----------------------------------------------------------------------------
- GENEALOGY: Renamed navion_gear.c originally created 931012 by E. B. Jackson
-
+ GENEALOGY: Created 931012 by E. B. Jackson
----------------------------------------------------------------------------
$Header$
$Log$
-Revision 1.6 1999/08/08 15:12:33 curt
+Revision 1.7 1999/08/17 19:18:16 curt
Updates from Tony.
-Revision 1.1.1.1 1999/04/05 21:32:45 curt
-Start of 0.6.x branch.
-
-Revision 1.6 1998/10/17 01:34:16 curt
-C++ ifying ...
-
-Revision 1.5 1998/09/29 02:03:00 curt
-Added a brake + autopilot mods.
-
-Revision 1.4 1998/08/06 12:46:40 curt
-Header change.
-
-Revision 1.3 1998/02/03 23:20:18 curt
-Lots of little tweaks to fix various consistency problems discovered by
-Solaris' CC. Fixed a bug in fg_debug.c with how the fgPrintf() wrapper
-passed arguments along to the real printf(). Also incorporated HUD changes
-by Michele America.
-
-Revision 1.2 1998/01/19 18:40:29 curt
-Tons of little changes to clean up the code and to remove fatal errors
-when building with the c++ compiler.
-
-Revision 1.1 1997/05/29 00:10:02 curt
-Initial Flight Gear revision.
-
----------------------------------------------------------------------------
#include "ls_generic.h"
#include "ls_cockpit.h"
-/* SCALAR Brake_pct; */
-void sub3( DATA v1[], DATA v2[], DATA result[] )
+
+sub3( DATA v1[], DATA v2[], DATA result[] )
{
result[0] = v1[0] - v2[0];
result[1] = v1[1] - v2[1];
result[2] = v1[2] - v2[2];
}
-void add3( DATA v1[], DATA v2[], DATA result[] )
+add3( DATA v1[], DATA v2[], DATA result[] )
{
result[0] = v1[0] + v2[0];
result[1] = v1[1] + v2[1];
result[2] = v1[2] + v2[2];
}
-void cross3( DATA v1[], DATA v2[], DATA result[] )
+cross3( DATA v1[], DATA v2[], DATA result[] )
{
result[0] = v1[1]*v2[2] - v1[2]*v2[1];
result[1] = v1[2]*v2[0] - v1[0]*v2[2];
result[2] = v1[0]*v2[1] - v1[1]*v2[0];
}
-void multtrans3x3by3( DATA m[][3], DATA v[], DATA result[] )
+multtrans3x3by3( DATA m[][3], DATA v[], DATA result[] )
{
result[0] = m[0][0]*v[0] + m[1][0]*v[1] + m[2][0]*v[2];
result[1] = m[0][1]*v[0] + m[1][1]*v[1] + m[2][1]*v[2];
result[2] = m[0][2]*v[0] + m[1][2]*v[1] + m[2][2]*v[2];
}
-void mult3x3by3( DATA m[][3], DATA v[], DATA result[] )
+mult3x3by3( DATA m[][3], DATA v[], DATA result[] )
{
result[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2];
result[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2];
result[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2];
}
-void clear3( DATA v[] )
+clear3( DATA v[] )
{
v[0] = 0.; v[1] = 0.; v[2] = 0.;
}
-void gear( SCALAR dt, int Initialize ) {
+gear()
+{
char rcsid[] = "$Id$";
-
-
/*
* Aircraft specific initializations and data goes here
*/
* V V
*/
-
+
static DATA sliding_mu = 0.5;
static DATA rolling_mu = 0.01;
static DATA max_brake_mu = 0.6;
int i; /* per wheel loop counter */
- Brake_pct=0;
-
/*
* Execution starts here
*/
* Put aircraft specific executable code here
*/
- /* replace with cockpit brake handle connection code */
- percent_brake[1] = Brake_pct;
+ percent_brake[1] = 0.; /* replace with cockpit brake handle connection code */
percent_brake[2] = percent_brake[1];
caster_angle_rad[0] = 0.03*Rudder_pedal;
double latitude,longitude,altitude;
double vc,alpha,beta,gamma;
double theta,phi,psi;
+ double weight,cg;
int use_gamma_tmg;
}InitialConditions;
// vc knots (calibrated airspeed, close to indicated)
// altitude ft
// all angles in degrees
+// weight lbs
+// cg %MAC
// if use_gamma_tmg =1 then theta will be computed
// from theta=alpha+gamma and the value given will
// be ignored. Otherwise gamma is computed from
SCALAR alphar,betar,thetar,phir,psir,gammar;
SCALAR sigma,ps,Ts,a;
+ Mass=IC.weight*INVG;
+ Dx_cg=(IC.cg-0.25)*4.9;
+
Latitude=IC.latitude*DEG_TO_RAD;
Longitude=IC.longitude*DEG_TO_RAD;
Altitude=IC.altitude;
double tol=1E-3;
double a_tol=tol/10;
double alpha_step=0.001;
- int k=0,i,j=0,jmax=75,sum=0;
+ int k=0,i,j=0,jmax=10,sum=0;
ls_loop(0.0,-1);
do{
//printf("k: %d\n",k);
return k;
}
+int trim_ground(int kmax, InitialConditions IC)
+{
+ double elevator,alpha,qdot_prev,alt_prev,step;
+ double tol=1E-3;
+ double a_tol=tol/10;
+ double alpha_step=0.001;
+ int k=0,i,j=0,jmax=40,sum=0,m=0;
+ Throttle_pct=0;
+ Brake_pct=1;
+ Theta=5*DEG_TO_RAD;
+ IC.altitude=Runway_altitude;
+ printf("udot: %g\n",U_dot_body);
+ setIC(IC);
+ printf("Altitude: %g, Runway_altitude: %g\n",Altitude,Runway_altitude);
+ qdot_prev=1.0E6;
+
+ ls_loop(0.0,-1);
+
+ do{
+ //printf("k: %d\n",k);
+ step=1;
+ printf("IC.altitude: %g, Altitude: %g, Runway_altitude: %g,wdot: %g,F_Z_gear: %g, M_m_gear: %g,F_Z: %g\n",IC.altitude,Altitude,Runway_altitude,W_dot_body,F_Z_gear,M_m_gear,F_Z);
+
+ m=0;
+ while((fabs(W_dot_body) > tol) && (m < 10))
+ {
+
+ j=0;
+
+ do{
+ alt_prev=IC.altitude;
+ IC.altitude+=step;
+ setIC(IC);
+ ls_loop(0.0,-1);
+ printf("IC.altitude: %g, Altitude: %g, Runway_altitude: %g,wdot: %g,F_Z: %g\n",IC.altitude,Altitude,Runway_altitude,W_dot_body,F_Z);
+ j++;
+ }while((W_dot_body < 0) && (j < jmax));
+ IC.altitude-=step;
+ step/=10;
+ printf("step: %g\n",step);
+ m++;
+
+ }
+ sum+=j;
+ printf("IC.altitude: %g, Altitude: %g, Runway_altitude: %g,wdot: %g,F_Z_gear: %g, M_m_gear: %g,F_Z: %g\n",IC.altitude,Altitude,Runway_altitude,W_dot_body,F_Z_gear,M_m_gear,F_Z);
+
+ j=0;
+
+ while((Q_dot_body <= qdot_prev) && (j < jmax))
+ {
+
+
+ qdot_prev=Q_dot_body;
+ IC.theta+=Q_dot_body;
+ setIC(IC);
+ ls_loop(0.0,-1);
+ j++;
+
+ printf("\tTheta: %7.4f, qdot: %10.6f, qdot_prev: %10.6f, j: %d\n",Theta*RAD_TO_DEG,Q_dot_body,qdot_prev,j);
+ }
+ IC.theta-=qdot_prev;
+ sum+=j;
+
+ printf("\tTheta: %7.4f, qdot: %10.6f, W_dot_body: %g\n",Theta,Q_dot_body,W_dot_body);
+ j=0;
+ if(W_dot_body > tol)
+ {
+ step=1;
+ while((W_dot_body > 0) && (j <jmax))
+ {
+ IC.altitude-=step;
+ setIC(IC);
+ ls_loop(0.0,-1);
+ j++;
+ }
+ }
+ k++;j=0;
+ }while(((fabs(W_dot_body) > tol) || (fabs(Q_dot_body) > tol)) && (k < kmax));
+ printf("Total Iterations: %d\n",sum);
+ return k;
+}
void do_trims(int kmax,FILE *out,InitialConditions IC)
{
- int k=0;
- double speed,elevator;
+ int k=0,i;
+ double speed,elevator,cmcl;
out=fopen("trims.out","w");
speed=55;
- while(speed < 150)
+
+ for(i=1;i<=5;i++)
{
- IC.vc=speed;
- Long_control=0;Theta=0;Throttle_pct=0.2;
-
- k=trim_long(kmax,IC);
- if(Long_control <= 0)
- elevator=Long_control*28;
- else
- elevator=Long_control*23;
-
- fprintf(out,"%g,%g,%g,%g,%g,%d\n",V_calibrated_kts,Alpha*RAD_TO_DEG,Long_control,Throttle_pct,Gamma_vert_rad,k);
- printf("%g,%g,%g,%g,%d,%g,%g,%g\n",V_calibrated_kts,Alpha*RAD_TO_DEG,elevator,Throttle_pct,k,W_body,U_body,Q_body);
-
- if(k >= kmax)
- {
- printf("kmax exceeded at: %g knots\n",V_calibrated_kts);
- printf("wdot: %g, udot: %g, qdot: %g\n\n",W_dot_body,U_dot_body,Q_dot_body);
- }
- speed+=10;
- }
+ switch(i)
+ {
+ case 1: IC.weight=1500;IC.cg=0.155;break;
+ case 2: IC.weight=1500;IC.cg=0.364;break;
+ case 3: IC.weight=1950;IC.cg=0.155;break;
+ case 4: IC.weight=2550;IC.cg=0.257;break;
+ case 5: IC.weight=2550;IC.cg=0.364;break;
+ }
+
+ speed=50;
+ while(speed <= 150)
+ {
+ IC.vc=speed;
+ Long_control=0;Theta=0;Throttle_pct=0.0;
+
+ k=trim_long(kmax,IC);
+ if(Long_control <= 0)
+ elevator=Long_control*28;
+ else
+ elevator=Long_control*23;
+ if(fabs(CL) > 1E-3)
+ {
+ cmcl=cm / CL;
+ }
+ if(k < kmax)
+ {
+ fprintf(out,"%g,%g,%g,%g,%g,%d",V_calibrated_kts,Alpha*RAD_TO_DEG,Long_control,Throttle_pct,Gamma_vert_rad,k);
+ fprintf(out,",%g,%g,%g,%g,%g\n",CL,cm,cmcl,Weight,Cg);
+/* printf("%g,%g,%g,%g,%g,%g,%g,%g,%g,%g\n",V_calibrated_kts,Alpha*RAD_TO_DEG,elevator,CL,cm,Cmo,Cma,Cmde,Mass*32.174,Dx_cg);
+ */ }
+ else
+ {
+ printf("kmax exceeded at: %g knots, %g lbs, %g %%MAC\n",V_calibrated_kts,Weight,Cg);
+ printf("wdot: %g, udot: %g, qdot: %g\n\n",W_dot_body,U_dot_body,Q_dot_body);
+
+ }
+ speed+=10;
+ }
+ }
fclose(out);
}
double save_alt = 0.0;
int multiloop=1,k=0,i;
- double time=0,elev_trim,elev_trim_save,elevator,speed;
+ double time=0,elev_trim,elev_trim_save,elevator,speed,cmcl;
FILE *out;
double hgain,hdiffgain,herr,herrprev,herr_diff,htarget;
InitialConditions IC;
Runway_altitude = 18.0;
IC.altitude=strtod(argv[2],NULL);
IC.vc=strtod(argv[1],NULL);
- IC.alpha=strtod(argv[3],NULL);
+ IC.alpha=10;
IC.beta=0;
- IC.gamma=strtod(argv[3],NULL);
- IC.use_gamma_tmg=1;
+ IC.theta=strtod(argv[3],NULL);
+ IC.use_gamma_tmg=0;
IC.phi=0;
IC.psi=0;
+ IC.weight=1500;
+ IC.cg=0.155;
Long_control=strtod(argv[4],NULL);
setIC(IC);
printf("Out setIC\n");
ls_ForceAltitude(IC.altitude);
fgLaRCsimInit(0.01);
- /* printf("trim_long():\n");
- k=trim_long(200,IC); */
-
+ while(IC.alpha < 30.0)
+ {
+ setIC(IC);
+ ls_loop(0.0,-1);
+ printf("CL: %g ,Alpha: %g\n",CL,IC.alpha);
+ IC.alpha+=1.0;
+ }
+ /*trim_ground(10,IC);*/
+ /* printf("%g,%g\n",Theta,Gamma_vert_rad);
+ printf("trim_long():\n");
+ k=trim_long(200,IC);
+ Throttle_pct=Throttle_pct-0.2;
+ printf("%g,%g\n",Theta,Gamma_vert_rad);
+ out=fopen("dive.out","w");
+ time=0;
+ while(time < 30.0)
+ {
+ ls_update(1);
+
+ cmcl=cm/CL;
+ fprintf(out,"%g,%g,%g,%g,%g,%d",V_calibrated_kts,Alpha*RAD_TO_DEG,Long_control,Throttle_pct,Gamma_vert_rad,k);
+ fprintf(out,",%g,%g,%g\n",CL,cm,cmcl);
+ time+=0.01;
+ }
+ fclose(out);
printf("V_rel_wind: %8.2f, Alpha: %8.2f, Beta: %8.2f\n",V_rel_wind,Alpha*RAD_TO_DEG,Beta*RAD_TO_DEG);
printf("Theta: %8.2f, Gamma: %8.2f, Alpha_tmg: %8.2f\n",Theta*RAD_TO_DEG,Gamma_vert_rad*RAD_TO_DEG,Theta*RAD_TO_DEG-Gamma_vert_rad*RAD_TO_DEG);
printf("V_north: %8.2f, V_east_rel_ground: %8.2f, V_east: %8.2f, V_down: %8.2f\n",V_north,V_east_rel_ground,V_east,V_down);
ls_update(1);
printf("V_rel_wind: %8.2f, Alpha: %8.2f, Beta: %8.2f\n",V_rel_wind,Alpha*RAD_TO_DEG,Beta*RAD_TO_DEG);
printf("Theta: %8.2f, Gamma: %8.2f, Alpha_tmg: %8.2f\n",Theta*RAD_TO_DEG,Gamma_vert_rad*RAD_TO_DEG,Theta*RAD_TO_DEG-Gamma_vert_rad*RAD_TO_DEG);
-
+ */
/* Inform LaRCsim of the local terrain altitude */
- do_trims(200,out,IC);
+
return 1;
}
return( 0 );
}
+*/
-// Convert from the LaRCsim generic_ struct to the FGInterface struct
-int fgLaRCsim_2_FGInterface (FGInterface& f) {
-
- // Mass properties and geometry values
- f.set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz );
- // f.set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot );
- f.set_CG_Position( Dx_cg, Dy_cg, Dz_cg );
-
- // Forces
- // f.set_Forces_Body_Total( F_X, F_Y, F_Z );
- // f.set_Forces_Local_Total( F_north, F_east, F_down );
- // f.set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero );
- // f.set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine );
- // f.set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear );
-
- // Moments
- // f.set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp );
- // f.set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg );
- // f.set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero );
- // f.set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine );
- // f.set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear );
-
- // Accelerations
- // f.set_Accels_Local( V_dot_north, V_dot_east, V_dot_down );
- // f.set_Accels_Body( U_dot_body, V_dot_body, W_dot_body );
- // f.set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg );
- // f.set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot );
- // f.set_Accels_CG_Body_N( N_X_cg, N_Y_cg, N_Z_cg );
- // f.set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot );
- // f.set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body );
-
- // Velocities
- f.set_Velocities_Local( V_north, V_east, V_down );
- // f.set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
- // V_down_rel_ground );
- // f.set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
- // V_down_airmass );
- // f.set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
- // V_east_rel_airmass, V_down_rel_airmass );
- // f.set_Velocities_Gust( U_gust, V_gust, W_gust );
- // f.set_Velocities_Wind_Body( U_body, V_body, W_body );
-
- // f.set_V_rel_wind( V_rel_wind );
- // f.set_V_true_kts( V_true_kts );
- // f.set_V_rel_ground( V_rel_ground );
- // f.set_V_inertial( V_inertial );
- // f.set_V_ground_speed( V_ground_speed );
- // f.set_V_equiv( V_equiv );
- f.set_V_equiv_kts( V_equiv_kts );
- // f.set_V_calibrated( V_calibrated );
- // f.set_V_calibrated_kts( V_calibrated_kts );
-
- f.set_Omega_Body( P_body, Q_body, R_body );
- // f.set_Omega_Local( P_local, Q_local, R_local );
- // f.set_Omega_Total( P_total, Q_total, R_total );
-
- // f.set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
- f.set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
-
- FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << Longitude
- << " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
- << " alt = " << Altitude << " sl_radius = " << Sea_level_radius
- << " radius_to_vehicle = " << Radius_to_vehicle );
-
- // Positions
- f.set_Geocentric_Position( Lat_geocentric, Lon_geocentric,
- Radius_to_vehicle );
- f.set_Geodetic_Position( Latitude, Longitude, Altitude );
- f.set_Euler_Angles( Phi, Theta, Psi );
-
- // Miscellaneous quantities
- f.set_T_Local_to_Body(T_local_to_body_m);
- // f.set_Gravity( Gravity );
- // f.set_Centrifugal_relief( Centrifugal_relief );
-
- f.set_Alpha( Alpha );
- f.set_Beta( Beta );
- // f.set_Alpha_dot( Alpha_dot );
- // f.set_Beta_dot( Beta_dot );
-
- // f.set_Cos_alpha( Cos_alpha );
- // f.set_Sin_alpha( Sin_alpha );
- // f.set_Cos_beta( Cos_beta );
- // f.set_Sin_beta( Sin_beta );
-
- // f.set_Cos_phi( Cos_phi );
- // f.set_Sin_phi( Sin_phi );
- // f.set_Cos_theta( Cos_theta );
- // f.set_Sin_theta( Sin_theta );
- // f.set_Cos_psi( Cos_psi );
- // f.set_Sin_psi( Sin_psi );
-
- f.set_Gamma_vert_rad( Gamma_vert_rad );
- // f.set_Gamma_horiz_rad( Gamma_horiz_rad );
-
- // f.set_Sigma( Sigma );
- // f.set_Density( Density );
- // f.set_V_sound( V_sound );
- // f.set_Mach_number( Mach_number );
-
- // f.set_Static_pressure( Static_pressure );
- // f.set_Total_pressure( Total_pressure );
- // f.set_Impact_pressure( Impact_pressure );
- // f.set_Dynamic_pressure( Dynamic_pressure );
-
- // f.set_Static_temperature( Static_temperature );
- // f.set_Total_temperature( Total_temperature );
-
- f.set_Sea_level_radius( Sea_level_radius );
- f.set_Earth_position_angle( Earth_position_angle );
-
- f.set_Runway_altitude( Runway_altitude );
- // f.set_Runway_latitude( Runway_latitude );
- // f.set_Runway_longitude( Runway_longitude );
- // f.set_Runway_heading( Runway_heading );
- // f.set_Radius_to_rwy( Radius_to_rwy );
-
- // f.set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
- // f.set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
- // f.set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
- // D_pilot_above_rwy );
- // f.set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
-
- f.set_sin_lat_geocentric(Lat_geocentric);
- f.set_cos_lat_geocentric(Lat_geocentric);
- f.set_sin_cos_longitude(Longitude);
- f.set_sin_cos_latitude(Latitude);
-
- // printf("sin_lat_geo %f cos_lat_geo %f\n", sin_Lat_geoc, cos_Lat_geoc);
- // printf("sin_lat %f cos_lat %f\n",
- // f.get_sin_latitude(), f.get_cos_latitude());
- // printf("sin_lon %f cos_lon %f\n",
- // f.get_sin_longitude(), f.get_cos_longitude());
-
- return 0;
-} */
-
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