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Sync. w. JSBSim cvs

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This commit is contained in:
ehofman 2009-03-25 10:00:46 +00:00 • committed by Tim Moore
parent 3930967645
commit 27a7305736
23 changed files with 208 additions and 172 deletions
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11
src/FDM/JSBSim/FGFDMExec.cpp
View file

@ -172,6 +172,7 @@ FGFDMExec::FGFDMExec(FGPropertyManager* root) : Root(root)
typedef int (FGFDMExec::*iPMF)(void) const;
// instance->Tie("simulation/do_trim_analysis", this, (iPMF)0, &FGFDMExec::DoTrimAnalysis);
instance->Tie("simulation/do_simple_trim", this, (iPMF)0, &FGFDMExec::DoTrim);
instance->Tie("simulation/reset", this, (iPMF)0, &FGFDMExec::ResetToInitialConditions);
instance->Tie("simulation/terminate", (int *)&Terminate);
Constructing = false;
}
@ -388,6 +389,16 @@ bool FGFDMExec::RunIC(void)
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//
// A private, internal function call for Tie-ing to a property, so it needs an
// argument. Nothing is done with the argument, yet.
void FGFDMExec::ResetToInitialConditions(int mode)
{
ResetToInitialConditions();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGFDMExec::ResetToInitialConditions(void)

1
src/FDM/JSBSim/FGFDMExec.h
View file

@ -507,6 +507,7 @@ private:
bool ReadFileHeader(Element*);
bool ReadSlave(Element*);
bool ReadPrologue(Element*);
void ResetToInitialConditions(int mode);
bool Allocate(void);
bool DeAllocate(void);

26
src/FDM/JSBSim/FGJSBBase.h
View file

@ -43,6 +43,7 @@ INCLUDES
#include <string>
#include <sstream>
#include <cmath>
#include <cstdlib>
using std::fabs;
using std::string;
@ -334,6 +335,31 @@ protected:
return Property + "[" + tmp + "]";
}
static double GaussianRandomNumber(void)
{
static double V1, V2, S;
static int phase = 0;
double X;
if (phase == 0) {
do {
double U1 = (double)rand() / RAND_MAX;
double U2 = (double)rand() / RAND_MAX;
V1 = 2 * U1 - 1;
V2 = 2 * U2 - 1;
S = V1 * V1 + V2 * V2;
} while(S >= 1 || S == 0);
X = V1 * sqrt(-2 * log(S) / S);
} else
X = V2 * sqrt(-2 * log(S) / S);
phase = 1 - phase;
return X;
}
public:
/// Moments L, M, N
enum {eL = 1, eM, eN };

2
src/FDM/JSBSim/math/FGColumnVector3.cpp
View file

@ -60,7 +60,7 @@ FGColumnVector3::FGColumnVector3(void)
string FGColumnVector3::Dump(string delimeter) const
{
char buffer[256];
sprintf(buffer, "%13.6e%s%13.6e%s%13.6e", Entry(1), delimeter.c_str(), Entry(2), delimeter.c_str(), Entry(3));
sprintf(buffer, "%18.16f%s%18.16f%s%18.16f", Entry(1), delimeter.c_str(), Entry(2), delimeter.c_str(), Entry(3));
return string(buffer);
}

27
src/FDM/JSBSim/math/FGFunction.cpp
View file

@ -330,33 +330,6 @@ string FGFunction::GetValueAsString(void) const
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
double FGFunction::GaussianRandomNumber(void) const
{
static double V1, V2, S;
static int phase = 0;
double X;
if (phase == 0) {
do {
double U1 = (double)rand() / RAND_MAX;
double U2 = (double)rand() / RAND_MAX;
V1 = 2 * U1 - 1;
V2 = 2 * U2 - 1;
S = V1 * V1 + V2 * V2;
} while(S >= 1 || S == 0);
X = V1 * sqrt(-2 * log(S) / S);
} else
X = V2 * sqrt(-2 * log(S) / S);
phase = 1 - phase;
return X;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGFunction::bind(void)
{
if ( !Name.empty() ) {

1
src/FDM/JSBSim/math/FGFunction.h
View file

@ -227,7 +227,6 @@ private:
eExp, eAbs, eSin, eCos, eTan, eASin, eACos, eATan, eATan2,
eMin, eMax, eAvg, eFrac, eInteger, eMod, eRandom} Type;
string Name;
double GaussianRandomNumber(void) const;
void bind(void);
void Debug(int from);
};

12
src/FDM/JSBSim/models/FGAerodynamics.cpp
View file

@ -257,15 +257,15 @@ FGMatrix33& FGAerodynamics::GetTw2b(void)
cb = cos(beta);
sb = sin(beta);
mTw2b(1,1) = ca*cb;
mTw2b(1,1) = ca*cb;
mTw2b(1,2) = -ca*sb;
mTw2b(1,3) = -sa;
mTw2b(2,1) = sb;
mTw2b(2,2) = cb;
mTw2b(2,3) = 0.0;
mTw2b(3,1) = sa*cb;
mTw2b(2,1) = sb;
mTw2b(2,2) = cb;
mTw2b(2,3) = 0.0;
mTw2b(3,1) = sa*cb;
mTw2b(3,2) = -sa*sb;
mTw2b(3,3) = ca;
mTw2b(3,3) = ca;
return mTw2b;
}

12
src/FDM/JSBSim/models/FGAtmosphere.cpp
View file

@ -80,7 +80,8 @@ FGAtmosphere::FGAtmosphere(FGFDMExec* fdmex) : FGModel(fdmex)
htab[7]=278385.0; //ft.
MagnitudedAccelDt = MagnitudeAccel = Magnitude = 0.0;
SetTurbType( ttCulp );
// SetTurbType( ttCulp );
SetTurbType( ttNone );
TurbGain = 0.0;
TurbRate = 1.7;
Rhythmicity = 0.1;
@ -274,6 +275,7 @@ void FGAtmosphere::CalculateDerived(void)
vTotalWindNED = vWindNED + vGustNED + vTurbulenceNED;
// psiw (Wind heading) is the direction the wind is blowing towards
if (vWindNED(eX) != 0.0) psiw = atan2( vWindNED(eY), vWindNED(eX) );
if (psiw < 0) psiw += 2*M_PI;
@ -336,6 +338,8 @@ static inline double square_signed (double value)
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//
// psi is the angle that the wind is blowing *towards*
void FGAtmosphere::SetWindspeed(double speed)
{
@ -357,6 +361,8 @@ double FGAtmosphere::GetWindspeed(void) const
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//
// psi is the angle that the wind is blowing *towards*
void FGAtmosphere::SetWindPsi(double dir)
{
@ -578,7 +584,7 @@ void FGAtmosphere::bind(void)
PropertyManager->Tie("atmosphere/sigma", this, &FGAtmosphere::GetDensityRatio);
PropertyManager->Tie("atmosphere/delta", this, &FGAtmosphere::GetPressureRatio);
PropertyManager->Tie("atmosphere/a-ratio", this, &FGAtmosphere::GetSoundSpeedRatio);
PropertyManager->Tie("atmosphere/psiw-rad", this, &FGAtmosphere::GetWindPsi);
PropertyManager->Tie("atmosphere/psiw-rad", this, &FGAtmosphere::GetWindPsi, &FGAtmosphere::SetWindPsi);
PropertyManager->Tie("atmosphere/delta-T", this, &FGAtmosphere::GetDeltaT, &FGAtmosphere::SetDeltaT);
PropertyManager->Tie("atmosphere/T-sl-dev-F", this, &FGAtmosphere::GetSLTempDev, &FGAtmosphere::SetSLTempDev);
PropertyManager->Tie("atmosphere/density-altitude", this, &FGAtmosphere::GetDensityAltitude);
@ -589,8 +595,6 @@ void FGAtmosphere::bind(void)
(PMFd)&FGAtmosphere::SetWindNED);
PropertyManager->Tie("atmosphere/wind-down-fps", this, eDown, (PMF)&FGAtmosphere::GetWindNED,
(PMFd)&FGAtmosphere::SetWindNED);
PropertyManager->Tie("atmosphere/wind-from-cw", this, &FGAtmosphere::GetWindFromClockwise,
&FGAtmosphere::SetWindFromClockwise);
PropertyManager->Tie("atmosphere/wind-mag-fps", this, &FGAtmosphere::GetWindspeed,
&FGAtmosphere::SetWindspeed);
PropertyManager->Tie("atmosphere/total-wind-north-fps", this, eNorth, (PMF)&FGAtmosphere::GetTotalWindNED);

5
src/FDM/JSBSim/models/FGAtmosphere.h
View file

@ -216,11 +216,6 @@ public:
void SetRhythmicity(double r) {Rhythmicity=r;}
double GetRhythmicity() const {return Rhythmicity;}
/** Sets wind vortex, clockwise as seen from a point in front of aircraft,
looking aft. Units are radians/second. */
void SetWindFromClockwise(double wC) { wind_from_clockwise=wC; }
double GetWindFromClockwise(void) const {return wind_from_clockwise;}
double GetTurbPQR(int idx) const {return vTurbPQR(idx);}
double GetTurbMagnitude(void) const {return Magnitude;}
FGColumnVector3& GetTurbDirection(void) {return vDirection;}

16
src/FDM/JSBSim/models/FGAuxiliary.cpp
View file

@ -170,11 +170,12 @@ bool FGAuxiliary::Run()
vAeroUVW = vUVW;
} else if (GroundReactions->GetWOW() && vUVW(eU) < 30) {
double factor = (vUVW(eU) - 10.0)/20.0;
vAeroPQR = vPQR + factor*Atmosphere->GetTurbPQR();
vAeroUVW = vUVW + factor*Propagate->GetTl2b()*Atmosphere->GetTotalWindNED();
vAeroPQR = vPQR - factor*Atmosphere->GetTurbPQR();
vAeroUVW = vUVW - factor*Propagate->GetTl2b()*Atmosphere->GetTotalWindNED();
} else {
vAeroPQR = vPQR + Atmosphere->GetTurbPQR();
vAeroUVW = vUVW + Propagate->GetTl2b()*Atmosphere->GetTotalWindNED();
FGColumnVector3 wind = Propagate->GetTl2b()*Atmosphere->GetTotalWindNED();
vAeroPQR = vPQR - Atmosphere->GetTurbPQR();
vAeroUVW = vUVW - wind;
}
Vt = vAeroUVW.Magnitude();
@ -289,6 +290,9 @@ bool FGAuxiliary::Run()
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//
// A positive headwind is blowing with you, a negative headwind is blowing against you.
// psi is the direction the wind is blowing *towards*.
double FGAuxiliary::GetHeadWind(void) const
{
@ -301,6 +305,10 @@ double FGAuxiliary::GetHeadWind(void) const
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//
// A positive crosswind is blowing towards the right (from teh perspective of the
// pilot). A negative crosswind is blowing towards the -Y direction (left).
// psi is the direction the wind is blowing *towards*.
double FGAuxiliary::GetCrossWind(void) const
{

67
src/FDM/JSBSim/models/FGFCS.cpp
View file

@ -139,6 +139,46 @@ bool FGFCS::InitModel(void)
DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
}
for (int i=0; i<Systems.size(); i++) {
if (Systems[i]->GetType() == "LAG" ||
Systems[i]->GetType() == "LEAD_LAG" ||
Systems[i]->GetType() == "WASHOUT" ||
Systems[i]->GetType() == "SECOND_ORDER_FILTER" ||
Systems[i]->GetType() == "INTEGRATOR")
{
((FGFilter*)Systems[i])->ResetPastStates();
} else if (Systems[i]->GetType() == "PID" ) {
((FGPID*)Systems[i])->ResetPastStates();
}
}
for (int i=0; i<FCSComponents.size(); i++) {
if (FCSComponents[i]->GetType() == "LAG" ||
FCSComponents[i]->GetType() == "LEAD_LAG" ||
FCSComponents[i]->GetType() == "WASHOUT" ||
FCSComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
FCSComponents[i]->GetType() == "INTEGRATOR")
{
((FGFilter*)FCSComponents[i])->ResetPastStates();
} else if (FCSComponents[i]->GetType() == "PID" ) {
((FGPID*)FCSComponents[i])->ResetPastStates();
}
}
for (int i=0; i<APComponents.size(); i++) {
if (APComponents[i]->GetType() == "LAG" ||
APComponents[i]->GetType() == "LEAD_LAG" ||
APComponents[i]->GetType() == "WASHOUT" ||
APComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
APComponents[i]->GetType() == "INTEGRATOR")
{
((FGFilter*)APComponents[i])->ResetPastStates();
} else if (APComponents[i]->GetType() == "PID" ) {
((FGPID*)APComponents[i])->ResetPastStates();
}
}
return true;
}
@ -541,13 +581,18 @@ bool FGFCS::Load(Element* el, SystemType systype)
property_element = document->FindElement("property");
if (property_element) cout << endl << " Declared properties" << endl << endl;
while (property_element) {
double value=0.0;
if ( ! property_element->GetAttributeValue("value").empty())
value = property_element->GetAttributeValueAsNumber("value");
interface_properties.push_back(new double(value));
interface_property_string = property_element->GetDataLine();
PropertyManager->Tie(interface_property_string, interface_properties.back());
cout << " " << interface_property_string << " (initial value: " << value << ")" << endl;
if (PropertyManager->HasNode(interface_property_string)) {
cout << " Property " << interface_property_string << " is already defined." << endl;
} else {
double value=0.0;
if ( ! property_element->GetAttributeValue("value").empty())
value = property_element->GetAttributeValueAsNumber("value");
interface_properties.push_back(new double(value));
interface_property_string = property_element->GetDataLine();
PropertyManager->Tie(interface_property_string, interface_properties.back());
cout << " " << interface_property_string << " (initial value: " << value << ")" << endl;
}
property_element = document->FindNextElement("property");
}
@ -558,27 +603,25 @@ bool FGFCS::Load(Element* el, SystemType systype)
if (!fname.empty()) {
property_element = el->FindElement("property");
if (property_element && debug_lvl > 0) cout << endl << " Declared properties" << endl << endl;
if (property_element && debug_lvl > 0) cout << endl << " Overriding properties" << endl << endl;
while (property_element) {
double value=0.0;
if ( ! property_element->GetAttributeValue("value").empty())
value = property_element->GetAttributeValueAsNumber("value");
interface_property_string = property_element->GetDataLine();
FGPropertyManager* node = PropertyManager->GetNode(interface_property_string);
if (node) {
if (PropertyManager->HasNode(interface_property_string)) {
FGPropertyManager* node = PropertyManager->GetNode(interface_property_string);
cout << " " << "Overriding value for property " << interface_property_string
<< " (old value: " << node->getDoubleValue() << " new value: " << value << ")" << endl;
node->setDoubleValue(value);
} else {
interface_properties.push_back(new double(value));
PropertyManager->Tie(interface_property_string, interface_properties.back());
if (debug_lvl > 0)
if (debug_lvl > 0)
cout << " " << interface_property_string << " (initial value: " << value << ")" << endl;
}
property_element = el->FindNextElement("property");
}
}

109
src/FDM/JSBSim/models/FGLGear.cpp
View file

@ -246,86 +246,18 @@ FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number) :
SinWheel = 0.0;
CosWheel = 0.0;
// Set Pacejka terms
Stiffness = 0.06;
Shape = 2.8;
Peak = staticFCoeff;
Curvature = 1.03;
Debug(0);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FGLGear::FGLGear(const FGLGear& lgear)
{
GearNumber = lgear.GearNumber;
State = lgear.State;
Aircraft = lgear.Aircraft;
Propagate = lgear.Propagate;
Auxiliary = lgear.Auxiliary;
Exec = lgear.Exec;
FCS = lgear.FCS;
MassBalance = lgear.MassBalance;
vXYZ = lgear.vXYZ;
vMoment = lgear.vMoment;
vWhlBodyVec = lgear.vWhlBodyVec;
vLocalGear = lgear.vLocalGear;
WOW = lgear.WOW;
lastWOW = lgear.lastWOW;
ReportEnable = lgear.ReportEnable;
FirstContact = lgear.FirstContact;
StartedGroundRun = lgear.StartedGroundRun;
LandingDistanceTraveled = lgear.LandingDistanceTraveled;
TakeoffDistanceTraveled = lgear.TakeoffDistanceTraveled;
TakeoffDistanceTraveled50ft = lgear.TakeoffDistanceTraveled50ft;
MaximumStrutForce = lgear.MaximumStrutForce;
MaximumStrutTravel = lgear.MaximumStrutTravel;
SideForce = lgear.SideForce;
RollingForce = lgear.RollingForce;
kSpring = lgear.kSpring;
bDamp = lgear.bDamp;
bDampRebound = lgear.bDampRebound;
compressLength = lgear.compressLength;
compressSpeed = lgear.compressSpeed;
staticFCoeff = lgear.staticFCoeff;
dynamicFCoeff = lgear.dynamicFCoeff;
rollingFCoeff = lgear.rollingFCoeff;
brakePct = lgear.brakePct;
maxCompLen = lgear.maxCompLen;
SinkRate = lgear.SinkRate;
GroundSpeed = lgear.GroundSpeed;
LandingReported = lgear.LandingReported;
TakeoffReported = lgear.TakeoffReported;
name = lgear.name;
sSteerType = lgear.sSteerType;
sRetractable = lgear.sRetractable;
sContactType = lgear.sContactType;
eContactType = lgear.eContactType;
sBrakeGroup = lgear.sBrakeGroup;
eSteerType = lgear.eSteerType;
eBrakeGrp = lgear.eBrakeGrp;
maxSteerAngle = lgear.maxSteerAngle;
isRetractable = lgear.isRetractable;
GearUp = lgear.GearUp;
GearDown = lgear.GearDown;
GearPos = lgear.GearPos;
useFCSGearPos = lgear.useFCSGearPos;
WheelSlip = lgear.WheelSlip;
TirePressureNorm = lgear.TirePressureNorm;
Servicable = lgear.Servicable;
ForceY_Table = lgear.ForceY_Table;
CosWheel = lgear.CosWheel;
SinWheel = lgear.SinWheel;
RFRV = lgear.RFRV;
SFRV = lgear.SFRV;
LongForceLagFilterCoeff = lgear.LongForceLagFilterCoeff;
LatForceLagFilterCoeff = lgear.LatForceLagFilterCoeff;
WheelSlipLagFilterCoeff = lgear.WheelSlipLagFilterCoeff;
WheelSlipFilter = lgear.WheelSlipFilter;
LongForceFilter = lgear.LongForceFilter;
LatForceFilter = lgear.LatForceFilter;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FGLGear::~FGLGear()
{
Debug(1);
@ -624,27 +556,22 @@ void FGLGear::ComputeBrakeForceCoefficient(void)
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Compute the sideforce coefficients using similar assumptions to LaRCSim for now.
// Allow a maximum of 10 degrees tire slip angle before wheel slides. At that point,
// transition from static to dynamic friction. There are more complicated formulations
// of this that avoid the discrete jump (similar to Pacejka). Will fix this later.
// Compute the sideforce coefficients using Pacejka's Magic Formula.
//
// y(x) = D sin {C arctan [Bx - E(Bx - arctan Bx)]}
//
// Where: B = Stiffness Factor (0.06, here)
// C = Shape Factor (2.8, here)
// D = Peak Factor (0.8, here)
// E = Curvature Factor (1.03, here)
void FGLGear::ComputeSideForceCoefficient(void)
{
if (ForceY_Table) {
FCoeff = ForceY_Table->GetValue(WheelSlip);
} else {
if (fabs(WheelSlip) <= 10.0) {
FCoeff = staticFCoeff*WheelSlip/10.0;
} else if (fabs(WheelSlip) <= 40.0) {
FCoeff = (dynamicFCoeff*(fabs(WheelSlip) - 10.0)/10.0
+ staticFCoeff*(40.0 - fabs(WheelSlip))/10.0)*(WheelSlip>=0?1.0:-1.0);
} else {
FCoeff = dynamicFCoeff*(WheelSlip>=0?1.0:-1.0);
}
double StiffSlip = Stiffness*WheelSlip;
FCoeff = Peak * sin(Shape*atan(StiffSlip - Curvature*(StiffSlip - atan(StiffSlip))));
}
}
@ -713,6 +640,8 @@ void FGLGear::bind(void)
&FGLGear::GetZPosition, &FGLGear::SetZPosition);
property_name = base_property_name + "/compression-ft";
Exec->GetPropertyManager()->Tie( property_name.c_str(), &compressLength );
property_name = base_property_name + "/side_friction_coeff";
Exec->GetPropertyManager()->Tie( property_name.c_str(), &FCoeff );
}
if( isRetractable ) {

4
src/FDM/JSBSim/models/FGLGear.h
View file

@ -218,9 +218,6 @@ public:
@param number integer identifier for this instance of FGLGear
*/
FGLGear(Element* el, FGFDMExec* Executive, int number);
/** Constructor
@param lgear a reference to an existing FGLGear object */
FGLGear(const FGLGear& lgear);
/// Destructor
~FGLGear();
@ -313,6 +310,7 @@ private:
double compressLength;
double compressSpeed;
double staticFCoeff, dynamicFCoeff, rollingFCoeff;
double Stiffness, Shape, Peak, Curvature; // Pacejka factors
double brakePct;
double BrakeFCoeff;
double maxCompLen;

31
src/FDM/JSBSim/models/FGOutput.cpp
View file

@ -46,6 +46,8 @@ INCLUDES
#include "FGFCS.h"
#include "FGAerodynamics.h"
#include "FGGroundReactions.h"
#include "FGExternalReactions.h"
#include "FGBuoyantForces.h"
#include "FGAircraft.h"
#include "FGMassBalance.h"
#include "FGPropagate.h"
@ -258,11 +260,21 @@ void FGOutput::DelimitedOutput(string fname)
outstream << delimeter;
outstream << "F_{Drag} (lbs)" + delimeter + "F_{Side} (lbs)" + delimeter + "F_{Lift} (lbs)" + delimeter;
outstream << "L/D" + delimeter;
outstream << "F_X (lbs)" + delimeter + "F_Y (lbs)" + delimeter + "F_Z (lbs)";
outstream << "F_{Aero x} (lbs)" + delimeter + "F_{Aero y} (lbs)" + delimeter + "F_{Aero z} (lbs)" + delimeter;
outstream << "F_{Prop x} (lbs)" + delimeter + "F_{Prop y} (lbs)" + delimeter + "F_{Prop z} (lbs)" + delimeter;
outstream << "F_{Gear x} (lbs)" + delimeter + "F_{Gear y} (lbs)" + delimeter + "F_{Gear z} (lbs)" + delimeter;
outstream << "F_{Ext x} (lbs)" + delimeter + "F_{Ext y} (lbs)" + delimeter + "F_{Ext z} (lbs)" + delimeter;
outstream << "F_{Buoyant x} (lbs)" + delimeter + "F_{Buoyant y} (lbs)" + delimeter + "F_{Buoyant z} (lbs)" + delimeter;
outstream << "F_{Total x} (lbs)" + delimeter + "F_{Total y} (lbs)" + delimeter + "F_{Total z} (lbs)";
}
if (SubSystems & ssMoments) {
outstream << delimeter;
outstream << "L (ft-lbs)" + delimeter + "M (ft-lbs)" + delimeter + "N (ft-lbs)";
outstream << "L_{Aero} (ft-lbs)" + delimeter + "M_{Aero} ( ft-lbs)" + delimeter + "N_{Aero} (ft-lbs)" + delimeter;
outstream << "L_{Prop} (ft-lbs)" + delimeter + "M_{Prop} (ft-lbs)" + delimeter + "N_{Prop} (ft-lbs)" + delimeter;
outstream << "L_{Gear} (ft-lbs)" + delimeter + "M_{Gear} (ft-lbs)" + delimeter + "N_{Gear} (ft-lbs)" + delimeter;
outstream << "L_{ext} (ft-lbs)" + delimeter + "M_{ext} (ft-lbs)" + delimeter + "N_{ext} (ft-lbs)" + delimeter;
outstream << "L_{Buoyant} (ft-lbs)" + delimeter + "M_{Buoyant} (ft-lbs)" + delimeter + "N_{Buoyant} (ft-lbs)" + delimeter;
outstream << "L_{Total} (ft-lbs)" + delimeter + "M_{Total} (ft-lbs)" + delimeter + "N_{Total} (ft-lbs)";
}
if (SubSystems & ssAtmosphere) {
outstream << delimeter;
@ -358,15 +370,26 @@ void FGOutput::DelimitedOutput(string fname)
outstream << setprecision(12) << Propagate->GetUVW().Dump(delimeter) << delimeter;
outstream << Auxiliary->GetAeroUVW().Dump(delimeter) << delimeter;
outstream << Propagate->GetVel().Dump(delimeter);
outstream.precision(10);
}
if (SubSystems & ssForces) {
outstream << delimeter;
outstream << Aerodynamics->GetvFw() << delimeter;
outstream << Aerodynamics->GetLoD() << delimeter;
outstream << Aerodynamics->GetForces() << delimeter;
outstream << Propulsion->GetForces() << delimeter;
outstream << GroundReactions->GetForces() << delimeter;
outstream << ExternalReactions->GetForces() << delimeter;
outstream << BuoyantForces->GetForces() << delimeter;
outstream << Aircraft->GetForces().Dump(delimeter);
}
if (SubSystems & ssMoments) {
outstream << delimeter;
outstream << Aerodynamics->GetMoments() << delimeter;
outstream << Propulsion->GetMoments() << delimeter;
outstream << GroundReactions->GetMoments() << delimeter;
outstream << ExternalReactions->GetMoments() << delimeter;
outstream << BuoyantForces->GetMoments() << delimeter;
outstream << Aircraft->GetMoments().Dump(delimeter);
}
if (SubSystems & ssAtmosphere) {
@ -388,6 +411,7 @@ void FGOutput::DelimitedOutput(string fname)
outstream << MassBalance->GetXYZcg();
}
if (SubSystems & ssPropagate) {
outstream.precision(14);
outstream << delimeter;
outstream << Propagate->Geth() << delimeter;
outstream << (radtodeg*Propagate->GetEuler()).Dump(delimeter) << delimeter;
@ -395,10 +419,13 @@ void FGOutput::DelimitedOutput(string fname)
outstream << Auxiliary->Getbeta(inDegrees) << delimeter;
outstream << Propagate->GetLocation().GetLatitudeDeg() << delimeter;
outstream << Propagate->GetLocation().GetLongitudeDeg() << delimeter;
outstream.precision(18);
outstream << ((FGColumnVector3)Propagate->GetLocation()).Dump(delimeter) << delimeter;
outstream.precision(14);
outstream << Inertial->GetEarthPositionAngleDeg() << delimeter;
outstream << Propagate->GetDistanceAGL() << delimeter;
outstream << Propagate->GetRunwayRadius();
outstream.precision(10);
}
if (SubSystems & ssCoefficients) {
scratch = Aerodynamics->GetCoefficientValues(delimeter);

16
src/FDM/JSBSim/models/FGPropagate.cpp
View file

@ -82,6 +82,10 @@ FGPropagate::FGPropagate(FGFDMExec* fdmex) : FGModel(fdmex)
last_vPQRdot.InitMatrix();
vPQRdot.InitMatrix();
last2_vQtrndot = FGQuaternion(0,0,0);
last_vQtrndot = FGQuaternion(0,0,0);
vQtrndot = FGQuaternion(0,0,0);
last2_vUVWdot.InitMatrix();
last_vUVWdot.InitMatrix();
vUVWdot.InitMatrix();
@ -93,8 +97,8 @@ FGPropagate::FGPropagate(FGFDMExec* fdmex) : FGModel(fdmex)
vOmegaLocal.InitMatrix();
integrator_rotational_rate = eAdamsBashforth2;
integrator_translational_rate = eAdamsBashforth2;
integrator_rotational_position = eTrapezoidal;
integrator_translational_rate = eTrapezoidal;
integrator_rotational_position = eAdamsBashforth2;
integrator_translational_position = eTrapezoidal;
bind();
@ -125,6 +129,10 @@ bool FGPropagate::InitModel(void)
last_vPQRdot.InitMatrix();
vPQRdot.InitMatrix();
last2_vQtrndot = FGQuaternion(0,0,0);
last_vQtrndot = FGQuaternion(0,0,0);
vQtrndot = FGQuaternion(0,0,0);
last2_vUVWdot.InitMatrix();
last_vUVWdot.InitMatrix();
vUVWdot.InitMatrix();
@ -136,8 +144,8 @@ bool FGPropagate::InitModel(void)
vOmegaLocal.InitMatrix();
integrator_rotational_rate = eAdamsBashforth2;
integrator_translational_rate = eAdamsBashforth2;
integrator_rotational_position = eTrapezoidal;
integrator_translational_rate = eTrapezoidal;
integrator_rotational_position = eAdamsBashforth2;
integrator_translational_position = eTrapezoidal;
return true;

5
src/FDM/JSBSim/models/flight_control/FGActuator.cpp
View file

@ -194,7 +194,10 @@ void FGActuator::Deadband(void)
void FGActuator::bind(void)
{
string tmp = "fcs/" + PropertyManager->mkPropertyName(Name, true);
string tmp = Name;
if (Name.find("/") == string::npos) {
tmp = "fcs/" + PropertyManager->mkPropertyName(Name, true);
}
const string tmp_zero = tmp + "/malfunction/fail_zero";
const string tmp_hardover = tmp + "/malfunction/fail_hardover";
const string tmp_stuck = tmp + "/malfunction/fail_stuck";

3
src/FDM/JSBSim/models/flight_control/FGFilter.h
View file

@ -244,7 +244,8 @@ public:
/** When true, causes previous values to be set to current values. This
is particularly useful for first pass. */
bool Initialize;
void ResetPastStates(void) {Input = 0.0; Initialize = true;}
enum {eLag, eLeadLag, eOrder2, eWashout, eIntegrator, eUnknown} FilterType;
private:

1
src/FDM/JSBSim/models/flight_control/FGPID.h
View file

@ -102,6 +102,7 @@ public:
~FGPID();
bool Run (void);
void ResetPastStates(void) {Input_prev = Input_prev2 = Output = I_out_total = 0.0;}
private:
double dt;

5
src/FDM/JSBSim/models/flight_control/FGSensor.cpp
View file

@ -206,7 +206,10 @@ void FGSensor::Lag(void)
void FGSensor::bind(void)
{
string tmp = "fcs/" + PropertyManager->mkPropertyName(Name, true);
string tmp = Name;
if (Name.find("/") == string::npos) {
tmp = "fcs/" + PropertyManager->mkPropertyName(Name, true);
}
const string tmp_low = tmp + "/malfunction/fail_low";
const string tmp_high = tmp + "/malfunction/fail_high";
const string tmp_stuck = tmp + "/malfunction/fail_stuck";

3
src/FDM/JSBSim/models/flight_control/FGSwitch.cpp
View file

@ -109,7 +109,8 @@ FGSwitch::FGSwitch(FGFCS* fcs, Element* element) : FGFCSComponent(fcs, element)
tests.push_back(current_test);
}
if (test_element->GetName() != "output") { // this is not an output element
if (test_element->GetName() != "output"
&& test_element->GetName() != "description") { // this is not an output element
value = test_element->GetAttributeValue("value");
if (value.empty()) {
cerr << "No VALUE supplied for switch component: " << Name << endl;

12
src/FDM/JSBSim/models/propulsion/FGPiston.cpp
View file

@ -222,11 +222,13 @@ FGPiston::FGPiston(FGFDMExec* exec, Element* el, int engine_number)
string property_name, base_property_name;
base_property_name = CreateIndexedPropertyName("propulsion/engine", EngineNumber);
property_name = base_property_name + "/power-hp";
PropertyManager->Tie(property_name.c_str(), &HP);
PropertyManager->Tie(property_name, &HP);
property_name = base_property_name + "/bsfc-lbs_hphr";
PropertyManager->Tie(property_name.c_str(), &BSFC);
PropertyManager->Tie(property_name, &BSFC);
property_name = base_property_name + "/volumetric-efficiency";
PropertyManager->Tie(property_name.c_str(), &volumetric_efficiency);
PropertyManager->Tie(property_name, &volumetric_efficiency);
property_name = base_property_name + "/map-inhg";
PropertyManager->Tie(property_name, &ManifoldPressure_inHg);
minMAP = MinManifoldPressure_inHg * inhgtopa; // inHg to Pa
maxMAP = MaxManifoldPressure_inHg * inhgtopa;
StarterHP = sqrt(MaxHP) * 0.4;
@ -607,9 +609,6 @@ void FGPiston::doFuelFlow(void)
void FGPiston::doEnginePower(void)
{
if (Running) {
double T_amb_degF = KelvinToFahrenheit(T_amb);
double T_amb_sea_lev_degF = KelvinToFahrenheit(288);
// FIXME: this needs to be generalized
double ME, friction, percent_RPM, power; // Convienience term for use in the calculations
ME = Mixture_Efficiency_Correlation->GetValue(m_dot_fuel/m_dot_air);
@ -729,7 +728,6 @@ void FGPiston::doCHT(void)
void FGPiston::doOilTemperature(void)
{
double idle_percentage_power = 0.023; // approximately
double target_oil_temp; // Steady state oil temp at the current engine conditions
double time_constant; // The time constant for the differential equation
double efficiency = 0.667; // The aproximate oil cooling system efficiency // FIXME: may vary by engine

9
src/FDM/JSBSim/models/propulsion/FGTurbine.cpp
View file

@ -68,6 +68,7 @@ FGTurbine::FGTurbine(FGFDMExec* exec, Element *el, int engine_number)
Augmented = AugMethod = Injected = 0;
BypassRatio = BleedDemand = 0.0;
IdleThrustLookup = MilThrustLookup = MaxThrustLookup = InjectionLookup = 0;
N1_spinup = 1.0; N2_spinup = 3.0;
ResetToIC();
@ -255,8 +256,8 @@ double FGTurbine::SpinUp(void)
{
Running = false;
FuelFlow_pph = 0.0;
N2 = Seek(&N2, 25.18, 3.0, N2/2.0);
N1 = Seek(&N1, 5.21, 1.0, N1/2.0);
N2 = Seek(&N2, 25.18, N2_spinup, N2/2.0);
N1 = Seek(&N1, 5.21, N1_spinup, N1/2.0);
EGT_degC = Seek(&EGT_degC, TAT, 11.7, 7.3);
OilPressure_psi = N2 * 0.62;
OilTemp_degK = Seek(&OilTemp_degK, TAT + 273.0, 0.2, 0.2);
@ -419,6 +420,10 @@ bool FGTurbine::Load(FGFDMExec* exec, Element *el)
MaxN1 = el->FindElementValueAsNumber("maxn1");
if (el->FindElement("maxn2"))
MaxN2 = el->FindElementValueAsNumber("maxn2");
if (el->FindElement("n1spinup"))
N1_spinup = el->FindElementValueAsNumber("n1spinup");
if (el->FindElement("n2spinup"))
N2_spinup = el->FindElementValueAsNumber("n2spinup");
if (el->FindElement("augmented"))
Augmented = (int)el->FindElementValueAsNumber("augmented");
if (el->FindElement("augmethod"))

2
src/FDM/JSBSim/models/propulsion/FGTurbine.h
View file

@ -234,6 +234,8 @@ private:
double ThrottlePos; ///< FCS-supplied throttle position
double AugmentCmd; ///< modulated afterburner command (0.0 to 1.0)
double TAT; ///< total air temperature (deg C)
double N1_spinup; ///< N1 spin up rate from starter (per second)
double N2_spinup; ///< N2 spin up rate from starter (per second)
bool Stalled; ///< true if engine is compressor-stalled
bool Seized; ///< true if inner spool is seized
bool Overtemp; ///< true if EGT exceeds limits