flightgear/src/FDM/JSBSim/FGAircraft.h

/*******************************************************************************
 
 Header:       FGAircraft.h
 Author:       Jon S. Berndt
 Date started: 12/12/98
 
 ------------- Copyright (C) 1999  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
--------------------------------------------------------------------------------
12/12/98   JSB   Created
 
********************************************************************************
SENTRY
*******************************************************************************/

#ifndef FGAIRCRAFT_H
#define FGAIRCRAFT_H

/*******************************************************************************
COMMENTS, REFERENCES,  and NOTES
*******************************************************************************/
/*
The aerodynamic coefficients used in this model typically are:
 
Longitudinal
  CL0 - Reference lift at zero alpha
  CD0 - Reference drag at zero alpha
  CDM - Drag due to Mach
  CLa - Lift curve slope (w.r.t. alpha)
  CDa - Drag curve slope (w.r.t. alpha)
  CLq - Lift due to pitch rate
  CLM - Lift due to Mach
  CLadt - Lift due to alpha rate
 
  Cmadt - Pitching Moment due to alpha rate
  Cm0 - Reference Pitching moment at zero alpha
  Cma - Pitching moment slope (w.r.t. alpha)
  Cmq - Pitch damping (pitch moment due to pitch rate)
  CmM - Pitch Moment due to Mach
 
Lateral
  Cyb - Side force due to sideslip
  Cyr - Side force due to yaw rate
 
  Clb - Dihedral effect (roll moment due to sideslip)
  Clp - Roll damping (roll moment due to roll rate)
  Clr - Roll moment due to yaw rate
  Cnb - Weathercocking stability (yaw moment due to sideslip)
  Cnp - Rudder adverse yaw (yaw moment due to roll rate)
  Cnr - Yaw damping (yaw moment due to yaw rate)
 
Control
  CLDe - Lift due to elevator
  CDDe - Drag due to elevator
  CyDr - Side force due to rudder
  CyDa - Side force due to aileron
 
  CmDe - Pitch moment due to elevator
  ClDa - Roll moment due to aileron
  ClDr - Roll moment due to rudder
  CnDr - Yaw moment due to rudder
  CnDa - Yaw moment due to aileron
 
[1] Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling
	 Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420  Naval Postgraduate
	 School, January 1994
[2] D. M. Henderson, "Euler Angles, Quaternions, and Transformation Matrices",
	 JSC 12960, July 1977
[3] Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
	 NASA-Ames", NASA CR-2497, January 1975
[4] Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
	 Wiley & Sons, 1979 ISBN 0-471-03032-5
[5] Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
	 1982 ISBN 0-471-08936-2
*/

/*******************************************************************************
INCLUDES
*******************************************************************************/

#ifdef FGFS
#  include <simgear/compiler.h>
#  ifdef FG_HAVE_STD_INCLUDES
#    include <vector>
#    include <iterator>
#    include <map>
#  else
#    include <vector.h>
#    include <iterator.h>
#    include <map.h>
#  endif
#else
#  include <vector>
#  include <iterator>
#  include <map>
#endif

#include "FGModel.h"
#include "FGCoefficient.h"
#include "FGEngine.h"
#include "FGTank.h"
#include "FGLGear.h"
#include "FGConfigFile.h"
#include "FGMatrix.h"

#define ID_AIRCRAFT "$Header$"

/*******************************************************************************
DEFINITIONS
*******************************************************************************/

/** Encapsulates an Aircraft and its systems.
    Owns all the parts (other classes) which make
    up this aircraft. This includes the Engines, Tanks, Propellers, Nozzles,
    aerodynamic and mass properties, landing gear, etc.
    @author Jon S. Berndt
    @version $Id$
    @see
     [1] Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling
	   Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420  Naval Postgraduate
	   School, January 1994
     [2] D. M. Henderson, "Euler Angles, Quaternions, and Transformation Matrices",
     JSC 12960, July 1977
     [3] Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
     NASA-Ames", NASA CR-2497, January 1975
     [4] Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
     Wiley & Sons, 1979 ISBN 0-471-03032-5
     [5] Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
     1982 ISBN 0-471-08936-2
  */

/*******************************************************************************
CLASS DECLARATION
*******************************************************************************/

class FGAircraft : public FGModel {
  enum {eL=1, eM, eN};
  enum {eX=1, eY, eZ};
  enum {eP=1, eQ, eR};
  enum {ePhi=1, eTht, ePsi};

public:
  /** Constructor
      @param Executive a pointer to the parent executive object
    */
  FGAircraft(FGFDMExec *Executive);
  
  /// Destructor
  ~FGAircraft(void);

  /** Runs the model; called by the Executive
      @see JSBSim.cpp documentation
      @return bool returns false if no error
    */
  bool Run(void);
  
  /** Loads the aircraft.
      The executive calls this method to load the aircraft into JSBSim.
      @param apath path to the aircraft files (e.g. "aircraft/X15/")
      @param epath path to engine files (e.g. "engine/")
      @param acname name of aircraft (e.g. "X15")
      @return true if succesful
    */
  bool LoadAircraft(string apath, string epath, string acname);
  
  /** Retrieves the aircraft name
      @return the name of the aircraft as a string type
    */
  inline string GetAircraftName(void) { return AircraftName; }
  
  inline void SetGearUp(bool tt) { GearUp = tt; }
  inline bool GetGearUp(void) { return GearUp; }
  inline int GetNumGearUnits(void) { return lGear.size(); }
  inline FGLGear* GetGearUnit(int ii) { return &(lGear[ii]); }
  inline float GetWingArea(void) { return WingArea; }
  inline float GetWingSpan(void) { return WingSpan; }
  inline float Getcbar(void) { return cbar; }
  inline FGEngine* GetEngine(int tt) { return Engine[tt]; }
  inline FGTank* GetTank(int tt) { return Tank[tt]; }
  inline float GetWeight(void) { return Weight; }
  inline float GetMass(void) { return Mass; }
  inline FGColumnVector GetMoments(void) { return vMoments; }
  inline FGColumnVector GetForces(void) { return vForces; }
  inline FGColumnVector GetvFs(void) { return vFs; }
  inline float GetIxx(void) { return Ixx; }
  inline float GetIyy(void) { return Iyy; }
  inline float GetIzz(void) { return Izz; }
  inline float GetIxz(void) { return Ixz; }
  inline unsigned int GetNumEngines(void) { return numEngines; }
  inline FGColumnVector GetXYZcg(void) { return vXYZcg; }
  inline FGColumnVector GetXYZrp(void) { return vXYZrp; }
  inline FGColumnVector GetXYZep(void) { return vXYZep; }
  inline float GetNlf(void) { return nlf; }
  inline float GetAlphaCLMax(void) { return alphaclmax; }
  inline float GetAlphaCLMin(void) { return alphaclmin; }

  inline void SetAlphaCLMax(float tt) { alphaclmax=tt; }
  inline void SetAlphaCLMin(float tt) { alphaclmin=tt; }

  inline FGCoefficient* GetCoeff(int axis, int idx) { return Coeff[axis][idx]; }
  string GetCoefficientStrings(void);
  string GetCoefficientValues(void);
  string GetGroundReactionStrings(void);
  string GetGroundReactionValues(void);

  enum { ssSimulation      = 1,
         ssAerosurfaces    = 2,
         ssRates           = 4,
         ssVelocities      = 8,
         ssForces          = 16,
         ssMoments         = 32,
         ssAtmosphere      = 64,
         ssMassProps       = 128,
         ssCoefficients    = 256,
         ssPosition        = 512,
         ssGroundReactions = 1024 } subsystems;

private:
  void GetState(void);
  void FMAero(void);
  void FMGear(void);
  void FMMass(void);
  void FMProp(void);
  void MassChange(void);
  FGColumnVector vMoments;
  FGColumnVector vForces;
  FGColumnVector vFs;
  FGColumnVector vXYZrp;
  FGColumnVector vbaseXYZcg;
  FGColumnVector vXYZcg;
  FGColumnVector vXYZep;
  FGColumnVector vEuler;
  float baseIxx, baseIyy, baseIzz, baseIxz, EmptyMass, Mass;
  float Ixx, Iyy, Izz, Ixz;
  float alpha, beta;
  float WingArea, WingSpan, cbar;
  float Weight, EmptyWeight;
  float nlf,alphaclmax,alphaclmin;
  float dt;
  string CFGVersion;
  string AircraftName;

  unsigned int numTanks;
  unsigned int numEngines;
  unsigned int numSelectedOxiTanks;
  unsigned int numSelectedFuelTanks;
  FGTank* Tank[MAX_TANKS];           // need to make a vector
  FGEngine *Engine[MAX_ENGINES];     // need to make a vector

  typedef map<string,int> AxisIndex;
  AxisIndex AxisIdx;

  typedef vector<FGCoefficient*> CoeffArray;
  
  CoeffArray* Coeff;

  void DisplayCoeffFactors(vector <eParam> multipliers);

  bool GearUp;

  string Axis[6];
  vector <FGLGear> lGear;

  string AircraftPath;
  string EnginePath;
  void ReadMetrics(FGConfigFile*);
  void ReadPropulsion(FGConfigFile*);
  void ReadFlightControls(FGConfigFile*);
  void ReadAerodynamics(FGConfigFile*);
  void ReadUndercarriage(FGConfigFile*);
  void ReadPrologue(FGConfigFile*);
  void ReadOutput(FGConfigFile*);
};

/******************************************************************************/
#endif