flightgear/src/FDM/JSBSim/FGTranslation.cpp

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

 Module:       FGTranslation.cpp
 Author:       Jon Berndt
 Date started: 12/02/98
 Purpose:      Integrates the translational EOM
 Called by:    FDMExec

 ------------- 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.

FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
This class integrates the translational EOM.

HISTORY
--------------------------------------------------------------------------------
12/02/98   JSB   Created
 7/23/99   TP    Added data member and modified Run and PutState to calcuate
                 Mach number

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
COMMENTS, REFERENCES,  and NOTES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
[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

  The order of rotations used in this class corresponds to a 3-2-1 sequence,
  or Y-P-R, or Z-Y-X, if you prefer.

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGAtmosphere.h"
#include "FGState.h"
#include "FGFDMExec.h"
#include "FGFCS.h"
#include "FGMassBalance.h"
#include "FGAircraft.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
#include "FGPropertyManager.h"

static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_TRANSLATION;

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/


FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex)
{
  Name = "FGTranslation";
  qbar = 0;
  Vt = 0.0;
  Mach = 0.0;
  alpha = beta = 0.0;
  adot = bdot = 0.0;
  bind();
  Debug(0);
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

FGTranslation::~FGTranslation(void)
{
  unbind();
  Debug(1);
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

bool FGTranslation::Run(void)
{
  double Tc = 0.5*State->Getdt()*rate;

  if (!FGModel::Run()) {

    mVel(1,1) =  0.0;
    mVel(1,2) = -vUVW(eW);
    mVel(1,3) =  vUVW(eV);
    mVel(2,1) =  vUVW(eW);
    mVel(2,2) =  0.0;
    mVel(2,3) = -vUVW(eU);
    mVel(3,1) = -vUVW(eV);
    mVel(3,2) =  vUVW(eU);
    mVel(3,3) =  0.0;

    vUVWdot = mVel*Rotation->GetPQR() + Aircraft->GetBodyAccel();

    vUVW += Tc*(vUVWdot + vlastUVWdot);

    vAeroUVW = vUVW + State->GetTl2b()*Atmosphere->GetWindNED();

    Vt = vAeroUVW.Magnitude();
    if ( Vt > 1) {
      if (vAeroUVW(eW) != 0.0)
        alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
      if (vAeroUVW(eV) != 0.0)
        beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV),
               sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;

      // stolen, quite shamelessly, from LaRCsim
      double mUW = (vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW));
      double signU=1;
      if (vAeroUVW(eU) != 0.0)
        signU = vAeroUVW(eU)/fabs(vAeroUVW(eU));

      if ( (mUW == 0.0) || (Vt == 0.0) ) {
        adot = 0.0;
        bdot = 0.0;
      } else {
        adot = (vAeroUVW(eU)*vAeroUVW(eW) - vAeroUVW(eW)*vUVWdot(eU))/mUW;
        bdot = (signU*mUW*vUVWdot(eV) - vAeroUVW(eV)*(vAeroUVW(eU)*vUVWdot(eU)
                + vAeroUVW(eW)*vUVWdot(eW)))/(Vt*Vt*sqrt(mUW));
      }
    } else {
      alpha = beta = adot = bdot = 0;
    }

    qbar = 0.5*Atmosphere->GetDensity()*Vt*Vt;
    Mach = Vt / State->Geta();

    vlastUVWdot = vUVWdot;

    if (debug_lvl > 1) Debug(1);

    return false;
  } else {
    return true;
  }
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGTranslation::bind(void)
{
  PropertyManager->Tie("velocities/u-fps", this,1,
                       &FGTranslation::GetUVW /*,
                       &FGTranslation::SetUVW,
                       true */);
  PropertyManager->Tie("velocities/v-fps", this,2,
                       &FGTranslation::GetUVW /*,
                       &FGTranslation::SetUVW,
                       true*/);
  PropertyManager->Tie("velocities/w-fps", this,3,
                       &FGTranslation::GetUVW /*,
                       &FGTranslation::SetUVW,
                       true*/);
  PropertyManager->Tie("accelerations/udot-fps", this,1,
                       &FGTranslation::GetUVWdot);
  PropertyManager->Tie("accelerations/vdot-fps", this,2,
                       &FGTranslation::GetUVWdot);
  PropertyManager->Tie("accelerations/wdot-fps", this,3,
                       &FGTranslation::GetUVWdot);
  PropertyManager->Tie("velocities/u-aero-fps", this,1,
                       &FGTranslation::GetAeroUVW);
  PropertyManager->Tie("velocities/v-aero-fps", this,2,
                       &FGTranslation::GetAeroUVW);
  PropertyManager->Tie("velocities/w-aero-fps", this,3,
                       &FGTranslation::GetAeroUVW);
  PropertyManager->Tie("aero/alpha-rad", this,
                       &FGTranslation::Getalpha,
                       &FGTranslation::Setalpha,
                       true);
  PropertyManager->Tie("aero/beta-rad", this,
                       &FGTranslation::Getbeta,
                       &FGTranslation::Setbeta,
                       true);
  PropertyManager->Tie("aero/mag-beta-rad", this,
                       &FGTranslation::GetMagBeta);
  PropertyManager->Tie("aero/qbar-psf", this,
                       &FGTranslation::Getqbar,
                       &FGTranslation::Setqbar,
                       true);
  PropertyManager->Tie("velocities/vt-fps", this,
                       &FGTranslation::GetVt,
                       &FGTranslation::SetVt,
                       true);
  PropertyManager->Tie("velocities/mach-norm", this,
                       &FGTranslation::GetMach,
                       &FGTranslation::SetMach,
                       true);
  PropertyManager->Tie("aero/alphadot-rad_sec", this,
                       &FGTranslation::Getadot,
                       &FGTranslation::Setadot,
                       true);
  PropertyManager->Tie("aero/betadot-rad_sec", this,
                       &FGTranslation::Getbdot,
                       &FGTranslation::Setbdot,
                       true);
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGTranslation::unbind(void)
{
  PropertyManager->Untie("velocities/u-fps");
  PropertyManager->Untie("velocities/v-fps");
  PropertyManager->Untie("velocities/w-fps");
  PropertyManager->Untie("accelerations/udot-fps");
  PropertyManager->Untie("accelerations/vdot-fps");
  PropertyManager->Untie("accelerations/wdot-fps");
  PropertyManager->Untie("velocities/u-aero-fps");
  PropertyManager->Untie("velocities/v-aero-fps");
  PropertyManager->Untie("velocities/w-aero-fps");
  PropertyManager->Untie("aero/alpha-rad");
  PropertyManager->Untie("aero/beta-rad");
  PropertyManager->Untie("aero/qbar-psf");
  PropertyManager->Untie("velocities/vt-fps");
  PropertyManager->Untie("velocities/mach-norm");
  PropertyManager->Untie("aero/alphadot-rad_sec");
  PropertyManager->Untie("aero/betadot-rad_sec");
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//    The bitmasked value choices are as follows:
//    unset: In this case (the default) JSBSim would only print
//       out the normally expected messages, essentially echoing
//       the config files as they are read. If the environment
//       variable is not set, debug_lvl is set to 1 internally
//    0: This requests JSBSim not to output any messages
//       whatsoever.
//    1: This value explicity requests the normal JSBSim
//       startup messages
//    2: This value asks for a message to be printed out when
//       a class is instantiated
//    4: When this value is set, a message is displayed when a
//       FGModel object executes its Run() method
//    8: When this value is set, various runtime state variables
//       are printed out periodically
//    16: When set various parameters are sanity checked and
//       a message is printed out when they go out of bounds

void FGTranslation::Debug(int from)
{
  if (debug_lvl <= 0) return;

  if (debug_lvl & 1) { // Standard console startup message output
    if (from == 0) { // Constructor

    }
  }
  if (debug_lvl & 2 ) { // Instantiation/Destruction notification
    if (from == 0) cout << "Instantiated: FGTranslation" << endl;
    if (from == 1) cout << "Destroyed:    FGTranslation" << endl;
  }
  if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
  }
  if (debug_lvl & 8 ) { // Runtime state variables
  }
  if (debug_lvl & 16) { // Sanity checking
    if (fabs(vUVW(eU)) > 1e6)
      cout << "FGTranslation::U velocity out of bounds: " << vUVW(eU) << endl;
    if (fabs(vUVW(eV)) > 1e6)
      cout << "FGTranslation::V velocity out of bounds: " << vUVW(eV) << endl;
    if (fabs(vUVW(eW)) > 1e6)
      cout << "FGTranslation::W velocity out of bounds: " << vUVW(eW) << endl;
    if (fabs(vUVWdot(eU)) > 1e4)
      cout << "FGTranslation::U acceleration out of bounds: " << vUVWdot(eU) << endl;
    if (fabs(vUVWdot(eV)) > 1e4)
      cout << "FGTranslation::V acceleration out of bounds: " << vUVWdot(eV) << endl;
    if (fabs(vUVWdot(eW)) > 1e4)
      cout << "FGTranslation::W acceleration out of bounds: " << vUVWdot(eW) << endl;
    if (Mach > 100 || Mach < 0.00)
      cout << "FGTranslation::Mach is out of bounds: " << Mach << endl;
    if (qbar > 1e6 || qbar < 0.00)
      cout << "FGTranslation::qbar is out of bounds: " << qbar << endl;
  }
  if (debug_lvl & 64) {
    if (from == 0) { // Constructor
      cout << IdSrc << endl;
      cout << IdHdr << endl;
    }
  }
}