Synchronized with JSBSim/CVS.
This commit is contained in:
Anders Gidenstam
parent
023c136d40
commit
22d91528f8
23 changed files with 1000 additions and 78 deletions
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@ -64,6 +64,7 @@ set(HEADERS
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models/atmosphere/FGWinds.h
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models/flight_control/FGAccelerometer.h
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models/flight_control/FGActuator.h
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models/flight_control/FGAngles.h
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models/flight_control/FGDeadBand.h
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models/flight_control/FGFCSComponent.h
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models/flight_control/FGFCSFunction.h
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@ -77,6 +78,7 @@ set(HEADERS
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models/flight_control/FGSensorOrientation.h
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models/flight_control/FGSummer.h
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models/flight_control/FGSwitch.h
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models/flight_control/FGWaypoint.h
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models/propulsion/FGElectric.h
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models/propulsion/FGEngine.h
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models/propulsion/FGForce.h
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@ -152,6 +154,7 @@ set(SOURCES
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models/atmosphere/FGWinds.cpp
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models/flight_control/FGAccelerometer.cpp
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models/flight_control/FGActuator.cpp
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models/flight_control/FGAngles.cpp
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models/flight_control/FGDeadBand.cpp
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models/flight_control/FGFCSComponent.cpp
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models/flight_control/FGFCSFunction.cpp
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@ -164,6 +167,7 @@ set(SOURCES
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models/flight_control/FGSensor.cpp
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models/flight_control/FGSummer.cpp
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models/flight_control/FGSwitch.cpp
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models/flight_control/FGWaypoint.cpp
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models/propulsion/FGElectric.cpp
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models/propulsion/FGEngine.cpp
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models/propulsion/FGForce.cpp
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@ -56,7 +56,7 @@ using std::max;
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DEFINITIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#define ID_JSBBASE "$Id: FGJSBBase.h,v 1.34 2011/10/22 14:38:30 bcoconni Exp $"
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#define ID_JSBBASE "$Id: FGJSBBase.h,v 1.38 2013/06/20 13:01:48 jberndt Exp $"
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FORWARD DECLARATIONS
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@ -72,7 +72,7 @@ CLASS DOCUMENTATION
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* This class provides universal constants, utility functions, messaging
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* functions, and enumerated constants to JSBSim.
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@author Jon S. Berndt
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@version $Id: FGJSBBase.h,v 1.34 2011/10/22 14:38:30 bcoconni Exp $
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@version $Id: FGJSBBase.h,v 1.38 2013/06/20 13:01:48 jberndt Exp $
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*/
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -256,6 +256,13 @@ public:
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return kelvin - 273.15;
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}
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/** Converts from feet to meters
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* @param measure The length in feet.
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* @return The length in meters. */
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static double FeetToMeters (double measure) {
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return measure*0.3048;
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}
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/** Calculate the calibrated airspeed from the Mach number. It uses the
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* Rayleigh formula for supersonic speeds (See "Introduction to Aerodynamics
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* of a Compressible Fluid - H.W. Liepmann, A.E. Puckett - Wiley & sons
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@ -63,7 +63,7 @@ using namespace std;
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namespace JSBSim {
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static const char *IdSrc = "$Id: FGOutputTextFile.cpp,v 1.5 2013/01/12 19:26:59 jberndt Exp $";
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static const char *IdSrc = "$Id: FGOutputTextFile.cpp,v 1.6 2013/09/11 12:51:13 jberndt Exp $";
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static const char *IdHdr = ID_OUTPUTTEXTFILE;
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -75,6 +75,8 @@ bool FGOutputTextFile::Load(Element* el)
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if(!FGOutputFile::Load(el))
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return false;
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PreLoad(el, PropertyManager);
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string type = el->GetAttributeValue("type");
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string delim;
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if (type == "TABULAR") {
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@ -238,6 +240,12 @@ bool FGOutputTextFile::OpenFile(void)
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}
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}
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if (PreFunctions.size() > 0) {
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for (unsigned int i=0;i<PreFunctions.size();i++) {
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outstream << delimeter << PreFunctions[i]->GetName();
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}
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}
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outstream << endl;
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outstream.flush();
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@ -382,6 +390,9 @@ void FGOutputTextFile::Print(void)
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for (unsigned int i=0;i<OutputProperties.size();i++) {
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outstream << delimeter << OutputProperties[i]->getDoubleValue();
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}
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for (unsigned int i=0;i<PreFunctions.size();i++) {
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outstream << delimeter << PreFunctions[i]->getDoubleValue();
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}
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outstream.precision(10);
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outstream << endl;
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@ -55,7 +55,7 @@ using namespace std;
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namespace JSBSim {
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static const char *IdSrc = "$Id: FGScript.cpp,v 1.51 2013/06/10 01:50:43 jberndt Exp $";
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static const char *IdSrc = "$Id: FGScript.cpp,v 1.52 2013/09/11 12:46:35 jberndt Exp $";
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static const char *IdHdr = ID_FGSCRIPT;
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -275,6 +275,9 @@ bool FGScript::LoadScript(string script, double deltaT, const string initfile)
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// Notify about when this event is triggered?
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if ((notify_element = event_element->FindElement("notify")) != 0) {
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if (notify_element->HasAttribute("format")) {
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if (notify_element->GetAttributeValue("format") == "kml") newEvent->NotifyKML = true;
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}
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newEvent->Notify = true;
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// Check here for new <description> tag that gets echoed
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string notify_description = notify_element->FindElementValue("description");
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@ -284,23 +287,16 @@ bool FGScript::LoadScript(string script, double deltaT, const string initfile)
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notify_property_element = notify_element->FindElement("property");
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while (notify_property_element) {
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notifyPropertyName = notify_property_element->GetDataLine();
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if (PropertyManager->GetNode(notifyPropertyName)) {
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newEvent->NotifyProperties.push_back( PropertyManager->GetNode(notifyPropertyName) );
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newEvent->NotifyPropertyNames.push_back(notifyPropertyName);
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newEvent->NotifyProperties.push_back(0);
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string caption_attribute = notify_property_element->GetAttributeValue("caption");
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if (caption_attribute.empty()) {
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newEvent->DisplayString.push_back(notifyPropertyName);
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} else {
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newEvent->DisplayString.push_back(caption_attribute);
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}
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} else {
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cout << endl << fgred << " Could not find the property named "
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<< notifyPropertyName << " in script" << endl << " \""
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<< ScriptName << "\". Execution is aborted. Please recheck "
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<< "your input files and scripts." << reset << endl;
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delete newEvent->Condition;
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delete newEvent;
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return false;
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}
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notify_property_element = notify_element->FindNextElement("property");
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}
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}
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@ -313,7 +309,6 @@ bool FGScript::LoadScript(string script, double deltaT, const string initfile)
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newEvent->SetParam.push_back( PropertyManager->GetNode(prop_name) );
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} else {
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newEvent->SetParam.push_back( 0L );
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cerr << "Property " << prop_name << " will be late-bound." << endl;
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}
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newEvent->SetParamName.push_back( prop_name );
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@ -477,15 +472,44 @@ bool FGScript::RunScript(void)
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// Print notification values after setting them
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if (thisEvent.Notify && !thisEvent.Notified) {
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cout << endl << " Event " << event_ctr << " (" << thisEvent.Name << ")"
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<< " executed at time: " << currentTime << endl;
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if (thisEvent.NotifyKML) {
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cout << endl << "<Placemark>" << endl;
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cout << " <name> " << currentTime << " seconds" << " </name>" << endl;
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cout << " <description>" << endl;
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cout << " <![CDATA[" << endl;
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cout << " <b>" << thisEvent.Name << " (Event " << event_ctr << ")" << " executed at time: " << currentTime << "</b><br/>" << endl;
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} else {
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cout << endl << underon
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<< highint << thisEvent.Name << normint << underoff
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<< " (Event " << event_ctr << ")"
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<< " executed at time: " << highint << currentTime << normint << endl;
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}
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if (!thisEvent.Description.empty()) {
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cout << " " << thisEvent.Description << endl;
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}
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for (j=0; j<thisEvent.NotifyProperties.size();j++) {
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// cout << " " << thisEvent.NotifyProperties[j]->GetRelativeName()
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cout << " " << thisEvent.DisplayString[j]
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<< " = " << thisEvent.NotifyProperties[j]->getDoubleValue() << endl;
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if (thisEvent.NotifyProperties[j] == 0) {
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if (PropertyManager->HasNode(thisEvent.NotifyPropertyNames[j])) {
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thisEvent.NotifyProperties[j] = PropertyManager->GetNode(thisEvent.NotifyPropertyNames[j]);
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} else {
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throw("Could not find property named "+thisEvent.NotifyPropertyNames[j]+" in script.");
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}
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}
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cout << " " << thisEvent.DisplayString[j] << " = " << thisEvent.NotifyProperties[j]->getDoubleValue();
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if (thisEvent.NotifyKML) cout << " <br/>";
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cout << endl;
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}
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if (thisEvent.NotifyKML) {
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cout << " ]]>" << endl;
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cout << " </description>" << endl;
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cout << " <Point>" << endl;
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cout << " <altitudeMode> absolute </altitudeMode>" << endl;
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cout << " <extrude> 1 </extrude>" << endl;
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cout << " <coordinates>" << FDMExec->GetPropagate()->GetLongitudeDeg()
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<< "," << FDMExec->GetPropagate()->GetGeodLatitudeDeg()
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<< "," << FDMExec->GetPropagate()->GetAltitudeASLmeters() << "</coordinates>" << endl;
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cout << " </Point>" << endl;
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cout << "</Placemark>" << endl;
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}
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cout << endl;
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thisEvent.Notified = true;
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@ -561,25 +585,37 @@ void FGScript::Debug(int from)
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for (unsigned j=0; j<Events[i].SetValue.size(); j++) {
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if (Events[i].SetValue[j] == 0.0 && Events[i].Functions[j] != 0L) {
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if (Events[i].SetParam[j] == 0) {
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if (Events[i].SetParamName[j].size() == 0) {
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cerr << fgred << highint << endl
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<< " An attempt has been made to access a non-existent property" << endl
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<< " in this event. Please check the property names used, spelling, etc."
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<< reset << endl;
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exit(-1);
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} else {
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cout << endl << " set " << Events[i].SetParamName[j]
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<< " to function value (Late Bound)";
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}
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} else {
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cout << endl << " set " << Events[i].SetParam[j]->GetRelativeName("/fdm/jsbsim/")
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<< " to function value";
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}
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} else {
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if (Events[i].SetParam[j] == 0) {
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if (Events[i].SetParamName[j].size() == 0) {
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cerr << fgred << highint << endl
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<< " An attempt has been made to access a non-existent property" << endl
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<< " in this event. Please check the property names used, spelling, etc."
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<< reset << endl;
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exit(-1);
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} else {
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cout << endl << " set " << Events[i].SetParamName[j]
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<< " to function value (Late Bound)";
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}
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} else {
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cout << endl << " set " << Events[i].SetParam[j]->GetRelativeName("/fdm/jsbsim/")
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<< " to " << Events[i].SetValue[j];
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}
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}
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switch (Events[i].Type[j]) {
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case FG_VALUE:
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@ -615,10 +651,14 @@ void FGScript::Debug(int from)
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// Print notifications
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if (Events[i].Notify) {
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if (Events[i].NotifyProperties.size() > 0) {
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cout << " Notifications" << ":" << endl << " {" << endl;
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for (unsigned j=0; j<Events[i].NotifyProperties.size();j++) {
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if (Events[i].NotifyKML) {
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cout << " Notifications (KML Format):" << endl << " {" << endl;
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} else {
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cout << " Notifications:" << endl << " {" << endl;
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}
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for (unsigned j=0; j<Events[i].NotifyPropertyNames.size();j++) {
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cout << " "
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<< Events[i].NotifyProperties[j]->GetRelativeName("/fdm/jsbsim/")
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<< Events[i].NotifyPropertyNames[j]
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<< endl;
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}
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cout << " }" << endl;
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@ -49,7 +49,7 @@ INCLUDES
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DEFINITIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#define ID_FGSCRIPT "$Id: FGScript.h,v 1.24 2013/06/10 01:50:43 jberndt Exp $"
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#define ID_FGSCRIPT "$Id: FGScript.h,v 1.25 2013/09/11 12:46:35 jberndt Exp $"
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FORWARD DECLARATIONS
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@ -158,7 +158,7 @@ CLASS DOCUMENTATION
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comes the "run" section, where the conditions are
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described in "event" clauses.</p>
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@author Jon S. Berndt
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@version "$Id: FGScript.h,v 1.24 2013/06/10 01:50:43 jberndt Exp $"
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@version "$Id: FGScript.h,v 1.25 2013/09/11 12:46:35 jberndt Exp $"
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*/
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -214,6 +214,7 @@ private:
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bool Continuous;
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bool Triggered;
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bool Notify;
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bool NotifyKML;
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bool Notified;
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double Delay;
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double StartTime;
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@ -223,6 +224,7 @@ private:
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vector <FGPropertyNode_ptr> SetParam;
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vector <std::string> SetParamName;
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vector <FGPropertyNode_ptr> NotifyProperties;
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vector <string> NotifyPropertyNames;
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vector <string> DisplayString;
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vector <eAction> Action;
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vector <eType> Type;
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@ -239,7 +241,7 @@ private:
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Persistent = false;
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Continuous = false;
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Delay = 0.0;
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Notify = Notified = false;
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Notify = Notified = NotifyKML = false;
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Name = "";
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StartTime = 0.0;
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TimeSpan = 0.0;
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@ -43,7 +43,7 @@ FORWARD DECLARATIONS
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namespace JSBSim {
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static const char *IdSrc = "$Id: FGXMLElement.cpp,v 1.38 2012/12/13 04:41:06 jberndt Exp $";
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static const char *IdSrc = "$Id: FGXMLElement.cpp,v 1.39 2013/06/20 04:37:27 jberndt Exp $";
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static const char *IdHdr = ID_XMLELEMENT;
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bool Element::converterIsInitialized = false;
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@ -428,22 +428,27 @@ double Element::FindElementValueAsNumberConvertTo(const string& el, const string
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Element* element = FindElement(el);
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if (!element) {
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cerr << "Attempting to get non-existent element " << el << endl;
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exit(0);
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throw("Attempting to get the value of a non-existent element "+el);
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// cerr << "Attempting to get non-existent element " << el << endl;
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// exit(0);
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}
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string supplied_units = element->GetAttributeValue("unit");
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if (!supplied_units.empty()) {
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if (convert.find(supplied_units) == convert.end()) {
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cerr << endl << "Supplied unit: \"" << supplied_units << "\" does not exist (typo?). Add new unit"
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<< " conversion in FGXMLElement.cpp." << endl;
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exit(-1);
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throw("Supplied unit: \"" + supplied_units + "\" does not exist (typo?). Add new unit"
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+ " conversion in FGXMLElement.cpp.");
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// cerr << endl << "Supplied unit: \"" << supplied_units << "\" does not exist (typo?). Add new unit"
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// << " conversion in FGXMLElement.cpp." << endl;
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// exit(-1);
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}
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if (convert[supplied_units].find(target_units) == convert[supplied_units].end()) {
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cerr << endl << "Supplied unit: \"" << supplied_units << "\" cannot be converted to "
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<< target_units << ". Add new unit conversion in FGXMLElement.cpp or fix typo" << endl;
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exit(-1);
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throw("Supplied unit: \"" + supplied_units + "\" cannot be converted to "
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+ target_units + ". Add new unit conversion in FGXMLElement.cpp or fix typo");
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// cerr << endl << "Supplied unit: \"" << supplied_units << "\" cannot be converted to "
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// << target_units << ". Add new unit conversion in FGXMLElement.cpp or fix typo" << endl;
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// exit(-1);
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}
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}
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@ -43,7 +43,7 @@ using namespace std;
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namespace JSBSim {
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static const char *IdSrc = "$Id: FGFunction.cpp,v 1.50 2013/06/10 02:05:12 jberndt Exp $";
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static const char *IdSrc = "$Id: FGFunction.cpp,v 1.51 2013/09/11 12:49:36 jberndt Exp $";
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static const char *IdHdr = ID_FUNCTION;
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -807,14 +807,11 @@ void FGFunction::bind(void)
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}
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if (PropertyManager->HasNode(tmp)) {
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FGPropertyNode* property = PropertyManager->GetNode(tmp);
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if (property->isTied()) {
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cout << "Property " << tmp << " has already been successfully bound (late)." << endl;
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return;
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}
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} else {
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PropertyManager->Tie( tmp, this, &FGFunction::GetValue);
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}
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PropertyManager->Tie( tmp, this, &FGFunction::GetValue);
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}
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}
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@ -43,7 +43,7 @@ INCLUDES
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DEFINITIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#define ID_FUNCTION "$Id: FGFunction.h,v 1.30 2013/06/10 02:25:18 jberndt Exp $"
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#define ID_FUNCTION "$Id: FGFunction.h,v 1.31 2013/06/20 04:37:27 jberndt Exp $"
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FORWARD DECLARATIONS
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|
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@ -48,7 +48,7 @@ using namespace std;
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namespace JSBSim {
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static const char *IdSrc = "$Id: FGAerodynamics.cpp,v 1.47 2013/06/10 01:59:16 jberndt Exp $";
|
||||
static const char *IdSrc = "$Id: FGAerodynamics.cpp,v 1.48 2013/09/11 12:42:14 jberndt Exp $";
|
||||
static const char *IdHdr = ID_AERODYNAMICS;
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
|
@ -77,6 +77,7 @@ FGAerodynamics::FGAerodynamics(FGFDMExec* FDMExec) : FGModel(FDMExec)
|
|||
axisType = atNone;
|
||||
|
||||
AeroFunctions = new AeroFunctionArray[6];
|
||||
AeroFunctionsAtCG = new AeroFunctionArray[6];
|
||||
|
||||
impending_stall = stall_hyst = 0.0;
|
||||
alphaclmin = alphaclmax = 0.0;
|
||||
|
|
@ -101,8 +102,12 @@ FGAerodynamics::~FGAerodynamics()
|
|||
for (i=0; i<6; i++)
|
||||
for (j=0; j<AeroFunctions[i].size(); j++)
|
||||
delete AeroFunctions[i][j];
|
||||
for (i=0; i<6; i++)
|
||||
for (j=0; j<AeroFunctionsAtCG[i].size(); j++)
|
||||
delete AeroFunctionsAtCG[i][j];
|
||||
|
||||
delete[] AeroFunctions;
|
||||
delete[] AeroFunctionsAtCG;
|
||||
|
||||
delete AeroRPShift;
|
||||
|
||||
|
|
@ -165,7 +170,9 @@ bool FGAerodynamics::Run(bool Holding)
|
|||
}
|
||||
|
||||
vFw.InitMatrix();
|
||||
vFwAtCG.InitMatrix();
|
||||
vFnative.InitMatrix();
|
||||
vFnativeAtCG.InitMatrix();
|
||||
|
||||
for (axis_ctr = 0; axis_ctr < 3; axis_ctr++) {
|
||||
for (ctr=0; ctr < AeroFunctions[axis_ctr].size(); ctr++) {
|
||||
|
|
@ -173,6 +180,12 @@ bool FGAerodynamics::Run(bool Holding)
|
|||
}
|
||||
}
|
||||
|
||||
for (axis_ctr = 0; axis_ctr < 3; axis_ctr++) {
|
||||
for (ctr=0; ctr < AeroFunctionsAtCG[axis_ctr].size(); ctr++) {
|
||||
vFnativeAtCG(axis_ctr+1) += AeroFunctionsAtCG[axis_ctr][ctr]->GetValue();
|
||||
}
|
||||
}
|
||||
|
||||
// Note that we still need to convert to wind axes here, because it is
|
||||
// used in the L/D calculation, and we still may want to look at Lift
|
||||
// and Drag.
|
||||
|
|
@ -189,19 +202,32 @@ bool FGAerodynamics::Run(bool Holding)
|
|||
switch (axisType) {
|
||||
case atBodyXYZ: // Forces already in body axes; no manipulation needed
|
||||
vFw = in.Tb2w*vFnative;
|
||||
vFw(eDrag)*=-1; vFw(eLift)*=-1;
|
||||
vForces = vFnative;
|
||||
vFw(eDrag)*=-1; vFw(eLift)*=-1;
|
||||
|
||||
vFwAtCG = in.Tb2w*vFnativeAtCG;
|
||||
vForcesAtCG = vFnativeAtCG;
|
||||
vFwAtCG(eDrag)*=-1; vFwAtCG(eLift)*=-1;
|
||||
break;
|
||||
case atLiftDrag: // Copy forces into wind axes
|
||||
vFw = vFnative;
|
||||
vFw(eDrag)*=-1; vFw(eLift)*=-1;
|
||||
vForces = in.Tw2b*vFw;
|
||||
vFw(eDrag)*=-1; vFw(eLift)*=-1;
|
||||
|
||||
vFwAtCG = vFnativeAtCG;
|
||||
vFwAtCG(eDrag)*=-1; vFwAtCG(eLift)*=-1;
|
||||
vForcesAtCG = in.Tw2b*vFwAtCG;
|
||||
vFwAtCG(eDrag)*=-1; vFwAtCG(eLift)*=-1;
|
||||
break;
|
||||
case atAxialNormal: // Convert native forces into Axial|Normal|Side system
|
||||
vFw = in.Tb2w*vFnative;
|
||||
vFnative(eX)*=-1; vFnative(eZ)*=-1;
|
||||
vForces = vFnative;
|
||||
|
||||
vFwAtCG = in.Tb2w*vFnativeAtCG;
|
||||
vFnativeAtCG(eX)*=-1; vFnativeAtCG(eZ)*=-1;
|
||||
vForcesAtCG = vFnativeAtCG;
|
||||
break;
|
||||
default:
|
||||
cerr << endl << " A proper axis type has NOT been selected. Check "
|
||||
|
|
@ -211,12 +237,13 @@ bool FGAerodynamics::Run(bool Holding)
|
|||
|
||||
// Calculate lift coefficient squared
|
||||
if ( in.Qbar > 0) {
|
||||
clsq = vFw(eLift) / (in.Wingarea*in.Qbar);
|
||||
clsq = (vFw(eLift) + vFwAtCG(eLift))/ (in.Wingarea*in.Qbar);
|
||||
clsq *= clsq;
|
||||
}
|
||||
|
||||
// Calculate lift Lift over Drag
|
||||
if ( fabs(vFw(eDrag)) > 0.0) lod = fabs( vFw(eLift) / vFw(eDrag) );
|
||||
if ( fabs(vFw(eDrag) + vFwAtCG(eDrag)) > 0.0)
|
||||
lod = fabs( (vFw(eLift) + vFwAtCG(eLift))/ (vFw(eDrag) + vFwAtCG(eDrag)));
|
||||
|
||||
// Calculate aerodynamic reference point shift, if any. The shift
|
||||
// takes place in the structual axis. That is, if the shift is positive,
|
||||
|
|
@ -237,6 +264,10 @@ bool FGAerodynamics::Run(bool Holding)
|
|||
}
|
||||
}
|
||||
vMoments = vMomentsMRC + vDXYZcg*vForces; // M = r X F
|
||||
// Now add the "at CG" values to base forces - after the moments have been transferred
|
||||
vForces += vForcesAtCG;
|
||||
vFnative += vFnativeAtCG;
|
||||
vFw += vFwAtCG;
|
||||
|
||||
RunPostFunctions();
|
||||
|
||||
|
|
@ -291,10 +322,16 @@ bool FGAerodynamics::Load(Element *element)
|
|||
axis_element = document->FindElement("axis");
|
||||
while (axis_element) {
|
||||
AeroFunctionArray ca;
|
||||
AeroFunctionArray ca_atCG;
|
||||
axis = axis_element->GetAttributeValue("name");
|
||||
function_element = axis_element->FindElement("function");
|
||||
while (function_element) {
|
||||
string current_func_name = function_element->GetAttributeValue("name");
|
||||
bool apply_at_cg = false;
|
||||
if (function_element->HasAttribute("apply_at_cg")) {
|
||||
if (function_element->GetAttributeValue("apply_at_cg") == "true") apply_at_cg = true;
|
||||
}
|
||||
if (!apply_at_cg) {
|
||||
try {
|
||||
ca.push_back( new FGFunction(PropertyManager, function_element) );
|
||||
} catch (string const str) {
|
||||
|
|
@ -302,9 +339,19 @@ bool FGAerodynamics::Load(Element *element)
|
|||
<< current_func_name << ":" << str << " Aborting." << reset << endl;
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
try {
|
||||
ca_atCG.push_back( new FGFunction(PropertyManager, function_element) );
|
||||
} catch (string const str) {
|
||||
cerr << endl << fgred << "Error loading aerodynamic function in "
|
||||
<< current_func_name << ":" << str << " Aborting." << reset << endl;
|
||||
return false;
|
||||
}
|
||||
}
|
||||
function_element = axis_element->FindNextElement("function");
|
||||
}
|
||||
AeroFunctions[AxisIdx[axis]] = ca;
|
||||
AeroFunctionsAtCG[AxisIdx[axis]] = ca_atCG;
|
||||
axis_element = document->FindNextElement("axis");
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -52,7 +52,7 @@ INCLUDES
|
|||
DEFINITIONS
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
#define ID_AERODYNAMICS "$Id: FGAerodynamics.h,v 1.26 2012/07/26 04:33:46 jberndt Exp $"
|
||||
#define ID_AERODYNAMICS "$Id: FGAerodynamics.h,v 1.27 2013/09/11 12:42:14 jberndt Exp $"
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
FORWARD DECLARATIONS
|
||||
|
|
@ -109,7 +109,7 @@ CLASS DOCUMENTATION
|
|||
Systems may NOT be combined, or a load error will occur.
|
||||
|
||||
@author Jon S. Berndt, Tony Peden
|
||||
@version $Revision: 1.26 $
|
||||
@version $Revision: 1.27 $
|
||||
*/
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
|
@ -237,6 +237,10 @@ private:
|
|||
FGColumnVector3 vFnative;
|
||||
FGColumnVector3 vFw;
|
||||
FGColumnVector3 vForces;
|
||||
AeroFunctionArray* AeroFunctionsAtCG;
|
||||
FGColumnVector3 vFwAtCG;
|
||||
FGColumnVector3 vFnativeAtCG;
|
||||
FGColumnVector3 vForcesAtCG;
|
||||
FGColumnVector3 vMoments;
|
||||
FGColumnVector3 vMomentsMRC;
|
||||
FGColumnVector3 vDXYZcg;
|
||||
|
|
|
|||
|
|
@ -50,7 +50,7 @@ using namespace std;
|
|||
|
||||
namespace JSBSim {
|
||||
|
||||
static const char *IdSrc = "$Id: FGAuxiliary.cpp,v 1.61 2013/06/10 01:56:14 jberndt Exp $";
|
||||
static const char *IdSrc = "$Id: FGAuxiliary.cpp,v 1.62 2013/09/11 12:43:20 jberndt Exp $";
|
||||
static const char *IdHdr = ID_AUXILIARY;
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
|
@ -216,7 +216,7 @@ bool FGAuxiliary::Run(bool Holding)
|
|||
}
|
||||
|
||||
A = pow(((pt-in.Pressure)/in.PressureSL + 1),0.28571);
|
||||
if (MachU > 0.0) {
|
||||
if (abs(MachU) > 0.0) {
|
||||
vcas = sqrt(7 * in.PressureSL / in.DensitySL * (A-1));
|
||||
veas = sqrt(2 * qbar / in.DensitySL);
|
||||
vtrue = 1116.43559 * MachU * sqrt(in.Temperature / 518.67);
|
||||
|
|
|
|||
|
|
@ -59,6 +59,8 @@ INCLUDES
|
|||
#include "models/flight_control/FGAccelerometer.h"
|
||||
#include "models/flight_control/FGMagnetometer.h"
|
||||
#include "models/flight_control/FGGyro.h"
|
||||
#include "models/flight_control/FGWaypoint.h"
|
||||
#include "models/flight_control/FGAngles.h"
|
||||
|
||||
#include "FGFCSChannel.h"
|
||||
|
||||
|
|
@ -66,7 +68,7 @@ using namespace std;
|
|||
|
||||
namespace JSBSim {
|
||||
|
||||
static const char *IdSrc = "$Id: FGFCS.cpp,v 1.80 2013/01/26 17:06:49 bcoconni Exp $";
|
||||
static const char *IdSrc = "$Id: FGFCS.cpp,v 1.81 2013/06/20 04:37:27 jberndt Exp $";
|
||||
static const char *IdHdr = ID_FCS;
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
|
@ -623,6 +625,12 @@ bool FGFCS::Load(Element* el, SystemType systype)
|
|||
newChannel->Add(new FGMagnetometer(this, component_element));
|
||||
} else if (component_element->GetName() == string("gyro")) {
|
||||
newChannel->Add(new FGGyro(this, component_element));
|
||||
} else if ((component_element->GetName() == string("waypoint_heading")) ||
|
||||
(component_element->GetName() == string("waypoint_distance")))
|
||||
{
|
||||
newChannel->Add(new FGWaypoint(this, component_element));
|
||||
} else if (component_element->GetName() == string("angle")) {
|
||||
newChannel->Add(new FGAngles(this, component_element));
|
||||
} else {
|
||||
cerr << "Unknown FCS component: " << component_element->GetName() << endl;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -51,7 +51,7 @@ INCLUDES
|
|||
DEFINITIONS
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
#define ID_FCS "$Id: FGFCS.h,v 1.41 2012/10/15 05:02:29 jberndt Exp $"
|
||||
#define ID_FCS "$Id: FGFCS.h,v 1.42 2013/06/20 04:37:27 jberndt Exp $"
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
FORWARD DECLARATIONS
|
||||
|
|
@ -169,7 +169,7 @@ CLASS DOCUMENTATION
|
|||
@property gear/tailhook-pos-norm
|
||||
|
||||
@author Jon S. Berndt
|
||||
@version $Revision: 1.41 $
|
||||
@version $Revision: 1.42 $
|
||||
@see FGActuator
|
||||
@see FGDeadBand
|
||||
@see FGFCSFunction
|
||||
|
|
@ -180,6 +180,8 @@ CLASS DOCUMENTATION
|
|||
@see FGSensor
|
||||
@see FGSummer
|
||||
@see FGSwitch
|
||||
@see FGWaypoint
|
||||
@see FGAngles
|
||||
@see FGFCSComponent
|
||||
@see Element
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -49,7 +49,7 @@ using namespace std;
|
|||
|
||||
namespace JSBSim {
|
||||
|
||||
static const char *IdSrc = "$Id: FGOutput.cpp,v 1.72 2013/01/26 17:06:50 bcoconni Exp $";
|
||||
static const char *IdSrc = "$Id: FGOutput.cpp,v 1.73 2013/09/11 12:44:02 jberndt Exp $";
|
||||
static const char *IdHdr = ID_OUTPUT;
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
|
@ -212,7 +212,9 @@ bool FGOutput::Load(int subSystems, std::string protocol, std::string type,
|
|||
unsigned int idx = OutputTypes.size();
|
||||
FGOutputType* Output = 0;
|
||||
|
||||
if (debug_lvl > 0) cout << endl << " Output data set: " << idx << " ";
|
||||
if (debug_lvl > 0) cout << endl << " Output data set: " << idx << endl;
|
||||
|
||||
type = to_upper(type);
|
||||
|
||||
if (type == "CSV") {
|
||||
FGOutputTextFile* OutputTextFile = new FGOutputTextFile(FDMExec);
|
||||
|
|
@ -258,7 +260,9 @@ bool FGOutput::Load(Element* document)
|
|||
string type = document->GetAttributeValue("type");
|
||||
FGOutputType* Output = 0;
|
||||
|
||||
if (debug_lvl > 0) cout << endl << " Output data set: " << idx << " ";
|
||||
if (debug_lvl > 0) cout << endl << " Output data set: " << idx << " " << endl;
|
||||
|
||||
type = to_upper(type);
|
||||
|
||||
if (type == "CSV") {
|
||||
Output = new FGOutputTextFile(FDMExec);
|
||||
|
|
|
|||
|
|
@ -77,7 +77,7 @@ using namespace std;
|
|||
|
||||
namespace JSBSim {
|
||||
|
||||
static const char *IdSrc = "$Id: FGPropagate.cpp,v 1.112 2013/06/10 01:57:52 jberndt Exp $";
|
||||
static const char *IdSrc = "$Id: FGPropagate.cpp,v 1.115 2013/09/14 11:26:02 bcoconni Exp $";
|
||||
static const char *IdHdr = ID_PROPAGATE;
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
|
@ -509,6 +509,13 @@ double FGPropagate::GetDistanceAGL(void) const
|
|||
|
||||
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
double FGPropagate::GetDistanceAGLKm(void) const
|
||||
{
|
||||
return VState.vLocation.GetAltitudeAGL(FDMExec->GetSimTime())*0.0003048;
|
||||
}
|
||||
|
||||
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
void FGPropagate::SetDistanceAGL(double tt)
|
||||
{
|
||||
VState.vLocation.SetAltitudeAGL(tt, FDMExec->GetSimTime());
|
||||
|
|
@ -517,6 +524,14 @@ void FGPropagate::SetDistanceAGL(double tt)
|
|||
|
||||
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
void FGPropagate::SetDistanceAGLKm(double tt)
|
||||
{
|
||||
VState.vLocation.SetAltitudeAGL(tt*3280.8399, FDMExec->GetSimTime());
|
||||
UpdateVehicleState();
|
||||
}
|
||||
|
||||
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
void FGPropagate::SetVState(const VehicleState& vstate)
|
||||
{
|
||||
//ToDo: Shouldn't all of these be set from the vstate vector passed in?
|
||||
|
|
@ -577,9 +592,9 @@ void FGPropagate::DumpState(void)
|
|||
<< "Position" << underoff << endl;
|
||||
cout << " ECI: " << VState.vInertialPosition.Dump(", ") << " (x,y,z, in ft)" << endl;
|
||||
cout << " ECEF: " << VState.vLocation << " (x,y,z, in ft)" << endl;
|
||||
cout << " Local: " << VState.vLocation.GetLatitudeDeg()
|
||||
cout << " Local: " << VState.vLocation.GetGeodLatitudeDeg()
|
||||
<< ", " << VState.vLocation.GetLongitudeDeg()
|
||||
<< ", " << GetAltitudeASL() << " (lat, lon, alt in deg and ft)" << endl;
|
||||
<< ", " << GetAltitudeASL() << " (geodetic lat, lon, alt ASL in deg and ft)" << endl;
|
||||
|
||||
cout << endl << " " << underon
|
||||
<< "Orientation" << underoff << endl;
|
||||
|
|
@ -613,6 +628,8 @@ void FGPropagate::WriteStateFile(int num)
|
|||
ofstream outfile(filename.c_str());
|
||||
|
||||
if (outfile.is_open()) {
|
||||
switch(num) {
|
||||
case 1:
|
||||
outfile << "<?xml version=\"1.0\"?>" << endl;
|
||||
outfile << "<initialize name=\"reset00\">" << endl;
|
||||
outfile << " <ubody unit=\"FT/SEC\"> " << VState.vUVW(eU) << " </ubody> " << endl;
|
||||
|
|
@ -626,6 +643,41 @@ void FGPropagate::WriteStateFile(int num)
|
|||
outfile << " <altitude unit=\"FT\"> " << GetDistanceAGL() << " </altitude>" << endl;
|
||||
outfile << "</initialize>" << endl;
|
||||
outfile.close();
|
||||
break;
|
||||
case 2:
|
||||
outfile << "<?xml version=\"1.0\"?>" << endl;
|
||||
outfile << "<initialize name=\"IC File\" version=\"2.0\">" << endl;
|
||||
outfile << "" << endl;
|
||||
outfile << " <position frame=\"ECEF\">" << endl;
|
||||
outfile << " <latitude unit=\"DEG\" type=\"geodetic\"> " << VState.vLocation.GetGeodLatitudeDeg() << " </latitude>" << endl;
|
||||
outfile << " <longitude unit=\"DEG\"> " << VState.vLocation.GetLongitudeDeg() << " </longitude>" << endl;
|
||||
outfile << " <altitudeMSL unit=\"FT\"> " << GetAltitudeASL() << " </altitudeMSL>" << endl;
|
||||
outfile << " </position>" << endl;
|
||||
outfile << "" << endl;
|
||||
outfile << " <orientation unit=\"DEG\" frame=\"LOCAL\">" << endl;
|
||||
outfile << " <yaw> " << VState.qAttitudeLocal.GetEulerDeg(eYaw) << " </yaw>" << endl;
|
||||
outfile << " <pitch> " << VState.qAttitudeLocal.GetEulerDeg(ePitch) << " </pitch>" << endl;
|
||||
outfile << " <roll> " << VState.qAttitudeLocal.GetEulerDeg(eRoll) << " </roll>" << endl;
|
||||
outfile << " </orientation>" << endl;
|
||||
outfile << "" << endl;
|
||||
outfile << " <velocity unit=\"FT/SEC\" frame=\"LOCAL\">" << endl;
|
||||
outfile << " <x> " << GetVel(eNorth) << " </x>" << endl;
|
||||
outfile << " <y> " << GetVel(eEast) << " </y>" << endl;
|
||||
outfile << " <z> " << GetVel(eDown) << " </z>" << endl;
|
||||
outfile << " </velocity>" << endl;
|
||||
outfile << "" << endl;
|
||||
outfile << " <attitude_rate unit=\"DEG/SEC\" frame=\"BODY\">" << endl;
|
||||
outfile << " <roll> " << (VState.vPQR*radtodeg)(eRoll) << " </roll>" << endl;
|
||||
outfile << " <pitch> " << (VState.vPQR*radtodeg)(ePitch) << " </pitch>" << endl;
|
||||
outfile << " <yaw> " << (VState.vPQR*radtodeg)(eYaw) << " </yaw>" << endl;
|
||||
outfile << " </attitude_rate>" << endl;
|
||||
outfile << "" << endl;
|
||||
outfile << "</initialize>" << endl;
|
||||
outfile.close();
|
||||
break;
|
||||
default:
|
||||
throw("When writing a state file, the supplied value must be 1 or 2 for the version number of teh resulting IC file");
|
||||
}
|
||||
} else {
|
||||
cerr << "Could not open and/or write the state to the initial conditions file: " << filename << endl;
|
||||
}
|
||||
|
|
@ -657,6 +709,7 @@ void FGPropagate::bind(void)
|
|||
PropertyManager->Tie("velocities/ri-rad_sec", this, eR, (PMF)&FGPropagate::GetPQRi);
|
||||
|
||||
PropertyManager->Tie("velocities/eci-velocity-mag-fps", this, &FGPropagate::GetInertialVelocityMagnitude);
|
||||
PropertyManager->Tie("velocities/ned-velocity-mag-fps", this, &FGPropagate::GetNEDVelocityMagnitude);
|
||||
|
||||
PropertyManager->Tie("position/h-sl-ft", this, &FGPropagate::GetAltitudeASL, &FGPropagate::SetAltitudeASL, true);
|
||||
PropertyManager->Tie("position/h-sl-meters", this, &FGPropagate::GetAltitudeASLmeters, &FGPropagate::SetAltitudeASLmeters, true);
|
||||
|
|
@ -668,6 +721,8 @@ void FGPropagate::bind(void)
|
|||
PropertyManager->Tie("position/lat-geod-deg", this, &FGPropagate::GetGeodLatitudeDeg);
|
||||
PropertyManager->Tie("position/geod-alt-ft", this, &FGPropagate::GetGeodeticAltitude);
|
||||
PropertyManager->Tie("position/h-agl-ft", this, &FGPropagate::GetDistanceAGL, &FGPropagate::SetDistanceAGL);
|
||||
PropertyManager->Tie("position/geod-alt-km", this, &FGPropagate::GetGeodeticAltitudeKm);
|
||||
PropertyManager->Tie("position/h-agl-km", this, &FGPropagate::GetDistanceAGLKm, &FGPropagate::SetDistanceAGLKm);
|
||||
PropertyManager->Tie("position/radius-to-vehicle-ft", this, &FGPropagate::GetRadius);
|
||||
PropertyManager->Tie("position/terrain-elevation-asl-ft", this,
|
||||
&FGPropagate::GetTerrainElevation,
|
||||
|
|
|
|||
|
|
@ -49,7 +49,7 @@ INCLUDES
|
|||
DEFINITIONS
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
#define ID_PROPAGATE "$Id: FGPropagate.h,v 1.75 2013/06/10 01:58:01 jberndt Exp $"
|
||||
#define ID_PROPAGATE "$Id: FGPropagate.h,v 1.78 2013/09/14 11:26:04 bcoconni Exp $"
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
FORWARD DECLARATIONS
|
||||
|
|
@ -93,7 +93,7 @@ CLASS DOCUMENTATION
|
|||
@endcode
|
||||
|
||||
@author Jon S. Berndt, Mathias Froehlich, Bertrand Coconnier
|
||||
@version $Id: FGPropagate.h,v 1.75 2013/06/10 01:58:01 jberndt Exp $
|
||||
@version $Id: FGPropagate.h,v 1.78 2013/09/14 11:26:04 bcoconni Exp $
|
||||
*/
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
|
@ -294,6 +294,10 @@ public:
|
|||
*/
|
||||
double GetInertialVelocityMagnitude(void) const { return VState.vInertialVelocity.Magnitude(); }
|
||||
|
||||
/** Retrieves the total local NED velocity in ft/sec.
|
||||
*/
|
||||
double GetNEDVelocityMagnitude(void) const { return VState.vUVW.Magnitude(); }
|
||||
|
||||
/** Retrieves the inertial velocity vector in ft/sec.
|
||||
*/
|
||||
const FGColumnVector3& GetInertialVelocity(void) const { return VState.vInertialVelocity; }
|
||||
|
|
@ -419,6 +423,7 @@ public:
|
|||
|
||||
double GetTerrainElevation(void) const { return GetLocalTerrainRadius() - VState.vLocation.GetSeaLevelRadius(); }
|
||||
double GetDistanceAGL(void) const;
|
||||
double GetDistanceAGLKm(void) const;
|
||||
double GetRadius(void) const {
|
||||
if (VState.vLocation.GetRadius() == 0) return 1.0;
|
||||
else return VState.vLocation.GetRadius();
|
||||
|
|
@ -430,6 +435,7 @@ public:
|
|||
double GetGeodLatitudeDeg(void) const { return VState.vLocation.GetGeodLatitudeDeg(); }
|
||||
|
||||
double GetGeodeticAltitude(void) const { return VState.vLocation.GetGeodAltitude(); }
|
||||
double GetGeodeticAltitudeKm(void) const { return VState.vLocation.GetGeodAltitude()*0.0003048; }
|
||||
|
||||
double GetLongitudeDeg(void) const { return VState.vLocation.GetLongitudeDeg(); }
|
||||
double GetLatitudeDeg(void) const { return VState.vLocation.GetLatitudeDeg(); }
|
||||
|
|
@ -551,6 +557,7 @@ public:
|
|||
void SetSeaLevelRadius(double tt);
|
||||
void SetTerrainElevation(double tt);
|
||||
void SetDistanceAGL(double tt);
|
||||
void SetDistanceAGLKm(double tt);
|
||||
|
||||
void SetInitialState(const FGInitialCondition *);
|
||||
void SetLocation(const FGLocation& l);
|
||||
|
|
|
|||
|
|
@ -66,7 +66,7 @@ using namespace std;
|
|||
|
||||
namespace JSBSim {
|
||||
|
||||
static const char *IdSrc = "$Id: FGPropulsion.cpp,v 1.69 2012/12/12 06:19:57 jberndt Exp $";
|
||||
static const char *IdSrc = "$Id: FGPropulsion.cpp,v 1.70 2013/09/11 23:24:49 jentron Exp $";
|
||||
static const char *IdHdr = ID_PROPULSION;
|
||||
|
||||
extern short debug_lvl;
|
||||
|
|
@ -693,18 +693,32 @@ void FGPropulsion::SetStarter(int setting)
|
|||
|
||||
void FGPropulsion::SetCutoff(int setting)
|
||||
{
|
||||
bool bsetting = setting == 0 ? false : true;
|
||||
|
||||
if (ActiveEngine < 0) {
|
||||
for (unsigned i=0; i<Engines.size(); i++) {
|
||||
if (setting == 0)
|
||||
((FGTurbine*)Engines[i])->SetCutoff(false);
|
||||
else
|
||||
((FGTurbine*)Engines[i])->SetCutoff(true);
|
||||
switch (Engines[i]->GetType()) {
|
||||
case FGEngine::etTurbine:
|
||||
((FGTurbine*)Engines[i])->SetCutoff(bsetting);
|
||||
break;
|
||||
case FGEngine::etTurboprop:
|
||||
((FGTurboProp*)Engines[i])->SetCutoff(bsetting);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
if (setting == 0)
|
||||
((FGTurbine*)Engines[ActiveEngine])->SetCutoff(false);
|
||||
else
|
||||
((FGTurbine*)Engines[ActiveEngine])->SetCutoff(true);
|
||||
switch (Engines[ActiveEngine]->GetType()) {
|
||||
case FGEngine::etTurbine:
|
||||
((FGTurbine*)Engines[ActiveEngine])->SetCutoff(bsetting);
|
||||
break;
|
||||
case FGEngine::etTurboprop:
|
||||
((FGTurboProp*)Engines[ActiveEngine])->SetCutoff(bsetting);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -799,7 +813,7 @@ void FGPropulsion::bind(void)
|
|||
|
||||
IsBound = true;
|
||||
PropertyManager->Tie("propulsion/set-running", this, (iPMF)0, &FGPropulsion::InitRunning, false);
|
||||
if (HaveTurbineEngine) {
|
||||
if (HaveTurbineEngine || HaveTurboPropEngine) {
|
||||
PropertyManager->Tie("propulsion/starter_cmd", this, (iPMF)0, &FGPropulsion::SetStarter, false);
|
||||
PropertyManager->Tie("propulsion/cutoff_cmd", this, (iPMF)0, &FGPropulsion::SetCutoff, false);
|
||||
}
|
||||
|
|
|
|||
205
src/FDM/JSBSim/models/flight_control/FGAngles.cpp
Executable file
205
src/FDM/JSBSim/models/flight_control/FGAngles.cpp
Executable file
|
|
@ -0,0 +1,205 @@
|
|||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
Module: FGAngles.cpp
|
||||
Author: Jon S. Berndt
|
||||
Date started: 6/2013
|
||||
|
||||
------------- Copyright (C) 2013 Jon S. Berndt (jon@jsbsim.org) -------------
|
||||
|
||||
This program is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU Lesser General Public License as published by the Free Software
|
||||
Foundation; either version 2 of the License, or (at your option) any later
|
||||
version.
|
||||
|
||||
This program is distributed in the hope that it will be useful, but WITHOUT
|
||||
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||
FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
|
||||
details.
|
||||
|
||||
You should have received a copy of the GNU Lesser General Public License along with
|
||||
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
|
||||
Place - Suite 330, Boston, MA 02111-1307, USA.
|
||||
|
||||
Further information about the GNU Lesser General Public License can also be found on
|
||||
the world wide web at http://www.gnu.org.
|
||||
|
||||
FUNCTIONAL DESCRIPTION
|
||||
--------------------------------------------------------------------------------
|
||||
|
||||
HISTORY
|
||||
--------------------------------------------------------------------------------
|
||||
Created: 6/2013 Jon S. Berndt
|
||||
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
COMMENTS, REFERENCES, and NOTES
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
The Included Angle to Heading algorithm is used to find the smallest included angle
|
||||
(the angle less than or equal to 180 degrees) to a specified heading from
|
||||
the current heading. The sense of the rotation to get to that angle is also
|
||||
calculated (positive 1 for a clockwise rotation, negative 1 for counter-
|
||||
clockwise).
|
||||
|
||||
The angle to the heading is calculated as follows:
|
||||
|
||||
Given an angle phi:
|
||||
|
||||
V = cos(phi)i + sin(phi)j (this is a unit vector)
|
||||
|
||||
The dot product for two, 2D vectors is written:
|
||||
|
||||
V1*V2 = |V1||V2|cos(phi)
|
||||
|
||||
Since the magnitude of a unit vector is 1, we can write the equation as follows:
|
||||
|
||||
V1*V2 = cos(phi)
|
||||
|
||||
or,
|
||||
|
||||
phi = acos(V1*V2)
|
||||
|
||||
or,
|
||||
|
||||
phi = acos[ cos(phi1)cos(phi2) + sin(phi1)sin(phi2) ]
|
||||
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
INCLUDES
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
#include "FGAngles.h"
|
||||
#include "input_output/FGXMLElement.h"
|
||||
#include "input_output/FGPropertyManager.h"
|
||||
|
||||
using namespace std;
|
||||
|
||||
namespace JSBSim {
|
||||
|
||||
static const char *IdSrc = "$Id: FGAngles.cpp,v 1.1 2013/06/20 04:37:28 jberndt Exp $";
|
||||
static const char *IdHdr = ID_ANGLES;
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
CLASS IMPLEMENTATION
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
FGAngles::FGAngles(FGFCS* fcs, Element* element) : FGFCSComponent(fcs, element)
|
||||
{
|
||||
source_angle = 0.0;
|
||||
target_angle = 0.0;
|
||||
source_angle_unit = 1.0;
|
||||
target_angle_unit = 1.0;
|
||||
output_unit = 1.0;
|
||||
|
||||
if (element->FindElement("target_angle") ) {
|
||||
target_angle_pNode = PropertyManager->GetNode(element->FindElementValue("target_angle"));
|
||||
if (element->FindElement("target_angle")->HasAttribute("unit")) {
|
||||
if (element->FindElement("target_angle")->GetAttributeValue("unit") == "DEG") {
|
||||
target_angle_unit = 0.017453293;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
throw("Target angle is required for component: "+Name);
|
||||
}
|
||||
|
||||
if (element->FindElement("source_angle") ) {
|
||||
source_angle_pNode = PropertyManager->GetNode(element->FindElementValue("source_angle"));
|
||||
if (element->FindElement("source_angle")->HasAttribute("unit")) {
|
||||
if (element->FindElement("source_angle")->GetAttributeValue("unit") == "DEG") {
|
||||
source_angle_unit = 0.017453293;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
throw("Source latitude is required for Angles component: "+Name);
|
||||
}
|
||||
|
||||
unit = element->GetAttributeValue("unit");
|
||||
if (!unit.empty()) {
|
||||
if (unit == "DEG") output_unit = 180.0/M_PI;
|
||||
else if (unit == "RAD") output_unit = 1.0;
|
||||
else throw("Unknown unit "+unit+" in angle component, "+Name);
|
||||
} else {
|
||||
output_unit = 1.0; // Default is radians (1.0) if unspecified
|
||||
}
|
||||
|
||||
FGFCSComponent::bind();
|
||||
Debug(0);
|
||||
}
|
||||
|
||||
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
FGAngles::~FGAngles()
|
||||
{
|
||||
Debug(1);
|
||||
}
|
||||
|
||||
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
bool FGAngles::Run(void )
|
||||
{
|
||||
source_angle = source_angle_pNode->getDoubleValue() * source_angle_unit;
|
||||
target_angle = target_angle_pNode->getDoubleValue() * target_angle_unit;
|
||||
|
||||
double x1 = cos(source_angle);
|
||||
double y1 = sin(source_angle);
|
||||
double x2 = cos(target_angle);
|
||||
double y2 = sin(target_angle);
|
||||
|
||||
double angle_to_heading_rad = acos(x1*x2 + y1*y2);
|
||||
double x1y2 = x1*y2;
|
||||
double x2y1 = x2*y1;
|
||||
|
||||
if (x1y2 >= x2y1) Output = angle_to_heading_rad * output_unit;
|
||||
else Output = -angle_to_heading_rad * output_unit;
|
||||
|
||||
Clip();
|
||||
if (IsOutput) SetOutput();
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
// The bitmasked value choices are as follows:
|
||||
// unset: In this case (the default) JSBSim would only print
|
||||
// out the normally expected messages, essentially echoing
|
||||
// the config files as they are read. If the environment
|
||||
// variable is not set, debug_lvl is set to 1 internally
|
||||
// 0: This requests JSBSim not to output any messages
|
||||
// whatsoever.
|
||||
// 1: This value explicity requests the normal JSBSim
|
||||
// startup messages
|
||||
// 2: This value asks for a message to be printed out when
|
||||
// a class is instantiated
|
||||
// 4: When this value is set, a message is displayed when a
|
||||
// FGModel object executes its Run() method
|
||||
// 8: When this value is set, various runtime state variables
|
||||
// are printed out periodically
|
||||
// 16: When set various parameters are sanity checked and
|
||||
// a message is printed out when they go out of bounds
|
||||
|
||||
void FGAngles::Debug(int from)
|
||||
{
|
||||
if (debug_lvl <= 0) return;
|
||||
|
||||
if (debug_lvl & 1) { // Standard console startup message output
|
||||
if (from == 0) { // Constructor
|
||||
}
|
||||
}
|
||||
if (debug_lvl & 2 ) { // Instantiation/Destruction notification
|
||||
if (from == 0) cout << "Instantiated: FGAngles" << endl;
|
||||
if (from == 1) cout << "Destroyed: FGAngles" << endl;
|
||||
}
|
||||
if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
|
||||
}
|
||||
if (debug_lvl & 8 ) { // Runtime state variables
|
||||
}
|
||||
if (debug_lvl & 16) { // Sanity checking
|
||||
}
|
||||
if (debug_lvl & 64) {
|
||||
if (from == 0) { // Constructor
|
||||
cout << IdSrc << endl;
|
||||
cout << IdHdr << endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
108
src/FDM/JSBSim/models/flight_control/FGAngles.h
Executable file
108
src/FDM/JSBSim/models/flight_control/FGAngles.h
Executable file
|
|
@ -0,0 +1,108 @@
|
|||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
Header: FGAngles.h
|
||||
Author: Jon Berndt
|
||||
Date started: 6/2013
|
||||
|
||||
------------- Copyright (C) 2013 Jon S. Berndt (jon@jsbsim.org) -------------
|
||||
|
||||
This program is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU Lesser General Public License as published by the Free Software
|
||||
Foundation; either version 2 of the License, or (at your option) any later
|
||||
version.
|
||||
|
||||
This program is distributed in the hope that it will be useful, but WITHOUT
|
||||
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||
FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
|
||||
details.
|
||||
|
||||
You should have received a copy of the GNU Lesser General Public License along with
|
||||
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
|
||||
Place - Suite 330, Boston, MA 02111-1307, USA.
|
||||
|
||||
Further information about the GNU Lesser General Public License can also be found on
|
||||
the world wide web at http://www.gnu.org.
|
||||
|
||||
HISTORY
|
||||
--------------------------------------------------------------------------------
|
||||
Created: 6/2013 Jon S. Berndt
|
||||
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
SENTRY
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
#ifndef FGANGLES_H
|
||||
#define FGANGLES_H
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
INCLUDES
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
#include <string>
|
||||
#include "FGFCSComponent.h"
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
DEFINITIONS
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
#define ID_ANGLES "$Id: FGAngles.h,v 1.1 2013/06/20 04:37:28 jberndt Exp $"
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
FORWARD DECLARATIONS
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
namespace JSBSim {
|
||||
|
||||
class FGFCS;
|
||||
class Element;
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
CLASS DOCUMENTATION
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
/** Provides a way to determine the smallest included angle.
|
||||
|
||||
@code
|
||||
<angle name="component_name" unit="DEG|RAD">
|
||||
<source_angle unit="DEG|RAD"> property_name </source_angle>
|
||||
<target_angle unit="DEG|RAD"> property_name </target_angle>
|
||||
[<clipto>
|
||||
<min> {[-]property name | value} </min>
|
||||
<max> {[-]property name | value} </max>
|
||||
</clipto>]
|
||||
[<output> {property} </output>]
|
||||
</angle>
|
||||
@endcode
|
||||
|
||||
@author Jon S. Berndt
|
||||
@version $Id: FGAngles.h,v 1.1 2013/06/20 04:37:28 jberndt Exp $
|
||||
*/
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
CLASS DECLARATION
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
class FGAngles : public FGFCSComponent
|
||||
{
|
||||
public:
|
||||
FGAngles(FGFCS* fcs, Element* element);
|
||||
~FGAngles();
|
||||
|
||||
bool Run(void);
|
||||
|
||||
private:
|
||||
FGPropertyNode_ptr target_angle_pNode;
|
||||
FGPropertyNode_ptr source_angle_pNode;
|
||||
double target_angle;
|
||||
double source_angle;
|
||||
double target_angle_unit;
|
||||
double source_angle_unit;
|
||||
double output_unit;
|
||||
string unit;
|
||||
|
||||
void Debug(int from);
|
||||
};
|
||||
}
|
||||
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
#endif
|
||||
|
|
@ -48,7 +48,7 @@ using namespace std;
|
|||
|
||||
namespace JSBSim {
|
||||
|
||||
static const char *IdSrc = "$Id: FGFCSComponent.cpp,v 1.35 2013/01/26 17:06:50 bcoconni Exp $";
|
||||
static const char *IdSrc = "$Id: FGFCSComponent.cpp,v 1.36 2013/06/20 04:37:28 jberndt Exp $";
|
||||
static const char *IdHdr = ID_FCSCOMPONENT;
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
|
@ -106,6 +106,12 @@ FGFCSComponent::FGFCSComponent(FGFCS* _fcs, Element* element) : fcs(_fcs)
|
|||
Type = "GYRO";
|
||||
} else if (element->GetName() == string("actuator")) {
|
||||
Type = "ACTUATOR";
|
||||
} else if (element->GetName() == string("waypoint_heading")) {
|
||||
Type = "WAYPOINT_HEADING";
|
||||
} else if (element->GetName() == string("waypoint_distance")) {
|
||||
Type = "WAYPOINT_DISTANCE";
|
||||
} else if (element->GetName() == string("angle")) {
|
||||
Type = "ANGLE";
|
||||
} else { // illegal component in this channel
|
||||
Type = "UNKNOWN";
|
||||
}
|
||||
|
|
|
|||
|
|
@ -4,7 +4,7 @@
|
|||
Author: Jon S. Berndt
|
||||
Date started: 05/01/2000
|
||||
|
||||
------------- Copyright (C) -------------
|
||||
------------- Copyright (C) 2000 Jon S. Berndt (jon@jsbsim.org) -------------
|
||||
|
||||
This program is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU Lesser General Public License as published by the Free Software
|
||||
|
|
@ -46,7 +46,7 @@ INCLUDES
|
|||
DEFINITIONS
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
#define ID_FCSCOMPONENT "$Id: FGFCSComponent.h,v 1.21 2013/01/26 17:06:50 bcoconni Exp $"
|
||||
#define ID_FCSCOMPONENT "$Id: FGFCSComponent.h,v 1.22 2013/06/20 04:37:28 jberndt Exp $"
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
FORWARD DECLARATIONS
|
||||
|
|
@ -78,9 +78,11 @@ CLASS DOCUMENTATION
|
|||
- FGAccelerometer
|
||||
- FGGyro
|
||||
- FGActuator
|
||||
- FGWaypoint
|
||||
- FGAngle
|
||||
|
||||
@author Jon S. Berndt
|
||||
@version $Id: FGFCSComponent.h,v 1.21 2013/01/26 17:06:50 bcoconni Exp $
|
||||
@version $Id: FGFCSComponent.h,v 1.22 2013/06/20 04:37:28 jberndt Exp $
|
||||
@see Documentation for the FGFCS class, and for the configuration file class
|
||||
*/
|
||||
|
||||
|
|
|
|||
261
src/FDM/JSBSim/models/flight_control/FGWaypoint.cpp
Executable file
261
src/FDM/JSBSim/models/flight_control/FGWaypoint.cpp
Executable file
|
|
@ -0,0 +1,261 @@
|
|||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
Module: FGWaypoint.cpp
|
||||
Author: Jon S. Berndt
|
||||
Date started: 6/2013
|
||||
|
||||
------------- Copyright (C) 2013 Jon S. Berndt (jon@jsbsim.org) -------------
|
||||
|
||||
This program is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU Lesser General Public License as published by the Free Software
|
||||
Foundation; either version 2 of the License, or (at your option) any later
|
||||
version.
|
||||
|
||||
This program is distributed in the hope that it will be useful, but WITHOUT
|
||||
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||
FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
|
||||
details.
|
||||
|
||||
You should have received a copy of the GNU Lesser General Public License along with
|
||||
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
|
||||
Place - Suite 330, Boston, MA 02111-1307, USA.
|
||||
|
||||
Further information about the GNU Lesser General Public License can also be found on
|
||||
the world wide web at http://www.gnu.org.
|
||||
|
||||
FUNCTIONAL DESCRIPTION
|
||||
--------------------------------------------------------------------------------
|
||||
|
||||
HISTORY
|
||||
--------------------------------------------------------------------------------
|
||||
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
COMMENTS, REFERENCES, and NOTES
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
INCLUDES
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
#include "FGWaypoint.h"
|
||||
#include "input_output/FGXMLElement.h"
|
||||
#include "input_output/FGPropertyManager.h"
|
||||
|
||||
using namespace std;
|
||||
|
||||
namespace JSBSim {
|
||||
|
||||
static const char *IdSrc = "$Id: FGWaypoint.cpp,v 1.2 2013/08/30 04:44:59 jberndt Exp $";
|
||||
static const char *IdHdr = ID_WAYPOINT;
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
CLASS IMPLEMENTATION
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
FGWaypoint::FGWaypoint(FGFCS* fcs, Element* element) : FGFCSComponent(fcs, element)
|
||||
{
|
||||
if (Type == "WAYPOINT_HEADING") WaypointType = eHeading;
|
||||
else if (Type == "WAYPOINT_DISTANCE") WaypointType = eDistance;
|
||||
|
||||
target_latitude_unit = 1.0;
|
||||
target_longitude_unit = 1.0;
|
||||
source_latitude_unit = 1.0;
|
||||
source_longitude_unit = 1.0;
|
||||
|
||||
if (element->FindElement("target_latitude") ) {
|
||||
target_latitude_pNode = PropertyManager->GetNode(element->FindElementValue("target_latitude"));
|
||||
if (element->FindElement("target_latitude")->HasAttribute("unit")) {
|
||||
if (element->FindElement("target_latitude")->GetAttributeValue("unit") == "DEG") {
|
||||
target_latitude_unit = 0.017453293;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
throw("Target latitude is required for waypoint component: "+Name);
|
||||
}
|
||||
|
||||
if (element->FindElement("target_longitude") ) {
|
||||
target_longitude_pNode = PropertyManager->GetNode(element->FindElementValue("target_longitude"));
|
||||
if (element->FindElement("target_longitude")->HasAttribute("unit")) {
|
||||
if (element->FindElement("target_longitude")->GetAttributeValue("unit") == "DEG") {
|
||||
target_longitude_unit = 0.017453293;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
throw("Target longitude is required for waypoint component: "+Name);
|
||||
}
|
||||
|
||||
if (element->FindElement("source_latitude") ) {
|
||||
source_latitude_pNode = PropertyManager->GetNode(element->FindElementValue("source_latitude"));
|
||||
if (element->FindElement("source_latitude")->HasAttribute("unit")) {
|
||||
if (element->FindElement("source_latitude")->GetAttributeValue("unit") == "DEG") {
|
||||
source_latitude_unit = 0.017453293;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
throw("Source latitude is required for waypoint component: "+Name);
|
||||
}
|
||||
|
||||
if (element->FindElement("source_longitude") ) {
|
||||
source_longitude_pNode = PropertyManager->GetNode(element->FindElementValue("source_longitude"));
|
||||
if (element->FindElement("source_longitude")->HasAttribute("unit")) {
|
||||
if (element->FindElement("source_longitude")->GetAttributeValue("unit") == "DEG") {
|
||||
source_longitude_unit = 0.017453293;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
throw("Source longitude is required for waypoint component: "+Name);
|
||||
}
|
||||
|
||||
if (element->FindElement("radius")) {
|
||||
radius = element->FindElementValueAsNumberConvertTo("radius", "FT");
|
||||
} else {
|
||||
radius = 21144000; // Radius of Earth in feet.
|
||||
}
|
||||
|
||||
unit = element->GetAttributeValue("unit");
|
||||
if (WaypointType == eHeading) {
|
||||
if (!unit.empty()) {
|
||||
if (unit == "DEG") eUnit = eDeg;
|
||||
else if (unit == "RAD") eUnit = eRad;
|
||||
else throw("Unknown unit "+unit+" in HEADING waypoint component, "+Name);
|
||||
} else {
|
||||
eUnit = eRad; // Default is radians if unspecified
|
||||
}
|
||||
} else {
|
||||
if (!unit.empty()) {
|
||||
if (unit == "FT") eUnit = eFeet;
|
||||
else if (unit == "M") eUnit = eMeters;
|
||||
else throw("Unknown unit "+unit+" in DISTANCE waypoint component, "+Name);
|
||||
} else {
|
||||
eUnit = eFeet; // Default is feet if unspecified
|
||||
}
|
||||
}
|
||||
|
||||
FGFCSComponent::bind();
|
||||
Debug(0);
|
||||
}
|
||||
|
||||
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
FGWaypoint::~FGWaypoint()
|
||||
{
|
||||
Debug(1);
|
||||
}
|
||||
|
||||
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
// The calculations, below, implement the Haversine formulas to calculate
|
||||
// heading and distance to a set of lat/long coordinates from the current
|
||||
// position. The latitude and longitude are expected to be in radian units
|
||||
// and are measured from the 0 meridian and the equator, with positive
|
||||
// longitude being east from there, and positive latitude being north.
|
||||
//
|
||||
// The basic equations are (lat1, long1 are source positions; lat2
|
||||
// long2 are target positions):
|
||||
//
|
||||
// R = earth’s radius
|
||||
// Δlat = lat2 − lat1
|
||||
// Δlong = long2 − long1
|
||||
//
|
||||
// For the heading angle calculation:
|
||||
//
|
||||
// θ = atan2(sin(Δlong)∙cos(lat2), cos(lat1)∙sin(lat2) − sin(lat1) ∙cos(lat2)∙cos(Δlong) )
|
||||
//
|
||||
// For the waypoint distance calculation:
|
||||
//
|
||||
// a = sin²(Δlat/2) + cos(lat1)∙cos(lat2)∙sin²(Δlong/2)
|
||||
// c = 2∙atan2(√a, √(1−a))
|
||||
// d = R∙c
|
||||
|
||||
bool FGWaypoint::Run(void )
|
||||
{
|
||||
target_latitude = target_latitude_pNode->getDoubleValue() * target_latitude_unit;
|
||||
target_longitude = target_longitude_pNode->getDoubleValue() * target_longitude_unit;
|
||||
source_latitude = source_latitude_pNode->getDoubleValue() * source_latitude_unit;
|
||||
source_longitude = source_longitude_pNode->getDoubleValue() * source_longitude_unit;
|
||||
|
||||
double delta_lat_rad = target_latitude - source_latitude;
|
||||
double delta_lon_rad = target_longitude - source_longitude;
|
||||
|
||||
if (WaypointType == eHeading) { // Calculate Heading
|
||||
|
||||
double Y = sin(delta_lon_rad) * cos(target_latitude);
|
||||
double X = (cos(source_latitude) * sin(target_latitude))
|
||||
- (sin(source_latitude) * cos(target_latitude) * cos(delta_lon_rad));
|
||||
|
||||
double heading_to_waypoint_rad = atan2(Y, X);
|
||||
if (heading_to_waypoint_rad < 0) heading_to_waypoint_rad += 2.0*M_PI;
|
||||
|
||||
double heading_to_waypoint = 0;
|
||||
if (eUnit == eDeg) heading_to_waypoint = heading_to_waypoint_rad * radtodeg;
|
||||
else heading_to_waypoint = heading_to_waypoint_rad;
|
||||
|
||||
Output = heading_to_waypoint;
|
||||
|
||||
} else { // Calculate Distance
|
||||
|
||||
double distance_a = pow(sin(delta_lat_rad/2.0), 2.0)
|
||||
+ (cos(source_latitude) * cos(target_latitude)
|
||||
* (pow(sin(delta_lon_rad/2.0), 2.0)));
|
||||
|
||||
double wp_distance = 2.0 * radius * atan2(pow(distance_a, 0.5), pow((1.0 - distance_a), 0.5));
|
||||
|
||||
if (eUnit == eMeters) {
|
||||
Output = FeetToMeters(wp_distance);
|
||||
} else {
|
||||
Output = wp_distance;
|
||||
}
|
||||
}
|
||||
|
||||
Clip();
|
||||
if (IsOutput) SetOutput();
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
// The bitmasked value choices are as follows:
|
||||
// unset: In this case (the default) JSBSim would only print
|
||||
// out the normally expected messages, essentially echoing
|
||||
// the config files as they are read. If the environment
|
||||
// variable is not set, debug_lvl is set to 1 internally
|
||||
// 0: This requests JSBSim not to output any messages
|
||||
// whatsoever.
|
||||
// 1: This value explicity requests the normal JSBSim
|
||||
// startup messages
|
||||
// 2: This value asks for a message to be printed out when
|
||||
// a class is instantiated
|
||||
// 4: When this value is set, a message is displayed when a
|
||||
// FGModel object executes its Run() method
|
||||
// 8: When this value is set, various runtime state variables
|
||||
// are printed out periodically
|
||||
// 16: When set various parameters are sanity checked and
|
||||
// a message is printed out when they go out of bounds
|
||||
|
||||
void FGWaypoint::Debug(int from)
|
||||
{
|
||||
if (debug_lvl <= 0) return;
|
||||
|
||||
if (debug_lvl & 1) { // Standard console startup message output
|
||||
if (from == 0) { // Constructor
|
||||
}
|
||||
}
|
||||
if (debug_lvl & 2 ) { // Instantiation/Destruction notification
|
||||
if (from == 0) cout << "Instantiated: FGWaypoint" << endl;
|
||||
if (from == 1) cout << "Destroyed: FGWaypoint" << endl;
|
||||
}
|
||||
if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
|
||||
}
|
||||
if (debug_lvl & 8 ) { // Runtime state variables
|
||||
}
|
||||
if (debug_lvl & 16) { // Sanity checking
|
||||
}
|
||||
if (debug_lvl & 64) {
|
||||
if (from == 0) { // Constructor
|
||||
cout << IdSrc << endl;
|
||||
cout << IdHdr << endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
133
src/FDM/JSBSim/models/flight_control/FGWaypoint.h
Executable file
133
src/FDM/JSBSim/models/flight_control/FGWaypoint.h
Executable file
|
|
@ -0,0 +1,133 @@
|
|||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
Header: FGWaypoint.h
|
||||
Author: Jon Berndt
|
||||
Date started: 6/2013
|
||||
|
||||
------------- Copyright (C) 2013 Jon S. Berndt (jon@jsbsim.org) -------------
|
||||
|
||||
This program is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU Lesser General Public License as published by the Free Software
|
||||
Foundation; either version 2 of the License, or (at your option) any later
|
||||
version.
|
||||
|
||||
This program is distributed in the hope that it will be useful, but WITHOUT
|
||||
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||
FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
|
||||
details.
|
||||
|
||||
You should have received a copy of the GNU Lesser General Public License along with
|
||||
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
|
||||
Place - Suite 330, Boston, MA 02111-1307, USA.
|
||||
|
||||
Further information about the GNU Lesser General Public License can also be found on
|
||||
the world wide web at http://www.gnu.org.
|
||||
|
||||
HISTORY
|
||||
--------------------------------------------------------------------------------
|
||||
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
SENTRY
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
#ifndef FGWAYPOINT_H
|
||||
#define FGWAYPOINT_H
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
INCLUDES
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
#include <string>
|
||||
#include "FGFCSComponent.h"
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
DEFINITIONS
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
#define ID_WAYPOINT "$Id: FGWaypoint.h,v 1.1 2013/06/20 04:37:28 jberndt Exp $"
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
FORWARD DECLARATIONS
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
namespace JSBSim {
|
||||
|
||||
class FGFCS;
|
||||
class Element;
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
CLASS DOCUMENTATION
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
/** Models a Waypoint object.
|
||||
The waypoint_heading component returns the heading to a specified waypoint
|
||||
lat/long from another specified point.
|
||||
The waypoint_distance component returns the distance between
|
||||
|
||||
@code
|
||||
<waypoint_heading name="component_name" unit="DEG|RAD">
|
||||
<target_latitude unit="DEG|RAD"> property_name </target_latitude>
|
||||
<target_longitude unit="DEG|RAD"> property_name </target_longitude>
|
||||
<source_latitude unit="DEG|RAD"> property_name </source_latitude>
|
||||
<source_longitude unit="DEG|RAD"> property_name </source_longitude>
|
||||
[<clipto>
|
||||
<min> {[-]property name | value} </min>
|
||||
<max> {[-]property name | value} </max>
|
||||
</clipto>]
|
||||
[<output> {property} </output>]
|
||||
</waypoint_heading>
|
||||
|
||||
<waypoint_distance name="component_name" unit="FT|M">
|
||||
<target_latitude unit="DEG|RAD"> property_name </target_latitude>
|
||||
<target_longitude unit="DEG|RAD"> property_name </target_longitude>
|
||||
<source_latitude unit="DEG|RAD"> property_name </source_latitude>
|
||||
<source_longitude unit="DEG|RAD"> property_name </source_longitude>
|
||||
[<radius> {value} </radius>]
|
||||
[<clipto>
|
||||
<min> {[-]property name | value} </min>
|
||||
<max> {[-]property name | value} </max>
|
||||
</clipto>]
|
||||
[<output> {property} </output>]
|
||||
</waypoint_distance>
|
||||
@endcode
|
||||
|
||||
@author Jon S. Berndt
|
||||
@version $Id: FGWaypoint.h,v 1.1 2013/06/20 04:37:28 jberndt Exp $
|
||||
*/
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
CLASS DECLARATION
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
class FGWaypoint : public FGFCSComponent
|
||||
{
|
||||
public:
|
||||
FGWaypoint(FGFCS* fcs, Element* element);
|
||||
~FGWaypoint();
|
||||
|
||||
bool Run(void);
|
||||
|
||||
private:
|
||||
FGPropertyNode_ptr target_latitude_pNode;
|
||||
FGPropertyNode_ptr target_longitude_pNode;
|
||||
FGPropertyNode_ptr source_latitude_pNode;
|
||||
FGPropertyNode_ptr source_longitude_pNode;
|
||||
double target_latitude;
|
||||
double target_longitude;
|
||||
double source_latitude;
|
||||
double source_longitude;
|
||||
double target_latitude_unit;
|
||||
double target_longitude_unit;
|
||||
double source_latitude_unit;
|
||||
double source_longitude_unit;
|
||||
double radius;
|
||||
string unit;
|
||||
enum {eNone=0, eDeg, eRad, eFeet, eMeters} eUnit;
|
||||
enum {eNoType=0, eHeading, eDistance} WaypointType;
|
||||
|
||||
void Debug(int from);
|
||||
};
|
||||
}
|
||||
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
#endif
|
||||
Loading…
Reference in a new issue