965 lines
26 KiB
XML
965 lines
26 KiB
XML
<?xml version="1.0"?>
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<!--
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Hydrodynamics section for JSBSim.
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Copyright (C) 2008 - 2016 Anders Gidenstam (anders(at)gidenstam.org)
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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-->
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<system name="hydrodynamics">
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<documentation>
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This system computes forces and moments due to the hull's interaction
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with water, both hydrostatic and hydrodynamic, with respect to the
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hydrodynamic reference point (HRP).
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The coordinate frame used to define the forces and moments is similar to
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the body frame but is always aligned with the water surface (which is
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assumed to be horizontal). Forces can also be defined in a "wind" frame.
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The forces are split into the channels:
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- Fbx - body forward.
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- Fby - body right.
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- Fbz - local up (the same as -Z in the local frame).
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- Drag - opposing the relative water flow.
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- Side - 90 degrees right from the relative water flow in the surface plane.
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The moments are split into the hydrodynamic body frame channels
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(with the same sense as the normal body frame moments):
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- Pitch
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- Yaw
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- Roll
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The properties determining the location and orientation of the hull
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w.r.t the the water surface and stream are:
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- hydro/height-agl-ft - Height of the hydrodynamic reference point
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over the water surface.
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- hydro/beta-deg - angle between the hull's velocity vector throught
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the water and its longitudal axis.
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Analogous to aerodynamics/beta-deg.
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- hydro/pitch-deg - angle between the hull longitudal axis and the
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water surface (ground plane).
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- hydro/roll-deg - angle between the hull traverse axis and the
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water surface (ground plane).
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- hydro/v-fps - The hull's total speed relative the water.
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Usage:
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Include this system in your aircraft.
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Define the following properties in a system of your aircraft:
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- Hydrodynamics reference point:
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<property value="...">metrics/hydro-rp-x-in</property>
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<property value="...">metrics/hydro-rp-y-in</property>
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<property value="...">metrics/hydro-rp-z-in</property>
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- Functions computing the forces in the hydrodynamic body frame
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- hydro/fbx-lbs
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- hydro/fby-lbs
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- hydro/fbz-lbs
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Alternative force inputs in the water frame
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- hydro/fdrag-lbs
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- hydro/fside-lbs
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Unused properties also have to be declared (and set to zero).
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- Functions computing the moments in the hydrodynamic body frame.
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FIXME: Yaw is applied in the standard body frame.
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- hydro/yaw-moment-lbsft
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- hydro/pitch-moment-lbsft
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- hydro/roll-moment-lbsft
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Define the following external forces in the main FDM file of your aircraft:
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<force name="hydro-X" frame="LOCAL">
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<location unit="M">
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{ HRP }
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</location>
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<direction>
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<x> 1.0 </x>
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<y> 0.0 </y>
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<z> 0.0 </z>
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</direction>
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</force>
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<force name="hydro-Y" frame="LOCAL">
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<location unit="M">
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{ HRP }
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</location>
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<direction>
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<x> 0.0 </x>
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<y> 1.0 </y>
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<z> 0.0 </z>
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</direction>
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</force>
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<force name="hydro-Z" frame="LOCAL">
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<location unit="M">
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{ HRP }
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</location>
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<direction>
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<x> 0.0 </x>
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<y> 0.0 </y>
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<z>-1.0 </z>
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</direction>
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</force>
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<force name="hydro-pitch[0]" frame="LOCAL">
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<location unit="M">
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<x> HRP X - 0.3048 </x>
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<y> HRP Y </y>
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<z> HRP Z </z>
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</location>
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<direction>
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<x> 0.0 </x>
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<y> 0.0 </y>
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<z>-1.0 </z>
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</direction>
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</force>
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<force name="hydro-pitch[1]" frame="LOCAL">
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<location unit="M">
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<x> HRP X + 0.3048 </x>
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<y> HRP Y </y>
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<z> HRP Z </z>
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</location>
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<direction>
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<x> 0.0 </x>
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<y> 0.0 </y>
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<z>-1.0 </z>
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</direction>
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</force>
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<force name="hydro-yaw[0]" frame="BODY">
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<location unit="M">
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<x> HRP X </x>
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<y> HRP Y - 0.3048 </y>
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<z> HRP Z </z>
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</location>
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<direction>
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<x> 1.0 </x>
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<y> 0.0 </y>
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<z> 0.0 </z>
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</direction>
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</force>
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<force name="hydro-yaw[1]" frame="BODY">
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<location unit="M">
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<x> HRP X </x>
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<y> HRP Y + 0.3048 </y>
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<z> HRP Z </z>
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</location>
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<direction>
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<x> 1.0 </x>
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<y> 0.0 </y>
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<z> 0.0 </z>
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</direction>
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</force>
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<force name="hydro-roll[0]" frame="LOCAL">
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<location unit="M">
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<x> HRP X </x>
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<y> HRP Y - 0.3048 </y>
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<z> HRP Z </z>
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</location>
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<direction>
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<x> 0.0 </x>
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<y> 0.0 </y>
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<z>-1.0 </z>
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</direction>
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</force>
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<force name="hydro-roll[1]" frame="LOCAL">
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<location unit="M">
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<x> HRP X </x>
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<y> HRP Y + 0.3048 </y>
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<z> HRP Z </z>
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</location>
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<direction>
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<x> 0.0 </x>
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<y> 0.0 </y>
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<z>-1.0 </z>
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</direction>
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</force>
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</documentation>
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<!-- Inputs -->
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<!-- Environment -->
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<property value="0.0">hydro/environment/water-level-ft</property>
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<property value="1.9736403">hydro/environment/rho-slug_ft3</property>
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<property value="1.1302106e-05">hydro/environment/kinematic-viscosity-ft2_sec</property> <!-- Sea water at 20 degC. -->
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<property value="0.0">hydro/environment/current-from-north-fps</property>
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<property value="0.0">hydro/environment/current-from-east-fps</property>
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<property value="40.0">hydro/environment/waves-from-deg</property>
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<property value="0.0">hydro/environment/wave-amplitude-ft</property>
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<property value="150.0">hydro/environment/wave-length-ft</property>
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<!-- Model parameters -->
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<!-- HRP location. Must be defined.
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- metrics/hydro-rp-x-in
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- metrics/hydro-rp-y-in
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- metrics/hydro-rp-z-in
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- metrics/hydro-beam-ft
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- metrics/hydro-length-ft
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-->
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<!-- Input forces in the hydrodynamic body frame.
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All must be defined by the aircraft. -->
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<!--
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Forces in the hydrodynamic body frame
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- hydro/fbx-lbs
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- hydro/fby-lbs
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- hydro/fbz-lbs
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Alternative force inputs in the water frame
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- hydro/fdrag-lbs
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- hydro/fside-lbs
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-->
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<!-- Input moments in the hydrodynamic body frame.
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FIXME: Yaw is applied in the standard body frame.
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- hydro/yaw-moment-lbsft
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- hydro/pitch-moment-lbsft
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- hydro/roll-moment-lbsft
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-->
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<channel name="Environment">
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<fcs_function name="hydro/environment/rho-lbs_ft3">
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<function>
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<product>
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<value>32.174049</value>
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<property>hydro/environment/rho-slug_ft3</property>
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</product>
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</function>
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</fcs_function>
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<fcs_function name="hydro/environment/gravity-ft_sec2">
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<function>
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<quotient>
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<property>inertia/weight-lbs</property>
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<property>inertia/mass-slugs</property>
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</quotient>
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</function>
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</fcs_function>
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</channel>
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<channel name="Environment - Waves">
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<fcs_function name="hydro/environment/wave/relative-heading-rad">
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<description>
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The difference in heading between the hull and the wave.
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</description>
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<function>
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<difference>
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<sum>
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<value>3.1415927</value>
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<product>
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<value>0.017453293</value>
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<property>hydro/environment/waves-from-deg</property>
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</product>
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</sum>
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<property>attitude/psi-rad</property>
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</difference>
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</function>
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</fcs_function>
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<fcs_function name="hydro/environment/wave/hull-x-factor">
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<description>
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The result of dot(Dwave, (1,0)), i.e. the cosine of the angle
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between the wave heading and the hull heading.
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</description>
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<function>
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<cos>
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<property>hydro/environment/wave/relative-heading-rad</property>
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</cos>
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</function>
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</fcs_function>
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<fcs_function name="hydro/environment/wave/hull-y-factor">
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<description>
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The result of dot(Dwave, (0,1)), i.e. the sine of the angle
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between the wave heading and the hull heading.
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</description>
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<function>
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<sin>
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<property>hydro/environment/wave/relative-heading-rad</property>
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</sin>
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</function>
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</fcs_function>
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<fcs_function name="hydro/environment/wave/hull-angular-frequency-rad_sec">
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<description>
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Hull speed in the wave's direction expressed in the wave's
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angular frequency.
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</description>
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<function>
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<product>
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<value>6.2831853</value>
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<quotient>
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<sum>
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<product>
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<property>hydro/vbx-fps</property>
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<property>hydro/environment/wave/hull-x-factor</property>
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</product>
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<product>
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<property>hydro/vby-fps</property>
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<property>hydro/environment/wave/hull-y-factor</property>
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</product>
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</sum>
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<max>
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<value>0.001</value>
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<property>hydro/environment/wave-length-ft</property>
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</max>
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</quotient>
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</product>
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</function>
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</fcs_function>
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<integrator name="hydro/environment/wave/hull-angular-offset-rad">
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<description>
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The hull's angular offset at its present position.
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</description>
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<input>hydro/environment/wave/hull-angular-frequency-rad_sec</input>
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<c1>1.0</c1>
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</integrator>
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<fcs_function name="hydro/environment/wave/angular-frequency-rad_sec">
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<description>
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The angular frequency of the wave.
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</description>
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<function>
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<sum>
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<!-- Deep water gravity wave. -->
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<product>
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<value>-1.0</value> <!-- Note: Set to 0 to make the waves stationary. -->
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<pow>
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<quotient>
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<product>
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<value>6.2831853</value>
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<property>hydro/environment/gravity-ft_sec2</property>
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</product>
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<max>
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<value>0.001</value>
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<property>hydro/environment/wave-length-ft</property>
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</max>
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</quotient>
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<value>0.5</value>
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</pow>
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</product>
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<!-- Mix in hull-angular-offset-rad to simplify uses below. -->
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<quotient>
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<property>hydro/environment/wave/hull-angular-offset-rad</property>
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<max> <!-- To avoid divison by 0 at time 0. -->
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<value>0.1</value>
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<property>simulation/sim-time-sec</property>
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</max>
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</quotient>
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</sum>
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</function>
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</fcs_function>
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<fcs_function name="hydro/environment/wave/wave-number-rad_ft">
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<description>
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The wave number of the wave.
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</description>
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<function>
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<quotient>
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<value>6.2831853</value>
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<max>
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<value>0.001</value>
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<property>hydro/environment/wave-length-ft</property>
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</max>
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</quotient>
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</function>
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</fcs_function>
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<fcs_function name="hydro/environment/wave/level-change-ft">
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<description>
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The water level change due to the waves. Guessed.
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Integrated over -0.5 * hydro-length-ft to 0.5 * hydro-length-ft.
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</description>
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<function>
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<quotient>
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<sum>
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<product>
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<property>hydro/environment/wave-amplitude-ft</property>
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<sin>
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<difference>
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<product>
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<value>0.5</value>
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<property>metrics/hydro-length-ft</property>
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<property>hydro/environment/wave/hull-x-factor</property>
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<property>hydro/environment/wave/wave-number-rad_ft</property>
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</product>
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<product>
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<property>hydro/environment/wave/angular-frequency-rad_sec</property>
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<property>simulation/sim-time-sec</property>
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</product>
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</difference>
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</sin>
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</product>
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<product>
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<property>hydro/environment/wave-amplitude-ft</property>
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<sin>
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<difference>
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<product>
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<value>-0.5</value>
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<property>metrics/hydro-length-ft</property>
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<property>hydro/environment/wave/hull-x-factor</property>
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<property>hydro/environment/wave/wave-number-rad_ft</property>
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</product>
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<product>
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<property>hydro/environment/wave/angular-frequency-rad_sec</property>
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<property>simulation/sim-time-sec</property>
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</product>
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</difference>
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</sin>
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</product>
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</sum>
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<product>
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<property>hydro/environment/wave/hull-x-factor</property>
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<property>hydro/environment/wave/wave-number-rad_ft</property>
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<property>hydro/hull-length-ft</property>
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</product>
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</quotient>
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</function>
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</fcs_function>
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<fcs_function name="hydro/environment/wave/level-at-hrp-ft">
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<description>
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The water level change at the HRP location. For debugging.
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</description>
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<function>
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<product>
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<property>hydro/environment/wave-amplitude-ft</property>
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<cos>
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<product>
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<property>hydro/environment/wave/angular-frequency-rad_sec</property>
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<property>simulation/sim-time-sec</property>
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</product>
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</cos>
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</product>
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</function>
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</fcs_function>
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<fcs_function name="hydro/environment/wave/level-fwd-ft">
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<description>
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The water level change at 0.5 * metrics/hydro-length-ft forward of
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the HRP location.
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</description>
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<function>
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<product>
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<property>hydro/environment/wave-amplitude-ft</property>
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<cos>
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<difference>
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<product>
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<value>0.5</value>
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<property>metrics/hydro-length-ft</property>
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<property>hydro/environment/wave/hull-x-factor</property>
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<property>hydro/environment/wave/wave-number-rad_ft</property>
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</product>
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<product>
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<property>hydro/environment/wave/angular-frequency-rad_sec</property>
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<property>simulation/sim-time-sec</property>
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</product>
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</difference>
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</cos>
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</product>
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</function>
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</fcs_function>
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<fcs_function name="hydro/environment/wave/level-aft-ft">
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<description>
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The water level change at 0.5 * metrics/hydro-length-ft aft of
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the HRP location.
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</description>
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<function>
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<product>
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<property>hydro/environment/wave-amplitude-ft</property>
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<cos>
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<difference>
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<product>
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<value>-0.5</value>
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<property>metrics/hydro-length-ft</property>
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<property>hydro/environment/wave/hull-x-factor</property>
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<property>hydro/environment/wave/wave-number-rad_ft</property>
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</product>
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<product>
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<property>hydro/environment/wave/angular-frequency-rad_sec</property>
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<property>simulation/sim-time-sec</property>
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</product>
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</difference>
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</cos>
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</product>
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</function>
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</fcs_function>
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<fcs_function name="hydro/orientation/wave-pitch-trim-change-deg">
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<description>
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The pitch trim change due to the waves. Guessed.
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</description>
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<!-- deltaTrim = atan2(water line at bow - water line at stern, LWL) -->
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<function>
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<product>
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<value>57.29578</value>
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<atan2>
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<difference>
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<property>hydro/environment/wave/level-fwd-ft</property>
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<property>hydro/environment/wave/level-aft-ft</property>
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</difference>
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<property>metrics/hydro-length-ft</property>
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</atan2>
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</product>
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</function>
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</fcs_function>
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<fcs_function name="hydro/orientation/wave-roll-trim-change-deg">
|
|
<description>
|
|
The roll trim change due to the waves. Guessed.
|
|
</description>
|
|
<!-- deltaTrim =
|
|
atan2(water line at starboard side - water line at port side, beam)
|
|
-->
|
|
<function>
|
|
<product>
|
|
<value>57.29578</value>
|
|
<atan2>
|
|
<difference>
|
|
<product>
|
|
<property>hydro/environment/wave-amplitude-ft</property>
|
|
<cos>
|
|
<difference>
|
|
<product>
|
|
<value>-0.5</value>
|
|
<property>metrics/hydro-beam-ft</property>
|
|
<property>hydro/environment/wave/hull-y-factor</property>
|
|
<property>hydro/environment/wave/wave-number-rad_ft</property>
|
|
</product>
|
|
<product>
|
|
<property>hydro/environment/wave/angular-frequency-rad_sec</property>
|
|
<property>simulation/sim-time-sec</property>
|
|
</product>
|
|
</difference>
|
|
</cos>
|
|
</product>
|
|
<product>
|
|
<property>hydro/environment/wave-amplitude-ft</property>
|
|
<cos>
|
|
<difference>
|
|
<product>
|
|
<value>0.5</value>
|
|
<property>metrics/hydro-beam-ft</property>
|
|
<property>hydro/environment/wave/hull-y-factor</property>
|
|
<property>hydro/environment/wave/wave-number-rad_ft</property>
|
|
</product>
|
|
<product>
|
|
<property>hydro/environment/wave/angular-frequency-rad_sec</property>
|
|
<property>simulation/sim-time-sec</property>
|
|
</product>
|
|
</difference>
|
|
</cos>
|
|
</product>
|
|
</difference>
|
|
<property>metrics/hydro-beam-ft</property>
|
|
</atan2>
|
|
</product>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
</channel>
|
|
|
|
<channel name ="Hull position">
|
|
|
|
<fcs_function name="hydro/height-agl-ft">
|
|
<documentation>
|
|
Distance between the hydrodynamic reference point and the water surface.
|
|
Not completely correctly computed yet.
|
|
</documentation>
|
|
<function>
|
|
<difference>
|
|
<sum>
|
|
<property> position/h-sl-ft </property>
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|
<product>
|
|
<value> -0.083333333 </value>
|
|
<difference>
|
|
<property> metrics/hydro-rp-x-in </property>
|
|
<property> inertia/cg-x-in </property>
|
|
</difference>
|
|
<sin>
|
|
<property> attitude/pitch-rad </property>
|
|
</sin>
|
|
</product>
|
|
<product>
|
|
<value> 0.083333333 </value>
|
|
<difference>
|
|
<property> metrics/hydro-rp-z-in </property>
|
|
<property> inertia/cg-z-in </property>
|
|
</difference>
|
|
<cos>
|
|
<property> attitude/pitch-rad </property>
|
|
</cos>
|
|
</product>
|
|
<product>
|
|
<value> -0.083333333 </value>
|
|
<difference>
|
|
<property> metrics/hydro-rp-y-in </property>
|
|
<property> inertia/cg-y-in </property>
|
|
</difference>
|
|
<sin>
|
|
<property> attitude/roll-rad </property>
|
|
</sin>
|
|
</product>
|
|
</sum>
|
|
<property> hydro/environment/water-level-ft </property>
|
|
</difference>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
</channel>
|
|
|
|
<channel name ="Hull orientation">
|
|
|
|
<fcs_function name="hydro/true-course-rad">
|
|
<!-- The course made good by the hull. -->
|
|
<function>
|
|
<atan2>
|
|
<sum>
|
|
<property>velocities/v-east-fps</property>
|
|
<property>hydro/environment/current-from-east-fps</property>
|
|
</sum>
|
|
<sum>
|
|
<property>velocities/v-north-fps</property>
|
|
<property>hydro/environment/current-from-north-fps</property>
|
|
</sum>
|
|
</atan2>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="hydro/true-course-deg">
|
|
<!-- The course made good by the hull. -->
|
|
<function>
|
|
<product>
|
|
<value> 57.29578 </value>
|
|
<property> hydro/true-course-rad </property>
|
|
</product>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="hydro/pitch-deg">
|
|
<function>
|
|
<product>
|
|
<value> 57.29578 </value>
|
|
<property> attitude/pitch-rad </property>
|
|
</product>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="hydro/roll-deg">
|
|
<function>
|
|
<product>
|
|
<value> 57.29578 </value>
|
|
<property> attitude/roll-rad </property>
|
|
</product>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="hydro/alpha-rad">
|
|
<function>
|
|
<sum>
|
|
<property>attitude/pitch-rad</property>
|
|
<atan2>
|
|
<property>velocities/v-down-fps</property>
|
|
<property>hydro/v-fps</property>
|
|
</atan2>
|
|
</sum>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="hydro/alpha-deg">
|
|
<function>
|
|
<product>
|
|
<value> 57.29578 </value>
|
|
<property> hydro/alpha-rad </property>
|
|
</product>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="hydro/tmp/beta-rad">
|
|
<!-- Needed to normalize the beta range to +/-PI. -->
|
|
<function>
|
|
<difference>
|
|
<property> hydro/true-course-rad </property>
|
|
<property> attitude/psi-rad </property>
|
|
</difference>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="hydro/beta-rad">
|
|
<function>
|
|
<sum>
|
|
<property>hydro/tmp/beta-rad</property>
|
|
<product>
|
|
<lt>
|
|
<property>hydro/tmp/beta-rad</property>
|
|
<value>-3.1415927</value>
|
|
</lt>
|
|
<value>6.2831853</value>
|
|
</product>
|
|
<product>
|
|
<gt>
|
|
<property>hydro/tmp/beta-rad</property>
|
|
<value>3.1415927</value>
|
|
</gt>
|
|
<value>-6.2831853</value>
|
|
</product>
|
|
</sum>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="hydro/beta-deg">
|
|
<function>
|
|
<product>
|
|
<value> 57.29578 </value>
|
|
<property> hydro/beta-rad </property>
|
|
</product>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
</channel>
|
|
|
|
<channel name ="Hull velocity">
|
|
|
|
<fcs_function name="hydro/v-fps">
|
|
<function>
|
|
<pow>
|
|
<sum>
|
|
<pow>
|
|
<sum>
|
|
<property> velocities/v-north-fps </property>
|
|
<property> hydro/environment/current-from-north-fps </property>
|
|
</sum>
|
|
<value> 2.0 </value>
|
|
</pow>
|
|
<pow>
|
|
<sum>
|
|
<property> velocities/v-east-fps </property>
|
|
<property> hydro/environment/current-from-east-fps </property>
|
|
</sum>
|
|
<value> 2.0 </value>
|
|
</pow>
|
|
</sum>
|
|
<value> 0.5 </value>
|
|
</pow>
|
|
</function>
|
|
</fcs_function>
|
|
<fcs_function name="hydro/v-kt">
|
|
<function>
|
|
<product>
|
|
<value> 0.5924838 </value>
|
|
<property> hydro/v-fps </property>
|
|
</product>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="hydro/vbx-fps">
|
|
<function>
|
|
<product>
|
|
<cos>
|
|
<property>hydro/beta-rad</property>
|
|
</cos>
|
|
<property>hydro/v-fps</property>
|
|
</product>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="hydro/vby-fps">
|
|
<function>
|
|
<product>
|
|
<sin>
|
|
<property>hydro/beta-rad</property>
|
|
</sin>
|
|
<property>hydro/v-fps</property>
|
|
</product>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="hydro/qbar-psf">
|
|
<function>
|
|
<product>
|
|
<value> 0.50 </value>
|
|
<property>hydro/environment/rho-slug_ft3</property>
|
|
<property>hydro/v-fps</property>
|
|
<property>hydro/v-fps</property>
|
|
</product>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="hydro/qbar-u-psf">
|
|
<function>
|
|
<product>
|
|
<value> 0.50 </value>
|
|
<property>hydro/environment/rho-slug_ft3</property>
|
|
<property>hydro/vbx-fps</property>
|
|
<abs><property>hydro/vbx-fps</property></abs>
|
|
</product>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<fcs_function name="hydro/qbar-v-psf">
|
|
<function>
|
|
<product>
|
|
<value> 0.50 </value>
|
|
<property>hydro/environment/rho-slug_ft3</property>
|
|
<property>hydro/vby-fps</property>
|
|
<abs><property>hydro/vby-fps</property></abs>
|
|
</product>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
</channel>
|
|
|
|
<!-- Implementation of forces and moments below. -->
|
|
|
|
<channel name="Implementation Force X (north)">
|
|
|
|
<fcs_function name="hydro/X/force-lbs">
|
|
<function>
|
|
<sum>
|
|
<product>
|
|
<cos>
|
|
<property> attitude/psi-rad </property>
|
|
</cos>
|
|
<property> hydro/fbx-lbs </property>
|
|
</product>
|
|
<product>
|
|
<sin>
|
|
<property> attitude/psi-rad </property>
|
|
</sin>
|
|
<property> hydro/fby-lbs </property>
|
|
</product>
|
|
<product>
|
|
<value> -1.0 </value>
|
|
<cos>
|
|
<property> hydro/true-course-rad </property>
|
|
</cos>
|
|
<property> hydro/fdrag-lbs </property>
|
|
</product>
|
|
<product>
|
|
<value> -1.0 </value>
|
|
<sin>
|
|
<property> hydro/true-course-rad </property>
|
|
</sin>
|
|
<property> hydro/fside-lbs </property>
|
|
</product>
|
|
</sum>
|
|
</function>
|
|
<output> external_reactions/hydro-X/magnitude </output>
|
|
</fcs_function>
|
|
|
|
</channel>
|
|
|
|
<channel name="Implementation Force Y (east)">
|
|
|
|
<fcs_function name="hydro/Y/force-lbs">
|
|
<function>
|
|
<sum>
|
|
<product>
|
|
<sin>
|
|
<property> attitude/psi-rad </property>
|
|
</sin>
|
|
<property> hydro/fbx-lbs </property>
|
|
</product>
|
|
<product>
|
|
<cos>
|
|
<property> attitude/psi-rad </property>
|
|
</cos>
|
|
<property> hydro/fby-lbs </property>
|
|
</product>
|
|
<product>
|
|
<value> -1.0 </value>
|
|
<sin>
|
|
<property> hydro/true-course-rad </property>
|
|
</sin>
|
|
<property> hydro/fdrag-lbs </property>
|
|
</product>
|
|
<product>
|
|
<cos>
|
|
<property> hydro/true-course-rad </property>
|
|
</cos>
|
|
<property> hydro/fside-lbs </property>
|
|
</product>
|
|
</sum>
|
|
</function>
|
|
<output> external_reactions/hydro-Y/magnitude </output>
|
|
</fcs_function>
|
|
|
|
</channel>
|
|
|
|
<channel name="Implementation Force Z (up)">
|
|
<summer name="hydro/Z/force-lbs">
|
|
<input> hydro/fbz-lbs </input>
|
|
<output> external_reactions/hydro-Z/magnitude </output>
|
|
</summer>
|
|
</channel>
|
|
|
|
<channel name="Implementation Pitch Moment">
|
|
|
|
<pure_gain name="hydro/pitch-moment/force-lbs[0]">
|
|
<input> hydro/pitch-moment-lbsft </input>
|
|
<gain> 0.5</gain>
|
|
<output> external_reactions/hydro-pitch[0]/magnitude </output>
|
|
</pure_gain>
|
|
<pure_gain name="hydro/pitch-moment/force-lbs[1]">
|
|
<input> hydro/pitch-moment-lbsft </input>
|
|
<gain>-0.5</gain>
|
|
<output> external_reactions/hydro-pitch[1]/magnitude </output>
|
|
</pure_gain>
|
|
|
|
</channel>
|
|
|
|
<channel name="Implementation Roll Moment">
|
|
|
|
<pure_gain name="hydro/roll-moment/force-lbs[0]">
|
|
<input> hydro/roll-moment-lbsft </input>
|
|
<gain> 0.5</gain>
|
|
<output> external_reactions/hydro-roll[0]/magnitude </output>
|
|
</pure_gain>
|
|
<pure_gain name="hydro/roll-moment/force-lbs[1]">
|
|
<input> hydro/roll-moment-lbsft </input>
|
|
<gain>-0.5</gain>
|
|
<output> external_reactions/hydro-roll[1]/magnitude </output>
|
|
</pure_gain>
|
|
|
|
</channel>
|
|
|
|
<channel name="Implementation Yaw Moment">
|
|
|
|
<pure_gain name="hydro/yaw-moment/force-lbs[0]">
|
|
<input> hydro/yaw-moment-lbsft </input>
|
|
<gain> 0.5</gain>
|
|
<output> external_reactions/hydro-yaw[0]/magnitude </output>
|
|
</pure_gain>
|
|
<pure_gain name="hydro/yaw-moment/force-lbs[1]">
|
|
<input> hydro/yaw-moment-lbsft </input>
|
|
<gain>-0.5</gain>
|
|
<output> external_reactions/hydro-yaw[1]/magnitude </output>
|
|
</pure_gain>
|
|
|
|
</channel>
|
|
|
|
</system>
|