fly/flightgear
1
0
Fork 0
Code Activity

Bertrand Coconnier: bug fix for #184, JSBSim: command line arguments

Browse source 
1. The atmospheric properties of FG are not yet initialized when
JSBSim is initialized.
-> patch is quite basic and there may exist smarter ways to initialize
properly the environment before the FDM.
2. The Euler angles were initialized after the velocities.
3. The glide slope and rate of climb were ignored. Fixes all FDMs (YASim,
UIUC, JSBSim, etc.)
4. Some properties were instructed to re-use their previous value while
they should not.
5. Some bugs existed in JSBSim trim code. -> This bug has already been
fixed in JSBSim but the corresponding patch has not yet been applied to FG.
This commit is contained in:
ThorstenB 2011-05-29 00:05:33 +02:00
parent b4d90150c5
commit 0d0b5c616c
5 changed files with 89 additions and 64 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

7
src/Environment/environment_mgr.cxx
View file

@ -97,6 +97,13 @@ FGEnvironmentMgr::init ()
SG_LOG( SG_GENERAL, SG_INFO, "Initializing environment subsystem");
SGSubsystemGroup::init();
fgClouds->Init();
// Initialize the longitude, latitude and altitude to the initial position
// of the aircraft so that the atmospheric properties (pressure, temperature
// and density) can be initialized accordingly.
_altitudeNode->setDoubleValue(fgGetDouble("/sim/presets/altitude-ft"));
_longitude_n->setDoubleValue(fgGetDouble("/sim/presets/longitude-deg"));
_latitude_n->setDoubleValue(fgGetDouble("/sim/presets/latitude-deg"));
}
void

30
src/FDM/JSBSim/JSBSim.cxx
View file

@ -181,7 +181,7 @@ FGJSBsim::FGJSBsim( double dt )
MassBalance = fdmex->GetMassBalance();
Propulsion = fdmex->GetPropulsion();
Aircraft = fdmex->GetAircraft();
Propagate = fdmex->GetPropagate();
Propagate = fdmex->GetPropagate();
Auxiliary = fdmex->GetAuxiliary();
Inertial = fdmex->GetInertial();
Aerodynamics = fdmex->GetAerodynamics();
@ -369,9 +369,9 @@ void FGJSBsim::init()
Atmosphere->UseInternal();
}
fgic->SetVNorthFpsIC( -wind_from_north->getDoubleValue() );
fgic->SetVEastFpsIC( -wind_from_east->getDoubleValue() );
fgic->SetVDownFpsIC( -wind_from_down->getDoubleValue() );
fgic->SetWindNEDFpsIC( -wind_from_north->getDoubleValue(),
-wind_from_east->getDoubleValue(),
-wind_from_down->getDoubleValue() );
//Atmosphere->SetExTemperature(get_Static_temperature());
//Atmosphere->SetExPressure(get_Static_pressure());
@ -393,20 +393,20 @@ void FGJSBsim::init()
}
// end of egt_degf deprecation patch
if (fgGetBool("/sim/presets/running")) {
for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
SGPropertyNode * node = fgGetNode("engines/engine", i, true);
node->setBoolValue("running", true);
Propulsion->GetEngine(i)->SetRunning(true);
}
}
FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
common_init();
copy_to_JSBsim();
fdmex->RunIC(); //loop JSBSim once w/o integrating
if (fgGetBool("/sim/presets/running")) {
Propulsion->InitRunning(-1);
for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
globals->get_controls()->set_magnetos(i, eng->GetMagnetos());
globals->get_controls()->set_mixture(i, FCS->GetMixtureCmd(i));
}
}
copy_from_JSBsim(); //update the bus
SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
@ -1282,7 +1282,7 @@ void FGJSBsim::do_trim(void)
{
fgtrim = new FGTrim(fdmex,tGround);
} else {
fgtrim = new FGTrim(fdmex,tLongitudinal);
fgtrim = new FGTrim(fdmex,tFull);
}
if ( !fgtrim->DoTrim() ) {
@ -1296,7 +1296,7 @@ void FGJSBsim::do_trim(void)
pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
aileron_trim->setDoubleValue( FCS->GetDaCmd() );
rudder_trim->setDoubleValue( FCS->GetDrCmd() );
rudder_trim->setDoubleValue( -FCS->GetDrCmd() );
globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
globals->get_controls()->set_elevator(FCS->GetDeCmd());
@ -1304,7 +1304,7 @@ void FGJSBsim::do_trim(void)
globals->get_controls()->set_throttle(i, FCS->GetThrottleCmd(i));
globals->get_controls()->set_aileron(FCS->GetDaCmd());
globals->get_controls()->set_rudder( FCS->GetDrCmd());
globals->get_controls()->set_rudder( -FCS->GetDrCmd());
SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
}

35
src/FDM/JSBSim/initialization/FGInitialCondition.cpp
View file

@ -61,7 +61,7 @@ using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id: FGInitialCondition.cpp,v 1.59 2011/04/03 13:18:51 bcoconni Exp $";
static const char *IdSrc = "$Id: FGInitialCondition.cpp,v 1.61 2011/05/20 00:47:03 bcoconni Exp $";
static const char *IdHdr = ID_INITIALCONDITION;
//******************************************************************************
@ -112,7 +112,7 @@ void FGInitialCondition::ResetIC(double u0, double v0, double w0,
FGQuaternion Quat(phi, theta, psi);
Quat.Normalize();
Tl2b = Quat.GetT();
Tb2l = Quat.GetTInv();
Tb2l = Tl2b.Transposed();
vUVW_NED = Tb2l * FGColumnVector3(u0, v0, w0);
vt = vUVW_NED.Magnitude();
@ -322,20 +322,18 @@ void FGInitialCondition::SetClimbRateFpsIC(double hdot)
FGColumnVector3 _vt_NED = Tb2l * Tw2b * FGColumnVector3(vt, 0., 0.);
FGColumnVector3 _WIND_NED = _vt_NED - vUVW_NED;
double hdot0 = _vt_NED(eW);
double hdot0 = -_vt_NED(eW);
if (fabs(hdot0) < vt) {
double scale = sqrt((vt*vt-hdot*hdot)/(vt*vt-hdot0*hdot0));
_vt_NED(eU) *= scale;
_vt_NED(eV) *= scale;
}
_vt_NED(eW) = hdot;
_vt_NED(eW) = -hdot;
vUVW_NED = _vt_NED - _WIND_NED;
// The AoA is not modified here but the function SetAlphaRadIC is updating the
// same angles than SetClimbRateFpsIC needs to update.
// TODO : create a subroutine that only shares the relevant code.
SetAlphaRadIC(alpha);
// Updating the angles theta and beta to keep the true airspeed amplitude
calcThetaBeta(alpha, _vt_NED);
}
//******************************************************************************
@ -346,13 +344,22 @@ void FGInitialCondition::SetClimbRateFpsIC(double hdot)
void FGInitialCondition::SetAlphaRadIC(double alfa)
{
FGColumnVector3 _vt_NED = Tb2l * Tw2b * FGColumnVector3(vt, 0., 0.);
calcThetaBeta(alfa, _vt_NED);
}
//******************************************************************************
// When the AoA is modified, we need to update the angles theta and beta to
// keep the true airspeed amplitude, the climb rate and the heading unchanged.
// Beta will be modified if the aircraft roll angle is not null.
void FGInitialCondition::calcThetaBeta(double alfa, const FGColumnVector3& _vt_NED)
{
double calpha = cos(alfa), salpha = sin(alfa);
double cpsi = cos(psi), spsi = sin(psi);
double cphi = cos(phi), sphi = sin(phi);
FGMatrix33 Tpsi( cpsi, spsi, 0.,
-spsi, cpsi, 0.,
0., 0., 1.);
-spsi, cpsi, 0.,
0., 0., 1.);
FGMatrix33 Tphi(1., 0., 0.,
0., cphi, sphi,
0.,-sphi, cphi);
@ -398,11 +405,11 @@ void FGInitialCondition::SetAlphaRadIC(double alfa)
Tl2b = Quat.GetT();
Tb2l = Quat.GetTInv();
FGColumnVector3 v2 = Talpha * Quat.GetT() * _vt_NED;
FGColumnVector3 v2 = Talpha * Tl2b * _vt_NED;
alpha = alfa;
beta = atan2(v2(eV), v2(eU));
double cbeta=0.0, sbeta=0.0;
double cbeta=1.0, sbeta=0.0;
if (vt != 0.0) {
cbeta = v2(eU) / vt;
sbeta = v2(eV) / vt;
@ -687,6 +694,8 @@ void FGInitialCondition::SetAltitudeASLFtIC(double alt)
double ve0 = vt * sqrt(rho/rhoSL);
altitudeASL=alt;
position.SetRadius(alt + sea_level_radius);
temperature = fdmex->GetAtmosphere()->GetTemperature(altitudeASL);
soundSpeed = sqrt(SHRatio*Reng*temperature);
rho = fdmex->GetAtmosphere()->GetDensity(altitudeASL);
@ -703,8 +712,6 @@ void FGInitialCondition::SetAltitudeASLFtIC(double alt)
default: // Make the compiler stop complaining about missing enums
break;
}
position.SetRadius(alt + sea_level_radius);
}
//******************************************************************************

5
src/FDM/JSBSim/initialization/FGInitialCondition.h
View file

@ -54,7 +54,7 @@ INCLUDES
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_INITIALCONDITION "$Id: FGInitialCondition.h,v 1.26 2011/01/16 16:10:59 bcoconni Exp $"
#define ID_INITIALCONDITION "$Id: FGInitialCondition.h,v 1.27 2011/05/20 00:47:03 bcoconni Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
@ -213,7 +213,7 @@ CLASS DOCUMENTATION
@property ic/r-rad_sec (read/write) Yaw rate initial condition in radians/second
@author Tony Peden
@version "$Id: FGInitialCondition.h,v 1.26 2011/01/16 16:10:59 bcoconni Exp $"
@version "$Id: FGInitialCondition.h,v 1.27 2011/05/20 00:47:03 bcoconni Exp $"
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -666,6 +666,7 @@ private:
double getMachFromVcas(double vcas);
double calcVcas(double Mach) const;
void calcAeroAngles(const FGColumnVector3& _vt_BODY);
void calcThetaBeta(double alfa, const FGColumnVector3& _vt_NED);
void bind(void);
void Debug(int from);

76
src/FDM/flight.cxx
View file

@ -179,6 +179,15 @@ FGInterface::common_init ()
double slr = SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v);
_set_Sea_level_radius( slr * SG_METER_TO_FEET );
// Set initial Euler angles
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
* SGD_DEGREES_TO_RADIANS,
fgGetDouble("/sim/presets/pitch-deg")
* SGD_DEGREES_TO_RADIANS,
fgGetDouble("/sim/presets/heading-deg")
* SGD_DEGREES_TO_RADIANS );
// Set initial velocities
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
if ( !fgHasNode("/sim/presets/speed-set") ) {
@ -207,14 +216,11 @@ FGInterface::common_init ()
}
}
// Set initial Euler angles
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
* SGD_DEGREES_TO_RADIANS,
fgGetDouble("/sim/presets/pitch-deg")
* SGD_DEGREES_TO_RADIANS,
fgGetDouble("/sim/presets/heading-deg")
* SGD_DEGREES_TO_RADIANS );
if ( fgHasNode("/sim/presets/glideslope-deg") )
set_Gamma_vert_rad( fgGetDouble("/sim/presets/glideslope-deg")
* SGD_DEGREES_TO_RADIANS );
else if ( fgHasNode( "/velocities/vertical-speed-fps") )
set_Climb_Rate( fgGetDouble("/velocities/vertical-speed-fps") );
SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
}
@ -251,7 +257,7 @@ FGInterface::bind ()
false);
fgSetArchivable("/position/altitude-ft");
fgTie("/position/altitude-agl-ft", this,
&FGInterface::get_Altitude_AGL, &FGInterface::set_AltitudeAGL);
&FGInterface::get_Altitude_AGL, &FGInterface::set_AltitudeAGL, false);
fgSetArchivable("/position/ground-elev-ft");
fgTie("/position/ground-elev-ft", this,
&FGInterface::get_Runway_altitude); // read-only
@ -263,7 +269,7 @@ FGInterface::bind ()
fgSetArchivable("/position/sea-level-radius-ft");
fgTie("/position/sea-level-radius-ft", this,
&FGInterface::get_Sea_level_radius,
&FGInterface::_set_Sea_level_radius);
&FGInterface::_set_Sea_level_radius, false);
// Orientation
fgTie("/orientation/roll-deg", this,
@ -279,24 +285,27 @@ FGInterface::bind ()
&FGInterface::set_Psi_deg, false);
fgSetArchivable("/orientation/heading-deg");
fgTie("/orientation/track-deg", this,
&FGInterface::get_Track);
&FGInterface::get_Track); // read-only
// Body-axis "euler rates" (rotation speed, but in a funny
// representation).
fgTie("/orientation/roll-rate-degps", this,
&FGInterface::get_Phi_dot_degps, &FGInterface::set_Phi_dot_degps);
&FGInterface::get_Phi_dot_degps,
&FGInterface::set_Phi_dot_degps, false);
fgTie("/orientation/pitch-rate-degps", this,
&FGInterface::get_Theta_dot_degps, &FGInterface::set_Theta_dot_degps);
&FGInterface::get_Theta_dot_degps,
&FGInterface::set_Theta_dot_degps, false);
fgTie("/orientation/yaw-rate-degps", this,
&FGInterface::get_Psi_dot_degps, &FGInterface::set_Psi_dot_degps);
&FGInterface::get_Psi_dot_degps,
&FGInterface::set_Psi_dot_degps, false);
fgTie("/orientation/p-body", this, &FGInterface::get_P_body);
fgTie("/orientation/q-body", this, &FGInterface::get_Q_body);
fgTie("/orientation/r-body", this, &FGInterface::get_R_body);
fgTie("/orientation/p-body", this, &FGInterface::get_P_body); // read-only
fgTie("/orientation/q-body", this, &FGInterface::get_Q_body); // read-only
fgTie("/orientation/r-body", this, &FGInterface::get_R_body); // read-only
// Ground speed knots
fgTie("/velocities/groundspeed-kt", this,
&FGInterface::get_V_ground_speed_kt);
&FGInterface::get_V_ground_speed_kt); // read-only
// Calibrated airspeed
fgTie("/velocities/airspeed-kt", this,
@ -305,7 +314,7 @@ FGInterface::bind ()
false);
fgTie("/velocities/equivalent-kt", this,
&FGInterface::get_V_equiv_kts);
&FGInterface::get_V_equiv_kts); // read-only
// Mach number
fgTie("/velocities/mach", this,
@ -338,11 +347,11 @@ FGInterface::bind ()
&FGInterface::get_V_down, &FGInterface::set_V_down, false);
fgTie("/velocities/north-relground-fps", this,
&FGInterface::get_V_north_rel_ground);
&FGInterface::get_V_north_rel_ground); // read-only
fgTie("/velocities/east-relground-fps", this,
&FGInterface::get_V_east_rel_ground);
&FGInterface::get_V_east_rel_ground); // read-only
fgTie("/velocities/down-relground-fps", this,
&FGInterface::get_V_down_rel_ground);
&FGInterface::get_V_down_rel_ground); // read-only
// Relative wind
@ -367,36 +376,37 @@ FGInterface::bind ()
// Climb and slip (read-only)
fgTie("/velocities/vertical-speed-fps", this,
&FGInterface::get_Climb_Rate,
&FGInterface::set_Climb_Rate );
&FGInterface::set_Climb_Rate, false );
fgTie("/velocities/glideslope", this,
&FGInterface::get_Gamma_vert_rad,
&FGInterface::set_Gamma_vert_rad );
&FGInterface::set_Gamma_vert_rad, false );
fgTie("/orientation/side-slip-rad", this,
&FGInterface::get_Beta, &FGInterface::_set_Beta);
&FGInterface::get_Beta, &FGInterface::_set_Beta, false);
fgTie("/orientation/side-slip-deg", this,
&FGInterface::get_Beta_deg); // read-only
fgTie("/orientation/alpha-deg", this,
&FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg); // read-only
&FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg, false);
fgTie("/accelerations/nlf", this,
&FGInterface::get_Nlf); // read-only
// NED accelerations
fgTie("/accelerations/ned/north-accel-fps_sec",
this, &FGInterface::get_V_dot_north);
this, &FGInterface::get_V_dot_north); // read-only
fgTie("/accelerations/ned/east-accel-fps_sec",
this, &FGInterface::get_V_dot_east);
this, &FGInterface::get_V_dot_east); // read-only
fgTie("/accelerations/ned/down-accel-fps_sec",
this, &FGInterface::get_V_dot_down);
this, &FGInterface::get_V_dot_down); // read-only
// Pilot accelerations
fgTie("/accelerations/pilot/x-accel-fps_sec",
this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot);
this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot, false);
fgTie("/accelerations/pilot/y-accel-fps_sec",
this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot);
this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot, false);
fgTie("/accelerations/pilot/z-accel-fps_sec",
this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot);
this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot, false);
fgTie("/accelerations/n-z-cg-fps_sec", this, &FGInterface::get_N_Z_cg);
fgTie("/accelerations/n-z-cg-fps_sec",
this, &FGInterface::get_N_Z_cg); // read-only
}