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05/30/2000 updates from Jon Berdnt. Landing gear code now is beginning to

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work.
This commit is contained in:
curt 2000-05-30 16:48:52 +00:00
parent febc9cf0b2
commit 0786793f42
10 changed files with 58 additions and 50 deletions
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30
src/FDM/JSBSim.cxx
View file

@ -62,7 +62,7 @@
int FGJSBsim::init( double dt ) { int FGJSBsim::init( double dt ) {
bool result;
FG_LOG( FG_FLIGHT, FG_INFO, "Starting and initializing JSBsim" ); FG_LOG( FG_FLIGHT, FG_INFO, "Starting and initializing JSBsim" );
FG_LOG( FG_FLIGHT, FG_INFO, " created FDMExec" ); FG_LOG( FG_FLIGHT, FG_INFO, " created FDMExec" );
@ -75,12 +75,17 @@ int FGJSBsim::init( double dt ) {
FDMExec.GetState()->Setdt( dt ); FDMExec.GetState()->Setdt( dt );
FDMExec.GetAircraft()->LoadAircraft( aircraft_path.str(), result = FDMExec.GetAircraft()->LoadAircraft( aircraft_path.str(),
engine_path.str(), engine_path.str(),
current_options.get_aircraft() ); current_options.get_aircraft() );
FG_LOG( FG_FLIGHT, FG_INFO, " loaded aircraft" << if (result) {
current_options.get_aircraft() ); FG_LOG( FG_FLIGHT, FG_INFO, " loaded aircraft" << current_options.get_aircraft() );
} else {
FG_LOG( FG_FLIGHT, FG_INFO, " aircraft" << current_options.get_aircraft()
<< " does not exist");
return 0;
}
FDMExec.GetAtmosphere()->UseInternal(); FDMExec.GetAtmosphere()->UseInternal();
@ -109,10 +114,12 @@ int FGJSBsim::init( double dt ) {
fgic->SetRollAngleRadIC(get_Phi()); fgic->SetRollAngleRadIC(get_Phi());
fgic->SetPitchAngleRadIC(get_Theta()); fgic->SetPitchAngleRadIC(get_Theta());
fgic->SetHeadingRadIC(get_Psi()); fgic->SetHeadingRadIC(get_Psi());
fgic->SetLatitudeRadIC(get_Latitude()); // fgic->SetLatitudeRadIC(get_Latitude());
fgic->SetLatitudeRadIC(get_Lat_geocentric());
fgic->SetLongitudeRadIC(get_Longitude()); fgic->SetLongitudeRadIC(get_Longitude());
FDMExec.GetPosition()->SetRunwayRadius(scenery.cur_radius); FDMExec.GetPosition()->SetRunwayRadius(scenery.cur_radius*METER_TO_FEET);
FDMExec.GetPosition()->SetSeaLevelRadius(get_Sea_level_radius());
FG_LOG( FG_FLIGHT, FG_INFO, " phi: " << get_Phi()); FG_LOG( FG_FLIGHT, FG_INFO, " phi: " << get_Phi());
FG_LOG( FG_FLIGHT, FG_INFO, " theta: " << get_Theta() ); FG_LOG( FG_FLIGHT, FG_INFO, " theta: " << get_Theta() );
@ -120,9 +127,9 @@ int FGJSBsim::init( double dt ) {
FG_LOG( FG_FLIGHT, FG_INFO, " lat: " << get_Latitude() ); FG_LOG( FG_FLIGHT, FG_INFO, " lat: " << get_Latitude() );
FG_LOG( FG_FLIGHT, FG_INFO, " lon: " << get_Longitude() ); FG_LOG( FG_FLIGHT, FG_INFO, " lon: " << get_Longitude() );
FG_LOG( FG_FLIGHT, FG_INFO, " alt: " << get_Altitude() ); FG_LOG( FG_FLIGHT, FG_INFO, " alt: " << get_Altitude() );
//must check > 0, != 0 will give bad result if --notrim set //must check > 0, != 0 will give bad result if --notrim set
if(current_options.get_trim_mode() == true) { if(current_options.get_trim_mode() > 0) {
FG_LOG( FG_FLIGHT, FG_INFO, " Starting trim..." ); FG_LOG( FG_FLIGHT, FG_INFO, " Starting trim..." );
FGTrimLong *fgtrim=new FGTrimLong(&FDMExec,fgic); FGTrimLong *fgtrim=new FGTrimLong(&FDMExec,fgic);
fgtrim->DoTrim(); fgtrim->DoTrim();
@ -130,8 +137,10 @@ int FGJSBsim::init( double dt ) {
fgtrim->TrimStats(); fgtrim->TrimStats();
fgtrim->ReportState(); fgtrim->ReportState();
controls.set_elevator_trim(FDMExec.GetFCS()->GetPitchTrimCmd()); controls.set_elevator_trim(FDMExec.GetFCS()->GetDeCmd());
controls.set_throttle(FGControls::ALL_ENGINES,FDMExec.GetFCS()->GetThrottleCmd(0)/100); controls.set_throttle(FGControls::ALL_ENGINES,FDMExec.GetFCS()->GetThrottleCmd(0)/100);
//the trimming routine only knows how to get 1 value for throttle
delete fgtrim; delete fgtrim;
FG_LOG( FG_FLIGHT, FG_INFO, " Trim complete." ); FG_LOG( FG_FLIGHT, FG_INFO, " Trim complete." );
@ -185,7 +194,8 @@ int FGJSBsim::update( int multiloop ) {
// Inform JSBsim of the local terrain altitude; uncommented 5/3/00 // Inform JSBsim of the local terrain altitude; uncommented 5/3/00
// FDMExec.GetPosition()->SetRunwayElevation(get_Runway_altitude()); // seems to work // FDMExec.GetPosition()->SetRunwayElevation(get_Runway_altitude()); // seems to work
FDMExec.GetPosition()->SetRunwayRadius(scenery.cur_radius); FDMExec.GetPosition()->SetRunwayRadius(scenery.cur_radius*METER_TO_FEET);
FDMExec.GetPosition()->SetSeaLevelRadius(get_Sea_level_radius());
FDMExec.GetAtmosphere()->SetExTemperature(get_Static_temperature()); FDMExec.GetAtmosphere()->SetExTemperature(get_Static_temperature());
FDMExec.GetAtmosphere()->SetExPressure(get_Static_pressure()); FDMExec.GetAtmosphere()->SetExPressure(get_Static_pressure());

1
src/FDM/JSBSim/FGAircraft.cpp
View file

@ -176,6 +176,7 @@ bool FGAircraft::LoadAircraft(string aircraft_path, string engine_path, string f
aircraftCfgFileName = AircraftPath + "/" + fname + "/" + fname + ".cfg"; aircraftCfgFileName = AircraftPath + "/" + fname + "/" + fname + ".cfg";
FGConfigFile AC_cfg(aircraftCfgFileName); FGConfigFile AC_cfg(aircraftCfgFileName);
if (!AC_cfg.IsOpen()) return false;
ReadPrologue(&AC_cfg); ReadPrologue(&AC_cfg);

4
src/FDM/JSBSim/FGConfigFile.cpp
View file

@ -30,7 +30,9 @@ FGConfigFile::FGConfigFile(string cfgFileName)
cfgfile.open(cfgFileName.c_str()); cfgfile.open(cfgFileName.c_str());
CommentsOn = false; CommentsOn = false;
CurrentIndex = 0; CurrentIndex = 0;
GetNextConfigLine(); Opened = true;
if (cfgfile.is_open()) GetNextConfigLine();
else Opened = false;
} }

2
src/FDM/JSBSim/FGConfigFile.h
View file

@ -75,6 +75,7 @@ public:
string GetValue(string); string GetValue(string);
string GetValue(void); string GetValue(void);
bool IsCommentLine(void); bool IsCommentLine(void);
bool IsOpen(void) {return Opened;}
FGConfigFile& operator>>(double&); FGConfigFile& operator>>(double&);
FGConfigFile& operator>>(float&); FGConfigFile& operator>>(float&);
FGConfigFile& operator>>(int&); FGConfigFile& operator>>(int&);
@ -87,6 +88,7 @@ private:
ifstream cfgfile; ifstream cfgfile;
string CurrentLine; string CurrentLine;
bool CommentsOn; bool CommentsOn;
bool Opened;
unsigned int CurrentIndex; unsigned int CurrentIndex;
}; };

5
src/FDM/JSBSim/FGControls.cpp
View file

@ -51,8 +51,9 @@ FGControls::~FGControls() {
// $Log$ // $Log$
// Revision 1.11 2000/05/27 03:48:15 curt // Revision 1.12 2000/05/30 14:48:53 curt
// 5/26/2000 updated from Jon and Tony. // 05/30/2000 updates from Jon Berdnt. Landing gear code now is beginning to
// work.
// //
// Revision 1.3 2000/04/26 10:55:57 jsb // Revision 1.3 2000/04/26 10:55:57 jsb
// Made changes as required by Curt to install JSBSim into FGFS // Made changes as required by Curt to install JSBSim into FGFS

5
src/FDM/JSBSim/FGControls.h
View file

@ -175,8 +175,9 @@ extern FGControls controls;
// $Log$ // $Log$
// Revision 1.10 2000/05/27 03:48:15 curt // Revision 1.11 2000/05/30 14:48:53 curt
// 5/26/2000 updated from Jon and Tony. // 05/30/2000 updates from Jon Berdnt. Landing gear code now is beginning to
// work.
// //
// Revision 1.5 2000/05/12 22:45:35 jsb // Revision 1.5 2000/05/12 22:45:35 jsb
// Removed extraneous namespace identifiers and header files // Removed extraneous namespace identifiers and header files

29
src/FDM/JSBSim/FGLGear.cpp
View file

@ -55,7 +55,7 @@ FGLGear::FGLGear(FGConfigFile* AC_cfg, FGFDMExec* fdmex) : vXYZ(3),
Aircraft = Exec->GetAircraft(); Aircraft = Exec->GetAircraft();
Position = Exec->GetPosition(); Position = Exec->GetPosition();
Rotation = Exec->GetRotation(); Rotation = Exec->GetRotation();
WOW = false; WOW = false;
} }
@ -72,14 +72,13 @@ FGColumnVector FGLGear::Force(void)
{ {
static FGColumnVector vForce(3); static FGColumnVector vForce(3);
static FGColumnVector vLocalForce(3); static FGColumnVector vLocalForce(3);
static FGColumnVector vLocalGear(3); static FGColumnVector vLocalGear(3); // Vector: CG to this wheel (Local)
static FGColumnVector vWhlBodyVec(3); static FGColumnVector vWhlBodyVec(3); // Vector: CG to this wheel (Body)
static FGColumnVector vWhlVelVec(3); static FGColumnVector vWhlVelVec(3); // Velocity of this wheel (Local)
vWhlBodyVec = vXYZ - Aircraft->GetXYZcg(); vWhlBodyVec = (vXYZ - Aircraft->GetXYZcg()) / 12.0;
vWhlBodyVec(eX) = -vWhlBodyVec(eX); vWhlBodyVec(eX) = -vWhlBodyVec(eX);
vWhlBodyVec(eZ) = -vWhlBodyVec(eZ); vWhlBodyVec(eZ) = -vWhlBodyVec(eZ);
vWhlBodyVec = vWhlBodyVec/12.0;
vLocalGear = State->GetTb2l() * vWhlBodyVec; vLocalGear = State->GetTb2l() * vWhlBodyVec;
@ -89,17 +88,19 @@ FGColumnVector FGLGear::Force(void)
WOW = true; WOW = true;
vWhlVelVec = State->GetTb2l() * (Rotation->GetPQR() * vWhlBodyVec); vWhlVelVec = State->GetTb2l() * (Rotation->GetPQR() * vWhlBodyVec);
compressSpeed = vWhlVelVec(eZ) + Position->GetVd(); vWhlVelVec += Position->GetVel();
compressSpeed = vWhlVelVec(eZ);
vLocalForce(eZ) = min(-compressLength * kSpring - compressSpeed * bDamp, (float)0.0); vWhlVelVec = -1.0 * vWhlVelVec.Normalize();
vWhlVelVec(eZ) = 0.00;
vForce = State->GetTl2b() * vLocalForce ; vLocalForce(eZ) = min(-compressLength * kSpring - compressSpeed * bDamp, (float)0.0);
vLocalForce(eX) = fabs(vLocalForce(eZ) * statFCoeff) * vWhlVelVec(eX);
vLocalForce(eY) = fabs(vLocalForce(eZ) * statFCoeff) * vWhlVelVec(eY);
// currently only aircraft body axis Z-force modeled vForce = State->GetTl2b() * vLocalForce ;
vMoment(eX) = vForce(eZ) * vWhlBodyVec(eY); vMoment = vWhlBodyVec * vForce;
vMoment(eY) = -vForce(eZ) * vWhlBodyVec(eX);
vMoment(eZ) = 0.0;
} else { } else {

6
src/FDM/JSBSim/FGPosition.h
View file

@ -74,9 +74,9 @@ public:
inline FGColumnVector GetVel(void) { return vVel; } inline FGColumnVector GetVel(void) { return vVel; }
inline FGColumnVector GetUVW(void) { return vUVW; } inline FGColumnVector GetUVW(void) { return vUVW; }
inline double GetVn(void) { return vVel(1); } inline double GetVn(void) { return vVel(eX); }
inline double GetVe(void) { return vVel(2); } inline double GetVe(void) { return vVel(eY); }
inline double GetVd(void) { return vVel(3); } inline double GetVd(void) { return vVel(eZ); }
inline double Geth(void) { return h; } inline double Geth(void) { return h; }
inline double Gethdot(void) { return RadiusDot; } inline double Gethdot(void) { return RadiusDot; }
inline double GetLatitude(void) { return Latitude; } inline double GetLatitude(void) { return Latitude; }

8
src/FDM/JSBSim/FGTranslation.cpp
View file

@ -115,18 +115,18 @@ bool FGTranslation::Run(void) {
mVel(3,3) = 0.0; mVel(3,3) = 0.0;
vUVWdot = mVel*vPQR + vForces/Mass; vUVWdot = mVel*vPQR + vForces/Mass;
vNcg = vUVWdot * INVGRAVITY; vNcg=vUVWdot*INVGRAVITY;
vUVW += 0.5*dt*rate*(vlastUVWdot + vUVWdot) + vWindUVW; vUVW += 0.5*dt*rate*(vlastUVWdot + vUVWdot) + vWindUVW;
Vt = vUVW.Magnitude(); Vt = vUVW.Magnitude();
if (vUVW(eW) != 0.0) if (vUVW(eW) != 0.0)
alpha = vUVW(eU)*vUVW(eU) > 0.0 ? atan2(vUVW(eW), vUVW(eU)) : 0.0; alpha = vUVW(eU)*vUVW(eU) > 0.0 ? atan2(vUVW(eW), vUVW(eU)) : 0.0;
if (vUVW(eV) != 0.0) if (vUVW(eV) != 0.0)
beta = vUVW(eU)*vUVW(eU)+vUVW(eW)*vUVW(eW) > 0.0 ? atan2(vUVW(eV), beta = vUVW(eU)*vUVW(eU)+vUVW(eW)*vUVW(eW) > 0.0 ? atan2(vUVW(eV),
(fabs(vUVW(eU))/vUVW(eU))*sqrt(vUVW(eU)*vUVW(eU) + vUVW(eW)*vUVW(eW))) : 0.0; sqrt(vUVW(eU)*vUVW(eU) + vUVW(eW)*vUVW(eW))) : 0.0;
qbar = 0.5*rho*Vt*Vt; qbar = 0.5*rho*Vt*Vt;

18
src/FDM/JSBSim/FGTrimLong.cpp
View file

@ -334,9 +334,9 @@ float FGTrimLong::qdot_func(float x) {
/******************************************************************************/ /******************************************************************************/
bool FGTrimLong::DoTrim(void) { bool FGTrimLong::DoTrim(void) {
int k=0,j=0,sum=0,trim_failed=0,jmax=Naxis; int k=0;
int its; int its;
float step,temp,min,max;
if(fgic->GetVtrueKtsIC() < 1) { if(fgic->GetVtrueKtsIC() < 1) {
cout << "Trim failed, on-ground trimming not yet implemented." << endl; cout << "Trim failed, on-ground trimming not yet implemented." << endl;
@ -345,7 +345,6 @@ bool FGTrimLong::DoTrim(void) {
return false; return false;
} }
trimfp fp;
fgic -> SetAlphaDegIC((alphaMin+alphaMax)/2); fgic -> SetAlphaDegIC((alphaMin+alphaMax)/2);
fdmex -> GetFCS() -> SetDeCmd(0); fdmex -> GetFCS() -> SetDeCmd(0);
@ -402,10 +401,7 @@ bool FGTrimLong::DoTrim(void) {
total_its=k; total_its=k;
k=Ncycles; //force the trim to fail k=Ncycles; //force the trim to fail
} }
}
}
if( udot > Tolerance ) { if( udot > Tolerance ) {
if(checkLimits(udotf,dth,0,1) == false) { if(checkLimits(udotf,dth,0,1) == false) {
cout << " Sorry, udot doesn't appear to be trimmable" << endl; cout << " Sorry, udot doesn't appear to be trimmable" << endl;
@ -414,10 +410,7 @@ bool FGTrimLong::DoTrim(void) {
total_its=k; total_its=k;
k=Ncycles; //force the trim to fail k=Ncycles; //force the trim to fail
} }
}
}
if(qdot > A_Tolerance) { if(qdot > A_Tolerance) {
if(checkLimits(qdotf,fdmex->GetFCS()->GetPitchTrimCmd(),-1,1) == false) { if(checkLimits(qdotf,fdmex->GetFCS()->GetPitchTrimCmd(),-1,1) == false) {
@ -425,9 +418,6 @@ bool FGTrimLong::DoTrim(void) {
total_its=k; total_its=k;
k=Ncycles; //force the trim to fail k=Ncycles; //force the trim to fail
} }
} }
} }
k++; k++;