From: curt Date: Fri, 7 Dec 2001 17:10:17 +0000 (+0000) Subject: Syncing with most recent JSBSim. X-Git-Url: https://git.mxchange.org/?a=commitdiff_plain;h=6b2e17493e76783865b4641daa82fc52582c3add;p=flightgear.git Syncing with most recent JSBSim. --- diff --git a/src/FDM/JSBSim.cxx b/src/FDM/JSBSim.cxx index b952113c1..d37caa6e7 100644 --- a/src/FDM/JSBSim.cxx +++ b/src/FDM/JSBSim.cxx @@ -263,7 +263,7 @@ bool FGJSBsim::update( int multiloop ) { fdmex->Run(); } - struct FGJSBBase::Message* msg; + FGJSBBase::Message* msg; while (fdmex->ReadMessage()) { msg = fdmex->ProcessMessage(); switch (msg->type) { diff --git a/src/FDM/JSBSim/FGAerodynamics.cpp b/src/FDM/JSBSim/FGAerodynamics.cpp index 523c73fc2..10e0b18ba 100644 --- a/src/FDM/JSBSim/FGAerodynamics.cpp +++ b/src/FDM/JSBSim/FGAerodynamics.cpp @@ -48,12 +48,7 @@ CLASS IMPLEMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -FGAerodynamics::FGAerodynamics(FGFDMExec* FDMExec) : FGModel(FDMExec), - vFs(3), - vForces(3), - vMoments(3), - vLastFs(3), - vDXYZcg(3) +FGAerodynamics::FGAerodynamics(FGFDMExec* FDMExec) : FGModel(FDMExec) { Name = "FGAerodynamics"; diff --git a/src/FDM/JSBSim/FGAircraft.cpp b/src/FDM/JSBSim/FGAircraft.cpp index 214dd8446..52c8ef5ab 100644 --- a/src/FDM/JSBSim/FGAircraft.cpp +++ b/src/FDM/JSBSim/FGAircraft.cpp @@ -98,15 +98,7 @@ static const char *IdHdr = ID_AIRCRAFT; CLASS IMPLEMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -FGAircraft::FGAircraft(FGFDMExec* fdmex) : FGModel(fdmex), - vMoments(3), - vForces(3), - vXYZrp(3), - vXYZep(3), - vDXYZcg(3), - vBodyAccel(3), - vNcg(3), - vNwcg(3) +FGAircraft::FGAircraft(FGFDMExec* fdmex) : FGModel(fdmex) { Name = "FGAircraft"; alphaclmin = alphaclmax = 0; @@ -237,8 +229,9 @@ bool FGAircraft::ReadMetrics(FGConfigFile* AC_cfg) { string token = ""; string parameter; - double EW, bixx, biyy, bizz, bixz, biyz; - FGColumnVector3 vbaseXYZcg(3); + double EW, bixx, biyy, bizz, bixy, bixz; + double pmWt, pmX, pmY, pmZ; + FGColumnVector3 vbaseXYZcg; AC_cfg->GetNextConfigLine(); @@ -280,14 +273,14 @@ bool FGAircraft::ReadMetrics(FGConfigFile* AC_cfg) *AC_cfg >> bizz; if (debug_lvl > 0) cout << " baseIzz: " << bizz << endl; MassBalance->SetBaseIzz(bizz); + } else if (parameter == "AC_IXY") { + *AC_cfg >> bixy; + if (debug_lvl > 0) cout << " baseIxy: " << bixy << endl; + MassBalance->SetBaseIxy(bixy); } else if (parameter == "AC_IXZ") { *AC_cfg >> bixz; if (debug_lvl > 0) cout << " baseIxz: " << bixz << endl; MassBalance->SetBaseIxz(bixz); - } else if (parameter == "AC_IYZ") { - *AC_cfg >> biyz; - if (debug_lvl > 0) cout << " baseIyz: " << biyz << endl; - MassBalance->SetBaseIyz(biyz); } else if (parameter == "AC_EMPTYWT") { *AC_cfg >> EW; MassBalance->SetEmptyWeight(EW); @@ -307,6 +300,11 @@ bool FGAircraft::ReadMetrics(FGConfigFile* AC_cfg) if (debug_lvl > 0) cout << " Maximum Alpha: " << alphaclmax << " Minimum Alpha: " << alphaclmin << endl; + } else if (parameter == "AC_POINTMASS") { + *AC_cfg >> pmWt >> pmX >> pmY >> pmZ; + if (debug_lvl > 0) cout << " Point Mass Object: " << pmWt << " lbs. at " + << "X, Y, Z (in.): " << pmX << " " << pmY << " " << pmZ + << endl; } } diff --git a/src/FDM/JSBSim/FGAtmosphere.cpp b/src/FDM/JSBSim/FGAtmosphere.cpp index 9d677b55e..318516a5f 100644 --- a/src/FDM/JSBSim/FGAtmosphere.cpp +++ b/src/FDM/JSBSim/FGAtmosphere.cpp @@ -68,15 +68,7 @@ CLASS IMPLEMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -FGAtmosphere::FGAtmosphere(FGFDMExec* fdmex) : FGModel(fdmex), - vDirectiondAccelDt(3), - vDirectionAccel(3), - vDirection(3), - vTurbulence(3), - vTurbulenceGrad(3), - vBodyTurbGrad(3), - vTurbPQR(3), - vWindNED(3) +FGAtmosphere::FGAtmosphere(FGFDMExec* fdmex) : FGModel(fdmex) { Name = "FGAtmosphere"; lastIndex=0; diff --git a/src/FDM/JSBSim/FGAuxiliary.cpp b/src/FDM/JSBSim/FGAuxiliary.cpp index 46f157545..65c9fd755 100644 --- a/src/FDM/JSBSim/FGAuxiliary.cpp +++ b/src/FDM/JSBSim/FGAuxiliary.cpp @@ -63,9 +63,7 @@ CLASS IMPLEMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -FGAuxiliary::FGAuxiliary(FGFDMExec* fdmex) : FGModel(fdmex), - vPilotAccel(3), - vToEyePt(3) +FGAuxiliary::FGAuxiliary(FGFDMExec* fdmex) : FGModel(fdmex) { Name = "FGAuxiliary"; vcas = veas = mach = qbar = pt = 0; diff --git a/src/FDM/JSBSim/FGColumnVector3.cpp b/src/FDM/JSBSim/FGColumnVector3.cpp index 0c27fa4d0..b974bea86 100644 --- a/src/FDM/JSBSim/FGColumnVector3.cpp +++ b/src/FDM/JSBSim/FGColumnVector3.cpp @@ -1,9 +1,9 @@ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -Module: FGMatrix33.cpp +Module: FGColumnVector3.cpp Author: Originally by Tony Peden [formatted here (and broken??) by JSB] Date started: 1998 -Purpose: FGMatrix33 class +Purpose: FGColumnVector3 class Called by: Various FUNCTIONAL DESCRIPTION @@ -19,8 +19,6 @@ INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #include "FGColumnVector3.h" -#include "FGMatrix33.h" - static const char *IdSrc = "$Id$"; static const char *IdHdr = ID_COLUMNVECTOR3; @@ -39,10 +37,10 @@ FGColumnVector3::FGColumnVector3(void) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -FGColumnVector3::FGColumnVector3(int m) +FGColumnVector3::FGColumnVector3(double X, double Y, double Z) { rowCtr = 1; - data[0]=0; data[1]=0; data[2]=0; data[3]=0; + data[0] = 0; data[eX] = X; data[eY] = Y; data[eZ] = Z; if (debug_lvl & 2) cout << "Instantiated: FGColumnVector3" << endl; } @@ -81,29 +79,6 @@ FGColumnVector3 FGColumnVector3::operator=(const FGColumnVector3& b) return *this; } - -/* //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -double& FGColumnVector3::operator()(int m) const -{ - return data[m]; -} - */ - -//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -/* FGColumnVector3 operator*(const FGMatrix33& Mat, FGColumnVector3& Col) -{ - FGColumnVector3 Product; - - Product(1) = Col(1)*Mat(1,1) + Col(2)*Mat(1,2) + Col(3)*Mat(1,3); - Product(2) = Col(1)*Mat(2,1) + Col(2)*Mat(2,2) + Col(3)*Mat(2,3); - Product(3) = Col(1)*Mat(3,1) + Col(2)*Mat(3,2) + Col(3)*Mat(3,3); - - return Product; -} - */ - //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FGColumnVector3 FGColumnVector3::operator+(const FGColumnVector3& C) @@ -292,13 +267,6 @@ FGColumnVector3 FGColumnVector3::multElementWise(const FGColumnVector3& V) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -void FGColumnVector3::Debug(void) -{ - //TODO: Add your source code here -} - -//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - ostream& operator<<(ostream& os, const FGColumnVector3& col) { os << col(1) << " , " << col(2) << " , " << col(3); @@ -314,3 +282,11 @@ FGColumnVector3& FGColumnVector3::operator<<(const double ff) rowCtr = 1; return *this; } + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +void FGColumnVector3::Debug(void) +{ + //TODO: Add your source code here +} + diff --git a/src/FDM/JSBSim/FGColumnVector3.h b/src/FDM/JSBSim/FGColumnVector3.h index 6c61b3ec6..20572e427 100644 --- a/src/FDM/JSBSim/FGColumnVector3.h +++ b/src/FDM/JSBSim/FGColumnVector3.h @@ -1,13 +1,11 @@ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -Header: FGMatrix33.h +Header: FGColumnVector3.h Author: Originally by Tony Peden [formatted and adapted here by Jon Berndt] Date started: Unknown HISTORY -------------------------------------------------------------------------------- -??/??/?? TP Created -03/16/2000 JSB Added exception throwing %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% SENTRY @@ -54,7 +52,6 @@ INCLUDES using std::string; #endif -#include "FGMatrix33.h" #include "FGJSBBase.h" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -67,8 +64,6 @@ DEFINITIONS FORWARD DECLARATIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -class FGMatrix33; - /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DECLARATION: FGColumnVector3 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ @@ -77,7 +72,7 @@ class FGColumnVector3 : public FGJSBBase { public: FGColumnVector3(void); - FGColumnVector3(int m); + FGColumnVector3(double X, double Y, double Z); FGColumnVector3(const FGColumnVector3& b); ~FGColumnVector3(void); @@ -104,7 +99,6 @@ public: FGColumnVector3 Normalize(void); friend FGColumnVector3 operator*(const double scalar, const FGColumnVector3& A); - //friend FGColumnVector3 operator*(const FGMatrix33& M, FGColumnVector3& V); friend ostream& operator<<(ostream& os, const FGColumnVector3& col); diff --git a/src/FDM/JSBSim/FGColumnVector4.cpp b/src/FDM/JSBSim/FGColumnVector4.cpp index 1a1b6f26c..6f76cdc24 100644 --- a/src/FDM/JSBSim/FGColumnVector4.cpp +++ b/src/FDM/JSBSim/FGColumnVector4.cpp @@ -30,17 +30,18 @@ CLASS IMPLEMENTATION FGColumnVector4::FGColumnVector4(void) { rowCtr = 1; - //cout << "Allocated: " << data << endl; + data[1]=0;data[2]=0;data[3]=0;data[4]=0; + if (debug_lvl & 2) cout << "Instantiated: FGColumnVector4" << endl; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -FGColumnVector4::FGColumnVector4(int m) +FGColumnVector4::FGColumnVector4(double A, double B, double C, double D) { rowCtr = 1; data[1]=0;data[2]=0;data[3]=0;data[4]=0; - //cout << "Allocated: " << data << endl; + if (debug_lvl & 2) cout << "Instantiated: FGColumnVector4" << endl; } @@ -48,7 +49,6 @@ FGColumnVector4::FGColumnVector4(int m) FGColumnVector4::~FGColumnVector4(void) { - //cout << "Freed: " << data << endl; if (debug_lvl & 2) cout << "Destroyed: FGColumnVector4" << endl; } @@ -240,34 +240,6 @@ FGColumnVector4 FGColumnVector4::Normalize(void) return *this; } -/* //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -FGColumnVector4 FGColumnVector4::operator*(const FGColumnVector4& V) -{ - FGColumnVector4 Product; - - Product(1) = data[2] * V(3) - data[3] * V(2); - Product(2) = data[3] * V(1) - data[1] * V(3); - Product(3) = data[1] * V(2) - data[2] * V(1); - - return Product; -} */ - - -/* //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -void FGColumnVector4::operator*=(const FGColumnVector4& V) -{ - double a,b,c; - a = data[1]; b=data[2]; c=data[3]; - - data[1] = b * V(3) - c * V(2); - data[2] = c * V(1) - a * V(3); - data[3] = a * V(2) - b * V(1); - -} - */ - //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FGColumnVector4 FGColumnVector4::multElementWise(const FGColumnVector4& V) @@ -284,13 +256,6 @@ FGColumnVector4 FGColumnVector4::multElementWise(const FGColumnVector4& V) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -void FGColumnVector4::Debug(void) -{ - //TODO: Add your source code here -} - -//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - ostream& operator<<(ostream& os, FGColumnVector4& col) { os << col(1) << " , " << col(2) << " , " << col(3) << " , " << col(4); @@ -302,8 +267,14 @@ ostream& operator<<(ostream& os, FGColumnVector4& col) FGColumnVector4& FGColumnVector4::operator<<(const double ff) { data[rowCtr] = ff; - if (++rowCtr > 4 ) - rowCtr = 1; + if (++rowCtr > 4) rowCtr = 1; return *this; } +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +void FGColumnVector4::Debug(void) +{ + //TODO: Add your source code here +} + diff --git a/src/FDM/JSBSim/FGColumnVector4.h b/src/FDM/JSBSim/FGColumnVector4.h index 1a47539d1..db311dfcb 100644 --- a/src/FDM/JSBSim/FGColumnVector4.h +++ b/src/FDM/JSBSim/FGColumnVector4.h @@ -1,13 +1,11 @@ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -Header: FGMatrix33.h +Header: FGColumnVector4.h Author: Originally by Tony Peden [formatted and adapted here by Jon Berndt] Date started: Unknown HISTORY -------------------------------------------------------------------------------- -??/??/?? TP Created -03/16/2000 JSB Added exception throwing %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% SENTRY @@ -74,21 +72,19 @@ class FGColumnVector4 : public FGJSBBase { public: FGColumnVector4(void); - FGColumnVector4(int m); + FGColumnVector4(double A, double B, double C, double D); FGColumnVector4(const FGColumnVector4& b); ~FGColumnVector4(void); FGColumnVector4 operator=(const FGColumnVector4& b); FGColumnVector4 operator*(const double scalar); - //FGColumnVector4 operator*(const FGColumnVector4& V); // Cross product operator FGColumnVector4 operator/(const double scalar); FGColumnVector4 operator+(const FGColumnVector4& B); // must not return reference FGColumnVector4 operator-(const FGColumnVector4& B); void operator-=(const FGColumnVector4 &B); void operator+=(const FGColumnVector4 &B); - //void operator*=(const FGColumnVector4 &B); void operator*=(const double scalar); void operator/=(const double scalar); @@ -97,8 +93,8 @@ public: FGColumnVector4& operator<<(const double ff); - inline void InitMatrix(void) { data[1]=0; data[2]=0; data[3]=0; } - inline void InitMatrix(double ff) { data[1]=ff; data[2]=ff; data[3]=ff; } + inline void InitMatrix(void) { data[1]=0; data[2]=0; data[3]=0; data[4]=0; } + inline void InitMatrix(double ff) { data[1]=ff; data[2]=ff; data[3]=ff; data[4]=ff;} double Magnitude(void); FGColumnVector4 Normalize(void); @@ -118,3 +114,4 @@ private: //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% #endif + diff --git a/src/FDM/JSBSim/FGFDMExec.cpp b/src/FDM/JSBSim/FGFDMExec.cpp index a2fdd683e..5666b2ef0 100644 --- a/src/FDM/JSBSim/FGFDMExec.cpp +++ b/src/FDM/JSBSim/FGFDMExec.cpp @@ -583,8 +583,6 @@ bool FGFDMExec::LoadScript(string script) cerr << "Aircraft file " << aircraft << " was not found" << endl; exit(-1); } - if ( ! State->Reset("aircraft", aircraft, initialize)) - State->Initialize(2000,0,0,0,0,0,0.5,0.5,40000,0,0,0); return true; } @@ -640,6 +638,7 @@ void FGFDMExec::RunScript(void) iC->newValue[i] = iC->OriginalValue[i] + iC->SetValue[i]; break; case FG_BOOL: + iC->newValue[i] = iC->SetValue[i]; break; default: cerr << "Invalid Type specified" << endl; @@ -651,7 +650,7 @@ void FGFDMExec::RunScript(void) switch (iC->Action[i]) { case FG_RAMP: - newSetValue = (currentTime - iC->StartTime[i])/(iC->TC[i]) + newSetValue = (currentTime - iC->StartTime[i])/(iC->TC[i]) * (iC->newValue[i] - iC->OriginalValue[i]) + iC->OriginalValue[i]; if (newSetValue > iC->newValue[i]) newSetValue = iC->newValue[i]; break; @@ -667,9 +666,6 @@ void FGFDMExec::RunScript(void) break; } State->SetParameter(iC->SetParam[i], newSetValue); - if ((unsigned long int)Propulsion->GetTank(0) == 0) { - cout << "Param # getting set: " << iC->SetParam[i] << " Value: " << newSetValue << endl; - } } } iC++; diff --git a/src/FDM/JSBSim/FGFDMExec.h b/src/FDM/JSBSim/FGFDMExec.h index 3125e7936..9fde7b6a9 100644 --- a/src/FDM/JSBSim/FGFDMExec.h +++ b/src/FDM/JSBSim/FGFDMExec.h @@ -294,18 +294,18 @@ private: struct condition { vector TestParam; vector SetParam; - vector TestValue; - vector SetValue; + vector TestValue; + vector SetValue; vector Comparison; - vector TC; + vector TC; vector Persistent; vector Action; vector Type; vector Triggered; - vector newValue; - vector OriginalValue; - vector StartTime; - vector EndTime; + vector newValue; + vector OriginalValue; + vector StartTime; + vector EndTime; condition() { } diff --git a/src/FDM/JSBSim/FGForce.cpp b/src/FDM/JSBSim/FGForce.cpp index b3352851b..a1bd2172f 100644 --- a/src/FDM/JSBSim/FGForce.cpp +++ b/src/FDM/JSBSim/FGForce.cpp @@ -54,18 +54,8 @@ static const char *IdHdr = ID_FORCE; //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FGForce::FGForce(FGFDMExec *FDMExec) : - ttype(tNone), - fdmex(FDMExec), - vFn(3), - vMn(3), - vH(3), - vFb(3), - vM(3), - vXYZn(3), - vDXYZ(3), - vSense(3), - mT(3,3) - + ttype(tNone), + fdmex(FDMExec) { mT(1,1) = 1; //identity matrix mT(2,2) = 1; @@ -83,15 +73,17 @@ FGForce::~FGForce() //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -FGColumnVector3& FGForce::GetBodyForces(void) { - +FGColumnVector3& FGForce::GetBodyForces(void) +{ vFb = Transform()*(vFn.multElementWise(vSense)); - //find the distance from this vector's location to the cg - //needs to be done like this to convert from structural to body coords - vDXYZ(1) = -(vXYZn(1) - fdmex->GetMassBalance()->GetXYZcg(1))*inchtoft; - vDXYZ(2) = (vXYZn(2) - fdmex->GetMassBalance()->GetXYZcg(2))*inchtoft; //cg and rp values are in inches - vDXYZ(3) = -(vXYZn(3) - fdmex->GetMassBalance()->GetXYZcg(3))*inchtoft; + // 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(eX) = -(vActingXYZn(eX) - fdmex->GetMassBalance()->GetXYZcg(eX))*inchtoft; + vDXYZ(eY) = (vActingXYZn(eY) - fdmex->GetMassBalance()->GetXYZcg(eY))*inchtoft; + vDXYZ(eZ) = -(vActingXYZn(eZ) - fdmex->GetMassBalance()->GetXYZcg(eZ))*inchtoft; vM = vMn + vDXYZ*vFb; @@ -100,7 +92,8 @@ FGColumnVector3& FGForce::GetBodyForces(void) { //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -FGMatrix33 FGForce::Transform(void) { +FGMatrix33 FGForce::Transform(void) +{ switch(ttype) { case tWindBody: return fdmex->GetState()->GetTs2b(); @@ -118,9 +111,9 @@ FGMatrix33 FGForce::Transform(void) { //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -void FGForce::SetAnglesToBody(double broll, double bpitch, double byaw) { - - if(ttype == tCustom) { +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); @@ -139,7 +132,6 @@ void FGForce::SetAnglesToBody(double broll, double bpitch, double byaw) { mT(3,2)=cr*sp*sy-sr*cy; mT(3,3)=cr*cp; } - } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/FGForce.h b/src/FDM/JSBSim/FGForce.h index 661434480..595667574 100644 --- a/src/FDM/JSBSim/FGForce.h +++ b/src/FDM/JSBSim/FGForce.h @@ -244,27 +244,49 @@ public: inline FGColumnVector3& GetNativeForces(void) { return vFn; } inline FGColumnVector3& GetNativeMoments(void) { return vMn; } - FGColumnVector3& GetBodyForces(void); inline FGColumnVector3& GetMoments(void) { return vM; } - //point of application, JSBsim structural coords - //(inches, x +back, y +right, z +up) + // Normal point of application, JSBsim structural coords + // (inches, x +back, y +right, z +up) inline void SetLocation(double x, double y, double z) { - vXYZn(1) = x; - vXYZn(2) = y; - vXYZn(3) = 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(1) = x;} - inline void SetLocationY(double y) {vXYZn(2) = y;} - inline void SetLocationZ(double z) {vXYZn(3) = z;} - inline void SetLocation(FGColumnVector3 vv) { vXYZn = vv; } + 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(1);} - inline double GetLocationY( void ) { return vXYZn(2);} - inline double GetLocationZ( void ) { return vXYZn(3);} + 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, @@ -274,9 +296,11 @@ public: //They are in radians. void SetAnglesToBody(double broll, double bpitch, double byaw); - inline void SetAnglesToBody(FGColumnVector3 vv) { SetAnglesToBody(vv(1), vv(2), vv(3));} + inline void SetAnglesToBody(FGColumnVector3 vv) { + SetAnglesToBody(vv(eRoll), vv(ePitch), vv(eYaw)); + } - inline void SetSense(double x, double y, double z) { vSense(1)=x, vSense(2)=y, vSense(3)=z; } + 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; } @@ -298,6 +322,7 @@ private: FGColumnVector3 vFb; FGColumnVector3 vM; FGColumnVector3 vXYZn; + FGColumnVector3 vActingXYZn; FGColumnVector3 vDXYZ; FGColumnVector3 vSense; diff --git a/src/FDM/JSBSim/FGGroundReactions.cpp b/src/FDM/JSBSim/FGGroundReactions.cpp index 794225aa9..9156f28e4 100644 --- a/src/FDM/JSBSim/FGGroundReactions.cpp +++ b/src/FDM/JSBSim/FGGroundReactions.cpp @@ -45,11 +45,7 @@ CLASS IMPLEMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex), - vForces(3), - vMoments(3), - vMaxStaticGrip(3), - vMaxMomentResist(3) +FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex) { Name = "FGGroundReactions"; diff --git a/src/FDM/JSBSim/FGInertial.cpp b/src/FDM/JSBSim/FGInertial.cpp index c2632e3d5..f5189108f 100644 --- a/src/FDM/JSBSim/FGInertial.cpp +++ b/src/FDM/JSBSim/FGInertial.cpp @@ -47,11 +47,7 @@ CLASS IMPLEMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -FGInertial::FGInertial(FGFDMExec* fgex) : FGModel(fgex), - vOmegaLocal(3), - vForces(3), - vRadius(3), - vGravity(3) +FGInertial::FGInertial(FGFDMExec* fgex) : FGModel(fgex) { Name = "FGInertial"; diff --git a/src/FDM/JSBSim/FGLGear.cpp b/src/FDM/JSBSim/FGLGear.cpp index 4826990de..eb42ff08a 100644 --- a/src/FDM/JSBSim/FGLGear.cpp +++ b/src/FDM/JSBSim/FGLGear.cpp @@ -57,13 +57,7 @@ static const char *IdHdr = ID_LGEAR; CLASS IMPLEMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -FGLGear::FGLGear(FGConfigFile* AC_cfg, FGFDMExec* fdmex) : vXYZ(3), - vMoment(3), - vWhlBodyVec(3), - vForce(3), - vLocalForce(3), - vWhlVelVec(3), - Exec(fdmex) +FGLGear::FGLGear(FGConfigFile* AC_cfg, FGFDMExec* fdmex) : Exec(fdmex) { string tmp; string Retractable; @@ -202,19 +196,24 @@ FGColumnVector3& FGLGear::Force(void) { 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; + + 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; + GearUp = false; + GearDown = false; } } else { - GearUp=false; GearDown=true; + GearUp = false; + GearDown = true; } - if( GearDown ) { + if (GearDown) { double SteerGain = 0; double SinWheel, CosWheel, SideWhlVel, RollingWhlVel; double RollingForce, SideForce, FCoeff; diff --git a/src/FDM/JSBSim/FGMassBalance.cpp b/src/FDM/JSBSim/FGMassBalance.cpp index f6f87391d..a7f2eb93b 100644 --- a/src/FDM/JSBSim/FGMassBalance.cpp +++ b/src/FDM/JSBSim/FGMassBalance.cpp @@ -68,20 +68,22 @@ bool FGMassBalance::Run(void) { if (!FGModel::Run()) { - Weight = EmptyWeight + Propulsion->GetTanksWeight(); + Weight = EmptyWeight + Propulsion->GetTanksWeight() + GetPointMassWeight(); Mass = Weight / Inertial->gravity(); // Calculate new CG here. - vXYZcg = (Propulsion->GetTanksCG() + EmptyWeight*vbaseXYZcg) / Weight; + vXYZcg = (Propulsion->GetTanksCG() + EmptyWeight*vbaseXYZcg + + GetPointMassCG() ) / Weight; // Calculate new moments of inertia here - Ixx = baseIxx + Propulsion->GetTanksIxx(vXYZcg); - Iyy = baseIyy + Propulsion->GetTanksIyy(vXYZcg); - Izz = baseIzz + Propulsion->GetTanksIzz(vXYZcg); - Ixz = baseIxz + Propulsion->GetTanksIxz(vXYZcg); + Ixx = baseIxx + Propulsion->GetTanksIxx(vXYZcg) + GetPMIxx(); + Iyy = baseIyy + Propulsion->GetTanksIyy(vXYZcg) + GetPMIyy(); + Izz = baseIzz + Propulsion->GetTanksIzz(vXYZcg) + GetPMIzz(); + Ixy = baseIxy + Propulsion->GetTanksIxy(vXYZcg) + GetPMIxy(); + Ixz = baseIxz + Propulsion->GetTanksIxz(vXYZcg) + GetPMIxz(); if (debug_lvl > 1) Debug(); @@ -93,6 +95,98 @@ bool FGMassBalance::Run(void) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +void FGMassBalance::AddPointMass(double weight, double X, double Y, double Z) +{ + PointMassLoc.push_back(*(new FGColumnVector3(X, Y, Z))); + PointMassWeight.push_back(weight); +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +double FGMassBalance::GetPointMassWeight(void) +{ + double PM_total_weight = 0.0; + + for (unsigned int i=0; igravity()); + return I; +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +double FGMassBalance::GetPMIyy(void) +{ + double I = 0.0; + for (unsigned int i=0; igravity()); + return I; +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +double FGMassBalance::GetPMIzz(void) +{ + double I = 0.0; + for (unsigned int i=0; igravity()); + return I; +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +double FGMassBalance::GetPMIxy(void) +{ + double I = 0.0; + for (unsigned int i=0; igravity()); + return I; +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +double FGMassBalance::GetPMIxz(void) +{ + double I = 0.0; + for (unsigned int i=0; igravity()); + return I; +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + void FGMassBalance::Debug(void) { if (debug_lvl & 16) { // Sanity check variables diff --git a/src/FDM/JSBSim/FGMassBalance.h b/src/FDM/JSBSim/FGMassBalance.h index d59fbb16e..5efda6698 100644 --- a/src/FDM/JSBSim/FGMassBalance.h +++ b/src/FDM/JSBSim/FGMassBalance.h @@ -44,6 +44,7 @@ INCLUDES #include "FGModel.h" #include "FGPropulsion.h" +#include #define ID_MASSBALANCE "$Id$" @@ -65,8 +66,8 @@ public: inline double GetIxx(void) {return Ixx;} inline double GetIyy(void) {return Iyy;} inline double GetIzz(void) {return Izz;} + inline double GetIxy(void) {return Ixy;} inline double GetIxz(void) {return Ixz;} - inline double GetIyz(void) {return Iyz;} inline FGColumnVector3& GetXYZcg(void) {return vXYZcg;} inline double GetXYZcg(int axis) {return vXYZcg(axis);} @@ -74,9 +75,18 @@ public: inline void SetBaseIxx(double bixx) { baseIxx = bixx;} inline void SetBaseIyy(double biyy) { baseIyy = biyy;} inline void SetBaseIzz(double bizz) { baseIzz = bizz;} + inline void SetBaseIxy(double bixy) { baseIxy = bixy;} inline void SetBaseIxz(double bixz) { baseIxz = bixz;} - inline void SetBaseIyz(double biyz) { baseIyz = biyz;} inline void SetBaseCG(const FGColumnVector3& CG) {vbaseXYZcg = CG;} + + void AddPointMass(double weight, double X, double Y, double Z); + double GetPointMassWeight(void); + FGColumnVector3& GetPointMassCG(void); + double GetPMIxx(void); + double GetPMIyy(void); + double GetPMIzz(void); + double GetPMIxy(void); + double GetPMIxz(void); private: double Weight; @@ -85,16 +95,19 @@ private: double Ixx; double Iyy; double Izz; + double Ixy; double Ixz; - double Iyz; double baseIxx; double baseIyy; double baseIzz; + double baseIxy; double baseIxz; - double baseIyz; FGColumnVector3 vXYZcg; FGColumnVector3 vXYZtank; FGColumnVector3 vbaseXYZcg; + vector PointMassLoc; + vector PointMassWeight; + FGColumnVector3 PointMassCG; void Debug(void); }; diff --git a/src/FDM/JSBSim/FGOutput.cpp b/src/FDM/JSBSim/FGOutput.cpp index 19bf7236a..aff96cc48 100644 --- a/src/FDM/JSBSim/FGOutput.cpp +++ b/src/FDM/JSBSim/FGOutput.cpp @@ -195,6 +195,7 @@ void FGOutput::DelimitedOutput(string fname) outstream << "Altitude, "; outstream << "Phi, Tht, Psi, "; outstream << "Alpha, "; + outstream << "Beta, "; outstream << "Latitude, "; outstream << "Longitude, "; outstream << "Distance AGL, "; @@ -269,6 +270,7 @@ void FGOutput::DelimitedOutput(string fname) outstream << Position->Geth() << ", "; outstream << Rotation->GetEuler() << ", "; outstream << Translation->Getalpha() << ", "; + outstream << Translation->Getbeta() << ", "; outstream << Position->GetLatitude() << ", "; outstream << Position->GetLongitude() << ", "; outstream << Position->GetDistanceAGL() << ", "; diff --git a/src/FDM/JSBSim/FGPiston.cpp b/src/FDM/JSBSim/FGPiston.cpp index 58485a2e4..de5b7db5f 100644 --- a/src/FDM/JSBSim/FGPiston.cpp +++ b/src/FDM/JSBSim/FGPiston.cpp @@ -68,9 +68,7 @@ FGPiston::FGPiston(FGFDMExec* exec, FGConfigFile* Eng_cfg) Cycles=2; IdleRPM=600; // Set constants - - - + Name = Eng_cfg->GetValue("NAME"); Eng_cfg->GetNextConfigLine(); while (Eng_cfg->GetValue() != string("/FG_PISTON")) { diff --git a/src/FDM/JSBSim/FGPosition.cpp b/src/FDM/JSBSim/FGPosition.cpp index 1b30295f5..cc3a95cef 100644 --- a/src/FDM/JSBSim/FGPosition.cpp +++ b/src/FDM/JSBSim/FGPosition.cpp @@ -95,10 +95,7 @@ extern double globalTriNormal[3]; extern double globalSceneryAltitude; extern double globalSeaLevelRadius; -FGPosition::FGPosition(FGFDMExec* fdmex) : FGModel(fdmex), - vVel(3), - vVelDot(3), - vRunwayNormal(3) +FGPosition::FGPosition(FGFDMExec* fdmex) : FGModel(fdmex) { Name = "FGPosition"; LongitudeDot = LatitudeDot = RadiusDot = 0.0; diff --git a/src/FDM/JSBSim/FGPropeller.cpp b/src/FDM/JSBSim/FGPropeller.cpp index f5dad334f..9ae5abcdd 100644 --- a/src/FDM/JSBSim/FGPropeller.cpp +++ b/src/FDM/JSBSim/FGPropeller.cpp @@ -105,6 +105,7 @@ FGPropeller::FGPropeller(FGFDMExec* exec, FGConfigFile* Prop_cfg) : FGThruster(e Type = ttPropeller; RPM = 0; + vTorque.InitMatrix(); if (debug_lvl & 2) cout << "Instantiated: FGPropeller" << endl; } @@ -155,8 +156,8 @@ double FGPropeller::Calculate(double PowerAvailable) if (P_Factor > 0.0001) { alpha = fdmex->GetTranslation()->Getalpha(); beta = fdmex->GetTranslation()->Getbeta(); - SetLocationY( GetLocationY() + P_Factor*alpha*fabs(Sense)/Sense); - SetLocationZ( GetLocationZ() + P_Factor*beta*fabs(Sense)/Sense); + SetActingLocationY( GetLocationY() + P_Factor*alpha*fabs(Sense)/Sense); + SetActingLocationZ( GetLocationZ() + P_Factor*beta*fabs(Sense)/Sense); } else if (P_Factor < 0.000) { cerr << "P-Factor value in config file must be greater than zero" << endl; } @@ -175,10 +176,10 @@ double FGPropeller::Calculate(double PowerAvailable) if (omega <= 5) omega = 1.0; - Torque = PowerAvailable / omega; - RPM = (RPS + ((Torque / Ixx) / (2.0 * M_PI)) * deltaT) * 60.0; + ExcessTorque = PowerAvailable / omega; + RPM = (RPS + ((ExcessTorque / Ixx) / (2.0 * M_PI)) * deltaT) * 60.0; - vMn = fdmex->GetRotation()->GetPQR()*vH + Torque*Sense; + vMn = fdmex->GetRotation()->GetPQR()*vH + vTorque*Sense; return Thrust; // return thrust in pounds } @@ -216,6 +217,8 @@ double FGPropeller::GetPowerRequired(void) PowerRequired = cPReq*RPS*RPS*RPS*Diameter*Diameter*Diameter*Diameter *Diameter*rho; + vTorque(eX) = PowerRequired / ((RPM/60)*2.0*M_PI); + return PowerRequired; } diff --git a/src/FDM/JSBSim/FGPropeller.h b/src/FDM/JSBSim/FGPropeller.h index 3c0d92f0a..23c9aaadc 100644 --- a/src/FDM/JSBSim/FGPropeller.h +++ b/src/FDM/JSBSim/FGPropeller.h @@ -1,170 +1,171 @@ -/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - Header: FGPropeller.h - Author: Jon S. Berndt - Date started: 08/24/00 - - ------------- 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. - -HISTORY --------------------------------------------------------------------------------- -08/24/00 JSB Created - -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -SENTRY -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ - -#ifndef FGPROPELLER_H -#define FGPROPELLER_H - -/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -INCLUDES -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ - -#include "FGThruster.h" -#include "FGTable.h" -#include "FGTranslation.h" -#include "FGRotation.h" - -/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -DEFINITIONS -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ - -#define ID_PROPELLER "$Id$" - -/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -FORWARD DECLARATIONS -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ - -/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs] -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ - -/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -CLASS DOCUMENTATION -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ - -/** Propeller modeling class. +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + Header: FGPropeller.h + Author: Jon S. Berndt + Date started: 08/24/00 + + ------------- 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. + +HISTORY +-------------------------------------------------------------------------------- +08/24/00 JSB Created + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +SENTRY +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +#ifndef FGPROPELLER_H +#define FGPROPELLER_H + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +INCLUDES +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +#include "FGThruster.h" +#include "FGTable.h" +#include "FGTranslation.h" +#include "FGRotation.h" + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +DEFINITIONS +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +#define ID_PROPELLER "$Id$" + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +FORWARD DECLARATIONS +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs] +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +CLASS DOCUMENTATION +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +/** Propeller modeling class. FGPropeller models a propeller given the tabular data for Ct and Cp indexed by advance ratio "J". The data for the propeller is - stored in a config file named "prop_name.xml". The propeller config file - is referenced from the main aircraft config file in the "Propulsion" section. - See the constructor for FGPropeller to see what is read in and what should - be stored in the config file.
- Several references were helpful, here:
    -
  • Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics", - Wiley & Sons, 1979 ISBN 0-471-03032-5
    • -
  • Edwin Hartman, David Biermann, "The Aerodynamic Characteristics of - Full Scale Propellers Having 2, 3, and 4 Blades of Clark Y and R.A.F. 6 - Airfoil Sections", NACA Report TN-640, 1938 (?)
    • -
  • Various NACA Technical Notes and Reports
    • -
      - @author Jon S. Berndt - @version $Id$ - @see FGEngine - @see FGThruster - @see FGTable -*/ - -/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -CLASS DECLARATION -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ - -class FGPropeller : public FGThruster { - -public: - /** Constructor for FGPropeller. - @param exec a pointer to the main executive object - @param AC_cfg a pointer to the main aircraft config file object */ - FGPropeller(FGFDMExec* exec, FGConfigFile* AC_cfg); - - /// Destructor for FGPropeller - deletes the FGTable objects - ~FGPropeller(); - - /** Sets the Revolutions Per Minute for the propeller. Normally the propeller - instance will calculate its own rotational velocity, given the Torque - produced by the engine and integrating over time using the standard - equation for rotational acceleration "a": a = Q/I , where Q is Torque and - I is moment of inertia for the propeller. - @param rpm the rotational velocity of the propeller */ - void SetRPM(double rpm) {RPM = rpm;} - - /** This commands the pitch of the blade to change to the value supplied. - This call is meant to be issued either from the cockpit or by the flight - control system (perhaps to maintain constant RPM for a constant-speed - propeller). This value will be limited to be within whatever is specified - in the config file for Max and Min pitch. It is also one of the lookup + stored in a config file named "prop_name.xml". The propeller config file + is referenced from the main aircraft config file in the "Propulsion" section. + See the constructor for FGPropeller to see what is read in and what should + be stored in the config file.
      + Several references were helpful, here:
        +
      • Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics", + Wiley & Sons, 1979 ISBN 0-471-03032-5
        • +
      • Edwin Hartman, David Biermann, "The Aerodynamic Characteristics of + Full Scale Propellers Having 2, 3, and 4 Blades of Clark Y and R.A.F. 6 + Airfoil Sections", NACA Report TN-640, 1938 (?)
        • +
      • Various NACA Technical Notes and Reports
        • +
          + @author Jon S. Berndt + @version $Id$ + @see FGEngine + @see FGThruster + @see FGTable +*/ + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +CLASS DECLARATION +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +class FGPropeller : public FGThruster { + +public: + /** Constructor for FGPropeller. + @param exec a pointer to the main executive object + @param AC_cfg a pointer to the main aircraft config file object */ + FGPropeller(FGFDMExec* exec, FGConfigFile* AC_cfg); + + /// Destructor for FGPropeller - deletes the FGTable objects + ~FGPropeller(); + + /** Sets the Revolutions Per Minute for the propeller. Normally the propeller + instance will calculate its own rotational velocity, given the Torque + produced by the engine and integrating over time using the standard + equation for rotational acceleration "a": a = Q/I , where Q is Torque and + I is moment of inertia for the propeller. + @param rpm the rotational velocity of the propeller */ + void SetRPM(double rpm) {RPM = rpm;} + + /** This commands the pitch of the blade to change to the value supplied. + This call is meant to be issued either from the cockpit or by the flight + control system (perhaps to maintain constant RPM for a constant-speed + propeller). This value will be limited to be within whatever is specified + in the config file for Max and Min pitch. It is also one of the lookup indices to the power and thrust tables for variable-pitch propellers. - @param pitch the pitch of the blade in degrees. */ - void SetPitch(double pitch) {Pitch = pitch;} - - void SetPFactor(double pf) {P_Factor = pf;} - - void SetSense(double s) { Sense = s;} - - /// Retrieves the pitch of the propeller in degrees. - double GetPitch(void) { return Pitch; } - - /// Retrieves the RPMs of the propeller - double GetRPM(void) { return RPM; } - - /// Retrieves the propeller moment of inertia - double GetIxx(void) { return Ixx; } - - /// Retrieves the Torque in foot-pounds (Don't you love the English system?) - double GetTorque(void) { return Torque; } - - /** Retrieves the power required (or "absorbed") by the propeller - - i.e. the power required to keep spinning the propeller at the current - velocity, air density, and rotational rate. */ - double GetPowerRequired(void); - - /** Calculates and returns the thrust produced by this propeller. - Given the excess power available from the engine (in foot-pounds), the thrust is - calculated, as well as the current RPM. The RPM is calculated by integrating - the torque provided by the engine over what the propeller "absorbs" - (essentially the "drag" of the propeller). - @param PowerAvailable this is the excess power provided by the engine to - accelerate the prop. It could be negative, dictating that the propeller - would be slowed. - @return the thrust in pounds */ - double Calculate(double PowerAvailable); - -private: - int numBlades; - double RPM; - double Ixx; - double Diameter; - double MaxPitch; - double MinPitch; - double MinRPM; - double MaxRPM; - double P_Factor; - double Sense; - double Pitch; - double Torque; - FGTable *cThrust; - FGTable *cPower; - void Debug(void); -}; - -//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -#endif - + @param pitch the pitch of the blade in degrees. */ + void SetPitch(double pitch) {Pitch = pitch;} + + void SetPFactor(double pf) {P_Factor = pf;} + + void SetSense(double s) { Sense = s;} + + /// Retrieves the pitch of the propeller in degrees. + double GetPitch(void) { return Pitch; } + + /// Retrieves the RPMs of the propeller + double GetRPM(void) { return RPM; } + + /// Retrieves the propeller moment of inertia + double GetIxx(void) { return Ixx; } + + /// Retrieves the Torque in foot-pounds (Don't you love the English system?) + double GetTorque(void) { return vTorque(eX); } + + /** Retrieves the power required (or "absorbed") by the propeller - + i.e. the power required to keep spinning the propeller at the current + velocity, air density, and rotational rate. */ + double GetPowerRequired(void); + + /** Calculates and returns the thrust produced by this propeller. + Given the excess power available from the engine (in foot-pounds), the thrust is + calculated, as well as the current RPM. The RPM is calculated by integrating + the torque provided by the engine over what the propeller "absorbs" + (essentially the "drag" of the propeller). + @param PowerAvailable this is the excess power provided by the engine to + accelerate the prop. It could be negative, dictating that the propeller + would be slowed. + @return the thrust in pounds */ + double Calculate(double PowerAvailable); + +private: + int numBlades; + double RPM; + double Ixx; + double Diameter; + double MaxPitch; + double MinPitch; + double MinRPM; + double MaxRPM; + double P_Factor; + double Sense; + double Pitch; + double ExcessTorque; + FGColumnVector3 vTorque; + FGTable *cThrust; + FGTable *cPower; + void Debug(void); +}; + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +#endif + diff --git a/src/FDM/JSBSim/FGPropulsion.cpp b/src/FDM/JSBSim/FGPropulsion.cpp index 9dcc78e69..e8a148e1f 100644 --- a/src/FDM/JSBSim/FGPropulsion.cpp +++ b/src/FDM/JSBSim/FGPropulsion.cpp @@ -62,9 +62,7 @@ CLASS IMPLEMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -FGPropulsion::FGPropulsion(FGFDMExec* exec) : FGModel(exec), - Forces(3), - Moments(3) +FGPropulsion::FGPropulsion(FGFDMExec* exec) : FGModel(exec) { Name = "FGPropulsion"; numSelectedFuelTanks = numSelectedOxiTanks = 0; @@ -90,16 +88,16 @@ bool FGPropulsion::Run(void) double PowerAvailable; dt = State->Getdt(); - Forces.InitMatrix(); - Moments.InitMatrix(); + vForces.InitMatrix(); + vMoments.InitMatrix(); if (!FGModel::Run()) { for (unsigned int i=0; iSetdeltaT(dt*rate); PowerAvailable = Engines[i]->Calculate(Thrusters[i]->GetPowerRequired()); Thrusters[i]->Calculate(PowerAvailable); - Forces += Thrusters[i]->GetBodyForces(); // sum body frame forces - Moments += Thrusters[i]->GetMoments(); // sum body frame moments + vForces += Thrusters[i]->GetBodyForces(); // sum body frame forces + vMoments += Thrusters[i]->GetMoments(); // sum body frame moments } return false; } else { @@ -117,8 +115,8 @@ bool FGPropulsion::GetSteadyState(void) int steady_count,j=0; bool steady=false; - Forces.InitMatrix(); - Moments.InitMatrix(); + vForces.InitMatrix(); + vMoments.InitMatrix(); if (!FGModel::Run()) { for (unsigned int i=0; iGetBodyForces(); // sum body frame forces - Moments += Thrusters[i]->GetMoments(); // sum body frame moments + vForces += Thrusters[i]->GetBodyForces(); // sum body frame forces + vMoments += Thrusters[i]->GetMoments(); // sum body frame moments Engines[i]->SetTrimMode(false); } @@ -158,8 +156,8 @@ bool FGPropulsion::ICEngineStart(void) int j; dt = State->Getdt(); - Forces.InitMatrix(); - Moments.InitMatrix(); + vForces.InitMatrix(); + vMoments.InitMatrix(); for (unsigned int i=0; iSetTrimMode(true); @@ -170,8 +168,8 @@ bool FGPropulsion::ICEngineStart(void) Thrusters[i]->Calculate(PowerAvailable); j++; } - Forces += Thrusters[i]->GetBodyForces(); // sum body frame forces - Moments += Thrusters[i]->GetMoments(); // sum body frame moments + vForces += Thrusters[i]->GetBodyForces(); // sum body frame forces + vMoments += Thrusters[i]->GetMoments(); // sum body frame moments Engines[i]->SetTrimMode(false); } return true; diff --git a/src/FDM/JSBSim/FGPropulsion.h b/src/FDM/JSBSim/FGPropulsion.h index 0d41af38a..6cb2342a8 100644 --- a/src/FDM/JSBSim/FGPropulsion.h +++ b/src/FDM/JSBSim/FGPropulsion.h @@ -168,10 +168,10 @@ public: string GetPropulsionStrings(void); string GetPropulsionValues(void); - inline FGColumnVector3& GetForces(void) {return Forces; } - inline double GetForces(int n) { return Forces(n);} - inline FGColumnVector3& GetMoments(void) {return Moments;} - inline double GetMoments(int n) {return Moments(n);} + inline FGColumnVector3& GetForces(void) {return vForces; } + inline double GetForces(int n) { return vForces(n);} + inline FGColumnVector3& GetMoments(void) {return vMoments;} + inline double GetMoments(int n) {return vMoments(n);} FGColumnVector3& GetTanksCG(void); double GetTanksWeight(void); @@ -195,8 +195,8 @@ private: unsigned int numTanks; unsigned int numThrusters; double dt; - FGColumnVector3 Forces; - FGColumnVector3 Moments; + FGColumnVector3 vForces; + FGColumnVector3 vMoments; FGColumnVector3 vXYZtank; void Debug(void); }; diff --git a/src/FDM/JSBSim/FGRotation.cpp b/src/FDM/JSBSim/FGRotation.cpp index bd6c8d2c7..d7a440040 100644 --- a/src/FDM/JSBSim/FGRotation.cpp +++ b/src/FDM/JSBSim/FGRotation.cpp @@ -75,14 +75,7 @@ CLASS IMPLEMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -FGRotation::FGRotation(FGFDMExec* fdmex) : FGModel(fdmex), - vPQR(3), - vAeroPQR(3), - vPQRdot(3), - vMoments(3), - vEuler(3), - vEulerRates(3), - vlastPQRdot(3) +FGRotation::FGRotation(FGFDMExec* fdmex) : FGModel(fdmex) { Name = "FGRotation"; cTht=cPhi=cPsi=1.0; diff --git a/src/FDM/JSBSim/FGState.cpp b/src/FDM/JSBSim/FGState.cpp index 5adfb8757..5e3996a19 100644 --- a/src/FDM/JSBSim/FGState.cpp +++ b/src/FDM/JSBSim/FGState.cpp @@ -73,19 +73,7 @@ CLASS IMPLEMENTATION // entry in the enum eParam definition in FGJSBBase.h. The ID is what must be used // in any config file entry which references that item. -FGState::FGState(FGFDMExec* fdex) : - mTb2l(3,3), - mTl2b(3,3), - mTs2b(3,3), - mTb2s(3,3), - vQtrn(4), - vlastQdot(4), - vQdot(4), - vUVW(3), - vLocalVelNED(3), - vLocalEuler(3), - vTmp(4), - vEuler(3) +FGState::FGState(FGFDMExec* fdex) { FDMExec = fdex; @@ -323,13 +311,17 @@ double FGState::GetParameter(string val_string) { //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -eParam FGState::GetParameterIndex(string val_string) { +eParam FGState::GetParameterIndex(string val_string) +{ return coeffdef[val_string]; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -void FGState::SetParameter(eParam val_idx, double val) { +void FGState::SetParameter(eParam val_idx, double val) +{ + int i; + switch(val_idx) { case FG_ELEVATOR_POS: FCS->SetDePos(val); @@ -350,10 +342,22 @@ void FGState::SetParameter(eParam val_idx, double val) { FCS->SetDfPos(val); break; case FG_THROTTLE_POS: - FCS->SetThrottlePos(ActiveEngine,val); + if (ActiveEngine == -1) { + for (i=0; iGetNumEngines(); i++) { + FCS->SetThrottlePos(i,val); + } + } else { + FCS->SetThrottlePos(ActiveEngine,val); + } break; case FG_MIXTURE_POS: - FCS->SetMixturePos(ActiveEngine,val); + if (ActiveEngine == -1) { + for (i=0; iGetNumEngines(); i++) { + FCS->SetMixturePos(i,val); + } + } else { + FCS->SetMixturePos(ActiveEngine,val); + } break; case FG_ELEVATOR_CMD: @@ -375,19 +379,43 @@ void FGState::SetParameter(eParam val_idx, double val) { FCS->SetDfCmd(val); break; case FG_THROTTLE_CMD: - FCS->SetThrottleCmd(ActiveEngine,val); + if (ActiveEngine == -1) { + for (i=0; iGetNumEngines(); i++) { + FCS->SetThrottleCmd(i,val); + } + } else { + FCS->SetThrottleCmd(ActiveEngine,val); + } break; case FG_MIXTURE_CMD: - FCS->SetMixtureCmd(ActiveEngine,val); + if (ActiveEngine == -1) { + for (i=0; iGetNumEngines(); i++) { + FCS->SetMixtureCmd(i,val); + } + } else { + FCS->SetMixtureCmd(ActiveEngine,val); + } break; case FG_MAGNETO_CMD: - Propulsion->GetEngine(ActiveEngine)->SetMagnetos((int)val); // need to account for -1 + if (ActiveEngine == -1) { + for (i=0; iGetNumEngines(); i++) { + Propulsion->GetEngine(i)->SetMagnetos((int)val); + } + } else { + Propulsion->GetEngine(ActiveEngine)->SetMagnetos((int)val); + } break; case FG_STARTER_CMD: - if (val < 0.001) - Propulsion->GetEngine(ActiveEngine)->SetStarter(false); // need to account for -1 - else if (val >= 0.001) - Propulsion->GetEngine(ActiveEngine)->SetStarter(true); // need to account for -1 + if (ActiveEngine == -1) { + for (i=0; iGetNumEngines(); i++) { + if (val < 0.001) + Propulsion->GetEngine(i)->SetStarter(false); + else if (val >= 0.001) + Propulsion->GetEngine(i)->SetStarter(true); + } + } else { + Propulsion->GetEngine(ActiveEngine)->SetStarter(true); + } break; case FG_ACTIVE_ENGINE: ActiveEngine = (int)val; diff --git a/src/FDM/JSBSim/FGTranslation.cpp b/src/FDM/JSBSim/FGTranslation.cpp index f56da337c..5c76642f8 100644 --- a/src/FDM/JSBSim/FGTranslation.cpp +++ b/src/FDM/JSBSim/FGTranslation.cpp @@ -77,12 +77,7 @@ CLASS IMPLEMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex), - vUVW(3), - vUVWdot(3), - vlastUVWdot(3), - mVel(3,3), - vAeroUVW(3) +FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex) { Name = "FGTranslation"; qbar = 0;