Add the latest fixes and expose all inertias in the property tree
This commit is contained in:
Erik Hofman
parent
ca6424f76a
commit
02174a1df6
11 changed files with 111 additions and 44 deletions
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@ -72,7 +72,7 @@ using namespace std;
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namespace JSBSim {
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IDENT(IdSrc,"$Id: FGFDMExec.cpp,v 1.186 2016/01/10 16:32:26 bcoconni Exp $");
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IDENT(IdSrc,"$Id: FGFDMExec.cpp,v 1.187 2016/01/31 11:12:59 bcoconni Exp $");
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IDENT(IdHdr,ID_FDMEXEC);
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -612,12 +612,12 @@ void FGFDMExec::ResetToInitialConditions(int mode)
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Models[i]->InitModel();
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}
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RunIC();
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if (Script)
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Script->ResetEvents();
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else
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Setsim_time(0.0);
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RunIC();
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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4
src/FDM/JSBSim/input_output/FGScript.cpp
Normal file → Executable file
4
src/FDM/JSBSim/input_output/FGScript.cpp
Normal file → Executable file
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@ -58,7 +58,7 @@ using namespace std;
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namespace JSBSim {
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IDENT(IdSrc,"$Id: FGScript.cpp,v 1.63 2015/09/28 21:14:15 bcoconni Exp $");
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IDENT(IdSrc,"$Id: FGScript.cpp,v 1.64 2016/04/03 17:10:46 bcoconni Exp $");
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IDENT(IdHdr,ID_FGSCRIPT);
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -353,7 +353,7 @@ bool FGScript::LoadScript(const string& script, double default_dT,
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void FGScript::ResetEvents(void)
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{
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//LocalProperties.ResetToIC();
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LocalProperties.ResetToIC();
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FDMExec->Setsim_time(StartTime);
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for (unsigned int i=0; i<Events.size(); i++)
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@ -114,7 +114,7 @@ public:
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private:
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int sckt;
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int sckt_in;
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//int udpsckt;
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int udpsckt;
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DirectionType Direction;
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ProtocolType Protocol;
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struct sockaddr_in scktName;
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@ -60,7 +60,7 @@ using namespace std;
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namespace JSBSim {
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IDENT(IdSrc,"$Id: FGAccelerations.cpp,v 1.25 2015/12/09 04:28:18 jberndt Exp $");
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IDENT(IdSrc,"$Id: FGAccelerations.cpp,v 1.26 2016/01/31 11:13:00 bcoconni Exp $");
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IDENT(IdHdr,ID_ACCELERATIONS);
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -78,6 +78,7 @@ FGAccelerations::FGAccelerations(FGFDMExec* fdmex)
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vPQRidot.InitMatrix();
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vUVWidot.InitMatrix();
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vUVWdot.InitMatrix();
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vGravAccel.InitMatrix();
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vBodyAccel.InitMatrix();
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vQtrndot = FGQuaternion(0,0,0);
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@ -101,6 +102,7 @@ bool FGAccelerations::InitModel(void)
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vPQRidot.InitMatrix();
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vUVWidot.InitMatrix();
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vUVWdot.InitMatrix();
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vGravAccel.InitMatrix();
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vBodyAccel.InitMatrix();
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vQtrndot = FGQuaternion(0,0,0);
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@ -70,14 +70,14 @@ using namespace std;
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namespace JSBSim {
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IDENT(IdSrc,"$Id: FGFCS.cpp,v 1.92 2015/07/12 19:34:08 bcoconni Exp $");
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IDENT(IdSrc,"$Id: FGFCS.cpp,v 1.94 2016/04/03 11:13:19 bcoconni Exp $");
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IDENT(IdHdr,ID_FCS);
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS IMPLEMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
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FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex), ChannelRate(1)
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{
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int i;
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Name = "FGFCS";
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@ -181,8 +181,10 @@ bool FGFCS::Run(bool Holding)
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// Execute system channels in order
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for (i=0; i<SystemChannels.size(); i++) {
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if (debug_lvl & 4) cout << " Executing System Channel: " << SystemChannels[i]->GetName() << endl;
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ChannelRate = SystemChannels[i]->GetRate();
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SystemChannels[i]->Execute();
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}
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ChannelRate = 1;
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RunPostFunctions();
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@ -511,20 +513,24 @@ bool FGFCS::Load(Element* document)
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string sOnOffProperty = channel_element->GetAttributeValue("execute");
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string sChannelName = channel_element->GetAttributeValue("name");
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int Rate = 0;
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if (!channel_element->GetAttributeValue("execrate").empty())
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Rate = channel_element->GetAttributeValueAsNumber("execrate");
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if (sOnOffProperty.length() > 0) {
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FGPropertyNode* OnOffPropertyNode = PropertyManager->GetNode(sOnOffProperty);
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if (OnOffPropertyNode == 0) {
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cerr << highint << fgred
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cerr << channel_element->ReadFrom() << highint << fgred
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<< "The On/Off property, " << sOnOffProperty << " specified for channel "
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<< channel_element->GetAttributeValue("name") << " is undefined or not "
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<< "understood. The simulation will abort" << reset << endl;
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throw("Bad system definition");
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} else {
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newChannel = new FGFCSChannel(sChannelName, OnOffPropertyNode);
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}
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} else {
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newChannel = new FGFCSChannel(sChannelName);
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}
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} else
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newChannel = new FGFCSChannel(this, sChannelName, Rate,
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OnOffPropertyNode);
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} else
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newChannel = new FGFCSChannel(this, sChannelName, Rate);
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SystemChannels.push_back(newChannel);
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@ -690,7 +696,7 @@ void FGFCS::AddGear(unsigned int NumGear)
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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double FGFCS::GetDt(void)
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double FGFCS::GetDt(void) const
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{
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return FDMExec->GetDeltaT()*rate;
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}
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@ -752,6 +758,7 @@ void FGFCS::bind(void)
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PropertyManager->Tie("gear/tailhook-pos-norm", this, &FGFCS::GetTailhookPos, &FGFCS::SetTailhookPos);
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PropertyManager->Tie("fcs/wing-fold-pos-norm", this, &FGFCS::GetWingFoldPos, &FGFCS::SetWingFoldPos);
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PropertyManager->Tie("simulation/channel-dt", this, &FGFCS::GetChannelDeltaT);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -49,7 +49,7 @@ INCLUDES
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DEFINITIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#define ID_FCS "$Id: FGFCS.h,v 1.49 2015/07/12 19:34:08 bcoconni Exp $"
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#define ID_FCS "$Id: FGFCS.h,v 1.50 2016/02/27 16:54:15 bcoconni Exp $"
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FORWARD DECLARATIONS
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@ -167,7 +167,7 @@ CLASS DOCUMENTATION
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@property gear/tailhook-pos-norm
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@author Jon S. Berndt
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@version $Revision: 1.49 $
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@version $Revision: 1.50 $
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@see FGActuator
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@see FGDeadBand
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@see FGFCSFunction
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@ -557,11 +557,12 @@ public:
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void AddThrottle(void);
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void AddGear(unsigned int NumGear);
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double GetDt(void);
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double GetDt(void) const;
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FGPropertyManager* GetPropertyManager(void) { return PropertyManager; }
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bool GetTrimStatus(void) const { return FDMExec->GetTrimStatus(); }
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double GetChannelDeltaT(void) const { return GetDt() * ChannelRate; }
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private:
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double DaCmd, DeCmd, DrCmd, DsCmd, DfCmd, DsbCmd, DspCmd;
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@ -582,6 +583,7 @@ private:
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double GearCmd,GearPos;
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double TailhookPos, WingFoldPos;
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SystemType systype;
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int ChannelRate;
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typedef std::vector <FGFCSChannel*> Channels;
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Channels SystemChannels;
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52
src/FDM/JSBSim/models/FGFCSChannel.h
Normal file → Executable file
52
src/FDM/JSBSim/models/FGFCSChannel.h
Normal file → Executable file
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@ -44,7 +44,7 @@ INCLUDES
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DEFINITIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#define ID_FCSCHANNEL "$Id: FGFCSChannel.h,v 1.5 2015/03/28 14:49:02 bcoconni Exp $"
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#define ID_FCSCHANNEL "$Id: FGFCSChannel.h,v 1.9 2016/04/03 17:06:24 bcoconni Exp $"
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FORWARD DECLARATIONS
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@ -59,7 +59,15 @@ CLASS DOCUMENTATION
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/** Represents a <channel> in a control system definition.
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The <channel> may be defined within a <system>, <autopilot> or <flight_control>
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element. Channels are a way to group sets of components that perform
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a specific purpose or algorithm. */
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a specific purpose or algorithm.
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Created within a <system> tag, the channel is defined as follows
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<channel name="name" [execute="property"] [execrate="rate"]>
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name is the name of the channel - in the old way this would also be used to bind elements
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execute [optional] is the property that defines when to execute this channel; an on/off switch
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execrate [optional] is the rate at which the channel should execute.
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A value of 0 or 1 will execute the channel every frame, a value of 2
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every other frame (half rate), a value of 4 is every 4th frame (quarter rate)
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*/
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS DECLARATION
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@ -70,10 +78,15 @@ typedef std::vector <FGFCSComponent*> FCSCompVec;
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class FGFCSChannel {
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public:
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/// Constructor
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FGFCSChannel(std::string name, FGPropertyNode* node=0) :
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OnOffNode(node), Name(name)
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FGFCSChannel(FGFCS* FCS, const std::string &name, int execRate,
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FGPropertyNode* node=0)
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: fcs(FCS), OnOffNode(node), Name(name)
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{
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ExecRate = execRate < 1 ? 1 : execRate;
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// Set ExecFrameCountSinceLastRun so that each components are initialized
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ExecFrameCountSinceLastRun = ExecRate;
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}
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/// Destructor
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~FGFCSChannel() {
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for (unsigned int i=0; i<FCSComponents.size(); i++) delete FCSComponents[i];
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@ -83,7 +96,10 @@ public:
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std::string GetName() {return Name;}
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/// Adds a component to a channel
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void Add(FGFCSComponent* comp) {FCSComponents.push_back(comp);}
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void Add(FGFCSComponent* comp) {
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FCSComponents.push_back(comp);
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comp->SetDtForFrameCount(ExecRate);
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}
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/// Returns the number of components in the channel.
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size_t GetNumComponents() {return FCSComponents.size();}
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/// Retrieves a specific component.
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@ -99,22 +115,42 @@ public:
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void Reset() {
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for (unsigned int i=0; i<FCSComponents.size(); i++)
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FCSComponents[i]->ResetPastStates();
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// Set ExecFrameCountSinceLastRun so that each components are initialized
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// after a reset.
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ExecFrameCountSinceLastRun = ExecRate;
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}
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/// Executes all the components in a channel.
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void Execute() {
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// If there is an on/off property supplied for this channel, check
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// the value. If it is true, permit execution to continue. If not, return
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// and do not execute the channel.
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if (OnOffNode != 0)
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if (!OnOffNode->getBoolValue()) return;
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if (OnOffNode && !OnOffNode->getBoolValue()) return;
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for (unsigned int i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
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if (fcs->GetDt() != 0.0)
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++ExecFrameCountSinceLastRun;
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// channel will be run at rate 1 if trimming, or when the next execrate
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// frame is reached
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if (fcs->GetTrimStatus() || ExecFrameCountSinceLastRun >= ExecRate) {
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for (unsigned int i=0; i<FCSComponents.size(); i++)
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FCSComponents[i]->Run();
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}
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if (ExecFrameCountSinceLastRun >= ExecRate)
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ExecFrameCountSinceLastRun = 0;
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}
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/// Get the channel rate
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int GetRate(void) const { return ExecRate; }
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private:
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FGFCS* fcs;
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FCSCompVec FCSComponents;
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FGConstPropertyNode_ptr OnOffNode;
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std::string Name;
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int ExecRate; // rate at which this system executes, 0 or 1 every frame, 2 every second frame etc..
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int ExecFrameCountSinceLastRun;
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};
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}
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@ -51,7 +51,7 @@ using namespace std;
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namespace JSBSim {
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IDENT(IdSrc,"$Id: FGMassBalance.cpp,v 1.54 2015/12/09 04:28:18 jberndt Exp $");
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IDENT(IdSrc,"$Id: FGMassBalance.cpp,v 1.55 2016/03/26 18:54:27 bcoconni Exp $");
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IDENT(IdHdr,ID_MASSBALANCE);
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -258,11 +258,11 @@ bool FGMassBalance::Run(bool Holding)
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void FGMassBalance::AddPointMass(Element* el)
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{
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double radius=0, length=0;
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Element* loc_element = el->FindElement("location");
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string pointmass_name = el->GetAttributeValue("name");
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if (!loc_element) {
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cerr << "Pointmass " << pointmass_name << " has no location." << endl;
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cerr << el->ReadFrom() << "Pointmass " << pointmass_name
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<< " has no location." << endl;
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exit(-1);
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}
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@ -274,6 +274,7 @@ void FGMassBalance::AddPointMass(Element* el)
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Element* form_element = el->FindElement("form");
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if (form_element) {
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double radius=0, length=0;
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string shape = form_element->GetAttributeValue("shape");
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Element* radius_element = form_element->FindElement("radius");
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Element* length_element = form_element->FindElement("length");
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@ -401,6 +402,18 @@ void FGMassBalance::bind(void)
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(PMF)&FGMassBalance::GetXYZcg);
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PropertyManager->Tie("inertia/cg-z-in", this,3,
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(PMF)&FGMassBalance::GetXYZcg);
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PropertyManager->Tie("inertia/ixx-slugs_ft2", this,
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&FGMassBalance::GetIxx);
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PropertyManager->Tie("inertia/iyy-slugs_ft2", this,
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&FGMassBalance::GetIyy);
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PropertyManager->Tie("inertia/izz-slugs_ft2", this,
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&FGMassBalance::GetIzz);
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PropertyManager->Tie("inertia/ixy-slugs_ft2", this,
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&FGMassBalance::GetIxy);
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PropertyManager->Tie("inertia/ixz-slugs_ft2", this,
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&FGMassBalance::GetIxz);
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PropertyManager->Tie("inertia/iyz-slugs_ft2", this,
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&FGMassBalance::GetIyz);
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typedef int (FGMassBalance::*iOPV)() const;
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PropertyManager->Tie("inertia/print-mass-properties", this, (iOPV)0,
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&FGMassBalance::GetMassPropertiesReport, false);
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@ -48,7 +48,7 @@ INCLUDES
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DEFINITIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#define ID_MASSBALANCE "$Id: FGMassBalance.h,v 1.36 2015/08/22 18:09:00 bcoconni Exp $"
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#define ID_MASSBALANCE "$Id: FGMassBalance.h,v 1.37 2016/03/26 18:54:27 bcoconni Exp $"
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FORWARD DECLARATIONSS
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@ -202,7 +202,12 @@ private:
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FGColumnVector3 vPMxyz;
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FGColumnVector3 PointMassCG;
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const FGMatrix33& CalculatePMInertias(void);
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double GetIxx(void) const { return mJ(1,1); }
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double GetIyy(void) const { return mJ(2,2); }
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double GetIzz(void) const { return mJ(3,3); }
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double GetIxy(void) const { return -mJ(1,2); }
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double GetIxz(void) const { return -mJ(1,3); }
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double GetIyz(void) const { return -mJ(2,3); }
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/** The PointMass structure encapsulates a point mass object, moments of inertia
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mass, location, etc. */
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@ -49,7 +49,7 @@ using namespace std;
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namespace JSBSim {
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IDENT(IdSrc,"$Id: FGFCSComponent.cpp,v 1.41 2015/07/12 19:34:08 bcoconni Exp $");
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IDENT(IdSrc,"$Id: FGFCSComponent.cpp,v 1.42 2016/02/27 16:54:15 bcoconni Exp $");
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IDENT(IdHdr,ID_FCSCOMPONENT);
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -253,9 +253,9 @@ void FGFCSComponent::SetOutput(void)
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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bool FGFCSComponent::Run(void)
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void FGFCSComponent::SetDtForFrameCount(int FrameCount)
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{
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return true;
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dt = fcs->GetDt() * FrameCount;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -282,11 +282,12 @@ void FGFCSComponent::Clip(void)
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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//
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// The old way of naming FCS components allowed upper or lower case, spaces, etc.
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// but then the names were modified to fit into a property name heirarchy. This
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// was confusing (it wasn't done intentionally - it was a carryover from the early
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// design). We now support the direct naming of properties in the FCS component
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// name attribute. The old way is supported in code at this time, but deprecated.
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// The old way of naming FCS components allowed upper or lower case, spaces,
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// etc. but then the names were modified to fit into a property name
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// hierarchy. This was confusing (it wasn't done intentionally - it was a
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// carryover from the early design). We now support the direct naming of
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// properties in the FCS component name attribute. The old way is supported in
|
||||
// code at this time, but deprecated.
|
||||
|
||||
void FGFCSComponent::bind(void)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -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; }
|
||||
|
|
|
|||
Loading…
Reference in a new issue