Add the latest fixes and expose all inertias in the property tree

src/FDM/JSBSim/FGFDMExec.cpp

@@ -72,7 +72,7 @@ using namespace std;
 
 namespace JSBSim {
 
-IDENT(IdSrc,"$Id: FGFDMExec.cpp,v 1.186 2016/01/10 16:32:26 bcoconni Exp $");
+IDENT(IdSrc,"$Id: FGFDMExec.cpp,v 1.187 2016/01/31 11:12:59 bcoconni Exp $");
 IDENT(IdHdr,ID_FDMEXEC);
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -612,12 +612,12 @@ void FGFDMExec::ResetToInitialConditions(int mode)
     Models[i]->InitModel();
   }
 
-  RunIC();
-
   if (Script)
     Script->ResetEvents();
   else
     Setsim_time(0.0);
+
+  RunIC();
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

src/FDM/JSBSim/input_output/FGScript.cpp

@@ -58,7 +58,7 @@ using namespace std;
 
 namespace JSBSim {
 
-IDENT(IdSrc,"$Id: FGScript.cpp,v 1.63 2015/09/28 21:14:15 bcoconni Exp $");
+IDENT(IdSrc,"$Id: FGScript.cpp,v 1.64 2016/04/03 17:10:46 bcoconni Exp $");
 IDENT(IdHdr,ID_FGSCRIPT);
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -353,7 +353,7 @@ bool FGScript::LoadScript(const string& script, double default_dT,
 
 void FGScript::ResetEvents(void)
 {
-  //LocalProperties.ResetToIC();
+  LocalProperties.ResetToIC();
   FDMExec->Setsim_time(StartTime);
 
   for (unsigned int i=0; i<Events.size(); i++)

src/FDM/JSBSim/input_output/FGfdmSocket.h

@@ -114,7 +114,7 @@ public:
 private:
   int sckt;
   int sckt_in;
-  //int udpsckt;
+  int udpsckt;
   DirectionType Direction;
   ProtocolType Protocol;
   struct sockaddr_in scktName;

src/FDM/JSBSim/models/FGAccelerations.cpp

@@ -60,7 +60,7 @@ using namespace std;
 
 namespace JSBSim {
 
-IDENT(IdSrc,"$Id: FGAccelerations.cpp,v 1.25 2015/12/09 04:28:18 jberndt Exp $");
+IDENT(IdSrc,"$Id: FGAccelerations.cpp,v 1.26 2016/01/31 11:13:00 bcoconni Exp $");
 IDENT(IdHdr,ID_ACCELERATIONS);
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -78,6 +78,7 @@ FGAccelerations::FGAccelerations(FGFDMExec* fdmex)
 
   vPQRidot.InitMatrix();
   vUVWidot.InitMatrix();
+  vUVWdot.InitMatrix();
   vGravAccel.InitMatrix();
   vBodyAccel.InitMatrix();
   vQtrndot = FGQuaternion(0,0,0);
@@ -101,6 +102,7 @@ bool FGAccelerations::InitModel(void)
 
   vPQRidot.InitMatrix();
   vUVWidot.InitMatrix();
+  vUVWdot.InitMatrix();
   vGravAccel.InitMatrix();
   vBodyAccel.InitMatrix();
   vQtrndot = FGQuaternion(0,0,0);

src/FDM/JSBSim/models/FGFCS.cpp

@@ -70,14 +70,14 @@ using namespace std;
 
 namespace JSBSim {
 
-IDENT(IdSrc,"$Id: FGFCS.cpp,v 1.92 2015/07/12 19:34:08 bcoconni Exp $");
+IDENT(IdSrc,"$Id: FGFCS.cpp,v 1.94 2016/04/03 11:13:19 bcoconni Exp $");
 IDENT(IdHdr,ID_FCS);
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
+FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex), ChannelRate(1)
 {
   int i;
   Name = "FGFCS";
@@ -181,8 +181,10 @@ bool FGFCS::Run(bool Holding)
   // Execute system channels in order
   for (i=0; i<SystemChannels.size(); i++) {
     if (debug_lvl & 4) cout << "    Executing System Channel: " << SystemChannels[i]->GetName() << endl;
+    ChannelRate = SystemChannels[i]->GetRate();
     SystemChannels[i]->Execute();
   }
+  ChannelRate = 1;
 
   RunPostFunctions();
 
@@ -511,20 +513,24 @@ bool FGFCS::Load(Element* document)
 
     string sOnOffProperty = channel_element->GetAttributeValue("execute");
     string sChannelName = channel_element->GetAttributeValue("name");
+    
+    int Rate = 0;
+    if (!channel_element->GetAttributeValue("execrate").empty())
+      Rate = channel_element->GetAttributeValueAsNumber("execrate");
+
     if (sOnOffProperty.length() > 0) {
       FGPropertyNode* OnOffPropertyNode = PropertyManager->GetNode(sOnOffProperty);
       if (OnOffPropertyNode == 0) {
-        cerr << highint << fgred
+        cerr << channel_element->ReadFrom() << highint << fgred
              << "The On/Off property, " << sOnOffProperty << " specified for channel "
              << channel_element->GetAttributeValue("name") << " is undefined or not "
              << "understood. The simulation will abort" << reset << endl;
         throw("Bad system definition");
-      } else {
+      } else
-        newChannel = new FGFCSChannel(sChannelName, OnOffPropertyNode);
+        newChannel = new FGFCSChannel(this, sChannelName, Rate,
-      }
+                                      OnOffPropertyNode);
-    } else {
+    } else
-      newChannel = new FGFCSChannel(sChannelName);
+      newChannel = new FGFCSChannel(this, sChannelName, Rate);
-    }
 
     SystemChannels.push_back(newChannel);
 
@@ -690,7 +696,7 @@ void FGFCS::AddGear(unsigned int NumGear)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-double FGFCS::GetDt(void)
+double FGFCS::GetDt(void) const
 {
   return FDMExec->GetDeltaT()*rate;
 }
@@ -752,6 +758,7 @@ void FGFCS::bind(void)
 
   PropertyManager->Tie("gear/tailhook-pos-norm", this, &FGFCS::GetTailhookPos, &FGFCS::SetTailhookPos);
   PropertyManager->Tie("fcs/wing-fold-pos-norm", this, &FGFCS::GetWingFoldPos, &FGFCS::SetWingFoldPos);
+  PropertyManager->Tie("simulation/channel-dt", this, &FGFCS::GetChannelDeltaT);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

src/FDM/JSBSim/models/FGFCS.h

@@ -49,7 +49,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_FCS "$Id: FGFCS.h,v 1.49 2015/07/12 19:34:08 bcoconni Exp $"
+#define ID_FCS "$Id: FGFCS.h,v 1.50 2016/02/27 16:54:15 bcoconni Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -167,7 +167,7 @@ CLASS DOCUMENTATION
     @property gear/tailhook-pos-norm
 
     @author Jon S. Berndt
-    @version $Revision: 1.49 $
+    @version $Revision: 1.50 $
     @see FGActuator
     @see FGDeadBand
     @see FGFCSFunction
@@ -557,11 +557,12 @@ public:
 
   void AddThrottle(void);
   void AddGear(unsigned int NumGear);
-  double GetDt(void);
+  double GetDt(void) const;
 
   FGPropertyManager* GetPropertyManager(void) { return PropertyManager; }
 
   bool GetTrimStatus(void) const { return FDMExec->GetTrimStatus(); }
+  double GetChannelDeltaT(void) const { return GetDt() * ChannelRate; }
 
 private:
   double DaCmd, DeCmd, DrCmd, DsCmd, DfCmd, DsbCmd, DspCmd;
@@ -582,6 +583,7 @@ private:
   double GearCmd,GearPos;
   double TailhookPos, WingFoldPos;
   SystemType systype;
+  int ChannelRate;
 
   typedef std::vector <FGFCSChannel*> Channels;
   Channels SystemChannels;

src/FDM/JSBSim/models/FGFCSChannel.h

@@ -44,7 +44,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_FCSCHANNEL "$Id: FGFCSChannel.h,v 1.5 2015/03/28 14:49:02 bcoconni Exp $"
+#define ID_FCSCHANNEL "$Id: FGFCSChannel.h,v 1.9 2016/04/03 17:06:24 bcoconni Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -59,7 +59,15 @@ CLASS DOCUMENTATION
   /** Represents a <channel> in a control system definition.
       The <channel> may be defined within a <system>, <autopilot> or <flight_control>
       element. Channels are a way to group sets of components that perform
-      a specific purpose or algorithm. */
+      a specific purpose or algorithm. 
+      Created within a <system> tag, the channel is defined as follows
+      <channel name="name" [execute="property"] [execrate="rate"]>
+      name is the name of the channel - in the old way this would also be used to bind elements
+      execute [optional] is the property that defines when to execute this channel; an on/off switch
+      execrate [optional] is the rate at which the channel should execute. 
+               A value of 0 or 1 will execute the channel every frame, a value of 2
+               every other frame (half rate), a value of 4 is every 4th frame (quarter rate)
+      */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DECLARATION
@@ -70,10 +78,15 @@ typedef std::vector <FGFCSComponent*> FCSCompVec;
 class FGFCSChannel {
 public:
   /// Constructor
-  FGFCSChannel(std::string name, FGPropertyNode* node=0) :
+  FGFCSChannel(FGFCS* FCS, const std::string &name, int execRate,
-  OnOffNode(node), Name(name)
+               FGPropertyNode* node=0)
+    : fcs(FCS), OnOffNode(node), Name(name)
   {
+    ExecRate = execRate < 1 ? 1 : execRate;
+    // Set ExecFrameCountSinceLastRun so that each components are initialized
+    ExecFrameCountSinceLastRun = ExecRate;
   }
+
   /// Destructor
   ~FGFCSChannel() {
     for (unsigned int i=0; i<FCSComponents.size(); i++) delete FCSComponents[i];
@@ -83,7 +96,10 @@ public:
   std::string GetName() {return Name;}
 
   /// Adds a component to a channel
-  void Add(FGFCSComponent* comp) {FCSComponents.push_back(comp);}
+  void Add(FGFCSComponent* comp) {
+    FCSComponents.push_back(comp);
+    comp->SetDtForFrameCount(ExecRate);
+  }
   /// Returns the number of components in the channel.
   size_t GetNumComponents() {return FCSComponents.size();}
   /// Retrieves a specific component.
@@ -99,22 +115,42 @@ public:
   void Reset() {
     for (unsigned int i=0; i<FCSComponents.size(); i++)
       FCSComponents[i]->ResetPastStates();
+
+    // Set ExecFrameCountSinceLastRun so that each components are initialized
+    // after a reset.
+    ExecFrameCountSinceLastRun = ExecRate;
   }
   /// Executes all the components in a channel.
   void Execute() {
     // If there is an on/off property supplied for this channel, check
     // the value. If it is true, permit execution to continue. If not, return
     // and do not execute the channel.
-    if (OnOffNode != 0)
+    if (OnOffNode && !OnOffNode->getBoolValue()) return;
-      if (!OnOffNode->getBoolValue()) return;
 
-    for (unsigned int i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
+    if (fcs->GetDt() != 0.0)
+      ++ExecFrameCountSinceLastRun;
+
+    // channel will be run at rate 1 if trimming, or when the next execrate
+    // frame is reached
+    if (fcs->GetTrimStatus() || ExecFrameCountSinceLastRun >= ExecRate) {
+      for (unsigned int i=0; i<FCSComponents.size(); i++) 
+        FCSComponents[i]->Run();
+    }
+
+    if (ExecFrameCountSinceLastRun >= ExecRate)
+      ExecFrameCountSinceLastRun = 0;
   }
+  /// Get the channel rate
+  int GetRate(void) const { return ExecRate; }
 
   private:
+    FGFCS* fcs;
     FCSCompVec FCSComponents;
     FGConstPropertyNode_ptr OnOffNode;
     std::string Name;
+
+    int ExecRate;        // rate at which this system executes, 0 or 1 every frame, 2 every second frame etc..
+    int ExecFrameCountSinceLastRun;
 };
 
 }

src/FDM/JSBSim/models/FGMassBalance.cpp

@@ -51,7 +51,7 @@ using namespace std;
 
 namespace JSBSim {
 
-IDENT(IdSrc,"$Id: FGMassBalance.cpp,v 1.54 2015/12/09 04:28:18 jberndt Exp $");
+IDENT(IdSrc,"$Id: FGMassBalance.cpp,v 1.55 2016/03/26 18:54:27 bcoconni Exp $");
 IDENT(IdHdr,ID_MASSBALANCE);
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -258,11 +258,11 @@ bool FGMassBalance::Run(bool Holding)
 
 void FGMassBalance::AddPointMass(Element* el)
 {
-  double radius=0, length=0;
   Element* loc_element = el->FindElement("location");
   string pointmass_name = el->GetAttributeValue("name");
   if (!loc_element) {
-    cerr << "Pointmass " << pointmass_name << " has no location." << endl;
+    cerr << el->ReadFrom() << "Pointmass " << pointmass_name
+         << " has no location." << endl;
     exit(-1);
   }
 
@@ -274,6 +274,7 @@ void FGMassBalance::AddPointMass(Element* el)
 
   Element* form_element = el->FindElement("form");
   if (form_element) {
+    double radius=0, length=0;
     string shape = form_element->GetAttributeValue("shape");
     Element* radius_element = form_element->FindElement("radius");
     Element* length_element = form_element->FindElement("length");
@@ -401,6 +402,18 @@ void FGMassBalance::bind(void)
                        (PMF)&FGMassBalance::GetXYZcg);
   PropertyManager->Tie("inertia/cg-z-in", this,3,
                        (PMF)&FGMassBalance::GetXYZcg);
+  PropertyManager->Tie("inertia/ixx-slugs_ft2", this,
+                       &FGMassBalance::GetIxx);
+  PropertyManager->Tie("inertia/iyy-slugs_ft2", this,
+                       &FGMassBalance::GetIyy);
+  PropertyManager->Tie("inertia/izz-slugs_ft2", this,
+                       &FGMassBalance::GetIzz);
+  PropertyManager->Tie("inertia/ixy-slugs_ft2", this,
+                       &FGMassBalance::GetIxy);
+  PropertyManager->Tie("inertia/ixz-slugs_ft2", this,
+                       &FGMassBalance::GetIxz);
+  PropertyManager->Tie("inertia/iyz-slugs_ft2", this,
+                       &FGMassBalance::GetIyz);
   typedef int (FGMassBalance::*iOPV)() const;
   PropertyManager->Tie("inertia/print-mass-properties", this, (iOPV)0,
                        &FGMassBalance::GetMassPropertiesReport, false);

src/FDM/JSBSim/models/FGMassBalance.h

@@ -48,7 +48,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_MASSBALANCE "$Id: FGMassBalance.h,v 1.36 2015/08/22 18:09:00 bcoconni Exp $"
+#define ID_MASSBALANCE "$Id: FGMassBalance.h,v 1.37 2016/03/26 18:54:27 bcoconni Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONSS
@@ -202,7 +202,12 @@ private:
   FGColumnVector3 vPMxyz;
   FGColumnVector3 PointMassCG;
   const FGMatrix33& CalculatePMInertias(void);
-
+  double GetIxx(void) const { return mJ(1,1); }
+  double GetIyy(void) const { return mJ(2,2); }
+  double GetIzz(void) const { return mJ(3,3); }
+  double GetIxy(void) const { return -mJ(1,2); }
+  double GetIxz(void) const { return -mJ(1,3); }
+  double GetIyz(void) const { return -mJ(2,3); }
 
   /** The PointMass structure encapsulates a point mass object, moments of inertia
      mass, location, etc. */

src/FDM/JSBSim/models/flight_control/FGFCSComponent.cpp

@@ -49,7 +49,7 @@ using namespace std;
 
 namespace JSBSim {
 
-IDENT(IdSrc,"$Id: FGFCSComponent.cpp,v 1.41 2015/07/12 19:34:08 bcoconni Exp $");
+IDENT(IdSrc,"$Id: FGFCSComponent.cpp,v 1.42 2016/02/27 16:54:15 bcoconni Exp $");
 IDENT(IdHdr,ID_FCSCOMPONENT);
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -253,9 +253,9 @@ void FGFCSComponent::SetOutput(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-bool FGFCSComponent::Run(void)
+void FGFCSComponent::SetDtForFrameCount(int FrameCount)
 {
-  return true;
+  dt = fcs->GetDt() * FrameCount;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -282,11 +282,12 @@ void FGFCSComponent::Clip(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 //
-// The old way of naming FCS components allowed upper or lower case, spaces, etc.
+// The old way of naming FCS components allowed upper or lower case, spaces,
-// but then the names were modified to fit into a property name heirarchy. This
+// etc. but then the names were modified to fit into a property name
-// was confusing (it wasn't done intentionally - it was a carryover from the early
+// hierarchy. This was confusing (it wasn't done intentionally - it was a
-// design). We now support the direct naming of properties in the FCS component
+// carryover from the early design). We now support the direct naming of
-// name attribute. The old way is supported in code at this time, but deprecated.
+// properties in the FCS component name attribute. The old way is supported in
+// code at this time, but deprecated.
 
 void FGFCSComponent::bind(void)
 {

src/FDM/JSBSim/models/flight_control/FGFCSComponent.h

@@ -47,7 +47,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_FCSCOMPONENT "$Id: FGFCSComponent.h,v 1.27 2015/07/12 19:34:08 bcoconni Exp $"
+#define ID_FCSCOMPONENT "$Id: FGFCSComponent.h,v 1.28 2016/02/27 16:54:16 bcoconni Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -83,7 +83,7 @@ CLASS DOCUMENTATION
     - FGAngle
 
     @author Jon S. Berndt
-    @version $Id: FGFCSComponent.h,v 1.27 2015/07/12 19:34:08 bcoconni Exp $
+    @version $Id: FGFCSComponent.h,v 1.28 2016/02/27 16:54:16 bcoconni Exp $
     @see Documentation for the FGFCS class, and for the configuration file class
 */
 
@@ -99,8 +99,9 @@ public:
   /// Destructor
   virtual ~FGFCSComponent();
 
-  virtual bool Run(void);
+  virtual bool Run(void) { return true; }
   virtual void SetOutput(void);
+  void SetDtForFrameCount(int FrameCount);
   double GetOutput (void) const {return Output;}
   std::string GetName(void) const {return Name;}
   std::string GetType(void) const { return Type; }