
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#define ID_LGEAR "$Id$"
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FORWARD DECLARATIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-namespace JSBSim {
-
-class FGAircraft;
-class FGPropagate;
-class FGFCS;
-class FGState;
-class FGMassBalance;
-class FGAuxiliary;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DOCUMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/** Landing gear model.
- Calculates forces and moments due to landing gear reactions. This is done in
- several steps, and is dependent on what kind of gear is being modeled. Here
- are the parameters that can be specified in the config file for modeling
- landing gear:
- <p>
- <b><u>Physical Characteristics</u></b><br>
- <ol>
- <li>X, Y, Z location, in inches in structural coordinate frame</li>
- <li>Spring constant, in lbs/ft</li>
- <li>Damping coefficient, in lbs/ft/sec</li>
- <li>Dynamic Friction Coefficient</li>
- <li>Static Friction Coefficient</li>
- </ol></p><p>
- <b><u>Operational Properties</b></u><br>
- <ol>
- <li>Name</li>
- <li>Steerability attribute {one of STEERABLE | FIXED | CASTERED}</li>
- <li>Brake Group Membership {one of LEFT | CENTER | RIGHT | NOSE | TAIL | NONE}</li>
- <li>Max Steer Angle, in degrees</li>
- </ol></p>
- <p>
- <b><u>Algorithm and Approach to Modeling</u></b><br>
- <ol>
- <li>Find the location of the uncompressed landing gear relative to the CG of
- the aircraft. Remember, the structural coordinate frame that the aircraft is
- defined in is: X positive towards the tail, Y positive out the right side, Z
- positive upwards. The locations of the various parts are given in inches in
- the config file.</li>
- <li>The vector giving the location of the gear (relative to the cg) is
- rotated 180 degrees about the Y axis to put the coordinates in body frame (X
- positive forwards, Y positive out the right side, Z positive downwards, with
- the origin at the cg). The lengths are also now given in feet.</li>
- <li>The new gear location is now transformed to the local coordinate frame
- using the body-to-local matrix. (Mb2l).</li>
- <li>Knowing the location of the center of gravity relative to the ground
- (height above ground level or AGL) now enables gear deflection to be
- calculated. The gear compression value is the local frame gear Z location
- value minus the height AGL. [Currently, we make the assumption that the gear
- is oriented - and the deflection occurs in - the Z axis only. Additionally,
- the vector to the landing gear is currently not modified - which would
- (correctly) move the point of contact to the actual compressed-gear point of
- contact. Eventually, articulated gear may be modeled, but initially an
- effort must be made to model a generic system.] As an example, say the
- aircraft left main gear location (in local coordinates) is Z = 3 feet
- (positive) and the height AGL is 2 feet. This tells us that the gear is
- compressed 1 foot.</li>
- <li>If the gear is compressed, a Weight-On-Wheels (WOW) flag is set.</li>
- <li>With the compression length calculated, the compression velocity may now
- be calculated. This will be used to determine the damping force in the
- strut. The aircraft rotational rate is multiplied by the vector to the wheel
- to get a wheel velocity in body frame. That velocity vector is then
- transformed into the local coordinate frame.</li>
- <li>The aircraft cg velocity in the local frame is added to the
- just-calculated wheel velocity (due to rotation) to get a total wheel
- velocity in the local frame.</li>
- <li>The compression speed is the Z-component of the vector.</li>
- <li>With the wheel velocity vector no longer needed, it is normalized and
- multiplied by a -1 to reverse it. This will be used in the friction force
- calculation.</li>
- <li>Since the friction force takes place solely in the runway plane, the Z
- coordinate of the normalized wheel velocity vector is set to zero.</li>
- <li>The gear deflection force (the force on the aircraft acting along the
- local frame Z axis) is now calculated given the spring and damper
- coefficients, and the gear deflection speed and stroke length. Keep in mind
- that gear forces always act in the negative direction (in both local and
- body frames), and are not capable of generating a force in the positive
- sense (one that would attract the aircraft to the ground). So, the gear
- forces are always negative - they are limited to values of zero or less. The
- gear force is simply the negative of the sum of the spring compression
- length times the spring coefficient and the gear velocity times the damping
- coefficient.</li>
- <li>The lateral/directional force acting on the aircraft through the landing
-
- gear (along the local frame X and Y axes) is calculated next. First, the
- friction coefficient is multiplied by the recently calculated Z-force. This
- is the friction force. It must be given direction in addition to magnitude.
- We want the components in the local frame X and Y axes. From step 9, above,
- the conditioned wheel velocity vector is taken and the X and Y parts are
- multiplied by the friction force to get the X and Y components of friction.
- </li>
- <li>The wheel force in local frame is next converted to body frame.</li>
- <li>The moment due to the gear force is calculated by multiplying r x F
- (radius to wheel crossed into the wheel force). Both of these operands are
- in body frame.</li>
- </ol>
- @author Jon S. Berndt
- @version $Id$
- @see Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
- NASA-Ames", NASA CR-2497, January 1975
- @see Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
- Wiley & Sons, 1979 ISBN 0-471-03032-5
- @see W. A. Ragsdale, "A Generic Landing Gear Dynamics Model for LASRS++",
- AIAA-2000-4303
-*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-class FGLGear : public FGJSBBase
-{
-public:
- /// Brake grouping enumerators
- enum BrakeGroup {bgNone=0, bgLeft, bgRight, bgCenter, bgNose, bgTail };
- /// Steering group membership enumerators
- enum SteerType {stSteer, stFixed, stCaster};
- /// Report type enumerators
- enum ReportType {erNone=0, erTakeoff, erLand};
- /** Constructor
- @param Executive a pointer to the parent executive object
- @param File a pointer to the config file instance */
- FGLGear(FGConfigFile* File, FGFDMExec* Executive, int number);
- /** Constructor
- @param lgear a reference to an existing FGLGear object */
- FGLGear(const FGLGear& lgear);
- /// Destructor
- ~FGLGear();
-
-
- /// The Force vector for this gear
- FGColumnVector3& Force(void);
- /// The Moment vector for this gear
- FGColumnVector3& Moment(void) {return vMoment;}
-
- /// Gets the location of the gear in Body axes
- FGColumnVector3& GetBodyLocation(void) { return vWhlBodyVec; }
- double GetBodyLocation(int idx) { return vWhlBodyVec(idx); }
-
- FGColumnVector3& GetLocalGear(void) { return vLocalGear; }
- double GetLocalGear(int idx) { return vLocalGear(idx); }
-
- /// Gets the name of the gear
- inline string GetName(void) {return name; }
- /// Gets the Weight On Wheels flag value
- inline bool GetWOW(void) {return WOW; }
- /// Gets the current compressed length of the gear in feet
- inline double GetCompLen(void) {return compressLength;}
- /// Gets the current gear compression velocity in ft/sec
- inline double GetCompVel(void) {return compressSpeed; }
- /// Gets the gear compression force in pounds
- inline double GetCompForce(void) {return Force()(3); }
- inline double GetBrakeFCoeff(void) {return BrakeFCoeff;}
- inline double GetXYZ(int i) {return vXYZ(i);}
-
- /// Gets the current normalized tire pressure
- inline double GetTirePressure(void) { return TirePressureNorm; }
- /// Sets the new normalized tire pressure
- inline void SetTirePressure(double p) { TirePressureNorm = p; }
-
- /// Sets the brake value in percent (0 - 100)
- inline void SetBrake(double bp) {brakePct = bp;}
-
- /** Set the console touchdown reporting feature
- @param flag true turns on touchdown reporting, false turns it off */
- inline void SetReport(bool flag) { ReportEnable = flag; }
- /** Get the console touchdown reporting feature
- @return true if reporting is turned on */
- inline bool GetReport(void) { return ReportEnable; }
- double GetSteerNorm(void) const { return radtodeg/maxSteerAngle*SteerAngle; }
- double GetDefaultSteerAngle(double cmd) const { return cmd*maxSteerAngle; }
- double GetstaticFCoeff(void) { return staticFCoeff; }
- double GetdynamicFCoeff(void) { return dynamicFCoeff; }
- double GetrollingFCoeff(void) { return rollingFCoeff; }
-
- inline int GetBrakeGroup(void) { return (int)eBrakeGrp; }
- inline int GetSteerType(void) { return (int)eSteerType; }
-
- bool GetSteerable(void) const { return eSteerType != stFixed; }
- inline bool GetRetractable(void) const { return isRetractable; }
- inline bool GetGearUnitUp(void) const { return GearUp; }
- inline bool GetGearUnitDown(void) const { return GearDown; }
- inline double GetWheelSideForce(void) const { return SideForce; }
- inline double GetWheelRollForce(void) const { return RollingForce; }
- inline double GetBodyXForce(void) const { return vLocalForce(eX); }
- inline double GetBodyYForce(void) const { return vLocalForce(eY); }
- inline double GetWheelSlipAngle(void) const { return WheelSlip; }
- double GetWheelVel(int axis) const { return vWhlVelVec(axis);}
- double GetkSpring(void) const { return kSpring; }
- double GetbDamp(void) const { return bDamp; }
- double GetmaxSteerAngle(void) const { return maxSteerAngle; }
- string GetsBrakeGroup(void) const { return sBrakeGroup; }
- string GetsRetractable(void) const { return sRetractable; }
- string GetsSteerType(void) const { return sSteerType; }
-
-private:
- int GearNumber;
- FGColumnVector3 vXYZ;
- FGColumnVector3 vMoment;
- FGColumnVector3 vWhlBodyVec;
- FGColumnVector3 vLocalGear;
- FGColumnVector3 vForce;
- FGColumnVector3 vLocalForce;
- FGColumnVector3 vWhlVelVec; // Velocity of this wheel (Local)
- double SteerAngle;
- double kSpring;
- double bDamp;
- double compressLength;
- double compressSpeed;
- double staticFCoeff, dynamicFCoeff, rollingFCoeff;
- double brakePct;
- double BrakeFCoeff;
- double maxCompLen;
- double SinkRate;
- double GroundSpeed;
- double TakeoffDistanceTraveled;
- double TakeoffDistanceTraveled50ft;
- double LandingDistanceTraveled;
- double MaximumStrutForce;
- double MaximumStrutTravel;
- double SideWhlVel, RollingWhlVel;
- double RollingForce, SideForce, FCoeff;
- double WheelSlip;
- double lastWheelSlip;
- double TirePressureNorm;
- bool WOW;
- bool lastWOW;
- bool FirstContact;
- bool StartedGroundRun;
- bool LandingReported;
- bool TakeoffReported;
- bool ReportEnable;
- bool isRetractable;
- bool GearUp, GearDown;
- bool Servicable;
- string name;
- string sSteerType;
- string sBrakeGroup;
- string sRetractable;
-
- BrakeGroup eBrakeGrp;
- SteerType eSteerType;
- double maxSteerAngle;
-
- FGFDMExec* Exec;
- FGState* State;
- FGAircraft* Aircraft;
- FGPropagate* Propagate;
- FGAuxiliary* Auxiliary;
- FGFCS* FCS;
- FGMassBalance* MassBalance;
-
- void Report(ReportType rt);
- void Debug(int from);
-};
-}
-#include "FGAircraft.h"
-#include "FGPropagate.h"
-#include "FGAuxiliary.h"
-#include "FGFCS.h"
-#include "FGMassBalance.h"
-#include "FGState.h"
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-#endif
+++ /dev/null
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Module: FGLocation.cpp
- Author: Jon S. Berndt
- Date started: 04/04/2004
- Purpose: Store an arbitrary location on the globe
-
- ------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) ------------------
- ------- (C) 2004 Mathias Froehlich (Mathias.Froehlich@web.de) ----
-
- 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 encapsulates an arbitrary position in the globe with its accessors.
-It has vector properties, so you can add multiply ....
-
-HISTORY
-------------------------------------------------------------------------------
-04/04/2004 MF Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#ifdef FGFS
-# include <simgear/compiler.h>
-# ifdef SG_HAVE_STD_INCLUDES
-# include <cmath>
-# else
-# include <math.h>
-# endif
-#else
-# if defined(sgi) && !defined(__GNUC__)
-# include <math.h>
-# else
-# include <cmath>
-# endif
-#endif
-
-#include "FGLocation.h"
-#include "FGPropertyManager.h"
-
-namespace JSBSim {
-
-static const char *IdSrc = "$Id$";
-static const char *IdHdr = ID_LOCATION;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-FGLocation::FGLocation(double lon, double lat, double radius)
-{
- mCacheValid = false;
-
- double sinLat = sin(lat);
- double cosLat = cos(lat);
- double sinLon = sin(lon);
- double cosLon = cos(lon);
- mECLoc = FGColumnVector3( radius*cosLat*cosLon,
- radius*cosLat*sinLon,
- radius*sinLat );
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGLocation::SetLongitude(double longitude)
-{
- double rtmp = mECLoc.Magnitude(eX, eY);
- // Check if we have zero radius.
- // If so set it to 1, so that we can set a position
- if (0.0 == mECLoc.Magnitude())
- rtmp = 1.0;
-
- // Fast return if we are on the north or south pole ...
- if (rtmp == 0.0)
- return;
-
- mCacheValid = false;
-
- mECLoc(eX) = rtmp*cos(longitude);
- mECLoc(eY) = rtmp*sin(longitude);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGLocation::SetLatitude(double latitude)
-{
- mCacheValid = false;
-
- double r = mECLoc.Magnitude();
- if (r == 0.0) {
- mECLoc(eX) = 1.0;
- r = 1.0;
- }
-
- double rtmp = mECLoc.Magnitude(eX, eY);
- if (rtmp != 0.0) {
- double fac = r/rtmp*cos(latitude);
- mECLoc(eX) *= fac;
- mECLoc(eY) *= fac;
- } else {
- mECLoc(eX) = r*cos(latitude);
- mECLoc(eY) = 0.0;
- }
- mECLoc(eZ) = r*sin(latitude);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGLocation::SetRadius(double radius)
-{
- mCacheValid = false;
-
- double rold = mECLoc.Magnitude();
- if (rold == 0.0)
- mECLoc(eX) = radius;
- else
- mECLoc *= radius/rold;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGLocation::ComputeDerivedUnconditional(void) const
-{
- // The radius is just the Euclidean norm of the vector.
- mRadius = mECLoc.Magnitude();
-
- // The distance of the location to the y-axis, which is the axis
- // through the poles.
- double rxy = sqrt(mECLoc(eX)*mECLoc(eX) + mECLoc(eY)*mECLoc(eY));
-
- // Compute the sin/cos values of the longitude
- double sinLon, cosLon;
- if (rxy == 0.0) {
- sinLon = 0.0;
- cosLon = 1.0;
- } else {
- sinLon = mECLoc(eY)/rxy;
- cosLon = mECLoc(eX)/rxy;
- }
-
- // Compute the sin/cos values of the latitude
- double sinLat, cosLat;
- if (mRadius == 0.0) {
- sinLat = 0.0;
- cosLat = 1.0;
- } else {
- sinLat = mECLoc(eZ)/mRadius;
- cosLat = rxy/mRadius;
- }
-
- // Compute the longitude and latitude itself
- if ( mECLoc( eX ) == 0.0 && mECLoc( eY ) == 0.0 )
- mLon = 0.0;
- else
- mLon = atan2( mECLoc( eY ), mECLoc( eX ) );
-
- if ( rxy == 0.0 && mECLoc( eZ ) == 0.0 )
- mLat = 0.0;
- else
- mLat = atan2( mECLoc(eZ), rxy );
-
- // Compute the transform matrices from and to the earth centered frame.
- // see Durham Chapter 4, problem 1, page 52
- mTec2l = FGMatrix33( -cosLon*sinLat, -sinLon*sinLat, cosLat,
- -sinLon , cosLon , 0.0 ,
- -cosLon*cosLat, -sinLon*cosLat, -sinLat );
-
- mTl2ec = mTec2l.Transposed();
-
- // Mark the cached values as valid
- mCacheValid = true;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGLocation::bind(FGPropertyManager* PropertyManager, const string& prefix) const
-{
- PropertyManager->Tie(prefix + "lat-gc-rad", (FGLocation*)this,
- &FGLocation::GetLatitude);
- PropertyManager->Tie(prefix + "lat-gc-deg", (FGLocation*)this,
- &FGLocation::GetLatitudeDeg);
- PropertyManager->Tie(prefix + "long-gc-rad", (FGLocation*)this,
- &FGLocation::GetLongitude);
- PropertyManager->Tie(prefix + "long-gc-deg", (FGLocation*)this,
- &FGLocation::GetLongitudeDeg);
- PropertyManager->Tie(prefix + "radius-ft", (FGLocation*)this,
- &FGLocation::GetRadius);
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGLocation::unbind(FGPropertyManager* PropertyManager, const string& prefix) const
-{
- PropertyManager->Untie(prefix + "lat-gc-rad");
- PropertyManager->Untie(prefix + "lat-gc-deg");
- PropertyManager->Untie(prefix + "long-gc-rad");
- PropertyManager->Untie(prefix + "long-gc-deg");
- PropertyManager->Untie(prefix + "radius-ft");
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-} // namespace JSBSim
void FGFunction::bind(void)
{
- string tmp = PropertyManager->mkPropertyName(Prefix + Name, false); // Allow upper case
- PropertyManager->Tie( tmp, this, &FGFunction::GetValue);
+ if ( !Name.empty() ) {
+ string tmp = PropertyManager->mkPropertyName(Prefix + Name, false); // Allow upper case
+ PropertyManager->Tie( tmp, this, &FGFunction::GetValue);
+ }
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
projects / flightgear.git / commitdiff