// flaps with transition occuring in uiuc_aerodeflections.cpp
if (use_flaps) {
- fgSetDouble("/surface-positions/flight/flap-pos-norm", flap_pos_pct);
+ fgSetDouble("/surface-positions/flight/flap-pos-norm", flap_pos_norm);
}
// spoilers with transition occurring in uiuc_aerodeflections.cpp
uiuc_aerodeflections.cpp uiuc_aerodeflections.h \
uiuc_aircraftdir.h uiuc_aircraft.h \
uiuc_alh_ap.cpp uiuc_alh_ap.h \
+ uiuc_auto_pilot.cpp uiuc_auto_pilot.h \
uiuc_betaprobe.cpp uiuc_betaprobe.h \
uiuc_coef_drag.cpp uiuc_coef_drag.h \
uiuc_coef_lift.cpp uiuc_coef_lift.h \
uiuc_gear.cpp uiuc_gear.h\
uiuc_get_flapper.cpp uiuc_get_flapper.h \
uiuc_getwind.cpp uiuc_getwind.h \
+ uiuc_hh_ap.cpp uiuc_hh_ap.h \
uiuc_ice.cpp uiuc_ice.h \
uiuc_iceboot.cpp uiuc_iceboot.h \
uiuc_iced_nonlin.cpp uiuc_iced_nonlin.h \
uiuc_menu_functions.cpp uiuc_menu_functions.h \
uiuc_pah_ap.cpp uiuc_pah_ap.h \
uiuc_parsefile.cpp uiuc_parsefile.h \
+ uiuc_rah_ap.cpp uiuc_rah_ap.h \
uiuc_recorder.cpp uiuc_recorder.h \
uiuc_warnings_errors.cpp uiuc_warnings_errors.h \
uiuc_wrapper.cpp uiuc_wrapper.h
03/03/2003 (RD) changed flap code to call
uiuc_find_position to determine
flap position
+ 08/20/2003 (RD) changed spoiler variables and code
+ to match flap conventions. Changed
+ flap_pos_pct to flap_pos_norm
----------------------------------------------------------------------
// determine flap position [rad] with respect to flap command
flap_pos = uiuc_find_position(flap_cmd,flap_increment_per_timestep,flap_pos);
// get the normalized position
- flap_pos_pct = flap_pos/(flap_max * DEG_TO_RAD);
+ flap_pos_norm = flap_pos/(flap_max * DEG_TO_RAD);
}
if(use_spoilers) {
- // angle of spoilers desired [deg]
- spoiler_cmd_deg = Spoiler_handle;
- // amount spoilers move per time step [deg]
- spoiler_increment_per_timestep = spoiler_rate * dt;
- // determine spoiler position with respect to spoiler command
- if (spoiler_pos_deg < spoiler_cmd_deg) {
- spoiler_pos_deg += spoiler_increment_per_timestep;
- if (spoiler_pos_deg > spoiler_cmd_deg)
- spoiler_pos_deg = spoiler_cmd_deg;
- } else if (spoiler_pos_deg > spoiler_cmd_deg) {
- spoiler_pos_deg -= spoiler_increment_per_timestep;
- if (spoiler_pos_deg < spoiler_cmd_deg)
- spoiler_pos_deg = spoiler_cmd_deg;
- }
- spoiler_pos = spoiler_pos_deg * DEG_TO_RAD;
+ // angle of spoilers desired [rad]
+ spoiler_cmd = Spoiler_handle * DEG_TO_RAD;
+ // amount spoilers move per time step [rad/sec]
+ spoiler_increment_per_timestep = spoiler_rate * dt * DEG_TO_RAD;
+ // determine spoiler position [rad] with respect to spoiler command
+ spoiler_pos = uiuc_find_position(spoiler_cmd,spoiler_increment_per_timestep,spoiler_pos);
+ // get the normailized position
+ spoiler_pos_norm = spoiler_pos/(spoiler_max * DEG_TO_RAD);
}
09/18/2002 (MSS) Added downwash options
03/03/2003 (RD) Changed flap_cmd_deg to flap_cmd (rad)
03/16/2003 (RD) Added trigger variables
+ 08/20/2003 (RD) Removed old_flap_routine. Changed spoiler
+ variables to match flap convention. Changed
+ flap_pos_pct to flap_pos_norm
+ 10/31/2003 (RD) Added variables and keywords for pah and alh
+ autopilots
+ 11/04/2003 (RD) Added variables and keywords for rah and hh
+ autopilots
----------------------------------------------------------------------
ignore_unknown_keywords_flag,
trim_case_2_flag,
use_uiuc_network_flag,
- old_flap_routine_flag,
icing_demo_flag,
outside_control_flag};
rudder_stick_gain_flag,
use_elevator_sas_type1_flag,
use_aileron_sas_type1_flag,
- use_rudder_sas_type1_flag};
+ use_rudder_sas_type1_flag,
+ ap_pah_flag, ap_alh_flag, ap_Theta_ref_flag, ap_alt_ref_flag,
+ ap_rah_flag, ap_Phi_ref_flag, ap_hh_flag, ap_Psi_ref_flag};
// controlsMixer == Controls mixer
enum {nomix_flag = 5000};
demo_eps_airspeed_max_flag, demo_eps_airspeed_min_flag,
demo_boot_cycle_tail_flag, demo_boot_cycle_wing_left_flag,
demo_boot_cycle_wing_right_flag, demo_eps_pitch_input_flag,
- tactilefadef_flag, tactile_pitch_flag, demo_ap_Theta_ref_deg_flag,
- demo_ap_pah_on_flag, demo_tactile_flag, demo_ice_tail_flag,
+ tactilefadef_flag, tactile_pitch_flag, demo_ap_pah_on_flag,
+ demo_ap_alh_on_flag, demo_ap_rah_on_flag, demo_ap_hh_on_flag,
+ demo_ap_Theta_ref_flag, demo_ap_alt_ref_flag,
+ demo_ap_Phi_ref_flag, demo_ap_Psi_ref_flag,
+ demo_tactile_flag, demo_ice_tail_flag,
demo_ice_left_flag, demo_ice_right_flag};
// record ===== Record desired quantites to file
Dx_cg_record, Dy_cg_record, Dz_cg_record,
Lat_geocentric_record, Lon_geocentric_record, Radius_to_vehicle_record,
Latitude_record, Longitude_record, Altitude_record,
- Phi_record, Theta_record, Psi_record,
+ Phi_record, Theta_record, Psi_record,
+ Phi_deg_record, Theta_deg_record, Psi_deg_record,
// added to uiuc_map_record1.cpp
V_dot_north_record, V_dot_east_record, V_dot_down_record,
elevator_record, elevator_deg_record,
Lat_control_record, aileron_record, aileron_deg_record,
Rudder_pedal_record, rudder_record, rudder_deg_record,
- Flap_handle_record, flap_record, flap_cmd_record, flap_cmd_deg_record,
- flap_pos_record, flap_pos_deg_record,
+ Flap_handle_record, flap_cmd_record, flap_cmd_deg_record,
+ flap_pos_record, flap_pos_deg_record, flap_pos_norm_record,
Spoiler_handle_record, spoiler_cmd_deg_record,
spoiler_pos_deg_record, spoiler_pos_norm_record, spoiler_pos_record,
+ spoiler_cmd_record,
// added to uiuc_map_record4.cpp
CD_record, CDfaI_record, CDfCLI_record, CDfadeI_record, CDfdfI_record,
M_l_engine_record, M_m_engine_record, M_n_engine_record,
M_l_gear_record, M_m_gear_record, M_n_gear_record,
M_l_rp_record, M_m_rp_record, M_n_rp_record,
+ M_l_cg_record, M_m_cg_record, M_n_cg_record,
// added to uiuc_map_record5.cpp
flapper_freq_record, flapper_phi_record,
debug4_record,
debug5_record,
debug6_record,
+ debug7_record,
+ debug8_record,
+ debug9_record,
+ debug10_record,
// added to uiuc_map_record6.cpp
CL_clean_record, CL_iced_record,
tactilefadefI_record,
// added to uiuc_map_record6.cpp
- ap_Theta_ref_deg_record, ap_pah_on_record, trigger_on_record,
- trigger_num_record, trigger_toggle_record, trigger_counter_record};
+ ap_pah_on_record, ap_alh_on_record, ap_Theta_ref_deg_record,
+ ap_Theta_ref_rad_record, ap_alt_ref_ft_record, trigger_on_record,
+ ap_rah_on_record, ap_Phi_ref_rad_record, ap_Phi_ref_deg_record,
+ ap_hh_on_record, ap_Psi_ref_rad_record, ap_Psi_ref_deg_record,
+ trigger_num_record, trigger_toggle_record, trigger_counter_record,
+
+ // added to uiuc_map_record6.cpp
+ T_local_to_body_11_record, T_local_to_body_12_record,
+ T_local_to_body_13_record, T_local_to_body_21_record,
+ T_local_to_body_22_record, T_local_to_body_23_record,
+ T_local_to_body_31_record, T_local_to_body_32_record,
+ T_local_to_body_33_record};
// misc ======= Miscellaneous inputs
// added to uiuc_map_misc.cpp
-enum {simpleHingeMomentCoef_flag = 17000, dfTimefdf_flag, flapper_flag,
+enum {simpleHingeMomentCoef_flag = 17000, flapper_flag,
flapper_phi_init_flag};
//321654
#define use_uiuc_network aircraft_->use_uiuc_network
#define server_IP aircraft_->server_IP
#define port_num aircraft_->port_num
- bool old_flap_routine;
-#define old_flap_routine aircraft_->old_flap_routine
bool icing_demo;
#define icing_demo aircraft_->icing_demo
bool outside_control;
#define aileron aircraft_->aileron
#define elevator aircraft_->elevator
#define rudder aircraft_->rudder
- double flap;
-#define flap aircraft_->flap
+ // double flap;
+ //#define flap aircraft_->flap
bool set_Long_trim, zero_Long_trim;
double Long_trim_constant;
#define demo_ap_pah_on_daArray aircraft_->demo_ap_pah_on_daArray
#define demo_ap_pah_on_ntime aircraft_->demo_ap_pah_on_ntime
#define demo_ap_pah_on_startTime aircraft_->demo_ap_pah_on_startTime
- bool demo_ap_Theta_ref_deg;
- string demo_ap_Theta_ref_deg_file;
- double demo_ap_Theta_ref_deg_timeArray[10];
- double demo_ap_Theta_ref_deg_daArray[10];
- int demo_ap_Theta_ref_deg_ntime;
- double demo_ap_Theta_ref_deg_startTime;
-#define demo_ap_Theta_ref_deg aircraft_->demo_ap_Theta_ref_deg
-#define demo_ap_Theta_ref_deg_file aircraft_->demo_ap_Theta_ref_deg_file
-#define demo_ap_Theta_ref_deg_timeArray aircraft_->demo_ap_Theta_ref_deg_timeArray
-#define demo_ap_Theta_ref_deg_daArray aircraft_->demo_ap_Theta_ref_deg_daArray
-#define demo_ap_Theta_ref_deg_ntime aircraft_->demo_ap_Theta_ref_deg_ntime
-#define demo_ap_Theta_ref_deg_startTime aircraft_->demo_ap_Theta_ref_deg_startTime
+ bool demo_ap_alh_on;
+ string demo_ap_alh_on_file;
+ double demo_ap_alh_on_timeArray[10];
+ int demo_ap_alh_on_daArray[10];
+ int demo_ap_alh_on_ntime;
+ double demo_ap_alh_on_startTime;
+#define demo_ap_alh_on aircraft_->demo_ap_alh_on
+#define demo_ap_alh_on_file aircraft_->demo_ap_alh_on_file
+#define demo_ap_alh_on_timeArray aircraft_->demo_ap_alh_on_timeArray
+#define demo_ap_alh_on_daArray aircraft_->demo_ap_alh_on_daArray
+#define demo_ap_alh_on_ntime aircraft_->demo_ap_alh_on_ntime
+#define demo_ap_alh_on_startTime aircraft_->demo_ap_alh_on_startTime
+ bool demo_ap_rah_on;
+ string demo_ap_rah_on_file;
+ double demo_ap_rah_on_timeArray[10];
+ int demo_ap_rah_on_daArray[10];
+ int demo_ap_rah_on_ntime;
+ double demo_ap_rah_on_startTime;
+#define demo_ap_rah_on aircraft_->demo_ap_rah_on
+#define demo_ap_rah_on_file aircraft_->demo_ap_rah_on_file
+#define demo_ap_rah_on_timeArray aircraft_->demo_ap_rah_on_timeArray
+#define demo_ap_rah_on_daArray aircraft_->demo_ap_rah_on_daArray
+#define demo_ap_rah_on_ntime aircraft_->demo_ap_rah_on_ntime
+#define demo_ap_rah_on_startTime aircraft_->demo_ap_rah_on_startTime
+ bool demo_ap_hh_on;
+ string demo_ap_hh_on_file;
+ double demo_ap_hh_on_timeArray[10];
+ int demo_ap_hh_on_daArray[10];
+ int demo_ap_hh_on_ntime;
+ double demo_ap_hh_on_startTime;
+#define demo_ap_hh_on aircraft_->demo_ap_hh_on
+#define demo_ap_hh_on_file aircraft_->demo_ap_hh_on_file
+#define demo_ap_hh_on_timeArray aircraft_->demo_ap_hh_on_timeArray
+#define demo_ap_hh_on_daArray aircraft_->demo_ap_hh_on_daArray
+#define demo_ap_hh_on_ntime aircraft_->demo_ap_hh_on_ntime
+#define demo_ap_hh_on_startTime aircraft_->demo_ap_hh_on_startTime
+ bool demo_ap_Theta_ref;
+ string demo_ap_Theta_ref_file;
+ double demo_ap_Theta_ref_timeArray[10];
+ double demo_ap_Theta_ref_daArray[10];
+ int demo_ap_Theta_ref_ntime;
+ double demo_ap_Theta_ref_startTime;
+#define demo_ap_Theta_ref aircraft_->demo_ap_Theta_ref
+#define demo_ap_Theta_ref_file aircraft_->demo_ap_Theta_ref_file
+#define demo_ap_Theta_ref_timeArray aircraft_->demo_ap_Theta_ref_timeArray
+#define demo_ap_Theta_ref_daArray aircraft_->demo_ap_Theta_ref_daArray
+#define demo_ap_Theta_ref_ntime aircraft_->demo_ap_Theta_ref_ntime
+#define demo_ap_Theta_ref_startTime aircraft_->demo_ap_Theta_ref_startTime
+ bool demo_ap_alt_ref;
+ string demo_ap_alt_ref_file;
+ double demo_ap_alt_ref_timeArray[10];
+ double demo_ap_alt_ref_daArray[10];
+ int demo_ap_alt_ref_ntime;
+ double demo_ap_alt_ref_startTime;
+#define demo_ap_alt_ref aircraft_->demo_ap_alt_ref
+#define demo_ap_alt_ref_file aircraft_->demo_ap_alt_ref_file
+#define demo_ap_alt_ref_timeArray aircraft_->demo_ap_alt_ref_timeArray
+#define demo_ap_alt_ref_daArray aircraft_->demo_ap_alt_ref_daArray
+#define demo_ap_alt_ref_ntime aircraft_->demo_ap_alt_ref_ntime
+#define demo_ap_alt_ref_startTime aircraft_->demo_ap_alt_ref_startTime
+ bool demo_ap_Phi_ref;
+ string demo_ap_Phi_ref_file;
+ double demo_ap_Phi_ref_timeArray[10];
+ double demo_ap_Phi_ref_daArray[10];
+ int demo_ap_Phi_ref_ntime;
+ double demo_ap_Phi_ref_startTime;
+#define demo_ap_Phi_ref aircraft_->demo_ap_Phi_ref
+#define demo_ap_Phi_ref_file aircraft_->demo_ap_Phi_ref_file
+#define demo_ap_Phi_ref_timeArray aircraft_->demo_ap_Phi_ref_timeArray
+#define demo_ap_Phi_ref_daArray aircraft_->demo_ap_Phi_ref_daArray
+#define demo_ap_Phi_ref_ntime aircraft_->demo_ap_Phi_ref_ntime
+#define demo_ap_Phi_ref_startTime aircraft_->demo_ap_Phi_ref_startTime
+ bool demo_ap_Psi_ref;
+ string demo_ap_Psi_ref_file;
+ double demo_ap_Psi_ref_timeArray[10];
+ double demo_ap_Psi_ref_daArray[10];
+ int demo_ap_Psi_ref_ntime;
+ double demo_ap_Psi_ref_startTime;
+#define demo_ap_Psi_ref aircraft_->demo_ap_Psi_ref
+#define demo_ap_Psi_ref_file aircraft_->demo_ap_Psi_ref_file
+#define demo_ap_Psi_ref_timeArray aircraft_->demo_ap_Psi_ref_timeArray
+#define demo_ap_Psi_ref_daArray aircraft_->demo_ap_Psi_ref_daArray
+#define demo_ap_Psi_ref_ntime aircraft_->demo_ap_Psi_ref_ntime
+#define demo_ap_Psi_ref_startTime aircraft_->demo_ap_Psi_ref_startTime
bool demo_tactile;
string demo_tactile_file;
double demo_tactile_timeArray[1500];
double simpleHingeMomentCoef;
#define simpleHingeMomentCoef aircraft_->simpleHingeMomentCoef
- string dfTimefdf;
- double dfTimefdf_dfArray[100];
- double dfTimefdf_TimeArray[100];
- int dfTimefdf_ndf;
-#define dfTimefdf aircraft_->dfTimefdf
-#define dfTimefdf_dfArray aircraft_->dfTimefdf_dfArray
-#define dfTimefdf_TimeArray aircraft_->dfTimefdf_TimeArray
-#define dfTimefdf_ndf aircraft_->dfTimefdf_ndf
+ //string dfTimefdf;
+ //double dfTimefdf_dfArray[100];
+ //double dfTimefdf_TimeArray[100];
+ //int dfTimefdf_ndf;
+ //#define dfTimefdf aircraft_->dfTimefdf
+ //#define dfTimefdf_dfArray aircraft_->dfTimefdf_dfArray
+ //#define dfTimefdf_TimeArray aircraft_->dfTimefdf_TimeArray
+ //#define dfTimefdf_ndf aircraft_->dfTimefdf_ndf
FlapData *flapper_data;
#define flapper_data aircraft_->flapper_data
#define dfArray aircraft_->dfArray
#define TimeArray aircraft_->TimeArray
- double flap_percent, flap_increment_per_timestep, flap_cmd, flap_pos, flap_pos_pct;
+ double flap_percent, flap_increment_per_timestep, flap_cmd, flap_pos, flap_pos_norm;
#define flap_percent aircraft_->flap_percent
#define flap_increment_per_timestep aircraft_->flap_increment_per_timestep
#define flap_cmd aircraft_->flap_cmd
- //#define flap_cmd_deg aircraft_->flap_cmd_deg
#define flap_pos aircraft_->flap_pos
- //#define flap_pos_deg aircraft_->flap_pos_deg
-#define flap_pos_pct aircraft_->flap_pos_pct
+#define flap_pos_norm aircraft_->flap_pos_norm
- double Spoiler_handle, spoiler_increment_per_timestep, spoiler_cmd_deg;
- double spoiler_pos_norm, spoiler_pos_deg, spoiler_pos;
+ double Spoiler_handle, spoiler_increment_per_timestep, spoiler_cmd;
+ double spoiler_pos_norm, spoiler_pos;
#define Spoiler_handle aircraft_->Spoiler_handle
#define spoiler_increment_per_timestep aircraft_->spoiler_increment_per_timestep
-#define spoiler_cmd_deg aircraft_->spoiler_cmd_deg
-#define spoiler_pos_deg aircraft_->spoiler_pos_deg
+#define spoiler_cmd aircraft_->spoiler_cmd
#define spoiler_pos_norm aircraft_->spoiler_pos_norm
#define spoiler_pos aircraft_->spoiler_pos
int ap_pah_on;
#define ap_pah_on aircraft_->ap_pah_on
- double ap_Theta_ref_deg, ap_Theta_ref_rad;
-#define ap_Theta_ref_deg aircraft_->ap_Theta_ref_deg
+ double ap_pah_start_time;
+#define ap_pah_start_time aircraft_->ap_pah_start_time
+ double ap_Theta_ref_rad;
#define ap_Theta_ref_rad aircraft_->ap_Theta_ref_rad
int ap_alh_on;
#define ap_alh_on aircraft_->ap_alh_on
- double ap_alt_ref_ft, ap_alt_ref_m;
+ double ap_alh_start_time;
+#define ap_alh_start_time aircraft_->ap_alh_start_time
+ double ap_alt_ref_ft;
#define ap_alt_ref_ft aircraft_->ap_alt_ref_ft
-#define ap_alt_ref_m aircraft_->ap_alt_ref_m
+
+ int ap_rah_on;
+#define ap_rah_on aircraft_->ap_rah_on
+ double ap_rah_start_time;
+#define ap_rah_start_time aircraft_->ap_rah_start_time
+ double ap_Phi_ref_rad;
+#define ap_Phi_ref_rad aircraft_->ap_Phi_ref_rad
+
+ int ap_hh_on;
+#define ap_hh_on aircraft_->ap_hh_on
+ double ap_hh_start_time;
+#define ap_hh_start_time aircraft_->ap_hh_start_time
+ double ap_Psi_ref_rad;
+#define ap_Psi_ref_rad aircraft_->ap_Psi_ref_rad
int pitch_trim_up, pitch_trim_down;
#define pitch_trim_up aircraft_->pitch_trim_up
#define trigger_num aircraft_->trigger_num
#define trigger_toggle aircraft_->trigger_toggle
#define trigger_counter aircraft_->trigger_counter
+
+ // temp debug values
+ double debug7, debug8, debug9, debug10;
+#define debug7 aircraft_->debug7
+#define debug8 aircraft_->debug8
+#define debug9 aircraft_->debug9
+#define debug10 aircraft_->debug10
};
extern AIRCRAFT *aircraft_; // usually defined in the first program that includes uiuc_aircraft.h
#include "uiuc_alh_ap.h"
double alh_ap(double pitch, double pitchrate, double H_ref, double H,
- double V, double sample_t, int init)
+ double V, double sample_time, int init)
{
// changes by RD so function keeps previous values
static double u2prev;
static double x3prev;
static double ubarprev;
- double pi = 3.14159;
-
if (init == 0)
{
u2prev = 0;
Ktheta = -0.0004*V*V + 0.0479*V - 2.409;
Kq = -0.0005*V*V + 0.054*V - 1.5931;
Ki = 0.5;
- Kh = -0.25*pi/180 + (((-0.15 + 0.25)*pi/180)/(20))*(V-60);
+ Kh = -0.25*LS_PI/180 + (((-0.15 + 0.25)*LS_PI/180)/(20))*(V-60);
Kd = -0.0025*V + 0.2875;
double u1,u2,u3,ubar;
- ubar = (1-Kd*sample_t)*ubarprev + Ktheta*pitchrate*sample_t;
+ ubar = (1-Kd*sample_time)*ubarprev + Ktheta*pitchrate*sample_time;
u1 = Kh*(H_ref-H) - ubar;
- u2 = u2prev + Ki*(Kh*(H_ref-H)-ubar)*sample_t;
+ u2 = u2prev + Ki*(Kh*(H_ref-H)-ubar)*sample_time;
u3 = Kq*pitchrate;
double totalU;
totalU = u1 + u2 - u3;
// the following is using the actuator dynamics given in Beaver.
// the actuator dynamics for Twin Otter are still unavailable.
x1 = x1prev +(-10.951*x1prev + 7.2721*x2prev + 20.7985*x3prev +
-25.1568*totalU)*sample_t;
- x2 = x2prev + x3prev*sample_t;
+25.1568*totalU)*sample_time;
+ x2 = x2prev + x3prev*sample_time;
x3 = x3prev + (7.3446*x1prev - 668.6713*x2prev - 16.8697*x3prev +
-5.8694*totalU)*sample_t;
+5.8694*totalU)*sample_time;
deltae = 57.2958*x2;
x1prev = x1;
x2prev = x2;
#ifndef _ALH_AP_H_
#define _ALH_AP_H_
+#include <FDM/LaRCsim/ls_constants.h>
+
double alh_ap(double pitch, double pitchrate, double H_ref, double H,
double V, double sample_t, int init);
--- /dev/null
+/**********************************************************************
+
+ FILENAME: uiuc_auto_pilot.cpp
+
+----------------------------------------------------------------------
+
+ DESCRIPTION: calls autopilot routines
+
+----------------------------------------------------------------------
+
+ STATUS: alpha version
+
+----------------------------------------------------------------------
+
+ REFERENCES:
+
+----------------------------------------------------------------------
+
+ HISTORY: 09/04/2003 initial release (with PAH)
+ 10/31/2003 added ALH autopilot
+ 11/04/2003 added RAH and HH autopilots
+
+----------------------------------------------------------------------
+
+ AUTHOR(S): Robert Deters <rdeters@uiuc.edu>
+
+----------------------------------------------------------------------
+
+ VARIABLES:
+
+----------------------------------------------------------------------
+
+ INPUTS: -V_rel_wind (or U_body)
+ -dyn_on_speed
+ -ice on/off
+ -phugoid on/off
+
+----------------------------------------------------------------------
+
+ OUTPUTS: -CL
+ -CD
+ -Cm
+ -CY
+ -Cl
+ -Cn
+
+----------------------------------------------------------------------
+
+ CALLED BY: uiuc_coefficients
+
+----------------------------------------------------------------------
+
+ CALLS TO: uiuc_coef_lift
+ uiuc_coef_drag
+
+----------------------------------------------------------------------
+
+ COPYRIGHT: (C) 2003 by Michael Selig
+
+ 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.
+
+ 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 or view http://www.gnu.org/copyleft/gpl.html.
+
+**********************************************************************/
+
+#include "uiuc_auto_pilot.h"
+//#include <stdio.h>
+void uiuc_auto_pilot(double dt)
+{
+ double V_rel_wind_ms;
+ double Altitude_m;
+ //static bool ap_pah_on_prev = false;
+ static int ap_pah_init = 0;
+ //static bool ap_alh_on_prev = false;
+ static int ap_alh_init = 0;
+ static int ap_rah_init = 0;
+ static int ap_hh_init = 0;
+ double ap_alt_ref_m;
+ double bw_m;
+ double ail_rud[2];
+ V_rel_wind_ms = V_rel_wind * 0.3048;
+ Altitude_m = Altitude * 0.3048;
+
+ if (ap_pah_on && icing_demo==false && Simtime>=ap_pah_start_time)
+ {
+ //ap_Theta_ref_rad = ap_Theta_ref_deg * DEG_TO_RAD;
+ //if (ap_pah_on_prev == false) {
+ //ap_pah_init = 1;
+ //ap_pah_on_prev = true;
+ //}
+ elevator = pah_ap(Theta, Theta_dot, ap_Theta_ref_rad, V_rel_wind_ms, dt,
+ ap_pah_init);
+ if (elevator*RAD_TO_DEG <= -1*demax)
+ elevator = -1*demax * DEG_TO_RAD;
+ if (elevator*RAD_TO_DEG >= demin)
+ elevator = demin * DEG_TO_RAD;
+ pilot_elev_no=true;
+ ap_pah_init=1;
+ //printf("elv1=%f\n",elevator);
+ }
+
+ if (ap_alh_on && icing_demo==false && Simtime>=ap_alh_start_time)
+ {
+ ap_alt_ref_m = ap_alt_ref_ft * 0.3048;
+ //if (ap_alh_on_prev == false)
+ //ap_alh_init = 0;
+ elevator = alh_ap(Theta, Theta_dot, ap_alt_ref_m, Altitude_m,
+ V_rel_wind_ms, dt, ap_alh_init);
+ if (elevator*RAD_TO_DEG <= -1*demax)
+ elevator = -1*demax * DEG_TO_RAD;
+ if (elevator*RAD_TO_DEG >= demin)
+ elevator = demin * DEG_TO_RAD;
+ pilot_elev_no=true;
+ ap_alh_init = 1;
+ }
+
+ if (ap_rah_on && icing_demo==false && Simtime>=ap_rah_start_time)
+ {
+ bw_m = bw * 0.3048;
+ rah_ap(Phi, Phi_dot, ap_Phi_ref_rad, V_rel_wind_ms, dt,
+ bw_m, Psi_dot, ail_rud, ap_rah_init);
+ aileron = ail_rud[0];
+ rudder = ail_rud[1];
+ if (aileron*RAD_TO_DEG <= -1*damax)
+ aileron = -1*damax * DEG_TO_RAD;
+ if (aileron*RAD_TO_DEG >= damin)
+ aileron = damin * DEG_TO_RAD;
+ if (rudder*RAD_TO_DEG <= -1*drmax)
+ rudder = -1*drmax * DEG_TO_RAD;
+ if (rudder*RAD_TO_DEG >= drmin)
+ rudder = drmin * DEG_TO_RAD;
+ pilot_ail_no=true;
+ pilot_rud_no=true;
+ ap_rah_init = 1;
+ }
+
+ if (ap_hh_on && icing_demo==false && Simtime>=ap_hh_start_time)
+ {
+ bw_m = bw * 0.3048;
+ hh_ap(Phi, Psi, Phi_dot, ap_Psi_ref_rad, V_rel_wind_ms, dt,
+ bw_m, Psi_dot, ail_rud, ap_hh_init);
+ aileron = ail_rud[0];
+ rudder = ail_rud[1];
+ if (aileron*RAD_TO_DEG <= -1*damax)
+ aileron = -1*damax * DEG_TO_RAD;
+ if (aileron*RAD_TO_DEG >= damin)
+ aileron = damin * DEG_TO_RAD;
+ if (rudder*RAD_TO_DEG <= -1*drmax)
+ rudder = -1*drmax * DEG_TO_RAD;
+ if (rudder*RAD_TO_DEG >= drmin)
+ rudder = drmin * DEG_TO_RAD;
+ pilot_ail_no=true;
+ pilot_rud_no=true;
+ ap_hh_init = 1;
+ }
+}
--- /dev/null
+#ifndef _AUTO_PILOT_H_
+#define _AUTO_PILOT_H_
+
+#include "uiuc_aircraft.h"
+#include "uiuc_pah_ap.h"
+#include "uiuc_alh_ap.h"
+#include "uiuc_rah_ap.h"
+#include "uiuc_hh_ap.h"
+#include <FDM/LaRCsim/ls_generic.h>
+#include <FDM/LaRCsim/ls_constants.h> /* RAD_TO_DEG, DEG_TO_RAD*/
+
+extern double Simtime;
+
+void uiuc_auto_pilot(double dt);
+
+#endif // _AUTO_PILOT_H_
CLfdfI = uiuc_1Dinterpolation(CLfdf_dfArray,
CLfdf_CLArray,
CLfdf_ndf,
- flap);
+ flap_pos);
CL += CLfdfI;
break;
}
CLfadf_nAlphaArray,
CLfadf_ndf,
Std_Alpha,
- flap);
+ flap_pos);
CL += CLfadfI;
break;
}
Added pilot_elev_no, pilot_ail_no, and
pilot_rud_no.
07/05/2001 (RD) Added pilot_(elev,ail,rud)_no=false
- 01/11/2002 (AP) Added call to uiuc_bootTime()
+ 01/11/2002 (AP) Added call to uiuc_iceboot()
12/02/2002 (RD) Moved icing demo interpolations to its
own function
static string uiuc_coefficients_error = " (from uiuc_coefficients.cpp) ";
double l_trim, l_defl;
double V_rel_wind_dum, U_body_dum;
- static bool ap_pah_on_prev = false;
- int ap_pah_init = 1;
- static bool ap_alh_on_prev = false;
- int ap_alh_init = 1;
if (Alpha_init_true && Simtime==0)
Std_Alpha = Alpha_init;
uiuc_controlInput();
}
- if (ap_pah_on && icing_demo==false)
- {
- double V_rel_wind_ms;
- V_rel_wind_ms = V_rel_wind * 0.3048;
- ap_Theta_ref_rad = ap_Theta_ref_deg * DEG_TO_RAD;
- if (ap_pah_on_prev == false)
- ap_pah_init = 0;
- elevator = pah_ap(Theta, Theta_dot, ap_Theta_ref_rad, V_rel_wind_ms, dt,
- ap_pah_init);
- if (elevator*RAD_TO_DEG <= -1*demax)
- elevator = -1*demax * DEG_TO_RAD;
- if (elevator*RAD_TO_DEG >= demin)
- elevator = demin * DEG_TO_RAD;
- pilot_elev_no=true;
- }
+ //if (Simtime >=10.0)
+ // {
+ // ap_hh_on = 1;
+ // ap_Psi_ref_rad = 0*DEG_TO_RAD;
+ // }
- if (ap_alh_on && icing_demo==false)
+ if (ap_pah_on || ap_alh_on || ap_rah_on || ap_hh_on)
{
- double V_rel_wind_ms;
- double Altitude_m;
- V_rel_wind_ms = V_rel_wind * 0.3048;
- ap_alt_ref_m = ap_alt_ref_ft * 0.3048;
- Altitude_m = Altitude * 0.3048;
- if (ap_alh_on_prev == false)
- ap_alh_init = 0;
- elevator = alh_ap(Theta, Theta_dot, ap_alt_ref_m, Altitude_m,
- V_rel_wind_ms, dt, ap_alh_init);
- if (elevator*RAD_TO_DEG <= -1*demax)
- elevator = -1*demax * DEG_TO_RAD;
- if (elevator*RAD_TO_DEG >= demin)
- elevator = demin * DEG_TO_RAD;
- pilot_elev_no=true;
+ uiuc_auto_pilot(dt);
}
CD = CX = CL = CZ = Cm = CY = Cl = Cn = 0.0;
#include "uiuc_iceboot.h" //Anne's code
#include "uiuc_iced_nonlin.h"
#include "uiuc_icing_demo.h"
-#include "uiuc_pah_ap.h"
-#include "uiuc_alh_ap.h"
+#include "uiuc_auto_pilot.h"
#include "uiuc_1Dinterpolation.h"
#include "uiuc_3Dinterpolation.h"
#include "uiuc_warnings_errors.h"
--- /dev/null
+// * *
+// * hh_ap.C *
+// * *
+// * Heading Hold autopilot function. takes in *
+// * the state *
+// * variables and reference angle as arguments *
+// * (there are other variable too as arguments *
+// * as listed below) *
+// * and returns the aileron and rudder deflection *
+// * angle at every time step *
+// * *
+// * *
+// * Written 2/14/03 by Vikrant Sharma *
+// * *
+// *****************************************************
+
+//#include <iostream.h>
+//#include <stddef.h>
+
+// define u2prev,x1prev,x2prev,x3prev,x4prev,x5prev and x6prev in the main
+// function
+// that uses this autopilot function. give them initial values at origin.
+// Pass these values to the A/P function as an argument and pass by
+// reference
+// Parameters passed as arguments to the function:
+// yaw - current yaw angle difference from the trim value
+// phi - Current roll angle ,,,,,,,,,,,,,,,,,,,,
+// rollrate - current rate of change of roll angle
+// yawrate - current rate of change of yaw angle
+// b - the wingspan
+// yaw_ref - reference yaw angle to be tracked (amount of increase/decrease desired from the trim)
+// sample_t - sampling time
+// V - aircraft's current velocity
+// u2prev - u2 value at the previous time step.
+// x1prev - x1 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
+// x2prev - x2 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
+// x3prev - x3 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
+// x4prev - x4 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
+// x5prev - x5 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
+// x6prev - x6 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
+// the autpilot function (rah_ap) changes these values at every time step.
+// so the simulator guys don't have to do it. Since these values are
+// passed by reference to the function.
+
+// Another important thing to do and for you simulator guys to check is the
+// way I return the the deltaa (aileron deflection) and deltar (rudder deflection).
+// I expect you guys to define an array that holds two float values. The first entry
+// is for deltaa and the second for deltar and the pointer to this array (ctr_ptr) is also
+// one of the arguments for the function rah_ap and then this function updates the value for
+// deltae and deltaa every time its called. PLEASE CHECK IF THE SYNTAX IS RIGHT. Also note that
+// these values have to be added to the initial trim values of the control deflection to get the
+// entire control deflection.
+
+#include "uiuc_hh_ap.h"
+
+// (RD) changed float to double
+
+void hh_ap(double phi, double yaw, double phirate, double yaw_ref,
+ double V, double sample_time, double b, double yawrate,
+ double ctr_defl[2], int init)
+{
+
+ static double u2prev;
+ static double x1prev;
+ static double x2prev;
+ static double x3prev;
+ static double x4prev;
+ static double x5prev;
+ static double x6prev;
+
+ if (init==0)
+ {
+ u2prev = 0;
+ x1prev = 0;
+ x2prev = 0;
+ x3prev = 0;
+ x4prev = 0;
+ x5prev = 0;
+ x6prev = 0;
+ }
+
+ double Kphi, Kyaw;
+ double Kr;
+ double Ki;
+ double drr;
+ double dar;
+ double deltar;
+ double deltaa;
+ double x1, x2, x3, x4, x5, x6, phi_ref;
+ Kphi = 0.000975*V*V - 0.108*V + 2.335625;
+ Kr = -4;
+ Ki = 0.25;
+ Kyaw = 0.05*V-1.1;
+ dar = 0.165;
+ drr = -0.000075*V*V + 0.0095*V -0.4606;
+ double u1,u2,u3,u4,u5,u6,u7,ubar,udbar;
+ phi_ref = Kyaw*(yaw_ref-yaw);
+ u1 = Kphi*(phi_ref-phi);
+ u2 = u2prev + Ki*Kphi*(phi_ref-phi)*sample_time;
+ u3 = dar*yawrate;
+ u4 = u1 + u2 + u3;
+ u2prev = u2;
+ double K1,K2;
+ K1 = Kr*9.8*sin(phi)/V;
+ K2 = drr - Kr;
+ u5 = K2*yawrate;
+ u6 = K1*phi;
+ u7 = u5 + u6;
+ ubar = phirate*b/(2*V);
+ udbar = yawrate*b/(2*V);
+// the following is using the actuator dynamics to get the aileron
+// angle, given in Beaver.
+// the actuator dynamics for Twin Otter are still unavailable.
+ x1 = x1prev +(-10.6*x1prev - 2.64*x2prev -7.58*x3prev +
+27.46*u4 -0.0008*ubar)*sample_time;
+ x2 = x2prev + x3prev*sample_time;
+ x3 = x3prev + (1.09*x1prev - 558.86*x2prev - 23.35*x3prev +
+3.02*u4 - 0.164*ubar)*sample_time;
+ deltaa = 57.3*x2;
+ x1prev = x1;
+ x2prev = x2;
+ x3prev = x3;
+
+// the following is using the actuator dynamics to get the rudder
+// angle, given in Beaver.
+// the actuator dynamics for Twin Otter are still unavailable.
+ x4 = x4prev +(-9.2131*x4prev + 5.52*x5prev + 16*x6prev +
+24.571*u7 + 0.0036*udbar)*sample_time;
+ x5 = x5prev + x6prev*sample_time;
+ x6 = x6prev + (0.672*x4prev - 919.78*x5prev - 56.453*x6prev +
+7.54*u7 - 0.636*udbar)*sample_time;
+ deltar = 57.3*x5;
+ x4prev = x4;
+ x5prev = x5;
+ x6prev = x6;
+ ctr_defl[0] = deltaa;
+ ctr_defl[1] = deltar;
+return;
+}
--- /dev/null
+
+#ifndef _HH_AP_H_
+#define _HH_AP_H_
+
+#include <FDM/LaRCsim/ls_constants.h>
+#include <cmath>
+
+void hh_ap(double phi, double yaw, double phirate, double yaw_ref,
+ double V, double sample_time, double b, double yawrate,
+ double ctr_defl[2], int init);
+
+#endif //_HH_AP_H_
demo_ap_pah_on_ntime,
time);
}
- if (demo_ap_Theta_ref_deg){
- double time = Simtime - demo_ap_Theta_ref_deg_startTime;
- ap_Theta_ref_deg = uiuc_1Dinterpolation(demo_ap_Theta_ref_deg_timeArray,
- demo_ap_Theta_ref_deg_daArray,
- demo_ap_Theta_ref_deg_ntime,
+ if (demo_ap_alh_on){
+ double time = Simtime - demo_ap_alh_on_startTime;
+ ap_alh_on = uiuc_1Dinterpolation(demo_ap_alh_on_timeArray,
+ demo_ap_alh_on_daArray,
+ demo_ap_alh_on_ntime,
+ time);
+ }
+ if (demo_ap_rah_on){
+ double time = Simtime - demo_ap_rah_on_startTime;
+ ap_rah_on = uiuc_1Dinterpolation(demo_ap_rah_on_timeArray,
+ demo_ap_rah_on_daArray,
+ demo_ap_rah_on_ntime,
+ time);
+ }
+ if (demo_ap_hh_on){
+ double time = Simtime - demo_ap_hh_on_startTime;
+ ap_hh_on = uiuc_1Dinterpolation(demo_ap_hh_on_timeArray,
+ demo_ap_hh_on_daArray,
+ demo_ap_hh_on_ntime,
+ time);
+ }
+ if (demo_ap_Theta_ref){
+ double time = Simtime - demo_ap_Theta_ref_startTime;
+ ap_Theta_ref_rad = uiuc_1Dinterpolation(demo_ap_Theta_ref_timeArray,
+ demo_ap_Theta_ref_daArray,
+ demo_ap_Theta_ref_ntime,
+ time);
+ }
+ if (demo_ap_alt_ref){
+ double time = Simtime - demo_ap_alt_ref_startTime;
+ ap_alt_ref_ft = uiuc_1Dinterpolation(demo_ap_alt_ref_timeArray,
+ demo_ap_alt_ref_daArray,
+ demo_ap_alt_ref_ntime,
+ time);
+ }
+ if (demo_ap_Phi_ref){
+ double time = Simtime - demo_ap_Phi_ref_startTime;
+ ap_Phi_ref_rad = uiuc_1Dinterpolation(demo_ap_Phi_ref_timeArray,
+ demo_ap_Phi_ref_daArray,
+ demo_ap_Phi_ref_ntime,
+ time);
+ }
+ if (demo_ap_Psi_ref){
+ double time = Simtime - demo_ap_Psi_ref_startTime;
+ ap_Psi_ref_rad = uiuc_1Dinterpolation(demo_ap_Psi_ref_timeArray,
+ demo_ap_Psi_ref_daArray,
+ demo_ap_Psi_ref_ntime,
time);
}
06/18/2001 (RD) Added aileron_input, rudder_input,
pilot_elev_no, pilot_ail_no, and
pilot_rud_no
- 11/12/2001 (RD) Added flap_max, flap_rate, and
+ 11/12/2001 (RD) Added flap_max, flap_rate
----------------------------------------------------------------------
controlSurface_map["use_aileron_sas_type1"] = use_aileron_sas_type1_flag ;
controlSurface_map["use_elevator_sas_type1"] = use_elevator_sas_type1_flag ;
controlSurface_map["use_rudder_sas_type1"] = use_rudder_sas_type1_flag ;
+
+ controlSurface_map["ap_pah"] = ap_pah_flag ;
+ controlSurface_map["ap_alh"] = ap_alh_flag ;
+ controlSurface_map["ap_rah"] = ap_rah_flag ;
+ controlSurface_map["ap_hh"] = ap_hh_flag ;
+ controlSurface_map["ap_Theta_ref"] = ap_Theta_ref_flag ;
+ controlSurface_map["ap_alt_ref"] = ap_alt_ref_flag ;
+ controlSurface_map["ap_Phi_ref"] = ap_Phi_ref_flag ;
+ controlSurface_map["ap_Psi_ref"] = ap_Psi_ref_flag ;
}
// end uiuc_map_controlSurface.cpp
----------------------------------------------------------------------
HISTORY: 04/08/2000 initial release
+ --/--/2002 (RD) add SIS icing
----------------------------------------------------------------------
AUTHOR(S): Bipin Sehgal <bsehgal@uiuc.edu>
Jeff Scott <jscott@mail.com>
+ Robert Deters <rdeters@uiuc.edu>
----------------------------------------------------------------------
ice_map["demo_eps_pitch_input"] = demo_eps_pitch_input_flag ;
ice_map["tactilefadef"] = tactilefadef_flag ;
ice_map["tactile_pitch"] = tactile_pitch_flag ;
- ice_map["demo_ap_Theta_ref_deg"]= demo_ap_Theta_ref_deg_flag ;
ice_map["demo_ap_pah_on"] = demo_ap_pah_on_flag ;
+ ice_map["demo_ap_alh_on"] = demo_ap_alh_on_flag ;
+ ice_map["demo_ap_rah_on"] = demo_ap_rah_on_flag ;
+ ice_map["demo_ap_hh_on"] = demo_ap_hh_on_flag ;
+ ice_map["demo_ap_Theta_ref_"] = demo_ap_Theta_ref_flag ;
+ ice_map["demo_ap_alt_ref_"] = demo_ap_alt_ref_flag ;
+ ice_map["demo_ap_Phi_ref_"] = demo_ap_Phi_ref_flag ;
+ ice_map["demo_ap_Psi_ref_"] = demo_ap_Psi_ref_flag ;
ice_map["demo_tactile"] = demo_tactile_flag ;
ice_map["demo_ice_tail"] = demo_ice_tail_flag ;
ice_map["demo_ice_left"] = demo_ice_left_flag ;
HISTORY: 04/08/2000 initial release
06/18/2001 (RD) Added Alpha, Beta, U_body
V_body, and W_body.
+ 08/20/2003 (RD) Removed old_flap_routine
----------------------------------------------------------------------
init_map["ignore_unknown_keywords"] = ignore_unknown_keywords_flag;
init_map["trim_case_2"] = trim_case_2_flag ;
init_map["use_uiuc_network"] = use_uiuc_network_flag ;
- init_map["old_flap_routine"] = old_flap_routine_flag ;
init_map["icing_demo"] = icing_demo_flag ;
init_map["outside_control"] = outside_control_flag ;
}
----------------------------------------------------------------------
HISTORY: 04/08/2000 initial release
+ --/--/2002 (RD) added flapper
----------------------------------------------------------------------
AUTHOR(S): Bipin Sehgal <bsehgal@uiuc.edu>
Jeff Scott <jscott@mail.com>
+ Robert Deters <rdeters@uiuc.edu>
----------------------------------------------------------------------
void uiuc_map_misc()
{
misc_map["simpleHingeMomentCoef"] = simpleHingeMomentCoef_flag ;
- misc_map["dfTimefdf"] = dfTimefdf_flag ;
+ //misc_map["dfTimefdf"] = dfTimefdf_flag ;
misc_map["flapper"] = flapper_flag ;
misc_map["flapper_phi_init"] = flapper_phi_init_flag ;
}
record_map["Phi"] = Phi_record ;
record_map["Theta"] = Theta_record ;
record_map["Psi"] = Psi_record ;
+ record_map["Phi_deg"] = Phi_deg_record ;
+ record_map["Theta_deg"] = Theta_deg_record ;
+ record_map["Psi_deg"] = Psi_deg_record ;
/******************** Accelerations ********************/
HISTORY: 06/03/2000 file creation
11/12/2001 (RD) Added flap_cmd_deg and flap_pos
03/03/2003 (RD) Added flap_cmd
+ 08/20/2003 (RD) Changed spoiler variables to match
+ flap convention. Added flap_pos_norm
----------------------------------------------------------------------
record_map["rudder"] = rudder_record ;
record_map["rudder_deg"] = rudder_deg_record ;
record_map["Flap_handle"] = Flap_handle_record ;
- record_map["flap"] = flap_record ;
record_map["flap_cmd"] = flap_cmd_record ;
record_map["flap_cmd_deg"] = flap_cmd_deg_record ;
record_map["flap_pos"] = flap_pos_record ;
record_map["flap_pos_deg"] = flap_pos_deg_record ;
+ record_map["flap_pos_norm"] = flap_pos_norm_record ;
record_map["Spoiler_handle"] = Spoiler_handle_record ;
+ record_map["spoiler_cmd"] = spoiler_cmd_record ;
record_map["spoiler_cmd_deg"] = spoiler_cmd_deg_record ;
+ record_map["spoiler_pos"] = spoiler_pos_record ;
record_map["spoiler_pos_deg"] = spoiler_pos_deg_record ;
record_map["spoiler_pos_norm"] = spoiler_pos_norm_record ;
- record_map["spoiler_pos"] = spoiler_pos_record ;
}
record_map["M_m_gear"] = M_m_gear_record ;
record_map["M_n_gear"] = M_n_gear_record ;
- // total moments
+ // total moments about reference point
record_map["M_l_rp"] = M_l_rp_record ;
record_map["M_m_rp"] = M_m_rp_record ;
record_map["M_n_rp"] = M_n_rp_record ;
+
+ // total moments about cg
+ record_map["M_l_cg"] = M_l_cg_record ;
+ record_map["M_m_cg"] = M_m_cg_record ;
+ record_map["M_n_cg"] = M_n_cg_record ;
/***********************Flapper Data********************/
record_map["flapper_freq"] = flapper_freq_record ;
record_map["debug5"] = debug5_record ;
record_map["debug6"] = debug6_record ;
+ record_map["debug7"] = debug7_record ;
+ record_map["debug8"] = debug8_record ;
+ record_map["debug9"] = debug9_record ;
+ record_map["debug10"] = debug10_record ;
+
/******************** Misc data **********************************/
record_map["V_down_fpm"] = V_down_fpm_record ;
record_map["eta_q"] = eta_q_record ;
record_map["eps_airspeed_min"] = eps_airspeed_min_record ;
record_map["tactilefadefI"] = tactilefadefI_record ;
/******************************autopilot****************************/
- record_map["ap_Theta_ref_deg"] = ap_Theta_ref_deg_record ;
record_map["ap_pah_on"] = ap_pah_on_record ;
+ record_map["ap_alh_on"] = ap_alh_on_record ;
+ record_map["ap_rah_on"] = ap_rah_on_record ;
+ record_map["ap_hh_on"] = ap_hh_on_record ;
+ record_map["ap_Theta_ref_deg"] = ap_Theta_ref_deg_record ;
+ record_map["ap_Theta_ref_rad"] = ap_Theta_ref_rad_record ;
+ record_map["ap_alt_ref_ft"] = ap_alt_ref_ft_record ;
+ record_map["ap_Phi_ref_deg"] = ap_Phi_ref_deg_record ;
+ record_map["ap_Phi_ref_rad"] = ap_Phi_ref_rad_record ;
+ record_map["ap_Psi_ref_deg"] = ap_Psi_ref_deg_record ;
+ record_map["ap_Psi_ref_rad"] = ap_Psi_ref_rad_record ;
/***********************trigger variables**************************/
record_map["trigger_on"] = trigger_on_record ;
record_map["trigger_num"] = trigger_num_record ;
record_map["trigger_toggle"] = trigger_toggle_record ;
record_map["trigger_counter"] = trigger_counter_record ;
+ /****************local to body transformation matrix**************/
+ record_map["T_local_to_body_11"] = T_local_to_body_11_record ;
+ record_map["T_local_to_body_12"] = T_local_to_body_12_record ;
+ record_map["T_local_to_body_13"] = T_local_to_body_13_record ;
+ record_map["T_local_to_body_21"] = T_local_to_body_21_record ;
+ record_map["T_local_to_body_22"] = T_local_to_body_22_record ;
+ record_map["T_local_to_body_23"] = T_local_to_body_23_record ;
+ record_map["T_local_to_body_31"] = T_local_to_body_31_record ;
+ record_map["T_local_to_body_32"] = T_local_to_body_32_record ;
+ record_map["T_local_to_body_33"] = T_local_to_body_33_record ;
}
// end uiuc_map_record6.cpp
aeroLiftParts -> storeCommands (*command_line);
// additional variables to streamline flap routine in aerodeflections
- ndf = CLfdf_ndf;
- int temp_counter = 1;
- while (temp_counter <= ndf)
- {
- dfArray[temp_counter] = CLfdf_dfArray[temp_counter];
- TimeArray[temp_counter] = dfTimefdf_TimeArray[temp_counter];
- temp_counter++;
- }
+ //ndf = CLfdf_ndf;
+ //int temp_counter = 1;
+ //while (temp_counter <= ndf)
+ // {
+ // dfArray[temp_counter] = CLfdf_dfArray[temp_counter];
+ // TimeArray[temp_counter] = dfTimefdf_TimeArray[temp_counter];
+ // temp_counter++;
+ // }
break;
}
case CLfadf_flag:
use_rudder_sas_type1 = true;
break;
}
+ case ap_pah_flag:
+ {
+ if (check_float(linetoken3))
+ token3 >> token_value;
+ else
+ uiuc_warnings_errors(1, *command_line);
+
+ ap_pah_start_time=token_value;
+ ap_pah_on = 1;
+ break;
+ }
+ case ap_alh_flag:
+ {
+ if (check_float(linetoken3))
+ token3 >> token_value;
+ else
+ uiuc_warnings_errors(1, *command_line);
+
+ ap_alh_start_time=token_value;
+ ap_alh_on = 1;
+ break;
+ }
+ case ap_rah_flag:
+ {
+ if (check_float(linetoken3))
+ token3 >> token_value;
+ else
+ uiuc_warnings_errors(1, *command_line);
+
+ ap_rah_start_time=token_value;
+ ap_rah_on = 1;
+ break;
+ }
+ case ap_hh_flag:
+ {
+ if (check_float(linetoken3))
+ token3 >> token_value;
+ else
+ uiuc_warnings_errors(1, *command_line);
+
+ ap_hh_start_time=token_value;
+ ap_hh_on = 1;
+ break;
+ }
+ case ap_Theta_ref_flag:
+ {
+ if (check_float(linetoken3))
+ token3 >> token_value;
+ else
+ uiuc_warnings_errors(1, *command_line);
+ token4 >> token_value_convert1;
+ convert_y = uiuc_convert(token_value_convert1);
+
+ ap_Theta_ref_rad = token_value * convert_y;
+ break;
+ }
+ case ap_alt_ref_flag:
+ {
+ if (check_float(linetoken3))
+ token3 >> token_value;
+ else
+ uiuc_warnings_errors(1, *command_line);
+
+ ap_alt_ref_ft = token_value;
+ break;
+ }
+ case ap_Phi_ref_flag:
+ {
+ if (check_float(linetoken3))
+ token3 >> token_value;
+ else
+ uiuc_warnings_errors(1, *command_line);
+ token4 >> token_value_convert1;
+ convert_y = uiuc_convert(token_value_convert1);
+
+ ap_Phi_ref_rad = token_value * convert_y;
+ break;
+ }
+ case ap_Psi_ref_flag:
+ {
+ if (check_float(linetoken3))
+ token3 >> token_value;
+ else
+ uiuc_warnings_errors(1, *command_line);
+ token4 >> token_value_convert1;
+ convert_y = uiuc_convert(token_value_convert1);
+
+ ap_Psi_ref_rad = token_value * convert_y;
+ break;
+ }
default:
{
if (ignore_unknown_keywords) {
LIST command_line ) {
double token_value;
int token_value_convert1, token_value_convert2, token_value_convert3;
+ int token_value_convert4;
double datafile_xArray[100][100], datafile_yArray[100];
double datafile_zArray[100][100];
+ double convert_f;
int datafile_nxArray[100], datafile_ny;
istringstream token3(linetoken3.c_str());
istringstream token4(linetoken4.c_str());
demo_eps_pitch_input_startTime = token_value;
break;
}
- case demo_ap_Theta_ref_deg_flag:
- {
- demo_ap_Theta_ref_deg = true;
- demo_ap_Theta_ref_deg_file = aircraft_directory + linetoken3;
- token4 >> token_value_convert1;
- token5 >> token_value_convert2;
- convert_y = uiuc_convert(token_value_convert1);
- convert_x = uiuc_convert(token_value_convert2);
- uiuc_1DdataFileReader(demo_ap_Theta_ref_deg_file,
- demo_ap_Theta_ref_deg_timeArray,
- demo_ap_Theta_ref_deg_daArray,
- demo_ap_Theta_ref_deg_ntime);
- token6 >> token_value;
- demo_ap_Theta_ref_deg_startTime = token_value;
- break;
- }
case demo_ap_pah_on_flag:
{
demo_ap_pah_on = true;
demo_ap_pah_on_startTime = token_value;
break;
}
+ case demo_ap_alh_on_flag:
+ {
+ demo_ap_alh_on = true;
+ demo_ap_alh_on_file = aircraft_directory + linetoken3;
+ token4 >> token_value_convert1;
+ token5 >> token_value_convert2;
+ convert_y = uiuc_convert(token_value_convert1);
+ convert_x = uiuc_convert(token_value_convert2);
+ uiuc_1DdataFileReader(demo_ap_alh_on_file,
+ demo_ap_alh_on_timeArray,
+ demo_ap_alh_on_daArray,
+ demo_ap_alh_on_ntime);
+ token6 >> token_value;
+ demo_ap_alh_on_startTime = token_value;
+ break;
+ }
+ case demo_ap_rah_on_flag:
+ {
+ demo_ap_rah_on = true;
+ demo_ap_rah_on_file = aircraft_directory + linetoken3;
+ token4 >> token_value_convert1;
+ token5 >> token_value_convert2;
+ convert_y = uiuc_convert(token_value_convert1);
+ convert_x = uiuc_convert(token_value_convert2);
+ uiuc_1DdataFileReader(demo_ap_rah_on_file,
+ demo_ap_rah_on_timeArray,
+ demo_ap_rah_on_daArray,
+ demo_ap_rah_on_ntime);
+ token6 >> token_value;
+ demo_ap_rah_on_startTime = token_value;
+ break;
+ }
+ case demo_ap_hh_on_flag:
+ {
+ demo_ap_hh_on = true;
+ demo_ap_hh_on_file = aircraft_directory + linetoken3;
+ token4 >> token_value_convert1;
+ token5 >> token_value_convert2;
+ convert_y = uiuc_convert(token_value_convert1);
+ convert_x = uiuc_convert(token_value_convert2);
+ uiuc_1DdataFileReader(demo_ap_hh_on_file,
+ demo_ap_hh_on_timeArray,
+ demo_ap_hh_on_daArray,
+ demo_ap_hh_on_ntime);
+ token6 >> token_value;
+ demo_ap_hh_on_startTime = token_value;
+ break;
+ }
+ case demo_ap_Theta_ref_flag:
+ {
+ demo_ap_Theta_ref = true;
+ demo_ap_Theta_ref_file = aircraft_directory + linetoken3;
+ token4 >> token_value_convert1;
+ token5 >> token_value_convert2;
+ convert_y = uiuc_convert(token_value_convert1);
+ convert_x = uiuc_convert(token_value_convert2);
+ uiuc_1DdataFileReader(demo_ap_Theta_ref_file,
+ demo_ap_Theta_ref_timeArray,
+ demo_ap_Theta_ref_daArray,
+ demo_ap_Theta_ref_ntime);
+ token6 >> token_value;
+ demo_ap_Theta_ref_startTime = token_value;
+ break;
+ }
+ case demo_ap_alt_ref_flag:
+ {
+ demo_ap_alt_ref = true;
+ demo_ap_alt_ref_file = aircraft_directory + linetoken3;
+ token4 >> token_value_convert1;
+ token5 >> token_value_convert2;
+ convert_y = uiuc_convert(token_value_convert1);
+ convert_x = uiuc_convert(token_value_convert2);
+ uiuc_1DdataFileReader(demo_ap_alt_ref_file,
+ demo_ap_alt_ref_timeArray,
+ demo_ap_alt_ref_daArray,
+ demo_ap_alt_ref_ntime);
+ token6 >> token_value;
+ demo_ap_alt_ref_startTime = token_value;
+ break;
+ }
+ case demo_ap_Phi_ref_flag:
+ {
+ demo_ap_Phi_ref = true;
+ demo_ap_Phi_ref_file = aircraft_directory + linetoken3;
+ token4 >> token_value_convert1;
+ token5 >> token_value_convert2;
+ convert_y = uiuc_convert(token_value_convert1);
+ convert_x = uiuc_convert(token_value_convert2);
+ uiuc_1DdataFileReader(demo_ap_Phi_ref_file,
+ demo_ap_Phi_ref_timeArray,
+ demo_ap_Phi_ref_daArray,
+ demo_ap_Phi_ref_ntime);
+ token6 >> token_value;
+ demo_ap_Phi_ref_startTime = token_value;
+ break;
+ }
+ case demo_ap_Psi_ref_flag:
+ {
+ demo_ap_Psi_ref = true;
+ demo_ap_Psi_ref_file = aircraft_directory + linetoken3;
+ token4 >> token_value_convert1;
+ token5 >> token_value_convert2;
+ convert_y = uiuc_convert(token_value_convert1);
+ convert_x = uiuc_convert(token_value_convert2);
+ uiuc_1DdataFileReader(demo_ap_Psi_ref_file,
+ demo_ap_Psi_ref_timeArray,
+ demo_ap_Psi_ref_daArray,
+ demo_ap_Psi_ref_ntime);
+ token6 >> token_value;
+ demo_ap_Psi_ref_startTime = token_value;
+ break;
+ }
case tactilefadef_flag:
{
int tactilefadef_index, i;
if (tactilefadef_index > tactilefadef_nf)
tactilefadef_nf = tactilefadef_index;
token5 >> flap_value;
- tactilefadef_fArray[tactilefadef_index] = flap_value;
token6 >> token_value_convert1;
token7 >> token_value_convert2;
token8 >> token_value_convert3;
- token9 >> tactilefadef_nice;
+ token9 >> token_value_convert4;
+ token10 >> tactilefadef_nice;
convert_z = uiuc_convert(token_value_convert1);
convert_x = uiuc_convert(token_value_convert2);
convert_y = uiuc_convert(token_value_convert3);
+ convert_f = uiuc_convert(token_value_convert4);
+ tactilefadef_fArray[tactilefadef_index] = flap_value * convert_f;
/* call 2D File Reader with file name (tactilefadef_file) and
conversion factors; function returns array of
elevator deflections (deArray) and corresponding
06/30/2003 (RD) replaced istrstream with istringstream
to get rid of the annoying warning about
using the strstream header
+ 08/20/2003 (RD) removed old_flap_routine
----------------------------------------------------------------------
token4 >> port_num;
break;
}
- case old_flap_routine_flag:
- {
- old_flap_routine = true;
- break;
- }
case icing_demo_flag:
{
icing_demo = true;
simpleHingeMomentCoef = token_value;
break;
}
- case dfTimefdf_flag:
- {
- dfTimefdf = linetoken3;
+ //case dfTimefdf_flag:
+ //{
+ //dfTimefdf = linetoken3;
/* call 1D File Reader with file name (dfTimefdf);
function returns array of dfs (dfArray) and
corresponding time values (TimeArray) and max
number of terms in arrays (ndf) */
- uiuc_1DdataFileReader(dfTimefdf,
- dfTimefdf_dfArray,
- dfTimefdf_TimeArray,
- dfTimefdf_ndf);
- break;
- }
+ //uiuc_1DdataFileReader(dfTimefdf,
+ // dfTimefdf_dfArray,
+ // dfTimefdf_TimeArray,
+ // dfTimefdf_ndf);
+ //break;
+ //}
case flapper_flag:
{
string flap_file;
// (RD) changed from float to double
#include "uiuc_pah_ap.h"
-
+//#include <stdio.h>
double pah_ap(double pitch, double pitchrate, double pitch_ref, double V,
- double sample_t, int init)
+ double sample_time, int init)
{
// changes by RD so function keeps previous values
static double u2prev;
Ki = 0.5;
double u1,u2,u3;
u1 = Ktheta*(pitch_ref-pitch);
- u2 = u2prev + Ki*Ktheta*(pitch_ref-pitch)*sample_t;
+ u2 = u2prev + Ki*Ktheta*(pitch_ref-pitch)*sample_time;
u3 = Kq*pitchrate;
double totalU;
totalU = u1 + u2 - u3;
+ //printf("\nu1=%f\n",u1);
+ //printf("u2=%f\n",u2);
+ //printf("u3=%f\n",u3);
+ //printf("totalU=%f\n",totalU);
u2prev = u2;
// the following is using the actuator dynamics given in Beaver.
// the actuator dynamics for Twin Otter are still unavailable.
x1 = x1prev +(-10.951*x1prev + 7.2721*x2prev + 20.7985*x3prev +
- 25.1568*totalU)*sample_t;
- x2 = x2prev + x3prev*sample_t;
+ 25.1568*totalU)*sample_time;
+ x2 = x2prev + x3prev*sample_time;
x3 = x3prev + (7.3446*x1prev - 668.6713*x2prev - 16.8697*x3prev +
- 5.8694*totalU)*sample_t;
+ 5.8694*totalU)*sample_time;
deltae = 57.2958*x2;
+ //deltae = x2;
+ //printf("x1prev=%f\n",x1prev);
+ //printf("x2prev=%f\n",x2prev);
+ //printf("x3prev=%f\n",x3prev);
x1prev = x1;
x2prev = x2;
x3prev = x3;
+ //printf("x1=%f\n",x1);
+ //printf("x2=%f\n",x2);
+ //printf("x3=%f\n",x3);
+ //printf("deltae=%f\n",deltae);
return deltae;
}
--- /dev/null
+// * *
+// * rah_ap.C *
+// * *
+// * Roll attitude Hold autopilot function. takes in *
+// * the state *
+// * variables and reference angle as arguments *
+// * (there are other variable too as arguments *
+// * as listed below) *
+// * and returns the aileron and rudder deflection *
+// * angle at every time step *
+// * *
+// * *
+// * Written 2/14/03 by Vikrant Sharma *
+// * *
+// *****************************************************
+
+//#include <iostream.h>
+//#include <stddef.h>
+
+// define u2prev,x1prev,x2prev,x3prev,x4prev,x5prev and x6prev in the main
+// function
+// that uses this autopilot function. give them initial values at origin.
+// Pass these values to the A/P function as an argument and pass by
+// reference
+// Parameters passed as arguments to the function:
+// phi - Current roll angle difference from the trim
+// rollrate - current rate of change of roll angle
+// yawrate - current rate of change of yaw angle
+// b - the wingspan
+// roll_ref - reference roll angle to be tracked (increase or decrease
+// desired from the trim value)
+// sample_t - sampling time
+// V - aircraft's current velocity
+// u2prev - u2 value at the previous time step.
+// x1prev - x1 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
+// x2prev - x2 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
+// x3prev - x3 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
+// x4prev - x4 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
+// x5prev - x5 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
+// x6prev - x6 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
+// the autpilot function (rah_ap) changes these values at every time step.
+// so the simulator guys don't have to do it. Since these values are
+// passed by reference to the function.
+
+// Another important thing to do and for you simulator guys to check is the
+// way I return the the deltaa (aileron deflection) and deltar (rudder deflection).
+// I expect you guys to define an array that holds two float values. The first entry
+// is for deltaa and the second for deltar and the pointer to this array (ctr_ptr) is also
+// one of the arguments for the function rah_ap and then this function updates the value for
+// deltae and deltaa every time its called. PLEASE CHECK IF THE SYNTAX IS RIGHT. Also note that
+// these values have to be added to the initial trim values of the control deflection to get the
+// entire control deflection.
+
+#include "uiuc_rah_ap.h"
+
+// (RD) changed float to double
+
+void rah_ap(double phi, double phirate, double phi_ref, double V,
+ double sample_time, double b, double yawrate, double ctr_defl[2],
+ int init)
+{
+
+ static double u2prev;
+ static double x1prev;
+ static double x2prev;
+ static double x3prev;
+ static double x4prev;
+ static double x5prev;
+ static double x6prev;
+
+ if (init==0)
+ {
+ u2prev = 0;
+ x1prev = 0;
+ x2prev = 0;
+ x3prev = 0;
+ x4prev = 0;
+ x5prev = 0;
+ x6prev = 0;
+ }
+
+ double Kphi;
+ double Kr;
+ double Ki;
+ double drr;
+ double dar;
+ double deltar;
+ double deltaa;
+ double x1, x2, x3, x4, x5, x6;
+ Kphi = 0.000975*V*V - 0.108*V + 2.335625;
+ Kr = -4;
+ Ki = 0.25;
+ dar = 0.165;
+ drr = -0.000075*V*V + 0.0095*V -0.4606;
+ double u1,u2,u3,u4,u5,u6,u7,ubar,udbar;
+ u1 = Kphi*(phi_ref-phi);
+ u2 = u2prev + Ki*Kphi*(phi_ref-phi)*sample_time;
+ u3 = dar*yawrate;
+ u4 = u1 + u2 + u3;
+ u2prev = u2;
+ double K1,K2;
+ K1 = Kr*9.8*sin(phi)/V;
+ K2 = drr - Kr;
+ u5 = K2*yawrate;
+ u6 = K1*phi;
+ u7 = u5 + u6;
+ ubar = phirate*b/(2*V);
+ udbar = yawrate*b/(2*V);
+// the following is using the actuator dynamics to get the aileron
+// angle, given in Beaver.
+// the actuator dynamics for Twin Otter are still unavailable.
+ x1 = x1prev +(-10.6*x1prev - 2.64*x2prev -7.58*x3prev +
+27.46*u4 -0.0008*ubar)*sample_time;
+ x2 = x2prev + x3prev*sample_time;
+ x3 = x3prev + (1.09*x1prev - 558.86*x2prev - 23.35*x3prev +
+3.02*u4 - 0.164*ubar)*sample_time;
+ deltaa = 57.3*x2;
+ x1prev = x1;
+ x2prev = x2;
+ x3prev = x3;
+
+// the following is using the actuator dynamics to get the rudder
+// angle, given in Beaver.
+// the actuator dynamics for Twin Otter are still unavailable.
+ x4 = x4prev +(-9.2131*x4prev + 5.52*x5prev + 16*x6prev +
+24.571*u7 + 0.0036*udbar)*sample_time;
+ x5 = x5prev + x6prev*sample_time;
+ x6 = x6prev + (0.672*x4prev - 919.78*x5prev - 56.453*x6prev +
+7.54*u7 - 0.636*udbar)*sample_time;
+ deltar = 57.3*x5;
+ x4prev = x4;
+ x5prev = x5;
+ x6prev = x6;
+ ctr_defl[0] = deltaa;
+ ctr_defl[1] = deltar;
+return;
+}
--- /dev/null
+
+#ifndef _RAH_AP_H_
+#define _RAH_AP_H_
+
+#include <FDM/LaRCsim/ls_constants.h>
+#include <cmath>
+
+void rah_ap(double phi, double phirate, double phi_ref, double V,
+ double sample_time, double b, double yawrate, double ctr_defl[2],
+ int init);
+
+#endif //_RAH_AP_H_
07/17/2003 (RD) Added error checking code (default
routine) since it was removed from
uiuc_menu_record()
+ 08/20/2003 (RD) Changed spoiler variables to match
+ flap convention. Added flap_pos_norm
----------------------------------------------------------------------
int modulus = recordStep % recordRate;
+ //static double lat1;
+ //static double long1;
+ //double D_cg_north1;
+ //double D_cg_east1;
+ //if (Simtime == 0)
+ // {
+ // lat1=Latitude;
+ // long1=Longitude;
+ // }
+
if ((recordStep % recordRate) == 0)
{
command_list = recordParts->getCommands();
fout << Psi << " ";
break;
}
+ case Phi_deg_record:
+ {
+ fout << Phi*RAD_TO_DEG << " ";
+ break;
+ }
+ case Theta_deg_record:
+ {
+ fout << Theta*RAD_TO_DEG << " ";
+ break;
+ }
+ case Psi_deg_record:
+ {
+ fout << Psi*RAD_TO_DEG << " ";
+ break;
+ }
/******************** Accelerations ********************/
case V_dot_north_record:
fout << V_down << " ";
break;
}
+ case V_down_fpm_record:
+ {
+ fout << V_down * 60 << " ";
+ break;
+ }
case V_north_rel_ground_record:
{
fout << V_north_rel_ground << " ";
fout << elevator * RAD_TO_DEG << " ";
break;
}
+ case elevator_sas_deg_record:
+ {
+ fout << elevator_sas * RAD_TO_DEG << " ";
+ break;
+ }
case Lat_control_record:
{
fout << Lat_control << " ";
fout << aileron * RAD_TO_DEG << " ";
break;
}
+ case aileron_sas_deg_record:
+ {
+ fout << aileron_sas * RAD_TO_DEG << " ";
+ break;
+ }
case Rudder_pedal_record:
{
fout << Rudder_pedal << " ";
fout << rudder * RAD_TO_DEG << " ";
break;
}
+ case rudder_sas_deg_record:
+ {
+ fout << rudder_sas * RAD_TO_DEG << " ";
+ break;
+ }
case Flap_handle_record:
{
fout << Flap_handle << " ";
break;
}
- case flap_record:
- {
- fout << flap << " ";
- break;
- }
case flap_cmd_record:
{
fout << flap_cmd << " ";
fout << flap_pos * RAD_TO_DEG << " ";
break;
}
+ case flap_pos_norm_record:
+ {
+ fout << flap_pos_norm << " ";
+ break;
+ }
case Spoiler_handle_record:
{
fout << Spoiler_handle << " ";
break;
}
+ case spoiler_cmd_record:
+ {
+ fout << spoiler_cmd << " ";
+ break;
+ }
case spoiler_cmd_deg_record:
{
- fout << spoiler_cmd_deg << " ";
+ fout << spoiler_cmd * RAD_TO_DEG << " ";
+ break;
+ }
+ case spoiler_pos_record:
+ {
+ fout << spoiler_pos << " ";
break;
}
case spoiler_pos_deg_record:
{
- fout << spoiler_pos_deg << " ";
+ fout << spoiler_pos * RAD_TO_DEG << " ";
break;
}
case spoiler_pos_norm_record:
fout << spoiler_pos_norm << " ";
break;
}
- case spoiler_pos_record:
+
+ /****************** Gear Inputs ************************/
+ case Gear_handle_record:
{
- fout << spoiler_pos << " ";
+ fout << Gear_handle << " ";
+ break;
+ }
+ case gear_cmd_norm_record:
+ {
+ fout << gear_cmd_norm << " ";
+ break;
+ }
+ case gear_pos_norm_record:
+ {
+ fout << gear_pos_norm << " ";
break;
}
fout << eps_airspeed_min << " ";
break;
}
- case tactilefadefI_record:
- {
- fout << tactilefadefI << " ";
- break;
- }
- /*******************Autopilot***************************/
+ /****************** Autopilot **************************/
+ case ap_pah_on_record:
+ {
+ fout << ap_pah_on << " ";
+ break;
+ }
+ case ap_alh_on_record:
+ {
+ fout << ap_alh_on << " ";
+ break;
+ }
+ case ap_rah_on_record:
+ {
+ fout << ap_rah_on << " ";
+ break;
+ }
+ case ap_hh_on_record:
+ {
+ fout << ap_hh_on << " ";
+ break;
+ }
case ap_Theta_ref_deg_record:
{
- fout << ap_Theta_ref_deg << " ";
+ fout << ap_Theta_ref_rad*RAD_TO_DEG << " ";
break;
}
- case ap_pah_on_record:
+ case ap_Theta_ref_rad_record:
{
- fout << ap_pah_on << " ";
+ fout << ap_Theta_ref_rad << " ";
+ break;
+ }
+ case ap_alt_ref_ft_record:
+ {
+ fout << ap_alt_ref_ft << " ";
+ break;
+ }
+ case ap_Phi_ref_deg_record:
+ {
+ fout << ap_Phi_ref_rad*RAD_TO_DEG << " ";
+ break;
+ }
+ case ap_Phi_ref_rad_record:
+ {
+ fout << ap_Phi_ref_rad << " ";
+ break;
+ }
+ case ap_Psi_ref_deg_record:
+ {
+ fout << ap_Psi_ref_rad*RAD_TO_DEG << " ";
+ break;
+ }
+ case ap_Psi_ref_rad_record:
+ {
+ fout << ap_Psi_ref_rad << " ";
break;
}
fout << M_n_rp << " ";
break;
}
+ case M_l_cg_record:
+ {
+ fout << M_l_cg << " ";
+ break;
+ }
+ case M_m_cg_record:
+ {
+ fout << M_m_cg << " ";
+ break;
+ }
+ case M_n_cg_record:
+ {
+ fout << M_n_cg << " ";
+ break;
+ }
- /********************* flapper variables *********************/
+ /********************* flapper *********************/
case flapper_freq_record:
{
fout << flapper_freq << " ";
fout << flapper_Moment << " ";
break;
}
- /********* MSS debug and other data *******************/
+ /****************Other Variables*******************/
+ case gyroMomentQ_record:
+ {
+ fout << polarInertia * engineOmega * Q_body << " ";
+ break;
+ }
+ case gyroMomentR_record:
+ {
+ fout << -polarInertia * engineOmega * R_body << " ";
+ break;
+ }
+ case eta_q_record:
+ {
+ fout << eta_q << " ";
+ break;
+ }
+ case rpm_record:
+ {
+ fout << (engineOmega * 60 / (2 * LS_PI)) << " ";
+ break;
+ }
+ case w_induced_record:
+ {
+ fout << w_induced << " ";
+ break;
+ }
+ case downwashAngle_deg_record:
+ {
+ fout << downwashAngle * RAD_TO_DEG << " ";
+ break;
+ }
+ case alphaTail_deg_record:
+ {
+ fout << alphaTail * RAD_TO_DEG << " ";
+ break;
+ }
+ case gammaWing_record:
+ {
+ fout << gammaWing << " ";
+ break;
+ }
+ case LD_record:
+ {
+ fout << V_ground_speed/V_down_rel_ground << " ";
+ break;
+ }
+ case gload_record:
+ {
+ fout << -A_Z_cg/32.174 << " ";
+ break;
+ }
+ case tactilefadefI_record:
+ {
+ fout << tactilefadefI << " ";
+ break;
+ }
+ /****************Trigger Variables*******************/
+ case trigger_on_record:
+ {
+ fout << trigger_on << " ";
+ break;
+ }
+ case trigger_num_record:
+ {
+ fout << trigger_num << " ";
+ break;
+ }
+ case trigger_toggle_record:
+ {
+ fout << trigger_toggle << " ";
+ break;
+ }
+ case trigger_counter_record:
+ {
+ fout << trigger_counter << " ";
+ break;
+ }
+ /*********local to body transformation matrix********/
+ case T_local_to_body_11_record:
+ {
+ fout << T_local_to_body_11 << " ";
+ break;
+ }
+ case T_local_to_body_12_record:
+ {
+ fout << T_local_to_body_12 << " ";
+ break;
+ }
+ case T_local_to_body_13_record:
+ {
+ fout << T_local_to_body_13 << " ";
+ break;
+ }
+ case T_local_to_body_21_record:
+ {
+ fout << T_local_to_body_21 << " ";
+ break;
+ }
+ case T_local_to_body_22_record:
+ {
+ fout << T_local_to_body_22 << " ";
+ break;
+ }
+ case T_local_to_body_23_record:
+ {
+ fout << T_local_to_body_23 << " ";
+ break;
+ }
+ case T_local_to_body_31_record:
+ {
+ fout << T_local_to_body_31 << " ";
+ break;
+ }
+ case T_local_to_body_32_record:
+ {
+ fout << T_local_to_body_32 << " ";
+ break;
+ }
+ case T_local_to_body_33_record:
+ {
+ fout << T_local_to_body_33 << " ";
+ break;
+ }
+
+ /********* MSS debug and other data *******************/
/* debug variables for use in probing data */
/* comment out old lines, and add new */
/* only remove code that you have written */
case debug4_record:
{
// flapper F_X_aero_flapper
- fout << F_X_aero_flapper << " ";
+ //fout << F_X_aero_flapper << " ";
+ //ap_pah_on
+ //fout << ap_pah_on << " ";
+ //D_cg_north1 = Radius_to_rwy*(Latitude - lat1);
+ //fout << D_cg_north1 << " ";
break;
}
case debug5_record:
// flapper F_Z_aero_flapper
//fout << F_Z_aero_flapper << " ";
// gear_rate
- fout << gear_rate << " ";
+ //D_cg_east1 = Radius_to_rwy*cos(lat1)*(Longitude - long1);
+ //fout << D_cg_east1 << " ";
break;
}
case debug6_record:
{
//gear_max
- fout << gear_max << " ";
- break;
- }
- case V_down_fpm_record:
- {
- fout << V_down * 60 << " ";
- break;
- }
- case eta_q_record:
- {
- fout << eta_q << " ";
- break;
- }
- case rpm_record:
- {
- fout << (engineOmega * 60 / (2 * LS_PI)) << " ";
- break;
- }
- case elevator_sas_deg_record:
- {
- fout << elevator_sas * RAD_TO_DEG << " ";
- break;
- }
- case aileron_sas_deg_record:
- {
- fout << aileron_sas * RAD_TO_DEG << " ";
- break;
- }
- case rudder_sas_deg_record:
- {
- fout << rudder_sas * RAD_TO_DEG << " ";
- break;
- }
- case w_induced_record:
- {
- fout << w_induced << " ";
- break;
- }
- case downwashAngle_deg_record:
- {
- fout << downwashAngle * RAD_TO_DEG << " ";
+ //fout << gear_max << " ";
+ //fout << sqrt(D_cg_north1*D_cg_north1+D_cg_east1*D_cg_east1) << " ";
break;
}
- case alphaTail_deg_record:
+ case debug7_record:
{
- fout << alphaTail * RAD_TO_DEG << " ";
+ //Debug7
+ fout << debug7 << " ";
break;
}
- case gammaWing_record:
+ case debug8_record:
{
- fout << gammaWing << " ";
+ //Debug8
+ fout << debug8 << " ";
break;
}
- case LD_record:
+ case debug9_record:
{
- fout << V_ground_speed/V_down_rel_ground << " ";
+ //Debug9
+ fout << debug9 << " ";
break;
}
- case gload_record:
- {
- fout << -A_Z_cg/32.174 << " ";
- break;
- }
- case gyroMomentQ_record:
- {
- fout << polarInertia * engineOmega * Q_body << " ";
- break;
- }
- case gyroMomentR_record:
+ case debug10_record:
{
- fout << -polarInertia * engineOmega * R_body << " ";
- break;
- }
- case Gear_handle_record:
- {
- fout << Gear_handle << " ";
- break;
- }
- case gear_cmd_norm_record:
- {
- fout << gear_cmd_norm << " ";
- break;
- }
- case gear_pos_norm_record:
- {
- fout << gear_pos_norm << " ";
- break;
- }
- /****************Trigger Variables*******************/
- case trigger_on_record:
- {
- fout << trigger_on << " ";
- break;
- }
- case trigger_num_record:
- {
- fout << trigger_num << " ";
- break;
- }
- case trigger_toggle_record:
- {
- fout << trigger_toggle << " ";
- break;
- }
- case trigger_counter_record:
- {
- fout << trigger_counter << " ";
+ //Debug10
+ fout << debug10 << " ";
break;
}
default:
W_body_init_true = false;
trim_case_2 = false;
use_uiuc_network = false;
- old_flap_routine = false;
icing_demo = false;
outside_control = false;
set_Long_trim = false;
demo_eps_pitch_input = false;
tactilefadef = false;
demo_ap_pah_on = false;
- demo_ap_Theta_ref_deg = false;
+ demo_ap_alh_on = false;
+ demo_ap_Theta_ref = false;
+ demo_ap_alt_ref = false;
demo_tactile = false;
demo_ice_tail = false;
demo_ice_left = false;
Dx_cg = 0.0;
Dy_cg = 0.0;
Dz_cg = 0.0;
+ ap_pah_on = 0;
+ ap_alh_on = 0;
+}
+void uiuc_vel_init ()
+{
// Calculates the local velocity (V_north, V_east, V_down) from the body
// velocities.
// Called from uiuc_local_vel_init which is called from ls_step.
// Used during initialization (while Simtime=0)
-}
-
-void uiuc_vel_init ()
-{
if (U_body_init_true && V_body_init_true && W_body_init_true)
{
double det_T_l_to_b, cof11, cof12, cof13, cof21, cof22, cof23, cof31, cof32, cof33;
V_east = V_east_rel_ground + OMEGA_EARTH*Sea_level_radius*cos(Lat_geocentric);
}
- // Initializes the UIUC aircraft model.
- // Called once from uiuc_init_2_wrapper
}
void uiuc_init_aeromodel ()
{
+ // Initializes the UIUC aircraft model.
+ // Called once from uiuc_init_2_wrapper
SGPath path(globals->get_fg_root());
path.append(aircraft_dir);
path.append("aircraft.dat");
void uiuc_network_recv_routine()
{
//if (use_uiuc_network)
- //uiuc_network(1);
+ // uiuc_network(1);
}
void uiuc_network_send_routine()
{
//if (use_uiuc_network)
- //uiuc_network(2);
+ // uiuc_network(2);
}
//end uiuc_wrapper.cpp
projects / flightgear.git / commitdiff