From 116e3913ae03adf55b3ae84dc750a5303e201a8b Mon Sep 17 00:00:00 2001 From: curt <curt> Date: Mon, 21 Jun 1999 05:01:31 +0000 Subject: [PATCH] Updated for both JSBsim and Tony Peden's c172 flight model. --- src/FDM/JSBSim.cxx | 2 +- src/FDM/JSBSim/FGAircraft.cpp | 155 ++++++++------------------- src/FDM/JSBSim/FGAircraft.h | 2 +- src/FDM/JSBSim/FGAtmosphere.cpp | 11 +- src/FDM/JSBSim/FGAtmosphere.h | 16 +-- src/FDM/JSBSim/FGCoefficient.cpp | 174 +++++++++++++------------------ src/FDM/JSBSim/FGCoefficient.h | 140 ++----------------------- src/FDM/JSBSim/FGControls.cpp | 7 +- src/FDM/JSBSim/FGControls.h | 7 +- src/FDM/JSBSim/FGFDMExec.cpp | 2 +- src/FDM/JSBSim/FGMain.cpp | 12 +-- src/FDM/JSBSim/FGState.cpp | 2 +- src/FDM/JSBSim/Makefile.am | 6 ++ src/FDM/LaRCsim/c172_aero.c | 61 +++++------ src/FDM/LaRCsim/c172_gear.c | 7 +- src/FDM/LaRCsim/c172_init.c | 2 +- 16 files changed, 188 insertions(+), 418 deletions(-) diff --git a/src/FDM/JSBSim.cxx b/src/FDM/JSBSim.cxx index f28cf0d4a..934645318 100644 --- a/src/FDM/JSBSim.cxx +++ b/src/FDM/JSBSim.cxx @@ -65,7 +65,7 @@ int fgJSBsimInit(double dt) { FGPath engine_path( current_options.get_fg_root() ); engine_path.append( "Engine" ); - FDMExec.GetAircraft()->LoadAircraftEx(aircraft_path.str(), + FDMExec.GetAircraft()->LoadAircraft(aircraft_path.str(), engine_path.str(), "X15"); FG_LOG( FG_FLIGHT, FG_INFO, " loaded aircraft" ); diff --git a/src/FDM/JSBSim/FGAircraft.cpp b/src/FDM/JSBSim/FGAircraft.cpp index 2f58ea87b..aa5bef805 100644 --- a/src/FDM/JSBSim/FGAircraft.cpp +++ b/src/FDM/JSBSim/FGAircraft.cpp @@ -94,43 +94,6 @@ Control CnDr - Yaw moment due to rudder CnDa - Yaw moment due to aileron -This class expects to be run in a directory which contains the subdirectory -structure shown below (where example aircraft X-15 is shown): - -aircraft/ - X-15/ - X-15.dat reset00 reset01 reset02 ... - CDRAG/ - a0 a M De - CSIDE/ - b r Dr Da - CLIFT/ - a0 a M adt De - CROLL/ - b p r Da Dr - CPITCH/ - a0 a adt q M De - CYAW/ - b p r Dr Da - F-16/ - F-16.dat reset00 reset01 ... - CDRAG/ - a0 a M De - ... - -The General Idea - -The file structure is arranged so that various modeled aircraft are stored in -their own subdirectory. Each aircraft subdirectory is named after the aircraft. -There should be a file present in the specific aircraft subdirectory (e.g. -aircraft/X-15) with the same name as the directory with a .dat appended. This -file contains mass properties information, name of aircraft, etc. for the -aircraft. In that same directory are reset files numbered starting from 0 (two -digit numbers), e.g. reset03. Within each reset file are values for important -state variables for specific flight conditions (altitude, airspeed, etc.). Also -within this directory are the directories containing lookup tables for the -stability derivatives for the aircraft. - ******************************************************************************** INCLUDES *******************************************************************************/ @@ -180,7 +143,7 @@ FGAircraft::~FGAircraft(void) { } -bool FGAircraft::LoadAircraftEx(string aircraft_path, string engine_path, string fname) +bool FGAircraft::LoadAircraft(string aircraft_path, string engine_path, string fname) { string path; string fullpath; @@ -190,7 +153,11 @@ bool FGAircraft::LoadAircraftEx(string aircraft_path, string engine_path, string string holding_string; char scratch[128]; ifstream coeffInFile; + streampos gpos; + int axis; + string axis_descript; + axis = -1; aircraftDef = aircraft_path + "/" + fname + "/" + fname + ".cfg"; ifstream aircraftfile(aircraftDef.c_str()); cout << "Reading Aircraft Configuration File: " << aircraftDef << endl; @@ -201,9 +168,11 @@ bool FGAircraft::LoadAircraftEx(string aircraft_path, string engine_path, string while (!aircraftfile.fail()) { holding_string.erase(); aircraftfile >> holding_string; - // if (holding_string.compare("//",0,2) != 0) { - if ( !(holding_string.substr(0, 2) == "//") ) { - +#ifdef __BORLANDC__ + if (holding_string.compare(0, 2, "//") != 0) { +#else + if (holding_string.compare("//",0,2) != 0) { +#endif if (holding_string == "AIRCRAFT") { cout << "Reading in Aircraft parameters ..." << endl; } else if (holding_string == "AERODYNAMICS") { @@ -269,97 +238,63 @@ bool FGAircraft::LoadAircraftEx(string aircraft_path, string engine_path, string } else if (holding_string == "LIFT") { - cout << " Lift Coefficients ..." << endl; - aircraftfile >> tag; - streampos gpos = aircraftfile.tellg(); - aircraftfile >> tag; - if ( !(tag == "}") ) { - aircraftfile.seekg(gpos); - Coeff[LiftCoeff][coeff_ctr[LiftCoeff]] = new FGCoefficient(FDMExec, aircraftfile); - coeff_ctr[LiftCoeff]++; - } else { - cout << " None found ..." << endl; - } - + axis_descript = " Lift Coefficients ..."; + axis = LiftCoeff; + } else if (holding_string == "DRAG") { - cout << " Drag Coefficients ..." << endl; - aircraftfile >> tag; - streampos gpos = aircraftfile.tellg(); - aircraftfile >> tag; - if ( !(tag == "}") ) { - aircraftfile.seekg(gpos); - Coeff[DragCoeff][coeff_ctr[DragCoeff]] = new FGCoefficient(FDMExec, aircraftfile); - coeff_ctr[DragCoeff]++; - } else { - cout << " None found ..." << endl; - } + axis_descript = " Drag Coefficients ..."; + axis = DragCoeff; } else if (holding_string == "SIDE") { - cout << " Side Coefficients ..." << endl; - aircraftfile >> tag; - streampos gpos = aircraftfile.tellg(); - aircraftfile >> tag; - if ( !(tag == "}") ) { - aircraftfile.seekg(gpos); - Coeff[SideCoeff][coeff_ctr[SideCoeff]] = new FGCoefficient(FDMExec, aircraftfile); - coeff_ctr[SideCoeff]++; - } else { - cout << " None found ..." << endl; - } + axis_descript = " Side Coefficients ..."; + axis = SideCoeff; } else if (holding_string == "ROLL") { - cout << " Roll Coefficients ..." << endl; - aircraftfile >> tag; - streampos gpos = aircraftfile.tellg(); - aircraftfile >> tag; - if ( !(tag == "}") ) { - aircraftfile.seekg(gpos); - Coeff[RollCoeff][coeff_ctr[RollCoeff]] = new FGCoefficient(FDMExec, aircraftfile); - coeff_ctr[RollCoeff]++; - } else { - cout << " None found ..." << endl; - } + axis_descript = " Roll Coefficients ..."; + axis = RollCoeff; } else if (holding_string == "PITCH") { - cout << " Pitch Coefficients ..." << endl; - aircraftfile >> tag; - streampos gpos = aircraftfile.tellg(); - aircraftfile >> tag; - if ( !(tag == "}") ) { - aircraftfile.seekg(gpos); - Coeff[PitchCoeff][coeff_ctr[PitchCoeff]] = new FGCoefficient(FDMExec, aircraftfile); - coeff_ctr[PitchCoeff]++; - } else { - cout << " None found ..." << endl; - } + axis_descript = " Pitch Coefficients ..."; + axis = PitchCoeff; } else if (holding_string == "YAW") { - cout << " Yaw Coefficients ..." << endl; - aircraftfile >> tag; - streampos gpos = aircraftfile.tellg(); - aircraftfile >> tag; - if ( !(tag == "}") ) { - aircraftfile.seekg(gpos); - Coeff[YawCoeff][coeff_ctr[YawCoeff]] = new FGCoefficient(FDMExec, aircraftfile); - coeff_ctr[YawCoeff]++; - } else { - cout << " None found ..." << endl; - } + axis_descript = " Yaw Coefficients ..."; + axis = YawCoeff; - } else { } + if (axis >= 0) { + cout << axis_descript << endl; + aircraftfile >> tag; + gpos = aircraftfile.tellg(); + aircraftfile >> tag; + if (tag != "}" ) { + while (tag != "}") { + aircraftfile.seekg(gpos); + Coeff[axis][coeff_ctr[axis]] = new FGCoefficient(FDMExec, aircraftfile); + coeff_ctr[axis]++; + aircraftfile >> tag; + gpos = aircraftfile.tellg(); + aircraftfile >> tag; + } + } else { + cout << " None found ..." << endl; + } + } + axis = -1; + } else { aircraftfile.getline(scratch, 127); } } cout << "End of Configuration File Parsing." << endl; - return true; + + return true; } diff --git a/src/FDM/JSBSim/FGAircraft.h b/src/FDM/JSBSim/FGAircraft.h index 0335a8033..9e3fe974c 100644 --- a/src/FDM/JSBSim/FGAircraft.h +++ b/src/FDM/JSBSim/FGAircraft.h @@ -129,7 +129,7 @@ public: ~FGAircraft(void); bool Run(void); - bool LoadAircraftEx(string, string, string); + bool LoadAircraft(string, string, string); inline string GetAircraftName(void) {return AircraftName;} inline void SetGearUp(bool tt) {GearUp = tt;} inline bool GetGearUp(void) {return GearUp;} diff --git a/src/FDM/JSBSim/FGAtmosphere.cpp b/src/FDM/JSBSim/FGAtmosphere.cpp index a066b3046..151a797f1 100644 --- a/src/FDM/JSBSim/FGAtmosphere.cpp +++ b/src/FDM/JSBSim/FGAtmosphere.cpp @@ -71,8 +71,17 @@ bool FGAtmosphere::Run(void) + 7.0E-13*State->Geth()*State->Geth() - 2.0E-18*State->Geth()*State->Geth()*State->Geth(); - State->SetMach(State->GetVt()/State->Geta()); + State->SetMach(State->GetVt()/State->Geta()); } else { // skip Run() execution this time } return false; } + +float FGAtmosphere::CalcRho(float altitude) +{ + return (0.002377 - 7.0E-08*altitude + + 7.0E-13*altitude*altitude + - 2.0E-18*altitude*altitude*altitude); + +} + diff --git a/src/FDM/JSBSim/FGAtmosphere.h b/src/FDM/JSBSim/FGAtmosphere.h index 25afde57b..a698742c8 100644 --- a/src/FDM/JSBSim/FGAtmosphere.h +++ b/src/FDM/JSBSim/FGAtmosphere.h @@ -58,26 +58,12 @@ using namespace std; class FGAtmosphere : public FGModel { public: - // *************************************************************************** - /** @memo Constructor - @param FGFDMExec* - a pointer to the "owning" FDM Executive - */ FGAtmosphere(FGFDMExec*); - - // *************************************************************************** - /** @memo Destructor - */ ~FGAtmosphere(void); - - // *************************************************************************** - /** This must be called for each dt to execute the model algorithm */ bool Run(void); - // *************************************************************************** - /** @memo Returns the air density - @return float air density in slugs/cubic foot - */ inline float Getrho(void) {return rho;} + float CalcRho(float altitude); protected: diff --git a/src/FDM/JSBSim/FGCoefficient.cpp b/src/FDM/JSBSim/FGCoefficient.cpp index 565b08949..65d61edaa 100644 --- a/src/FDM/JSBSim/FGCoefficient.cpp +++ b/src/FDM/JSBSim/FGCoefficient.cpp @@ -30,69 +30,6 @@ FUNCTIONAL DESCRIPTION This class models the stability derivative coefficient lookup tables or equations. Note that the coefficients need not be calculated each delta-t. -The coefficient files are located in the axis subdirectory for each aircraft. -For instance, for the X-15, you would find subdirectories under the -aircraft/X-15/ directory named CLIFT, CDRAG, CSIDE, CROLL, CPITCH, CYAW. Under -each of these directories would be files named a, a0, q, and so on. The file -named "a" under the CLIFT directory would contain data for the stability -derivative modeling lift due to a change in alpha. See the FGAircraft.cpp file -for additional information. The coefficient files have the following format: - -<name of coefficient> -<short description of coefficient with no embedded spaces> -<method used in calculating the coefficient: TABLE | EQUATION | VECTOR | VALUE> - <parameter identifier for table row (if required)> - <parameter identifier for table column (if required)> -<OR'ed list of parameter identifiers needed to turn this coefficient into a force> -<number of rows in table (if required)> -<number of columns in table (if required)> - -<value of parameter indexing into the column of a table or vector - or value - itself for a VALUE coefficient> -<values of parameter indexing into row of a table if TABLE type> <Value of - coefficient at this row and column> - -<... repeat above for each column of data in table ...> - -As an example for the X-15, for the lift due to mach: - -CLa0 -Lift_at_zero_alpha -Table 8 3 -16384 -32768 -16387 - -0.00 -0.0 0.0 -0.5 0.4 -0.9 0.9 -1.0 1.6 -1.1 1.3 -1.4 1.0 -2.0 0.5 -3.0 0.5 - -30000.00 -0.0 0.0 -0.5 0.5 -0.9 1.0 -1.0 1.7 -1.1 1.4 -1.4 1.1 -2.0 0.6 -3.0 0.6 - -70000.00 -0.0 0.0 -0.5 0.6 -0.9 1.1 -1.0 1.7 -1.1 1.5 -1.4 1.2 -2.0 0.7 -3.0 0.7 - Note that the values in a row which index into the table must be the same value for each column of data, so the first column of numbers for each altitude are seen to be equal, and there are the same number of values for each altitude. @@ -125,10 +62,29 @@ INCLUDES FGCoefficient::FGCoefficient(FGFDMExec* fdex, ifstream& coeffDefFile) { - int r, c; + int r, c, start, end, n; float ftrashcan; string strashcan; + coeffdef["FG_QBAR"] = 1; + coeffdef["FG_WINGAREA"] = 2; + coeffdef["FG_WINGSPAN"] = 4; + coeffdef["FG_CBAR"] = 8; + coeffdef["FG_ALPHA"] = 16; + coeffdef["FG_ALPHADOT"] = 32; + coeffdef["FG_BETA"] = 64; + coeffdef["FG_BETADOT"] = 128; + coeffdef["FG_PITCHRATE"] = 256; + coeffdef["FG_ROLLRATE"] = 512; + coeffdef["FG_YAWRATE"] = 1024; + coeffdef["FG_ELEVATOR"] = 2048; + coeffdef["FG_AILERON"] = 4096; + coeffdef["FG_RUDDER"] = 8192; + coeffdef["FG_MACH"] = 16384; + coeffdef["FG_ALTITUDE"] = 32768L; + coeffdef["FG_I2VEL"] = 65536L; + coeffdef["FG_HALF"] = 131072L; + FDMExec = fdex; State = FDMExec->GetState(); Atmosphere = FDMExec->GetAtmosphere(); @@ -163,19 +119,51 @@ FGCoefficient::FGCoefficient(FGFDMExec* fdex, ifstream& coeffDefFile) coeffDefFile >> columns; cout << "Cols: " << columns; } - coeffDefFile >> LookupR; + cout << endl; - cout << " Row indexing parameter: " << LookupR << endl; + + coeffDefFile >> strashcan; + if (strashcan.substr(0,1) == "F") { + LookupR = coeffdef[strashcan.c_str()]; + cout << " Row indexing parameter: " << strashcan << endl; + } else { + LookupR = atoi(strashcan.c_str()); + cout << " Row indexing parameter: " << LookupR << endl; + } + } if (type == TABLE) { - coeffDefFile >> LookupC; - cout << " Column indexing parameter: " << LookupC << endl; + coeffDefFile >> strashcan; + if (strashcan.substr(0,1) == "F") { + LookupC = coeffdef[strashcan.c_str()]; + cout << " Column indexing parameter: " << strashcan << endl; + } else { + LookupC = atoi(strashcan.c_str()); + cout << " Column indexing parameter: " << LookupC << endl; + } + } + + coeffDefFile >> strashcan; + + end = strashcan.length(); + n = strashcan.find("|"); + start = 0; + multipliers = 0; + if (strashcan.substr(0,1) == "F") { + while(n < end && n >= 0) { + n -= start; + multipliers += coeffdef[strashcan.substr(start,n).c_str()]; + start += n+1; + n = strashcan.find("|",start); + } + multipliers += coeffdef[strashcan.substr(start,end).c_str()]; + } else { + multipliers = atoi(strashcan.c_str()); } - coeffDefFile >> multipliers; cout << " Non-Dimensionalized by: "; - + mult_count = 0; if (multipliers & FG_QBAR) { mult_idx[mult_count] = FG_QBAR; @@ -256,12 +244,18 @@ FGCoefficient::FGCoefficient(FGFDMExec* fdex, ifstream& coeffDefFile) mult_idx[mult_count] = FG_ALTITUDE; mult_count++; cout << "h "; + } + if (multipliers & FG_I2VEL) { + mult_idx[mult_count] = FG_I2VEL; + mult_count++; + cout << "1 /(2*Vt) "; } cout << endl; - + switch(type) { case VALUE: coeffDefFile >> StaticValue; + cout << " Value = " << StaticValue << endl; break; case VECTOR: Allocate(rows,2); @@ -283,6 +277,7 @@ FGCoefficient::FGCoefficient(FGFDMExec* fdex, ifstream& coeffDefFile) case TABLE: Allocate(rows, columns); + Table3D[0][0] = 0.0; for (c=1;c<=columns;c++) { coeffDefFile >> Table3D[0][c]; for (r=1;r<=rows;r++) { @@ -299,7 +294,7 @@ FGCoefficient::FGCoefficient(FGFDMExec* fdex, ifstream& coeffDefFile) } cout << endl; } - + break; } } else { @@ -353,15 +348,11 @@ float FGCoefficient::Value(float rVal, float cVal) col2temp = rFactor*(Table3D[r][c] - Table3D[r-1][c]) + Table3D[r-1][c]; Value = col1temp + cFactor*(col2temp - col1temp); - -//cout << "Value for " << description << " is " << Value; - + for (midx=0;midx<mult_count;midx++) { Value *= GetCoeffVal(mult_idx[midx]); } -//cout << " after multipliers it is: " << Value << endl; - return Value; } @@ -372,7 +363,7 @@ float FGCoefficient::Value(float Val) int r, midx; if (rows < 2) return 0.0; - + for (r=1;r<=rows;r++) if (Table3D[r][0] >= Val) break; r = r < 2 ? 2 : (r > rows ? rows : r); @@ -385,14 +376,10 @@ float FGCoefficient::Value(float Val) Value = Factor*(Table3D[r][1] - Table3D[r-1][1]) + Table3D[r-1][1]; -// cout << "Value for " << description << " is " << Value; - for (midx=0;midx<mult_count;midx++) { Value *= GetCoeffVal(mult_idx[midx]); } -//cout << " after multipliers it is: " << Value << endl; - return Value; } @@ -404,14 +391,10 @@ float FGCoefficient::Value(void) Value = StaticValue; -// cout << "Value for " << description << " is " << Value << endl; - for (midx=0;midx<mult_count;midx++) { Value *= GetCoeffVal(mult_idx[midx]); } -// cout << " after multipliers it is: " << Value << endl; - return Value; } @@ -436,53 +419,40 @@ float FGCoefficient::GetCoeffVal(int val_idx) { switch(val_idx) { case FG_QBAR: -//cout << "Qbar: " << State->Getqbar() << endl; return State->Getqbar(); case FG_WINGAREA: -//cout << "S: " << Aircraft->GetWingArea() << endl; return Aircraft->GetWingArea(); case FG_WINGSPAN: -//cout << "b: " << Aircraft->GetWingSpan() << endl; return Aircraft->GetWingSpan(); case FG_CBAR: -//cout << "Cbar: " << Aircraft->Getcbar() << endl; return Aircraft->Getcbar(); case FG_ALPHA: -//cout << "Alpha: " << Translation->Getalpha() << endl; return Translation->Getalpha(); case FG_ALPHADOT: -//cout << "Adot: " << State->Getadot() << endl; return State->Getadot(); case FG_BETA: -//cout << "Beta: " << Translation->Getbeta() << endl; return Translation->Getbeta(); case FG_BETADOT: -//cout << "Bdot: " << State->Getbdot() << endl; return State->Getbdot(); case FG_PITCHRATE: -//cout << "Q: " << Rotation->GetQ() << endl; return Rotation->GetQ(); case FG_ROLLRATE: -//cout << "P: " << Rotation->GetP() << endl; return Rotation->GetP(); case FG_YAWRATE: -//cout << "R: " << Rotation->GetR() << endl; return Rotation->GetR(); case FG_ELEVATOR: -//cout << "De: " << FCS->GetDe() << endl; return FCS->GetDe(); case FG_AILERON: -//cout << "Da: " << FCS->GetDa() << endl; return FCS->GetDa(); case FG_RUDDER: -//cout << "Dr: " << FCS->GetDr() << endl; return FCS->GetDr(); case FG_MACH: -//cout << "Mach: " << State->GetMach() << endl; return State->GetMach(); case FG_ALTITUDE: -//cout << "h: " << State->Geth() << endl; return State->Geth(); + case FG_I2VEL: + return 1.0/(0.5 * State->GetVt()); } return 0; } + diff --git a/src/FDM/JSBSim/FGCoefficient.h b/src/FDM/JSBSim/FGCoefficient.h index 4bfc91acf..c28af0dfe 100644 --- a/src/FDM/JSBSim/FGCoefficient.h +++ b/src/FDM/JSBSim/FGCoefficient.h @@ -51,6 +51,8 @@ INCLUDES # include <fstream> #endif +#include <map> + /******************************************************************************* DEFINES *******************************************************************************/ @@ -73,6 +75,7 @@ using namespace std; #define FG_RUDDER 8192 #define FG_MACH 16384 #define FG_ALTITUDE 32768L +#define FG_I2VEL 65536L /******************************************************************************* FORWARD DECLARATIONS @@ -90,81 +93,11 @@ class FGOutput; /******************************************************************************* COMMENTS, REFERENCES, and NOTES -*******************************************************************************/ -/** +******************************************************************************** + This class models the stability derivative coefficient lookup tables or equations. Note that the coefficients need not be calculated each delta-t. -The coefficient files are located in the axis subdirectory for each aircraft. -For instance, for the X-15, you would find subdirectories under the -aircraft/X-15/ directory named CLIFT, CDRAG, CSIDE, CROLL, CPITCH, CYAW. Under -each of these directories would be files named a, a0, q, and so on. The file -named "a" under the CLIFT directory would contain data for the stability -derivative modeling lift due to a change in alpha. See the FGAircraft.cpp file -for additional information. The coefficient files have the following format: - -<name of coefficient> -<short description of coefficient with no embedded spaces> -<method used in calculating the coefficient: TABLE | EQUATION | VECTOR | VALUE> - <parameter identifier for table row (if required)> - <parameter identifier for table column (if required)> -<OR'ed list of parameter identifiers needed to turn this coefficient into a force> -<number of rows in table (if required)> -<number of columns in table (if required)> - -<value of parameter indexing into the column of a table or vector - or value - itself for a VALUE coefficient> -<values of parameter indexing into row of a table if TABLE type> <Value of - coefficient at this row and column> - -<... repeat above for each column of data in table ...> - -As an example for the X-15, for the lift due to mach: -<PRE> - -CLa0 -Lift_at_zero_alpha -Table 8 3 -16384 -32768 -16387 - -0.00 -0.0 0.0 -0.5 0.4 -0.9 0.9 -1.0 1.6 -1.1 1.3 -1.4 1.0 -2.0 0.5 -3.0 0.5 - -30000.00 -0.0 0.0 -0.5 0.5 -0.9 1.0 -1.0 1.7 -1.1 1.4 -1.4 1.1 -2.0 0.6 -3.0 0.6 - -70000.00 -0.0 0.0 -0.5 0.6 -0.9 1.1 -1.0 1.7 -1.1 1.5 -1.4 1.2 -2.0 0.7 -3.0 0.7 -</PRE> - -Note that the values in a row which index into the table must be the same value -for each column of data, so the first column of numbers for each altitude are -seen to be equal, and there are the same number of values for each altitude. - -<PRE> FG_QBAR 1 FG_WINGAREA 2 FG_WINGSPAN 4 @@ -181,83 +114,30 @@ FG_AILERON 4096 FG_RUDDER 8192 FG_MACH 16384 FG_ALTITUDE 32768L -</PRE> -@author Jon S. Berndt -@memo This class models the stability derivative coefficient lookup tables or equations. -*/ -/******************************************************************************* +FG_I2VEL 65536L + +******************************************************************************** CLASS DECLARATION *******************************************************************************/ class FGCoefficient { public: - // *************************************************************************** - /** @memo - @param - @return - */ FGCoefficient(FGFDMExec*, ifstream&); - - // *************************************************************************** - /** @memo - @param - @return - */ ~FGCoefficient(void); - - // *************************************************************************** - /** @memo - @param - @return - */ bool Allocate(int); - - // *************************************************************************** - /** @memo - @param - @return - */ bool Allocate(int, int); - - // *************************************************************************** - /** @memo - @param - @return - */ float Value(float, float); - - // *************************************************************************** - /** @memo - @param - @return - */ float Value(float); - - // *************************************************************************** - /** @memo - @param - @return - */ float Value(void); - - // *************************************************************************** - /** @memo - @param - @return - */ float TotalValue(void); - - // *************************************************************************** - /** @memo - @param - @return - */ enum Type {UNKNOWN, VALUE, VECTOR, TABLE, EQUATION}; protected: private: + typedef map<string, long> CoeffMap; + CoeffMap coeffdef; string filename; string description; string name; diff --git a/src/FDM/JSBSim/FGControls.cpp b/src/FDM/JSBSim/FGControls.cpp index 9a9094987..ab2c13c77 100644 --- a/src/FDM/JSBSim/FGControls.cpp +++ b/src/FDM/JSBSim/FGControls.cpp @@ -51,11 +51,8 @@ FGControls::~FGControls() { // $Log$ -// Revision 1.1 1999/06/17 18:07:34 curt -// Initial revision -// -// Revision 1.3 1999/05/08 03:19:15 curt -// Incorporated latest JSBsim updates. +// Revision 1.2 1999/06/21 03:01:38 curt +// Updated for both JSBsim and Tony Peden's c172 flight model. // // Revision 1.1 1999/02/13 01:12:03 curt // Initial Revision. diff --git a/src/FDM/JSBSim/FGControls.h b/src/FDM/JSBSim/FGControls.h index 81723d93b..36cfb3300 100644 --- a/src/FDM/JSBSim/FGControls.h +++ b/src/FDM/JSBSim/FGControls.h @@ -177,11 +177,8 @@ extern FGControls controls; // $Log$ -// Revision 1.1 1999/06/17 18:07:34 curt -// Initial revision -// -// Revision 1.3 1999/05/08 03:19:16 curt -// Incorporated latest JSBsim updates. +// Revision 1.2 1999/06/21 03:01:39 curt +// Updated for both JSBsim and Tony Peden's c172 flight model. // // Revision 1.1 1999/02/13 01:12:03 curt // Initial Revision. diff --git a/src/FDM/JSBSim/FGFDMExec.cpp b/src/FDM/JSBSim/FGFDMExec.cpp index 9f4adfa80..e89ee8844 100644 --- a/src/FDM/JSBSim/FGFDMExec.cpp +++ b/src/FDM/JSBSim/FGFDMExec.cpp @@ -115,7 +115,7 @@ FGFDMExec::FGFDMExec(void) Schedule(Translation, 1); Schedule(Position, 1); Schedule(Auxiliary, 1); - Schedule(Output, 5); + Schedule(Output, 1); terminate = false; frozen = false; diff --git a/src/FDM/JSBSim/FGMain.cpp b/src/FDM/JSBSim/FGMain.cpp index 1783fce90..93843bdce 100644 --- a/src/FDM/JSBSim/FGMain.cpp +++ b/src/FDM/JSBSim/FGMain.cpp @@ -16,8 +16,8 @@ void main(int argc, char** argv) { FGFDMExec* FDMExec; - struct timespec short_wait = {0,100000000}; - struct timespec no_wait = {0,100000000}; +// struct timespec short_wait = {0,100000000}; +// struct timespec no_wait = {0,100000000}; if (argc != 3) { cout << endl @@ -28,7 +28,7 @@ void main(int argc, char** argv) FDMExec = new FGFDMExec(); - FDMExec->GetAircraft()->LoadAircraftEx("aircraft", "engine", string(argv[1])); + FDMExec->GetAircraft()->LoadAircraft("aircraft", "engine", string(argv[1])); FDMExec->GetState()->Reset("aircraft", string(argv[2])); while (FDMExec->GetState()->Getsim_time() <= 25.0) @@ -39,12 +39,12 @@ void main(int argc, char** argv) if (FDMExec->GetState()->Getsim_time() > 5.0) { FDMExec->GetFCS()->SetDa(0.05); - FDMExec->GetFCS()->SetDr(0.05); - FDMExec->GetFCS()->SetDe(0.05); +// FDMExec->GetFCS()->SetDr(0.05); +// FDMExec->GetFCS()->SetDe(0.05); } FDMExec->Run(); - nanosleep(&short_wait,&no_wait); +// nanosleep(&short_wait,&no_wait); } delete FDMExec; diff --git a/src/FDM/JSBSim/FGState.cpp b/src/FDM/JSBSim/FGState.cpp index 92ffa9de4..a55abf3b5 100644 --- a/src/FDM/JSBSim/FGState.cpp +++ b/src/FDM/JSBSim/FGState.cpp @@ -130,7 +130,7 @@ bool FGState::Reset(string path, string fname) FDMExec->GetTranslation()->SetABG(alpha, beta, gamma); Vt = sqrt(U*U + V*V + W*W); - qbar = sqrt(U*U + V*V + W*W); + qbar = 0.5*(U*U + V*V + W*W)*FDMExec->GetAtmosphere()->CalcRho(h); Q0 = sin(psi*0.5)*sin(tht*0.5)*sin(phi*0.5) + cos(psi*0.5)*cos(tht*0.5)*cos(phi*0.5); Q1 = -sin(psi*0.5)*sin(tht*0.5)*cos(phi*0.5) + cos(psi*0.5)*cos(tht*0.5)*sin(phi*0.5); diff --git a/src/FDM/JSBSim/Makefile.am b/src/FDM/JSBSim/Makefile.am index bc540a476..fce00898e 100644 --- a/src/FDM/JSBSim/Makefile.am +++ b/src/FDM/JSBSim/Makefile.am @@ -17,6 +17,12 @@ libJSBsim_a_SOURCES = FGAircraft.cpp FGAircraft.h \ FGEngine.cpp FGEngine.h \ FGTank.cpp FGTank.h +noinst_PROGRAMS = testJSBsim + +testJSBsim_SOURCES = FGMain.cpp + +testJSBsim_LDADD = libJSBsim.a + INCLUDES += -I$(top_builddir) DEFS += -DFGFS diff --git a/src/FDM/LaRCsim/c172_aero.c b/src/FDM/LaRCsim/c172_aero.c index f2102f2b3..019b3b789 100644 --- a/src/FDM/LaRCsim/c172_aero.c +++ b/src/FDM/LaRCsim/c172_aero.c @@ -104,7 +104,7 @@ extern COCKPIT cockpit_; -FILE *out; + SCALAR interp(SCALAR *y_table, SCALAR *x_table, int Ntable, SCALAR x) { @@ -135,16 +135,11 @@ SCALAR interp(SCALAR *y_table, SCALAR *x_table, int Ntable, SCALAR x) return y; } -void record() -{ - fprintf(out,"%g,%g,%g,%g,%g,%g,%g,%g,%g,",Long_control,Lat_control,Rudder_pedal,Aft_trim,Fwd_trim,V_rel_wind,Dynamic_pressure,P_body,R_body); - fprintf(out,"%g,%g,%g,%g,%g,%g,%g,%g,%g,%g,",Alpha,Cos_alpha,Sin_alpha,Alpha_dot,Q_body,Theta_dot,Sin_theta,Cos_theta,Beta,Cos_beta,Sin_beta); - fprintf(out,"%g,%g,%g,%g,%g,%g,%g,%g\n",Sin_phi,Cos_phi,F_X_aero,F_Y_aero,F_Z_aero,M_l_aero,M_m_aero,M_n_aero); - fflush(out); -} void aero( SCALAR dt, int Initialize ) { + + static int init = 0; @@ -154,6 +149,8 @@ void aero( SCALAR dt, int Initialize ) { SCALAR elevator, aileron, rudder; + + static SCALAR alpha_ind[NCL]={-0.087,0,0.175,0.209,0.24,0.262,0.278,0.303,0.314,0.332,0.367}; static SCALAR CLtable[NCL]={-0.14,0.31,1.21,1.376,1.51249,1.591,1.63,1.60878,1.53712,1.376,1.142}; @@ -183,7 +180,7 @@ void aero( SCALAR dt, int Initialize ) { static SCALAR Clbeta=-0.089; static SCALAR Clp=-0.47; static SCALAR Clr=0.096; - static SCALAR Clda=0.178; + static SCALAR Clda=-0.178; static SCALAR Cldr=0.0147; static SCALAR Cnbeta=0.065; @@ -219,13 +216,12 @@ void aero( SCALAR dt, int Initialize ) { { - out=fopen("flight.csv","w"); - /* Initialize aero coefficients */ + } - record(); + /* LaRCsim uses: @@ -243,33 +239,18 @@ void aero( SCALAR dt, int Initialize ) { /*scale pct control to degrees deflection*/ if ((Long_control+long_trim) <= 0) - elevator=(Long_control+long_trim)*-28*DEG_TO_RAD; + elevator=(Long_control+long_trim)*28*DEG_TO_RAD; else elevator=(Long_control+long_trim)*23*DEG_TO_RAD; aileron = Lat_control*17.5*DEG_TO_RAD; rudder = Rudder_pedal*16*DEG_TO_RAD; - - - - - - /*check control surface travel limits*/ - /* if((elevator+long_trim) > 23) - elevator=23; - else if((elevator+long_trim) < -28) - elevator=-23; */ - - /* The aileron travel limits are 20 deg. TEU and 15 deg TED but since we don't distinguish between left and right we'll use the average here (17.5 deg) */ - /* if(fabs(aileron) > 17.5) - aileron = 17.5; - if(fabs(rudder) > 16) - rudder = 16; */ + /*calculate rate derivative nondimensionalization (is that a word?) factors */ /*hack to avoid divide by zero*/ @@ -286,6 +267,7 @@ void aero( SCALAR dt, int Initialize ) { b_2V=0; } + /*calcuate the qS nondimensionalization factors*/ qS=Dynamic_pressure*Sw; @@ -296,6 +278,9 @@ void aero( SCALAR dt, int Initialize ) { ps=-P_body*Cos_alpha + R_body*Sin_alpha; rs=-P_body*Sin_alpha + R_body*Cos_alpha; +/* printf("Wb: %7.4f, Ub: %7.4f, Alpha: %7.4f, elev: %7.4f, ail: %7.4f, rud: %7.4f\n",W_body,U_body,Alpha*RAD_TO_DEG,elevator*RAD_TO_DEG,aileron*RAD_TO_DEG,rudder*RAD_TO_DEG); + printf("Theta: %7.4f, Gamma: %7.4f, Beta: %7.4f, Phi: %7.4f, Psi: %7.4f\n",Theta*RAD_TO_DEG,Gamma_vert_rad*RAD_TO_DEG,Beta*RAD_TO_DEG,Phi*RAD_TO_DEG,Psi*RAD_TO_DEG); + */ /* sum coefficients */ CLwbh = interp(CLtable,alpha_ind,NCL,Alpha); @@ -307,11 +292,14 @@ void aero( SCALAR dt, int Initialize ) { cn = Cnbeta*Beta + (Cnp*ps + Cnr*rs)*b_2V + Cnda*aileron + Cndr*rudder; croll=Clbeta*Beta + (Clp*ps + Clr*rs)*b_2V + Clda*aileron + Cldr*rudder; - /*calculate wind axes forces*/ +/* printf("CL: %7.4f, Cd: %7.4f, Cm: %7.4f, Cy: %7.4f, Cn: %7.4f, Cl: %7.4f\n",CL,cd,cm,cy,cn,croll); + */ /*calculate wind axes forces*/ F_X_wind=-1*cd*qS; F_Y_wind=cy*qS; F_Z_wind=-1*CL*qS; +/* printf("V_rel_wind: %7.4f, Fxwind: %7.4f Fywind: %7.4f Fzwind: %7.4f\n",V_rel_wind,F_X_wind,F_Y_wind,F_Z_wind); + */ /*calculate moments and body axis forces */ /*find body-axis components of weight*/ @@ -322,13 +310,18 @@ void aero( SCALAR dt, int Initialize ) { /* requires ugly wind-axes to body-axes transform */ F_X_aero = W_X + F_X_wind*Cos_alpha*Cos_beta - F_Y_wind*Cos_alpha*Sin_beta - F_Z_wind*Sin_alpha; - F_Y_aero = W_Y + F_X_wind*Sin_beta + F_Z_wind*Cos_beta; + F_Y_aero = W_Y + F_X_wind*Sin_beta + F_Y_wind*Cos_beta; F_Z_aero = W_Z*NZ + F_X_wind*Sin_alpha*Cos_beta - F_Y_wind*Sin_alpha*Sin_beta + F_Z_wind*Cos_alpha; /*no axes transform here */ - M_l_aero = I_xx*croll*qSb; - M_m_aero = I_yy*cm*qScbar; - M_n_aero = I_zz*cn*qSb; + M_l_aero = croll*qSb; + M_m_aero = cm*qScbar; + M_n_aero = cn*qSb; + +/* printf("I_yy: %7.4f, qScbar: %7.4f, qbar: %7.4f, Sw: %7.4f, cbar: %7.4f, 0.5*rho*V^2: %7.4f\n",I_yy,qScbar,Dynamic_pressure,Sw,cbar,0.5*0.0023081*V_rel_wind*V_rel_wind); + printf("Fxbody: %7.4f Fybody: %7.4f Fzbody: %7.4f Weight: %7.4f\n",F_X_wind,F_Y_wind,F_Z_wind,W); + printf("Maero: %7.4f Naero: %7.4f Raero: %7.4f\n",M_m_aero,M_n_aero,M_l_aero); + */ } diff --git a/src/FDM/LaRCsim/c172_gear.c b/src/FDM/LaRCsim/c172_gear.c index 58c317de5..c0c812f13 100644 --- a/src/FDM/LaRCsim/c172_gear.c +++ b/src/FDM/LaRCsim/c172_gear.c @@ -37,11 +37,8 @@ $Header$ $Log$ -Revision 1.1 1999/06/17 18:07:34 curt -Initial revision - -Revision 1.1 1999/06/15 20:05:27 curt -Added c172 model from Tony Peden. +Revision 1.2 1999/06/21 03:01:47 curt +Updated for both JSBsim and Tony Peden's c172 flight model. Revision 1.1.1.1 1999/04/05 21:32:45 curt Start of 0.6.x branch. diff --git a/src/FDM/LaRCsim/c172_init.c b/src/FDM/LaRCsim/c172_init.c index 5bd23d23f..d79eae47c 100644 --- a/src/FDM/LaRCsim/c172_init.c +++ b/src/FDM/LaRCsim/c172_init.c @@ -63,7 +63,7 @@ void model_init( void ) { - Throttle[3] = 0.2; Rudder_pedal = 0; Lat_control = 0; Long_control = 0; + Throttle[3] = 0.2; Dx_pilot = 0; Dy_pilot = 0; Dz_pilot = 0; Mass=2300*INVG;