Updates from Jon.

diff --git a/src/FDM/JSBSim/FGAircraft.cpp b/src/FDM/JSBSim/FGAircraft.cpp
index 82d9e4599555572404e1b3d8e81a23f341a29c62..4fcfc64b432a12d8aa4d77094ead3deb364fef7f 100644 (file)
--- a/src/FDM/JSBSim/FGAircraft.cpp
+++ b/src/FDM/JSBSim/FGAircraft.cpp
@@ -399,7 +399,9 @@ void FGAircraft::FAero(void)
 void FGAircraft::FGear(void)
 {
   if (GearUp) {
+    // crash routine
   } else {
+    
   }
 }
 

diff --git a/src/FDM/JSBSim/FGControls.cpp b/src/FDM/JSBSim/FGControls.cpp
index c4de8a2ef1a759aa1e24d28b174dec7ae3501d5a..58cd62b03c4ca2a039c7d9148798e5b729e62b1b 100644 (file)
--- a/src/FDM/JSBSim/FGControls.cpp
+++ b/src/FDM/JSBSim/FGControls.cpp
@@ -51,8 +51,8 @@ FGControls::~FGControls() {
 
 
 // $Log$
-// Revision 1.3  1999/06/28 15:39:23  curt
-// Updates contributed by Jon Berndt.
+// Revision 1.4  1999/07/31 02:55:24  curt
+// Updates from Jon.
 //
 // Revision 1.1  1999/02/13 01:12:03  curt
 // Initial Revision.

diff --git a/src/FDM/JSBSim/FGControls.h b/src/FDM/JSBSim/FGControls.h
index 6ed9c16bde790e142de6d1a0e7a2a29af07a38cf..9419abd35bc54fafcc410c3d74eb41a2083abef5 100644 (file)
--- a/src/FDM/JSBSim/FGControls.h
+++ b/src/FDM/JSBSim/FGControls.h
@@ -177,8 +177,8 @@ extern FGControls controls;
 
 
 // $Log$
-// Revision 1.3  1999/06/28 15:39:24  curt
-// Updates contributed by Jon Berndt.
+// Revision 1.4  1999/07/31 02:55:24  curt
+// Updates from Jon.
 //
 // Revision 1.1  1999/02/13 01:12:03  curt
 // Initial Revision.

diff --git a/src/FDM/JSBSim/FGFDMExec.cpp b/src/FDM/JSBSim/FGFDMExec.cpp
index e89ee88446e27d7b2d0ef2669df941e67502dadb..2780a14fe829605e0d054ec33b17fd68728d70c7 100644 (file)
--- a/src/FDM/JSBSim/FGFDMExec.cpp
+++ b/src/FDM/JSBSim/FGFDMExec.cpp
@@ -93,7 +93,7 @@ FGFDMExec::FGFDMExec(void)
   Rotation    = new FGRotation(this);
   Position    = new FGPosition(this);
   Auxiliary   = new FGAuxiliary(this);
-  Output      = new FGOutput(this);
+//  Output      = new FGOutput(this);
 
   State       = new FGState(this);
 
@@ -106,7 +106,7 @@ FGFDMExec::FGFDMExec(void)
   if (!Rotation->InitModel())   {cerr << "Rotation model init failed"; Error+=16;}
   if (!Position->InitModel())   {cerr << "Position model init failed"; Error+=32;}
   if (!Auxiliary->InitModel())  {cerr << "Auxiliary model init failed"; Error+=64;}
-  if (!Output->InitModel())     {cerr << "Output model init failed"; Error+=128;}
+//  if (!Output->InitModel())     {cerr << "Output model init failed"; Error+=128;}
 
   Schedule(Atmosphere,  5);
   Schedule(FCS,         1);
@@ -115,7 +115,7 @@ FGFDMExec::FGFDMExec(void)
   Schedule(Translation, 1);
   Schedule(Position,    1);
   Schedule(Auxiliary,   1);
-  Schedule(Output,      1);
+//  Schedule(Output,      1);
 
   terminate = false;
   frozen = false;

diff --git a/src/FDM/JSBSim/FGOutput.cpp b/src/FDM/JSBSim/FGOutput.cpp
index abf5bdcac32f70fa22355702a288d03f96790f15..9094f8997a854eb699a02bb4894bcf552481b276 100644 (file)
--- a/src/FDM/JSBSim/FGOutput.cpp
+++ b/src/FDM/JSBSim/FGOutput.cpp
@@ -196,33 +196,34 @@ void FGOutput::DelimitedOutput(void)
     cout << "N";
     cout << endl;
     FirstPass = false;
-  } else {
-    cout << State->Getsim_time() << ",";
-    cout << State->Geth() << ",";
-    cout << Rotation->Getphi() << ",";
-    cout << Rotation->Gettht() << ",";
-    cout << Rotation->Getpsi() << ",";
-    cout << Atmosphere->Getrho() << ",";
-    cout << State->GetVt() << ",";
-    cout << Translation->GetU() << ",";
-    cout << Translation->GetV() << ",";
-    cout << Translation->GetW() << ",";
-    cout << Position->GetVn() << ",";
-    cout << Position->GetVe() << ",";
-    cout << Position->GetVd() << ",";
-    cout << Translation->GetUdot() << ",";
-    cout << Translation->GetVdot() << ",";
-    cout << Translation->GetWdot() << ",";
-    cout << Aircraft->GetFx() << ",";
-    cout << Aircraft->GetFy() << ",";
-    cout << Aircraft->GetFz() << ",";
-    cout << State->Getlatitude() << ",";
-    cout << State->Getlongitude() << ",";
-    cout << State->Getqbar() << ",";
-    cout << Translation->Getalpha() << ",";
-               cout << Aircraft->GetL() << ",";
-               cout << Aircraft->GetM() << ",";
-               cout << Aircraft->GetN() << "";
-    cout << endl;
   }
+
+  cout << State->Getsim_time() << ",";
+  cout << State->Geth() << ",";
+  cout << Rotation->Getphi() << ",";
+  cout << Rotation->Gettht() << ",";
+  cout << Rotation->Getpsi() << ",";
+  cout << Atmosphere->Getrho() << ",";
+  cout << State->GetVt() << ",";
+  cout << Translation->GetU() << ",";
+  cout << Translation->GetV() << ",";
+  cout << Translation->GetW() << ",";
+  cout << Position->GetVn() << ",";
+  cout << Position->GetVe() << ",";
+  cout << Position->GetVd() << ",";
+  cout << Translation->GetUdot() << ",";
+  cout << Translation->GetVdot() << ",";
+  cout << Translation->GetWdot() << ",";
+  cout << Aircraft->GetFx() << ",";
+  cout << Aircraft->GetFy() << ",";
+  cout << Aircraft->GetFz() << ",";
+  cout << State->Getlatitude() << ",";
+  cout << State->Getlongitude() << ",";
+  cout << State->Getqbar() << ",";
+  cout << Translation->Getalpha() << ",";
+  cout << Aircraft->GetL() << ",";
+  cout << Aircraft->GetM() << ",";
+  cout << Aircraft->GetN() << "";
+  cout << endl;
+
 }

diff --git a/src/FDM/JSBSim/FGState.cpp b/src/FDM/JSBSim/FGState.cpp
index a55abf3b5e2a6a1f55398ab9c0bc44d824d74993..f7df28c17a4490f4486daf4836f712d83dd1baf8 100644 (file)
--- a/src/FDM/JSBSim/FGState.cpp
+++ b/src/FDM/JSBSim/FGState.cpp
@@ -107,51 +107,7 @@ bool FGState::Reset(string path, string fname)
     resetfile >> h;
     resetfile.close();
 
-// Change all angular measurements from degrees (as in config file) to radians
-
-    gamma = 0.0;
-    if (W != 0.0)
-      alpha = U*U > 0.0 ? atan2(W, U) : 0.0;
-    else
-      alpha = 0.0;
-    if (V != 0.0)
-      beta = U*U+W*W > 0.0 ? atan2(V, (fabs(U)/U)*sqrt(U*U + W*W)) : 0.0;
-    else
-      beta = 0.0;
-
-    latitude  *= M_PI / 180.0;
-    longitude *= M_PI / 180.0;
-    phi       *= M_PI / 180.0;
-    tht       *= M_PI / 180.0;
-    psi       *= M_PI / 180.0;
-
-    FDMExec->GetTranslation()->SetUVW(U, V, W);
-    FDMExec->GetRotation()->SetEuler(phi, tht, psi);
-    FDMExec->GetTranslation()->SetABG(alpha, beta, gamma);
-
-    Vt = sqrt(U*U + V*V + W*W);
-    qbar = 0.5*(U*U + V*V + W*W)*FDMExec->GetAtmosphere()->CalcRho(h);
-
-    Q0 =  sin(psi*0.5)*sin(tht*0.5)*sin(phi*0.5) + cos(psi*0.5)*cos(tht*0.5)*cos(phi*0.5);
-    Q1 = -sin(psi*0.5)*sin(tht*0.5)*cos(phi*0.5) + cos(psi*0.5)*cos(tht*0.5)*sin(phi*0.5);
-    Q2 =  sin(psi*0.5)*cos(tht*0.5)*sin(phi*0.5) + cos(psi*0.5)*sin(tht*0.5)*cos(phi*0.5);
-    Q3 =  sin(psi*0.5)*cos(tht*0.5)*cos(phi*0.5) - cos(psi*0.5)*sin(tht*0.5)*sin(phi*0.5);
-
-    FDMExec->GetRotation()->SetQ0123(Q0, Q1, Q2, Q3);
-
-    T[1][1] = Q0*Q0 + Q1*Q1 - Q2*Q2 - Q3*Q3;
-    T[1][2] = 2*(Q1*Q2 + Q0*Q3);
-    T[1][3] = 2*(Q1*Q3 - Q0*Q2);
-    T[2][1] = 2*(Q1*Q2 - Q0*Q3);
-    T[2][2] = Q0*Q0 - Q1*Q1 + Q2*Q2 - Q3*Q3;
-    T[2][3] = 2*(Q2*Q3 + Q0*Q1);
-    T[3][1] = 2*(Q1*Q3 + Q0*Q2);
-    T[3][2] = 2*(Q2*Q3 - Q0*Q1);
-    T[3][3] = Q0*Q0 - Q1*Q1 - Q2*Q2 + Q3*Q3;
-
-    FDMExec->GetPosition()->SetT(T[1][1], T[1][2], T[1][3],
-                                 T[2][1], T[2][2], T[2][3],
-                                 T[3][1], T[3][2], T[3][3]);
+    Initialize(U, V, W, phi, tht, psi, latitude, longitude, h);
 
     return true;
   } else {
@@ -161,6 +117,67 @@ bool FGState::Reset(string path, string fname)
 }
 
 
+void FGState::Initialize(float U, float V, float W,
+                         float phi, float tht, float psi,
+                         float Latitude, float Longitude, float H)
+{
+  float alpha, beta, gamma;
+  float Q0, Q1, Q2, Q3;
+  float T[4][4];
+
+  latitude = Latitude;
+  longitude = Longitude;
+  h = H;
+
+// Change all angular measurements from degrees (as in config file) to radians
+
+  gamma = 0.0;
+  if (W != 0.0)
+    alpha = U*U > 0.0 ? atan2(W, U) : 0.0;
+  else
+    alpha = 0.0;
+  if (V != 0.0)
+    beta = U*U+W*W > 0.0 ? atan2(V, (fabs(U)/U)*sqrt(U*U + W*W)) : 0.0;
+  else
+    beta = 0.0;
+
+  latitude  *= M_PI / 180.0;
+  longitude *= M_PI / 180.0;
+  phi       *= M_PI / 180.0;
+  tht       *= M_PI / 180.0;
+  psi       *= M_PI / 180.0;
+
+  FDMExec->GetTranslation()->SetUVW(U, V, W);
+  FDMExec->GetRotation()->SetEuler(phi, tht, psi);
+  FDMExec->GetTranslation()->SetABG(alpha, beta, gamma);
+
+  Vt = sqrt(U*U + V*V + W*W);
+  qbar = 0.5*(U*U + V*V + W*W)*FDMExec->GetAtmosphere()->CalcRho(h);
+
+  Q0 =  sin(psi*0.5)*sin(tht*0.5)*sin(phi*0.5) + cos(psi*0.5)*cos(tht*0.5)*cos(phi*0.5);
+  Q1 = -sin(psi*0.5)*sin(tht*0.5)*cos(phi*0.5) + cos(psi*0.5)*cos(tht*0.5)*sin(phi*0.5);
+  Q2 =  sin(psi*0.5)*cos(tht*0.5)*sin(phi*0.5) + cos(psi*0.5)*sin(tht*0.5)*cos(phi*0.5);
+  Q3 =  sin(psi*0.5)*cos(tht*0.5)*cos(phi*0.5) - cos(psi*0.5)*sin(tht*0.5)*sin(phi*0.5);
+
+  FDMExec->GetRotation()->SetQ0123(Q0, Q1, Q2, Q3);
+
+  T[1][1] = Q0*Q0 + Q1*Q1 - Q2*Q2 - Q3*Q3;
+  T[1][2] = 2*(Q1*Q2 + Q0*Q3);
+  T[1][3] = 2*(Q1*Q3 - Q0*Q2);
+  T[2][1] = 2*(Q1*Q2 - Q0*Q3);
+  T[2][2] = Q0*Q0 - Q1*Q1 + Q2*Q2 - Q3*Q3;
+  T[2][3] = 2*(Q2*Q3 + Q0*Q1);
+  T[3][1] = 2*(Q1*Q3 + Q0*Q2);
+  T[3][2] = 2*(Q2*Q3 - Q0*Q1);
+  T[3][3] = Q0*Q0 - Q1*Q1 - Q2*Q2 + Q3*Q3;
+
+  FDMExec->GetPosition()->SetT(T[1][1], T[1][2], T[1][3],
+                               T[2][1], T[2][2], T[2][3],
+                               T[3][1], T[3][2], T[3][3]);
+  DisplayData();
+}
+
+
 bool FGState::StoreData(string fname)
 {
   ofstream datafile(fname.c_str());

diff --git a/src/FDM/JSBSim/FGState.h b/src/FDM/JSBSim/FGState.h
index 7ac238e74b4490fa107cf1c18c34230cb02f9d24..d1150ee057106ad08803e0c82316a4fd1e6329d3 100644 (file)
--- a/src/FDM/JSBSim/FGState.h
+++ b/src/FDM/JSBSim/FGState.h
@@ -78,6 +78,7 @@ public:
   ~FGState(void);
 
   bool Reset(string, string);
+  void Initialize(float, float, float, float, float, float, float, float, float);
   bool StoreData(string);
   bool DumpData(string);
   bool DisplayData(void);