Sync. w. JSBSim
This commit is contained in:
ehofman
parent
619226e9d0
commit
31e3caa4f6
5 changed files with 133 additions and 86 deletions
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@ -451,6 +451,12 @@ bool FGFDMExec::LoadModel(string model, bool addModelToPath)
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Element* document;
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ifstream input_file(aircraftCfgFileName.c_str());
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if (!input_file.is_open()) { // file open failed
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cerr << "Could not open file " << aircraftCfgFileName.c_str() << endl;
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return false;
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}
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readXML(input_file, *XMLParse);
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document = XMLParse->GetDocument();
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@ -70,16 +70,72 @@ CLASS DOCUMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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/** Encapsulates the JSBSim simulation executive.
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This class is the interface class through which all other simulation classes
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This class is the executive class through which all other simulation classes
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are instantiated, initialized, and run. When integrated with FlightGear (or
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other flight simulator) this class is typically instantiated by an interface
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class on the simulator side.
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When an aircraft model is loaded the config file is parsed and for each of the
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sections of the config file (propulsion, flight control, etc.) the
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corresponding Load() method is called (e.g. LoadFCS).
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At the time of simulation initialization, the interface
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class creates an instance of this executive class. The
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executive is subsequently directed to load the chosen aircraft specification
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file:
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<h4>JSBSim Debugging Directives</h4>
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@code
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fdmex = new FGFDMExec( … );
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result = fdmex->LoadModel( … );
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@endcode
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When an aircraft model is loaded, the config file is parsed and for each of the
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sections of the config file (propulsion, flight control, etc.) the
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corresponding Load() method is called (e.g. FGFCS::Load()).
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Subsequent to the creation of the executive and loading of the model,
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initialization is performed. Initialization involves copying control inputs
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into the appropriate JSBSim data storage locations, configuring it for the set
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of user supplied initial conditions, and then copying state variables from
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JSBSim. The state variables are used to drive the instrument displays and to
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place the vehicle model in world space for visual rendering:
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@code
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copy_to_JSBsim(); // copy control inputs to JSBSim
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fdmex->RunIC(); // loop JSBSim once w/o integrating
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copy_from_JSBsim(); // update the bus
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@endcode
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Once initialization is complete, cyclic execution proceeds:
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@code
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copy_to_JSBsim(); // copy control inputs to JSBSim
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fdmex->Run(); // execute JSBSim
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copy_from_JSBsim(); // update the bus
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@endcode
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JSBSim can be used in a standalone mode by creating a compact stub program
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that effectively performs the same progression of steps as outlined above for
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the integrated version, but with two exceptions. First, the copy_to_JSBSim()
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and copy_from_JSBSim() functions are not used because the control inputs are
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handled directly by the scripting facilities and outputs are handled by the
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output (data logging) class. Second, the name of a script file can be supplied
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to the stub program. Scripting (see FGScript) provides a way to supply command
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inputs to the simulation:
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@code
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FDMExec = new JSBSim::FGFDMExec();
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Script = new JSBSim::FGScript( … );
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Script->LoadScript( ScriptName ); // the script loads the aircraft and ICs
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result = FDMExec->Run();
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while (result) { // cyclic execution
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if (Scripted) if (!Script->RunScript()) break; // execute script
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result = FDMExec->Run(); // execute JSBSim
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}
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@endcode
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The standalone mode has been useful for verifying changes before committing
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updates to the source code repository. It is also useful for running sets of
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tests that reveal some aspects of simulated aircraft performance, such as
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range, time-to-climb, takeoff distance, etc.
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<h3>JSBSim Debugging Directives</h3>
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This describes to any interested entity the debug level
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requested by setting the JSBSIM_DEBUG environment variable.
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@ -101,8 +157,14 @@ CLASS DOCUMENTATION
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- <b>16</b>: When set various parameters are sanity checked and
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a message is printed out when they go out of bounds
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<h3>Properties</h3>
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@property simulator/do_trim Can be set to the integer equivalent to one of
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tLongitudinal (0), tFull (1), tGround (2), tPullup (3),
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tCustom (4), tTurn (5). Setting this to a legal value
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(such as by a script) causes a trim to be performed.
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@author Jon S. Berndt
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@version $Id$
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@version $Revision$
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*/
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -124,13 +186,14 @@ public:
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FGFDMExec::Run() method must be made before the model is executed. A
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value of 1 means that the model will be executed for each call to the
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exec's Run() method. A value of 5 means that the model will only be
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executed every 5th call to the exec's Run() method.
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executed every 5th call to the exec's Run() method. Use of a rate other than
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one is at this time not recommended.
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@param model A pointer to the model being scheduled.
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@param rate The rate at which to execute the model as described above.
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@return Currently returns 0 always. */
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int Schedule(FGModel* model, int rate);
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/** This executes each scheduled model in succession.
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/** This function executes each scheduled model in succession.
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@return true if successful, false if sim should be ended */
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bool Run(void);
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@ -144,7 +207,7 @@ public:
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void SetGroundCallback(FGGroundCallback* gc);
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/** Loads an aircraft model.
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@param AircraftPath path to the aircraft directory. For instance:
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@param AircraftPath path to the aircraft/ directory. For instance:
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"aircraft". Under aircraft, then, would be directories for various
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modeled aircraft such as C172/, x15/, etc.
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@param EnginePath path to the directory under which engine config
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@ -155,7 +218,7 @@ public:
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instance: "aircraft/x15/x15.xml"
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@param addModelToPath set to true to add the model name to the
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AircraftPath, defaults to true
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@return true if successful*/
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@return true if successful */
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bool LoadModel(string AircraftPath, string EnginePath, string model,
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bool addModelToPath = true);
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@ -239,8 +302,7 @@ public:
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* - tPullup
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* - tCustom
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* - tTurn
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* - tNone
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*/
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* - tNone */
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void DoTrim(int mode);
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/// Disables data logging to all outputs.
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@ -269,7 +331,7 @@ public:
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/** Retrieves property or properties matching the supplied string.
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* A string is returned that contains a carriage return delimited list of all
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* strings in the property catalog that matches the supplied chack string.
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* strings in the property catalog that matches the supplied check string.
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* @param check The string to search for in the property catalog.
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* @return the carriage-return-delimited string containing all matching strings
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* in the catalog. */
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@ -279,7 +341,7 @@ public:
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void UseAtmosphereMSIS(void);
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/// Use the Mars atmosphere model. (Not operative yet.)
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void UseAtmosphereMars(void);
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void UseAtmosphereMars(void);
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private:
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FGModel* FirstModel;
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@ -95,21 +95,18 @@ void FGXMLParse::startElement (const char * name, const XMLAttributes &atts)
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void FGXMLParse::endElement (const char * name)
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{
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int size, pos;
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string local_work_string;
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while (!working_string.empty()) {
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// clear leading newlines and spaces
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while (working_string[0] == '\n' || working_string[0] == ' ')
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working_string.erase(0,1);
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// clear leading newlines and spaces
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string::size_type pos = working_string.find_first_not_of( " \n");
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if (pos > 0)
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working_string.erase(0, pos);
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// remove spaces (only) from end of string
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size = working_string.size();
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while (working_string[size-1] == ' ')
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{
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working_string.erase(size-1,1);
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size = working_string.size();
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}
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pos = working_string.find_last_not_of( " ");
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if (pos != string::npos)
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working_string.erase( ++pos);
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if (!working_string.empty()) {
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pos = working_string.find("\n");
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@ -138,7 +138,7 @@ bool FGAtmosphere::Run(void)
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CalculateDerived();
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} else {
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CalculateDerived();
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}
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}
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Debug(2);
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return false;
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@ -228,8 +228,8 @@ void FGAtmosphere::Calculate(double altitude)
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// If delta_T is set, then that is our temperature deviation at any altitude.
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// If not, then we'll estimate a deviation based on the sea level deviation (if set).
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if(!StandardTempOnly) {
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T_dev = 0.0;
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if(!StandardTempOnly) {
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T_dev = 0.0;
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if (delta_T != 0.0) {
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T_dev = delta_T;
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} else {
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@ -238,7 +238,7 @@ void FGAtmosphere::Calculate(double altitude)
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}
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}
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reftemp+=T_dev;
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}
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}
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if (slope == 0) {
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intTemperature = reftemp;
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@ -458,44 +458,26 @@ void FGAtmosphere::UseInternal(void)
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void FGAtmosphere::bind(void)
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{
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typedef double (FGAtmosphere::*PMF)(int) const;
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PropertyManager->Tie("atmosphere/T-R", this,
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&FGAtmosphere::GetTemperature);
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PropertyManager->Tie("atmosphere/rho-slugs_ft3", this,
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&FGAtmosphere::GetDensity);
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// PropertyManager->Tie("atmosphere/P-psf", this,
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// &FGAtmosphere::GetPressure);
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PropertyManager->Tie("atmosphere/a-fps", this,
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&FGAtmosphere::GetSoundSpeed);
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PropertyManager->Tie("atmosphere/T-sl-R", this,
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&FGAtmosphere::GetTemperatureSL);
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PropertyManager->Tie("atmosphere/rho-sl-slugs_ft3", this,
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&FGAtmosphere::GetDensitySL);
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PropertyManager->Tie("atmosphere/P-sl-psf", this,
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&FGAtmosphere::GetPressureSL);
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PropertyManager->Tie("atmosphere/a-sl-fps", this,
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&FGAtmosphere::GetSoundSpeedSL);
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PropertyManager->Tie("atmosphere/theta", this,
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&FGAtmosphere::GetTemperatureRatio);
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PropertyManager->Tie("atmosphere/sigma", this,
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&FGAtmosphere::GetDensityRatio);
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PropertyManager->Tie("atmosphere/delta", this,
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&FGAtmosphere::GetPressureRatio);
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PropertyManager->Tie("atmosphere/a-ratio", this,
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&FGAtmosphere::GetSoundSpeedRatio);
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PropertyManager->Tie("atmosphere/psiw-rad", this,
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&FGAtmosphere::GetWindPsi);
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PropertyManager->Tie("atmosphere/delta-T", this,
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&FGAtmosphere::GetDeltaT, &FGAtmosphere::SetDeltaT);
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PropertyManager->Tie("atmosphere/T-sl-dev-F", this,
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&FGAtmosphere::GetSLTempDev, &FGAtmosphere::SetSLTempDev);
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PropertyManager->Tie("atmosphere/density-altitude", this,
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&FGAtmosphere::GetDensityAltitude);
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PropertyManager->Tie("atmosphere/p-turb-rad_sec", this,1,
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(PMF)&FGAtmosphere::GetTurbPQR);
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PropertyManager->Tie("atmosphere/q-turb-rad_sec", this,2,
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(PMF)&FGAtmosphere::GetTurbPQR);
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PropertyManager->Tie("atmosphere/r-turb-rad_sec", this,3,
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(PMF)&FGAtmosphere::GetTurbPQR);
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typedef double (FGAtmosphere::*PMFv)(void) const;
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PropertyManager->Tie("atmosphere/T-R", this, (PMFv)&FGAtmosphere::GetTemperature);
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PropertyManager->Tie("atmosphere/rho-slugs_ft3", this, (PMFv)&FGAtmosphere::GetDensity);
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PropertyManager->Tie("atmosphere/P-psf", this, (PMFv)&FGAtmosphere::GetPressure);
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PropertyManager->Tie("atmosphere/a-fps", this, &FGAtmosphere::GetSoundSpeed);
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PropertyManager->Tie("atmosphere/T-sl-R", this, &FGAtmosphere::GetTemperatureSL);
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PropertyManager->Tie("atmosphere/rho-sl-slugs_ft3", this, &FGAtmosphere::GetDensitySL);
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PropertyManager->Tie("atmosphere/P-sl-psf", this, &FGAtmosphere::GetPressureSL);
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PropertyManager->Tie("atmosphere/a-sl-fps", this, &FGAtmosphere::GetSoundSpeedSL);
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PropertyManager->Tie("atmosphere/theta", this, &FGAtmosphere::GetTemperatureRatio);
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PropertyManager->Tie("atmosphere/sigma", this, &FGAtmosphere::GetDensityRatio);
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PropertyManager->Tie("atmosphere/delta", this, &FGAtmosphere::GetPressureRatio);
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PropertyManager->Tie("atmosphere/a-ratio", this, &FGAtmosphere::GetSoundSpeedRatio);
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PropertyManager->Tie("atmosphere/psiw-rad", this, &FGAtmosphere::GetWindPsi);
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PropertyManager->Tie("atmosphere/delta-T", this, &FGAtmosphere::GetDeltaT, &FGAtmosphere::SetDeltaT);
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PropertyManager->Tie("atmosphere/T-sl-dev-F", this, &FGAtmosphere::GetSLTempDev, &FGAtmosphere::SetSLTempDev);
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PropertyManager->Tie("atmosphere/density-altitude", this, &FGAtmosphere::GetDensityAltitude);
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PropertyManager->Tie("atmosphere/p-turb-rad_sec", this,1, (PMF)&FGAtmosphere::GetTurbPQR);
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PropertyManager->Tie("atmosphere/q-turb-rad_sec", this,2, (PMF)&FGAtmosphere::GetTurbPQR);
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PropertyManager->Tie("atmosphere/r-turb-rad_sec", this,3, (PMF)&FGAtmosphere::GetTurbPQR);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -504,7 +486,7 @@ void FGAtmosphere::unbind(void)
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{
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PropertyManager->Untie("atmosphere/T-R");
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PropertyManager->Untie("atmosphere/rho-slugs_ft3");
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// PropertyManager->Untie("atmosphere/P-psf");
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PropertyManager->Untie("atmosphere/P-psf");
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PropertyManager->Untie("atmosphere/a-fps");
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PropertyManager->Untie("atmosphere/T-sl-R");
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PropertyManager->Untie("atmosphere/rho-sl-slugs_ft3");
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@ -1,36 +1,36 @@
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Header: FGAtmosphere.h
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Author: Jon Berndt
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Implementation of 1959 Standard Atmosphere added by Tony Peden
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Date started: 11/24/98
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------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
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This program is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License as published by the Free Software
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Foundation; either version 2 of the License, or (at your option) any later
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version.
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This program is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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details.
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You should have received a copy of the GNU General Public License along with
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this program; if not, write to the Free Software Foundation, Inc., 59 Temple
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Place - Suite 330, Boston, MA 02111-1307, USA.
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Further information about the GNU General Public License can also be found on
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the world wide web at http://www.gnu.org.
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HISTORY
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--------------------------------------------------------------------------------
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11/24/98 JSB Created
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07/23/99 TP Added implementation of 1959 Standard Atmosphere
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Moved calculation of Mach number to FGPropagate
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Updated to '76 model
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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SENTRY
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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@ -90,13 +90,13 @@ public:
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<i>This function may <b>only</b> be used if Run() is called first.</i> */
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inline double GetDensity(void) const {return *density;}
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/// Returns the pressure in psf.
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inline double GetPressure(void) const {return *pressure;}
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double GetPressure(void) const {return *pressure;}
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/// Returns the standard pressure at a specified altitude
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double GetPressure(double altitude);
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/// Returns the standard temperature at a specified altitude
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double GetTemperature(double altitude);
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inline double GetTemperature(double altitude);
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/// Returns the standard density at a specified altitude
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double GetDensity(double altitude);
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inline double GetDensity(double altitude);
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/// Returns the speed of sound in ft/sec.
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inline double GetSoundSpeed(void) const {return soundspeed;}
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@ -137,9 +137,9 @@ public:
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/// Gets the temperature deviation at sea-level in degrees Fahrenheit
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inline double GetSLTempDev(void) const { return T_dev_sl; }
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/// Sets the current delta-T in degrees Fahrenheit
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inline void SetDeltaT(double d) { delta_T = d; }
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inline void SetDeltaT(double d) { delta_T = d; }
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/// Gets the current delta-T in degrees Fahrenheit
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inline double GetDeltaT(void) const { return delta_T; }
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inline double GetDeltaT(void) const { return delta_T; }
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/// Gets the at-altitude temperature deviation in degrees Fahrenheit
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inline double GetTempDev(void) const { return T_dev; }
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/// Gets the density altitude in feet
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@ -150,21 +150,21 @@ public:
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/// Retrieves the wind components in NED frame.
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inline FGColumnVector3& GetWindNED(void) { return vWindNED; }
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/** Retrieves the wind direction. The direction is defined as north=0 and
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increases counterclockwise. The wind heading is returned in radians.*/
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inline double GetWindPsi(void) const { return psiw; }
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inline void SetTurbGain(double tt) {TurbGain = tt;}
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inline void SetTurbRate(double tt) {TurbRate = tt;}
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inline double GetTurbPQR(int idx) const {return vTurbPQR(idx);}
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inline FGColumnVector3& GetTurbPQR(void) {return vTurbPQR;}
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void bind(void);
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void unbind(void);
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protected:
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double rho;
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@ -177,7 +177,7 @@ protected:
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double StdSLtemperature,StdSLdensity,StdSLpressure,StdSLsoundspeed;
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double rSLtemperature,rSLdensity,rSLpressure,rSLsoundspeed; //reciprocals
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double SLtemperature,SLdensity,SLpressure,SLsoundspeed;
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double *temperature,*density,*pressure;
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double *temperature, *density, *pressure;
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double soundspeed;
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bool useExternal;
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double exTemperature,exDensity,exPressure;
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Reference in a new issue