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Cleanup and refactoring to better integrate the helicopter code into

Browse source 
the core YASim stuff.  Mostly cosmetic: whitespace adjustment, dead
code & meaningless comment removal, a little code motion to better
partition the helicopter handling from the original code (no more
giant if() { ... } around the solver).  Added a warning to the parser
to try to eliminate the string booleans that crept in.

There should be NO behavioral changes with this checkin.
This commit is contained in:
andy 2003-12-01 01:22:27 +00:00
parent 4a68c2ffb0
commit 3b2d97289c
10 changed files with 100 additions and 167 deletions
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111
src/FDM/YASim/Airplane.cpp
View file

@ -73,7 +73,7 @@ void Airplane::iterate(float dt)
// The gear might have moved. Change their aerodynamics.
updateGearState();
_model.iterate(dt);
_model.iterate();
}
void Airplane::consumeFuel(float dt)
@ -449,38 +449,19 @@ float Airplane::compileWing(Wing* w)
return wgt;
}
float Airplane::compileRotor(Rotor* w)
float Airplane::compileRotor(Rotor* r)
{
/* todo contact points
// The tip of the wing is a contact point
float tip[3];
w->getTip(tip);
addContactPoint(tip);
if(w->isMirrored()) {
tip[1] *= -1;
addContactPoint(tip);
}
*/
// Make sure it's initialized. The surfaces will pop out with
// total drag coefficients equal to their areas, which is what we
// want.
w->compile();
_model.addRotor(w);
// Todo: add rotor to model!!!
// Todo: calc and add mass!!!
r->compile();
_model.addRotor(r);
float wgt = 0;
int i;
/* Todo: add rotor to model!!!
Todo: calc and add mass!!!
*/
for(i=0; i<w->numRotorparts(); i++) {
Rotorpart* s = (Rotorpart*)w->getRotorpart(i);
//float td = s->getTotalDrag();
//s->setTotalDrag(td);
for(i=0; i<r->numRotorparts(); i++) {
Rotorpart* s = (Rotorpart*)r->getRotorpart(i);
_model.addRotorpart(s);
float mass = s->getWeight();
mass = mass * Math::sqrt(mass);
@ -488,27 +469,20 @@ float Airplane::compileRotor(Rotor* w)
s->getPosition(pos);
_model.getBody()->addMass(mass, pos);
wgt += mass;
}
for(i=0; i<w->numRotorblades(); i++) {
Rotorblade* s = (Rotorblade*)w->getRotorblade(i);
//float td = s->getTotalDrag();
//s->setTotalDrag(td);
_model.addRotorblade(s);
for(i=0; i<r->numRotorblades(); i++) {
Rotorblade* b = (Rotorblade*)r->getRotorblade(i);
_model.addRotorblade(b);
float mass = s->getWeight();
float mass = b->getWeight();
mass = mass * Math::sqrt(mass);
float pos[3];
s->getPosition(pos);
b->getPosition(pos);
_model.getBody()->addMass(mass, pos);
wgt += mass;
}
return wgt;
}
@ -650,17 +624,14 @@ void Airplane::compile()
if (_tail)
aeroWgt += compileWing(_tail);
int i;
for(i=0; i<_vstabs.size(); i++) {
for(i=0; i<_vstabs.size(); i++)
aeroWgt += compileWing((Wing*)_vstabs.get(i));
}
for(i=0; i<_rotors.size(); i++) {
for(i=0; i<_rotors.size(); i++)
aeroWgt += compileRotor((Rotor*)_rotors.get(i));
}
// The fuselage(s)
for(i=0; i<_fuselages.size(); i++) {
for(i=0; i<_fuselages.size(); i++)
aeroWgt += compileFuselage((Fuselage*)_fuselages.get(i));
}
// Count up the absolute weight we have
float nonAeroWgt = _ballast;
@ -702,16 +673,14 @@ void Airplane::compile()
// Ground effect
float gepos[3];
float gespan;
float gespan = 0;
if(_wing)
gespan = _wing->getGroundEffect(gepos);
else
gespan=0;
_model.setGroundEffect(gepos, gespan, 0.15f);
solveGear();
solve();
if(_wing && _tail) solve();
else solveHelicopter();
// Do this after solveGear, because it creates "gear" objects that
// we don't want to affect.
@ -829,7 +798,7 @@ void Airplane::runCruise()
// Precompute thrust in the model, and calculate aerodynamic forces
_model.getBody()->recalc();
_model.getBody()->reset();
_model.initIteration(.01);//hier parameter egal
_model.initIteration();
_model.calcForces(&_cruiseState);
}
@ -872,7 +841,7 @@ void Airplane::runApproach()
// Precompute thrust in the model, and calculate aerodynamic forces
_model.getBody()->recalc();
_model.getBody()->reset();
_model.initIteration(.01);//hier parameter egal
_model.initIteration();
_model.calcForces(&_approachState);
}
@ -931,19 +900,8 @@ void Airplane::solve()
float tmp[3];
_solutionIterations = 0;
_failureMsg = 0;
if((_wing)&&(_tail))
{
while(1) {
#if 0
printf("%d %f %f %f %f %f\n", //DEBUG
_solutionIterations,
1000*_dragFactor,
_liftRatio,
_cruiseAoA,
_tailIncidence,
_approachElevator.val);
#endif
while(1) {
if(_solutionIterations++ > 10000) {
_failureMsg = "Solution failed to converge after 10000 iterations";
return;
@ -1071,19 +1029,16 @@ void Airplane::solve()
_failureMsg = "Tail incidence > 10 degrees";
return;
}
}
else
{
applyDragFactor(Math::pow(15.7/1000, 1/SOLVE_TWEAK));
applyLiftRatio(Math::pow(104, 1/SOLVE_TWEAK));
setupState(0,0, &_cruiseState);
_model.setState(&_cruiseState);
_controls.reset();
_model.getBody()->reset();
}
return;
}
void Airplane::solveHelicopter()
{
applyDragFactor(Math::pow(15.7/1000, 1/SOLVE_TWEAK));
applyLiftRatio(Math::pow(104, 1/SOLVE_TWEAK));
setupState(0,0, &_cruiseState);
_model.setState(&_cruiseState);
_controls.reset();
_model.getBody()->reset();
}
}; // namespace yasim

1
src/FDM/YASim/Airplane.hpp
View file

@ -93,6 +93,7 @@ private:
void setupState(float aoa, float speed, State* s);
void solveGear();
void solve();
void solveHelicopter();
float compileWing(Wing* w);
float compileRotor(Rotor* w);
float compileFuselage(Fuselage* f);

78
src/FDM/YASim/FGFDM.cpp
View file

@ -130,9 +130,7 @@ void FGFDM::startElement(const char* name, const XMLAttributes &atts)
_airplane.setWing(parseWing(a, name));
} else if(eq(name, "hstab")) {
_airplane.setTail(parseWing(a, name));
} else if(eq(name, "vstab")) {
_airplane.addVStab(parseWing(a, name));
} else if(eq(name, "mstab")) {
} else if(eq(name, "vstab") || eq(name, "mstab")) {
_airplane.addVStab(parseWing(a, name));
} else if(eq(name, "propeller")) {
parsePropeller(a);
@ -380,46 +378,31 @@ void FGFDM::setOutputProperties()
for(i=0; i<_airplane.getNumRotors(); i++) {
Rotor*r=(Rotor*)_airplane.getRotor(i);
int j=0;
int j = 0;
float f;
char b[256];
while(j=r->getValueforFGSet(j,b,&f))
{
if (b[0])
{
fgSetFloat(b,f);
}
}
while(j = r->getValueforFGSet(j, b, &f))
if(b[0]) fgSetFloat(b,f);
for(j=0; j<r->numRotorparts(); j++) {
for(j=0; j < r->numRotorparts(); j++) {
Rotorpart* s = (Rotorpart*)r->getRotorpart(j);
char *b;
int k;
for (k=0;k<2;k++)
{
b=s->getAlphaoutput(k);
if (b[0])
{
fgSetFloat(b,s->getAlpha(k));
//printf("setting [%s]\n",b);
}
for(k=0; k<2; k++) {
b=s->getAlphaoutput(k);
if(b[0]) fgSetFloat(b, s->getAlpha(k));
}
}
for(j=0; j<r->numRotorblades(); j++) {
for(j=0; j < r->numRotorblades(); j++) {
Rotorblade* s = (Rotorblade*)r->getRotorblade(j);
char *b;
int k;
for (k=0;k<2;k++)
{
b=s->getAlphaoutput(k);
if (b[0])
{
fgSetFloat(b,s->getAlpha(k));
}
for (k=0; k<2; k++) {
b = s->getAlphaoutput(k);
if(b[0]) fgSetFloat(b, s->getAlpha(k));
}
}
}
}
for(i=0; i<_thrusters.size(); i++) {
EngRec* er = (EngRec*)_thrusters.get(i);
@ -498,6 +481,7 @@ Wing* FGFDM::parseWing(XMLAttributes* a, const char* type)
_currObj = w;
return w;
}
Rotor* FGFDM::parseRotor(XMLAttributes* a, const char* type)
{
Rotor* w = new Rotor();
@ -522,8 +506,6 @@ Rotor* FGFDM::parseRotor(XMLAttributes* a, const char* type)
forward[2] = attrf(a, "fz");
w->setForward(forward);
w->setMaxCyclicail(attrf(a, "maxcyclicail", 7.6));
w->setMaxCyclicele(attrf(a, "maxcyclicele", 4.94));
w->setMinCyclicail(attrf(a, "mincyclicail", -7.6));
@ -553,7 +535,7 @@ Rotor* FGFDM::parseRotor(XMLAttributes* a, const char* type)
void setAlphamax(float f);
void setAlpha0factor(float f);
if(attristrue(a,"ccw"))
if(attrb(a,"ccw"))
w->setCcw(1);
if(a->hasAttribute("name"))
@ -572,15 +554,11 @@ Rotor* FGFDM::parseRotor(XMLAttributes* a, const char* type)
w->setForceAtPitchA(attrf(a, "forceatpitch_a", 3000));
w->setPowerAtPitch0(attrf(a, "poweratpitch_0", 300));
w->setPowerAtPitchB(attrf(a, "poweratpitch_b", 3000));
if(attristrue(a,"notorque"))
if(attrb(a,"notorque"))
w->setNotorque(1);
if(attristrue(a,"simblades"))
if(attrb(a,"simblades"))
w->setSimBlades(1);
_currObj = w;
return w;
}
@ -765,11 +743,29 @@ float FGFDM::attrf(XMLAttributes* atts, char* attr, float def)
else return (float)atof(val);
}
bool FGFDM::attristrue(XMLAttributes* atts, char* attr)
// ACK: the dreaded ambiguous string boolean. Remind me to shoot Maik
// when I have a chance. :). Unless you have a parser that can check
// symbol constants (we don't), this kind of coding is just a Bad
// Idea. This implementation, for example, silently returns a boolean
// falsehood for values of "1", "yes", "True", and "TRUE". Which is
// especially annoying preexisting boolean attributes in the same
// parser want to see "1" and will choke on a "true"...
//
// Unfortunately, this usage creeped into existing configuration files
// while I wasn't active, and it's going to be hard to remove. Issue
// a warning to nag people into changing their ways for now...
bool FGFDM::attrb(XMLAttributes* atts, char* attr)
{
const char* val = atts->getValue(attr);
if(val == 0) return false;
else return eq(val,"true");
if(eq(val,"true")) {
SG_LOG(SG_FLIGHT, SG_ALERT, "Warning: " <<
"deprecated 'true' boolean in YASim configuration file. " <<
"Use numeric booleans (attribute=\"1\") instead");
return true;
}
return attri(atts, attr, 0) ? true : false;
}
}; // namespace yasim

2
src/FDM/YASim/FGFDM.hpp
View file

@ -48,7 +48,7 @@ private:
int attri(XMLAttributes* atts, char* attr, int def);
float attrf(XMLAttributes* atts, char* attr);
float attrf(XMLAttributes* atts, char* attr, float def);
bool attristrue(XMLAttributes* atts, char* attr);
bool attrb(XMLAttributes* atts, char* attr);
// The core Airplane object we manage.
Airplane _airplane;

12
src/FDM/YASim/Math.cpp
View file

@ -19,10 +19,6 @@ float Math::sqrt(float f)
{
return (float)::sqrt(f);
}
float Math::sqr(float f)
{
return f*f;
}
float Math::ceil(float f)
{
@ -142,15 +138,9 @@ float Math::mag3(float* v)
return sqrt(dot3(v, v));
}
void Math::unit3(float* v, float* out)
{
float mag=mag3(v);
float imag;
if (mag!=0)
imag= 1/mag;
else
imag=1;
float imag = 1/mag3(v);
mul3(imag, v, out);
}

1
src/FDM/YASim/Math.hpp
View file

@ -12,7 +12,6 @@ public:
// Simple wrappers around library routines
static float abs(float f);
static float sqrt(float f);
static float sqr(float f);
static float ceil(float f);
static float sin(float f);
static float cos(float f);

44
src/FDM/YASim/Model.cpp
View file

@ -1,5 +1,3 @@
#include <stdio.h>
#include "Atmosphere.hpp"
#include "Thruster.hpp"
#include "Math.hpp"
@ -17,6 +15,7 @@
#include "Model.hpp"
namespace yasim {
#if 0
void printState(State* s)
{
State tmp = *s;
@ -39,6 +38,7 @@ void printState(State* s)
printf("rot: %6.2f %6.2f %6.2f\n", tmp.rot[0], tmp.rot[1], tmp.rot[2]);
printf("rac: %6.2f %6.2f %6.2f\n", tmp.racc[0], tmp.racc[1], tmp.racc[2]);
}
#endif
Model::Model()
{
@ -72,7 +72,7 @@ void Model::getThrust(float* out)
}
}
void Model::initIteration(float dt)
void Model::initIteration()
{
// Precompute torque and angular momentum for the thrusters
int i;
@ -96,10 +96,18 @@ void Model::initIteration(float dt)
t->getGyro(v);
Math::add3(v, _gyro, _gyro);
}
}
// FIXME: This method looks to me like it's doing *integration*, not
// initialization. Integration code should ideally go into
// calcForces. Only very "unstiff" problems can be solved well like
// this (see the engine code for an example); I don't know if rotor
// dynamics qualify or not.
// -Andy
void Model::initRotorIteration()
{
int i;
float dt = _integrator.getInterval();
float lrot[3];
Math::vmul33(_s->orient, _s->rot, lrot);
Math::mul3(dt,lrot,lrot);
@ -115,12 +123,12 @@ void Model::initIteration(float dt)
Rotorblade* rp = (Rotorblade*)_rotorblades.get(i);
rp->inititeration(dt,lrot);
}
}
void Model::iterate(float dt)
void Model::iterate()
{
initIteration(dt);
initIteration();
initRotorIteration();
_body.recalc(); // FIXME: amortize this, somehow
_integrator.calcNewInterval();
}
@ -145,12 +153,6 @@ State* Model::getState()
return _s;
}
void Model::resetState()
{
//_s->resetState();
}
void Model::setState(State* s)
{
_integrator.setState(s);
@ -265,7 +267,6 @@ void Model::calcForces(State* s)
// velocity), and are therefore constant across the four calls to
// calcForces. They get computed before we begin the integration
// step.
//printf("f");
_body.setGyro(_gyro);
_body.addTorque(_torque);
int i;
@ -300,8 +301,6 @@ void Model::calcForces(State* s)
sf->calcForce(vs, _rho, force, torque);
Math::add3(faero, force, faero);
_body.addForce(pos, force);
_body.addTorque(torque);
}
@ -339,13 +338,6 @@ void Model::calcForces(State* s)
_body.addForce(pos, force);
_body.addTorque(torque);
}
/*
{
float cg[3];
_body.getCG(cg);
//printf("cg: %5.3lf %5.3lf %5.3lf ",cg[0],cg[1],cg[2]);
}
*/
// Get a ground plane in local coordinates. The first three
// elements are the normal vector, the final one is the distance
@ -385,8 +377,6 @@ void Model::newState(State* s)
{
_s = s;
//printState(s);
// Some simple collision detection
float min = 1e8;
float ground[4], pos[3], cmpr[3];

6
src/FDM/YASim/Model.hpp
View file

@ -28,12 +28,11 @@ public:
State* getState();
void setState(State* s);
void resetState();
bool isCrashed();
void setCrashed(bool crashed);
float getAGL();
void iterate(float dt);
void iterate();
// Externally-managed subcomponents
int addThruster(Thruster* t);
@ -52,7 +51,7 @@ public:
int numThrusters();
Thruster* getThruster(int handle);
void setThruster(int handle, Thruster* t);
void initIteration(float dt);
void initIteration();
void getThrust(float* out);
//
@ -68,6 +67,7 @@ public:
virtual void newState(State* s);
private:
void initRotorIteration();
void calcGearForce(Gear* g, float* v, float* rot, float* ground);
float gearFriction(float wgt, float v, Gear* g);
float localGround(State* s, float* out);

10
src/FDM/YASim/Rotor.cpp
View file

@ -18,6 +18,8 @@ namespace yasim {
const float pi=3.14159;
static inline float sqr(float a) { return a * a; }
Rotor::Rotor()
{
_alpha0=-.05;
@ -218,8 +220,8 @@ int Rotor::getValueforFGSet(int j,char *text,float *f)
rk=l-p;
rl=1-rk;
/*
rl=Math::sqr(Math::sin(rl*pi/2));
rk=Math::sqr(Math::sin(rk*pi/2));
rl=sqr(Math::sin(rl*pi/2));
rk=sqr(Math::sin(rk*pi/2));
*/
if(w==2) {k+=2;l+=2;}
else
@ -565,7 +567,7 @@ void Rotor::compile()
float phi=Math::atan2(2*omega*_delta,omega0*omega0-omega*omega);
//float relamp=omega*omega/(2*_delta*Math::sqrt(omega0*omega0-_delta*_delta));
float relamp=omega*omega/(2*_delta*Math::sqrt(Math::sqr(omega0*omega0-omega*omega)+4*_delta*_delta*omega*omega));
float relamp=omega*omega/(2*_delta*Math::sqrt(sqr(omega0*omega0-omega*omega)+4*_delta*_delta*omega*omega));
if (!_no_torque)
{
torque0=_power_at_pitch_0/4*1000/omega;
@ -664,7 +666,7 @@ void Rotor::compile()
_delta*=maxpitchforce/(_max_pitch*omega*lentocenter*2*_weight_per_blade*.453);
float phi=Math::atan2(2*omega*_delta,omega0*omega0-omega*omega);
float phi2=Math::abs(omega0-omega)<.000000001?pi/2:Math::atan(2*omega*_delta/(omega0*omega0-omega*omega));
float relamp=omega*omega/(2*_delta*Math::sqrt(Math::sqr(omega0*omega0-omega*omega)+4*_delta*_delta*omega*omega));
float relamp=omega*omega/(2*_delta*Math::sqrt(sqr(omega0*omega0-omega*omega)+4*_delta*_delta*omega*omega));
if (!_no_torque)
{
torque0=_power_at_pitch_0/_number_of_blades*1000/omega;

2
src/FDM/YASim/YASim.cxx
View file

@ -118,7 +118,6 @@ void YASim::bind()
sprintf(buf, "/engines/engine[%d]/mp-osi", i); fgUntie(buf);
sprintf(buf, "/engines/engine[%d]/egt-degf", i); fgUntie(buf);
}
}
void YASim::init()
@ -128,6 +127,7 @@ void YASim::init()
// Superclass hook
common_init();
m->setCrashed(false);
// Figure out the initial speed type