From 56a9034d953273f3dbcf56a4c996dfe9f8f17a4b Mon Sep 17 00:00:00 2001 From: ehofman Date: Sun, 22 May 2005 08:06:47 +0000 Subject: [PATCH] Sync. w. JSBSim CVS. --- src/FDM/JSBSim/FGAerodynamics.cpp | 23 +++- src/FDM/JSBSim/FGAerodynamics.h | 1 + src/FDM/JSBSim/FGAircraft.cpp | 2 +- src/FDM/JSBSim/FGAircraft.h | 2 +- src/FDM/JSBSim/FGCoefficient.cpp | 67 +++++++++++ src/FDM/JSBSim/FGCoefficient.h | 4 + src/FDM/JSBSim/FGEngine.cpp | 26 +++-- src/FDM/JSBSim/FGEngine.h | 12 ++ src/FDM/JSBSim/FGFCS.cpp | 9 ++ src/FDM/JSBSim/FGFCS.h | 1 + src/FDM/JSBSim/FGFDMExec.cpp | 17 ++- src/FDM/JSBSim/FGFDMExec.h | 9 +- src/FDM/JSBSim/FGFactorGroup.cpp | 1 + src/FDM/JSBSim/FGFactorGroup.h | 4 +- src/FDM/JSBSim/FGGroundCallback.cpp | 74 ++++++++++++ src/FDM/JSBSim/FGGroundCallback.h | 88 ++++++++++++++ src/FDM/JSBSim/FGGroundReactions.cpp | 12 +- src/FDM/JSBSim/FGInitialCondition.cpp | 4 +- src/FDM/JSBSim/FGLGear.cpp | 21 ++-- src/FDM/JSBSim/FGLGear.h | 27 +++-- src/FDM/JSBSim/FGMassBalance.h | 8 +- src/FDM/JSBSim/FGNozzle.cpp | 1 - src/FDM/JSBSim/FGPiston.cpp | 5 +- src/FDM/JSBSim/FGPropagate.cpp | 38 +++++- src/FDM/JSBSim/FGPropagate.h | 7 +- src/FDM/JSBSim/FGPropeller.h | 3 + src/FDM/JSBSim/FGPropulsion.cpp | 2 + src/FDM/JSBSim/FGScript.cpp | 4 +- src/FDM/JSBSim/FGState.cpp | 4 +- src/FDM/JSBSim/FGTable.cpp | 9 +- src/FDM/JSBSim/FGTable.h | 2 +- src/FDM/JSBSim/FGTrim.cpp | 4 +- src/FDM/JSBSim/FGTrim.h | 2 +- src/FDM/JSBSim/FGTrimAxis.h | 10 +- src/FDM/JSBSim/JSBSim.cxx | 135 +++++++++++++++++++--- src/FDM/JSBSim/JSBSim.hxx | 4 +- src/FDM/JSBSim/Makefile.am | 1 + src/FDM/JSBSim/filtersjb/FGCondition.cpp | 12 +- src/FDM/JSBSim/filtersjb/FGCondition.h | 4 +- src/FDM/JSBSim/filtersjb/FGDeadBand.cpp | 27 +++++ src/FDM/JSBSim/filtersjb/FGDeadBand.h | 1 + src/FDM/JSBSim/filtersjb/FGFCSComponent.h | 2 +- src/FDM/JSBSim/filtersjb/FGFilter.cpp | 24 ++++ src/FDM/JSBSim/filtersjb/FGFilter.h | 1 + src/FDM/JSBSim/filtersjb/FGGain.cpp | 34 ++++++ src/FDM/JSBSim/filtersjb/FGGain.h | 2 +- src/FDM/JSBSim/filtersjb/FGKinemat.cpp | 24 ++++ src/FDM/JSBSim/filtersjb/FGKinemat.h | 3 +- src/FDM/JSBSim/filtersjb/FGSummer.cpp | 41 ++++++- src/FDM/JSBSim/filtersjb/FGSummer.h | 1 + src/FDM/JSBSim/filtersjb/FGSwitch.cpp | 38 ++++++ src/FDM/JSBSim/filtersjb/FGSwitch.h | 1 + 52 files changed, 761 insertions(+), 97 deletions(-) create mode 100644 src/FDM/JSBSim/FGGroundCallback.cpp create mode 100644 src/FDM/JSBSim/FGGroundCallback.h diff --git a/src/FDM/JSBSim/FGAerodynamics.cpp b/src/FDM/JSBSim/FGAerodynamics.cpp index 8a95e85e1..b052fe923 100644 --- a/src/FDM/JSBSim/FGAerodynamics.cpp +++ b/src/FDM/JSBSim/FGAerodynamics.cpp @@ -50,8 +50,10 @@ static const char *IdSrc = "$Id$"; static const char *IdHdr = ID_AERODYNAMICS; const unsigned NAxes=6; -const char* AxisNames[] = { "drag", "side-force", "lift", "rolling-moment", - "pitching-moment","yawing-moment" }; +const char* AxisNames[] = { "drag", "side", "lift", "roll", + "pitch","yaw" }; +const char* AxisNamesUpper[] = { "DRAG", "SIDE", "LIFT", "ROLL", + "PITCH","YAW" }; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS IMPLEMENTATION @@ -358,6 +360,23 @@ void FGAerodynamics::unbind(void) } } +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +void FGAerodynamics::convert(void) +{ + + for (int axis=0; axis<6; axis++) { + if (Coeff[axis].size()>0) { + cout << endl << " " << endl; + for (int c=0; cconvert(); + } + cout << " " << endl; + } + } + +} + //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // The bitmasked value choices are as follows: // unset: In this case (the default) JSBSim would only print diff --git a/src/FDM/JSBSim/FGAerodynamics.h b/src/FDM/JSBSim/FGAerodynamics.h index 3947101de..e6d8ac2fe 100644 --- a/src/FDM/JSBSim/FGAerodynamics.h +++ b/src/FDM/JSBSim/FGAerodynamics.h @@ -169,6 +169,7 @@ public: void bind(void); void bindModel(void); void unbind(void); + void convert(void); private: typedef map AxisIndex; diff --git a/src/FDM/JSBSim/FGAircraft.cpp b/src/FDM/JSBSim/FGAircraft.cpp index aa56cc7e8..152dca6d9 100644 --- a/src/FDM/JSBSim/FGAircraft.cpp +++ b/src/FDM/JSBSim/FGAircraft.cpp @@ -148,7 +148,7 @@ bool FGAircraft::Run(void) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -float FGAircraft::GetNlf(void) +double FGAircraft::GetNlf(void) { return -1*Aerodynamics->GetvFs(3)/MassBalance->GetWeight(); } diff --git a/src/FDM/JSBSim/FGAircraft.h b/src/FDM/JSBSim/FGAircraft.h index acf0b54e3..78ea4c44c 100644 --- a/src/FDM/JSBSim/FGAircraft.h +++ b/src/FDM/JSBSim/FGAircraft.h @@ -152,7 +152,7 @@ public: inline double GetXYZep(int idx) const { return vXYZep(idx); } inline void SetAircraftName(string name) {AircraftName = name;} - float GetNlf(void); + double GetNlf(void); inline FGColumnVector3& GetNwcg(void) { return vNwcg; } diff --git a/src/FDM/JSBSim/FGCoefficient.cpp b/src/FDM/JSBSim/FGCoefficient.cpp index 32f70fc51..c003edd3d 100644 --- a/src/FDM/JSBSim/FGCoefficient.cpp +++ b/src/FDM/JSBSim/FGCoefficient.cpp @@ -75,6 +75,7 @@ FGCoefficient::FGCoefficient( FGFDMExec* fdex ) FDMExec = fdex; State = FDMExec->GetState(); Table = 0; + IsFactor = false; PropertyManager = FDMExec->GetPropertyManager(); @@ -384,6 +385,72 @@ FGPropertyManager* FGCoefficient::resolveSymbol(string name) return tmpn; } +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +void FGCoefficient::convert(string prop) +{ + if (IsFactor) + cout << " " << endl; + else + cout << " " << endl; + + cout << " " << description << "" << endl; + cout << " " << endl; + + for (int i=0; i" << (multipliers[i]->GetFullyQualifiedName()).substr(12) << "" << endl; + + if (!prop.empty()) + cout << " aero/function/" << prop << "" << endl; + + switch (type) { + case VALUE: + cout << " " << StaticValue << "" << endl; + break; + + case VECTOR: + cout << " " << endl; + cout << " " << (LookupR->GetFullyQualifiedName()).substr(12) << "" << endl; + cout << " " << endl; + Table->Print(30); + cout << " " << endl; + cout << "
" << endl; + break; + + case TABLE: + cout << " " << endl; + cout << " " << (LookupR->GetFullyQualifiedName()).substr(12) << "" << endl; + cout << " " << (LookupC->GetFullyQualifiedName()).substr(12) << "" << endl; + cout << " " << endl; + Table->Print(30); + cout << " " << endl; + cout << "
" << endl; + break; + + case TABLE3D: + cout << " " << endl; + cout << " " << (LookupR->GetFullyQualifiedName()).substr(12) << "" << endl; + cout << " " << (LookupC->GetFullyQualifiedName()).substr(12) << "" << endl; + cout << " " << (LookupT->GetFullyQualifiedName()).substr(12) << "" << endl; + cout << " " << endl; + Table->Print(30); + cout << " " << endl; + cout << "
" << endl; + break; + + } + + cout << " " << endl; + cout << " " << endl; + + if (IsFactor) { + cout << " === MOVE THE ABOVE FACTOR " << name << " OUTSIDE OF AND BEFORE ANY DEFINITION ===" << endl; + for (int i=0; iconvert(name); + } + } +} + //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // The bitmasked value choices are as follows: // unset: In this case (the default) JSBSim would only print diff --git a/src/FDM/JSBSim/FGCoefficient.h b/src/FDM/JSBSim/FGCoefficient.h index fdb709adc..cee7b4778 100644 --- a/src/FDM/JSBSim/FGCoefficient.h +++ b/src/FDM/JSBSim/FGCoefficient.h @@ -150,9 +150,13 @@ public: virtual void bind(FGPropertyManager *parent); virtual void unbind(void); + void convert(string prop=""); protected: FGFDMExec* FDMExec; + bool IsFactor; + typedef vector CoeffArray; + CoeffArray sum; private: int numInstances; diff --git a/src/FDM/JSBSim/FGEngine.cpp b/src/FDM/JSBSim/FGEngine.cpp index a76a6acf4..f0153d998 100644 --- a/src/FDM/JSBSim/FGEngine.cpp +++ b/src/FDM/JSBSim/FGEngine.cpp @@ -131,27 +131,35 @@ void FGEngine::ConsumeFuel(void) { if (FuelFreeze) return; unsigned int i; - double Fshortage, Oshortage, TanksWithFuel; + double Fshortage, Oshortage, TanksWithFuel, TanksWithOxidizer; FGTank* Tank; + bool haveOxTanks = false; if (TrimMode) return; - Fshortage = Oshortage = TanksWithFuel = 0.0; + Fshortage = Oshortage = TanksWithFuel = TanksWithOxidizer = 0.0; - // count how many assigned tanks have fuel + // count how many assigned tanks have fuel or oxidizer for (i=0; iGetTank(SourceTanks[i]); - if (Tank->GetContents() > 0.0) { - ++TanksWithFuel; + if (Tank->GetType() == FGTank::ttFUEL){ + if (Tank->GetContents() > 0.0) { + ++TanksWithFuel; + } + } else if (Tank->GetType() == FGTank::ttOXIDIZER) { + haveOxTanks = true; + if (Tank->GetContents() > 0.0) { + ++TanksWithOxidizer; + } } } - if (!TanksWithFuel) return; + if (!TanksWithFuel || (haveOxTanks && !TanksWithOxidizer)) return; for (i=0; iGetTank(SourceTanks[i]); if (Tank->GetType() == FGTank::ttFUEL) { Fshortage += Tank->Drain(CalcFuelNeed()/TanksWithFuel); - } else { - Oshortage += Tank->Drain(CalcOxidizerNeed()/TanksWithFuel); + } else if (Tank->GetType() == FGTank::ttOXIDIZER) { + Oshortage += Tank->Drain(CalcOxidizerNeed()/TanksWithOxidizer); } } @@ -212,7 +220,7 @@ FGColumnVector3& FGEngine::GetMoments(void) bool FGEngine::LoadThruster(FGConfigFile* AC_cfg) { string token, fullpath, localpath; - string thrusterFileName, thrType, engineFileName; + string thrType, engineFileName; FGConfigFile* Cfg_ptr = 0; double xLoc, yLoc, zLoc, Pitch, Yaw; double P_Factor = 0, Sense = 0.0; diff --git a/src/FDM/JSBSim/FGEngine.h b/src/FDM/JSBSim/FGEngine.h index 82705413f..0bd7776ef 100644 --- a/src/FDM/JSBSim/FGEngine.h +++ b/src/FDM/JSBSim/FGEngine.h @@ -114,6 +114,9 @@ public: EngineType GetType(void) { return Type; } virtual string GetName(void) { return Name; } + string GetThrusterFileName(void) {return thrusterFileName;} + void SetEngineFileName(string eng) {engineFileName = eng;} + string GetEngineFileName(void) {return engineFileName;} // Engine controls virtual double GetThrottleMin(void) { return MinThrottle; } @@ -164,6 +167,11 @@ public: /// Sets engine placement information virtual void SetPlacement(double x, double y, double z, double pitch, double yaw); + double GetPlacementX(void) const {return X;} + double GetPlacementY(void) const {return Y;} + double GetPlacementZ(void) const {return Z;} + double GetPitch(void) const {return EnginePitch;} + double GetYaw(void) const {return EngineYaw;} virtual double GetPowerAvailable(void) {return 0.0;}; @@ -178,10 +186,14 @@ public: virtual string GetEngineLabels(string delimeter) = 0; virtual string GetEngineValues(string delimeter) = 0; + int GetNumSourceTanks(void) {return SourceTanks.size();} + int GetSourceTank(int t) {return SourceTanks[t];} protected: FGPropertyManager* PropertyManager; string Name; + string thrusterFileName; + string engineFileName; const int EngineNumber; EngineType Type; double X, Y, Z; diff --git a/src/FDM/JSBSim/FGFCS.cpp b/src/FDM/JSBSim/FGFCS.cpp index daa900a68..4405ad559 100644 --- a/src/FDM/JSBSim/FGFCS.cpp +++ b/src/FDM/JSBSim/FGFCS.cpp @@ -828,6 +828,15 @@ void FGFCS::unbind(FGPropertyManager *node) } } +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +void FGFCS::convert(void) +{ + for (int i=0; iconvert(); + } +} + //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // The bitmasked value choices are as follows: // unset: In this case (the default) JSBSim would only print diff --git a/src/FDM/JSBSim/FGFCS.h b/src/FDM/JSBSim/FGFCS.h index 4775e6901..d3e6c4d79 100644 --- a/src/FDM/JSBSim/FGFCS.h +++ b/src/FDM/JSBSim/FGFCS.h @@ -611,6 +611,7 @@ public: void AddGear(void); FGPropertyManager* GetPropertyManager(void) { return PropertyManager; } + void convert(void); void bind(void); void bindModel(void); diff --git a/src/FDM/JSBSim/FGFDMExec.cpp b/src/FDM/JSBSim/FGFDMExec.cpp index fb7d96767..83f8fb288 100644 --- a/src/FDM/JSBSim/FGFDMExec.cpp +++ b/src/FDM/JSBSim/FGFDMExec.cpp @@ -58,6 +58,7 @@ INCLUDES #include "FGState.h" #include "FGAtmosphere.h" #include "FGFCS.h" +#include "FGGroundCallback.h" #include "FGPropulsion.h" #include "FGMassBalance.h" #include "FGGroundReactions.h" @@ -120,6 +121,7 @@ FGFDMExec::FGFDMExec(FGPropertyManager* root) Inertial = 0; GroundReactions = 0; Aircraft = 0; + GroundCallback = 0; Propagate = 0; Auxiliary = 0; Output = 0; @@ -190,6 +192,7 @@ bool FGFDMExec::Allocate(void) Inertial = new FGInertial(this); GroundReactions = new FGGroundReactions(this); Aircraft = new FGAircraft(this); + GroundCallback = new FGGroundCallback(); Propagate = new FGPropagate(this); Auxiliary = new FGAuxiliary(this); Output = new FGOutput(this); @@ -280,6 +283,8 @@ bool FGFDMExec::DeAllocate(void) delete IC; delete Trim; + delete GroundCallback; + FirstModel = 0L; Error = 0; @@ -369,6 +374,14 @@ bool FGFDMExec::RunIC(void) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +void FGFDMExec::SetGroundCallback(FGGroundCallback* p) { + if (GroundCallback) + delete GroundCallback; + GroundCallback = p; +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + vector FGFDMExec::EnumerateFDMs(void) { vector FDMList; @@ -502,7 +515,7 @@ bool FGFDMExec::ReadPrologue(FGConfigFile* AC_cfg) return false; } - if (Release == "ALPHA") { + if (Release == "ALPHA" && debug_lvl > 0) { #ifndef _MSC_VER system("banner ALPHA"); #endif @@ -513,7 +526,7 @@ bool FGFDMExec::ReadPrologue(FGConfigFile* AC_cfg) << " will not fly as expected." << endl << endl << fgred << highint << "Use this model for development purposes ONLY!!!" << normint << reset << endl << endl; - } else if (Release == "BETA") { + } else if (Release == "BETA" && debug_lvl > 0) { #ifndef _MSC_VER system("banner BETA"); #endif diff --git a/src/FDM/JSBSim/FGFDMExec.h b/src/FDM/JSBSim/FGFDMExec.h index 9e2d0a093..ae9edb999 100644 --- a/src/FDM/JSBSim/FGFDMExec.h +++ b/src/FDM/JSBSim/FGFDMExec.h @@ -44,7 +44,9 @@ INCLUDES #include "FGTrim.h" #include "FGInitialCondition.h" #include "FGJSBBase.h" +#include "FGGroundCallback.h" #include "FGPropertyManager.h" +#include "FGPropagate.h" #include @@ -142,6 +144,8 @@ public: /// Resumes the sim void Resume(void) {frozen = false;} + void SetGroundCallback(FGGroundCallback*); + /** Loads an aircraft model. @param AircraftPath path to the aircraft directory. For instance: "aircraft". Under aircraft, then, would be directories for various @@ -200,6 +204,8 @@ public: inline FGAtmosphere* GetAtmosphere(void) {return Atmosphere;} /// Returns the FGFCS pointer. inline FGFCS* GetFCS(void) {return FCS;} + /// Returns the FGGroundCallback pointer. + inline FGGroundCallback* GetGroundCallback(void) {return GroundCallback;} /// Returns the FGPropulsion pointer. inline FGPropulsion* GetPropulsion(void) {return Propulsion;} /// Returns the FGAircraft pointer. @@ -213,7 +219,7 @@ public: /// Returns the FGAircraft pointer. inline FGAircraft* GetAircraft(void) {return Aircraft;} /// Returns the FGPropagate pointer. - inline FGPropagate* GetPropagate(void) {return Propagate;} + inline FGPropagate* GetPropagate(void) {return Propagate;} /// Returns the FGAuxiliary pointer. inline FGAuxiliary* GetAuxiliary(void) {return Auxiliary;} /// Returns the FGOutput pointer. @@ -281,6 +287,7 @@ private: FGState* State; FGAtmosphere* Atmosphere; FGFCS* FCS; + FGGroundCallback* GroundCallback; FGPropulsion* Propulsion; FGMassBalance* MassBalance; FGAerodynamics* Aerodynamics; diff --git a/src/FDM/JSBSim/FGFactorGroup.cpp b/src/FDM/JSBSim/FGFactorGroup.cpp index 883ea783e..dce8f32dc 100644 --- a/src/FDM/JSBSim/FGFactorGroup.cpp +++ b/src/FDM/JSBSim/FGFactorGroup.cpp @@ -73,6 +73,7 @@ FGFactorGroup::FGFactorGroup( FGFDMExec* fdmex ) : FGCoefficient( fdmex) { FDMExec = fdmex; totalValue = 0; + IsFactor = true; Debug(0); } diff --git a/src/FDM/JSBSim/FGFactorGroup.h b/src/FDM/JSBSim/FGFactorGroup.h index 413e792f0..d85d6d3d5 100644 --- a/src/FDM/JSBSim/FGFactorGroup.h +++ b/src/FDM/JSBSim/FGFactorGroup.h @@ -102,8 +102,8 @@ public: void unbind(void); private: - typedef vector CoeffArray; - CoeffArray sum; +// typedef vector CoeffArray; +// CoeffArray sum; double SDtotal; double totalValue; string description; diff --git a/src/FDM/JSBSim/FGGroundCallback.cpp b/src/FDM/JSBSim/FGGroundCallback.cpp new file mode 100644 index 000000000..59430150f --- /dev/null +++ b/src/FDM/JSBSim/FGGroundCallback.cpp @@ -0,0 +1,74 @@ +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + Header: FGGroundCallback.cpp + Author: Mathias Froehlich + Date started: 05/21/04 + + ------ Copyright (C) 2004 Mathias Froehlich (Mathias.Froehlich@web.de) ------- + + This program is free software; you can redistribute it and/or modify it under + the terms of the GNU 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 General Public License for more + details. + + You should have received a copy of the GNU 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 General Public License can also be found on + the world wide web at http://www.gnu.org. + +HISTORY +------------------------------------------------------------------------------- +05/21/00 MF Created + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +SENTRY +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +#include "FGColumnVector3.h" +#include "FGLocation.h" +#include "FGGroundCallback.h" + +namespace JSBSim { + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +FGGroundCallback::FGGroundCallback() +{ + mReferenceRadius = 20925650; +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +FGGroundCallback::~FGGroundCallback() +{ +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +double FGGroundCallback::GetAltitude(const FGLocation& l) const +{ + return l.GetRadius() - mReferenceRadius; +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +double FGGroundCallback::GetAGLevel(double t, const FGLocation& l, + FGLocation& cont, FGColumnVector3& n, + FGColumnVector3& v) const +{ + v = FGColumnVector3(0.0, 0.0, 0.0); + n = (-1/FGColumnVector3(l).Magnitude())*FGColumnVector3(l); + double r = l.GetRadius(); + double agl = GetAltitude(l); + cont = ((r-agl)/r)*FGColumnVector3(l); + return agl; +} + +} diff --git a/src/FDM/JSBSim/FGGroundCallback.h b/src/FDM/JSBSim/FGGroundCallback.h new file mode 100644 index 000000000..dd53e2f5f --- /dev/null +++ b/src/FDM/JSBSim/FGGroundCallback.h @@ -0,0 +1,88 @@ +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + Header: FGGroundCallback.h + Author: Mathias Froehlich + Date started: 05/21/04 + + ------ Copyright (C) 2004 Mathias Froehlich (Mathias.Froehlich@web.de) ------- + + This program is free software; you can redistribute it and/or modify it under + the terms of the GNU 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 General Public License for more + details. + + You should have received a copy of the GNU 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 General Public License can also be found on + the world wide web at http://www.gnu.org. + +HISTORY +------------------------------------------------------------------------------- +05/21/00 MF Created + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +SENTRY +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +#ifndef FGGROUNDCALLBACK_H +#define FGGROUNDCALLBACK_H + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +INCLUDES +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +#include "FGColumnVector3.h" +#include "FGLocation.h" + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +DEFINITIONS +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +#define ID_GROUNDCALLBACK "$Id$" + +namespace JSBSim { + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +CLASS DOCUMENTATION +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +/** This class provides callback slots to get ground specific data like + ground elevation and such. + There is a default implementation, which returns values for a + ball formed earth. + + @author Mathias Froehlich + @version $Id$ +*/ + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +CLASS DECLARATION +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +class FGGroundCallback + : public FGJSBBase { +public: + FGGroundCallback(); + virtual ~FGGroundCallback(); + + /** Compute the altitude above sealevel. */ + virtual double GetAltitude(const FGLocation& l) const; + /** Compute the altitude above ground. Defaults to sealevel altitude. */ + virtual double GetAGLevel(double t, const FGLocation& l, FGLocation& cont, + FGColumnVector3& n, FGColumnVector3& v) const; + +private: + /// Reference radius. + double mReferenceRadius; +}; + +} +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +#endif diff --git a/src/FDM/JSBSim/FGGroundReactions.cpp b/src/FDM/JSBSim/FGGroundReactions.cpp index 2a30b6234..a075a1c2c 100644 --- a/src/FDM/JSBSim/FGGroundReactions.cpp +++ b/src/FDM/JSBSim/FGGroundReactions.cpp @@ -110,9 +110,15 @@ bool FGGroundReactions::Load(FGConfigFile* AC_cfg) AC_cfg->GetNextConfigLine(); while ((token = AC_cfg->GetValue()) != string("/UNDERCARRIAGE")) { - int num = lGear.size(); - lGear.push_back(FGLGear(AC_cfg, FDMExec, num)); - FCS->AddGear(); + string type; + *AC_cfg >> type; + if (type == "AC_GEAR") { + int num = lGear.size(); + lGear.push_back(FGLGear(AC_cfg, FDMExec, num)); + FCS->AddGear(); + } else { + cerr << "Unknown undercarriage type \"" << type << "\"" << endl; + } } return true; diff --git a/src/FDM/JSBSim/FGInitialCondition.cpp b/src/FDM/JSBSim/FGInitialCondition.cpp index d38478dff..b913e5be5 100644 --- a/src/FDM/JSBSim/FGInitialCondition.cpp +++ b/src/FDM/JSBSim/FGInitialCondition.cpp @@ -423,9 +423,7 @@ void FGInitialCondition::SetAltitudeFtIC(double tt) { //****************************************************************************** void FGInitialCondition::SetAltitudeAGLFtIC(double tt) { - fdmex->GetPropagate()->SetDistanceAGL(tt); - altitude=fdmex->GetPropagate()->Geth(); - SetAltitudeFtIC(altitude); + SetAltitudeFtIC(terrain_altitude + tt); } //****************************************************************************** diff --git a/src/FDM/JSBSim/FGLGear.cpp b/src/FDM/JSBSim/FGLGear.cpp index 22836a86d..70f3606ad 100644 --- a/src/FDM/JSBSim/FGLGear.cpp +++ b/src/FDM/JSBSim/FGLGear.cpp @@ -59,11 +59,9 @@ CLASS IMPLEMENTATION FGLGear::FGLGear(FGConfigFile* AC_cfg, FGFDMExec* fdmex, int number) : Exec(fdmex) { - string tmp; - GearNumber = number; - *AC_cfg >> tmp >> name >> vXYZ(1) >> vXYZ(2) >> vXYZ(3) + *AC_cfg >> name >> vXYZ(1) >> vXYZ(2) >> vXYZ(3) >> kSpring >> bDamp>> dynamicFCoeff >> staticFCoeff >> rollingFCoeff >> sSteerType >> sBrakeGroup >> maxSteerAngle >> sRetractable; @@ -211,7 +209,7 @@ FGLGear::~FGLGear() FGColumnVector3& FGLGear::Force(void) { double SinWheel, CosWheel; - double deltaT = State->Getdt()*Aircraft->GetRate(); + double deltaT = State->Getdt()*Exec->GetGroundReactions()->GetRate(); vForce.InitMatrix(); vMoment.InitMatrix(); @@ -251,6 +249,7 @@ FGColumnVector3& FGLGear::Force(void) } if (GearDown) { + double t = Exec->GetState()->Getsim_time(); vWhlBodyVec = MassBalance->StructuralToBody(vXYZ); @@ -260,7 +259,10 @@ FGColumnVector3& FGLGear::Force(void) // vLocalGear now stores the vector from the cg to the wheel in local coords. - compressLength = vLocalGear(eZ) - Propagate->GetDistanceAGL(); + FGColumnVector3 normal, cvel; + FGLocation contact; + FGLocation gearLoc = Propagate->GetLocation().LocalToLocation(vLocalGear); + compressLength = - Exec->GetGroundCallback()->GetAGLevel(t, gearLoc, contact, normal, cvel); // The compression length is currently measured in the Z-axis, only, at this time. // It should be measured along the strut axis. If the local-frame gear position @@ -283,7 +285,7 @@ FGColumnVector3& FGLGear::Force(void) // wheel velocity. vWhlVelVec = Propagate->GetTb2l() * (Propagate->GetPQR() * vWhlBodyVec); - vWhlVelVec += Propagate->GetVel(); + vWhlVelVec += Propagate->GetVel() - cvel; compressSpeed = vWhlVelVec(eZ); // If this is the first time the wheel has made contact, remember some values @@ -420,9 +422,10 @@ FGColumnVector3& FGLGear::Force(void) RollingForce = 0; if (fabs(RollingWhlVel) > 1E-3) { - RollingForce = (1.0 - TirePressureNorm) * 30 - + vLocalForce(eZ) * BrakeFCoeff - * fabs(RollingWhlVel)/RollingWhlVel; + double badPresResis = (1.0 - TirePressureNorm) * 30; + RollingForce = (badPresResis * min(fabs(RollingWhlVel), 1.0) + + vLocalForce(eZ) * BrakeFCoeff) + * fabs(RollingWhlVel)/RollingWhlVel; } SideForce = vLocalForce(eZ) * FCoeff; diff --git a/src/FDM/JSBSim/FGLGear.h b/src/FDM/JSBSim/FGLGear.h index 842b8077d..9b4e02db6 100644 --- a/src/FDM/JSBSim/FGLGear.h +++ b/src/FDM/JSBSim/FGLGear.h @@ -214,6 +214,7 @@ public: /// Gets the gear compression force in pounds inline double GetCompForce(void) {return Force()(3); } inline double GetBrakeFCoeff(void) {return BrakeFCoeff;} + inline double GetXYZ(int i) {return vXYZ(i);} /// Gets the current normalized tire pressure inline double GetTirePressure(void) { return TirePressureNorm; } @@ -232,20 +233,28 @@ public: double GetSteerNorm(void) const { return radtodeg/maxSteerAngle*SteerAngle; } double GetDefaultSteerAngle(double cmd) const { return cmd*maxSteerAngle; } double GetstaticFCoeff(void) { return staticFCoeff; } + double GetdynamicFCoeff(void) { return dynamicFCoeff; } + double GetrollingFCoeff(void) { return rollingFCoeff; } inline int GetBrakeGroup(void) { return (int)eBrakeGrp; } inline int GetSteerType(void) { return (int)eSteerType; } bool GetSteerable(void) const { return eSteerType != stFixed; } - inline bool GetRetractable(void) { return isRetractable; } - inline bool GetGearUnitUp(void) { return GearUp; } - inline bool GetGearUnitDown(void) { return GearDown; } - inline double GetWheelSideForce(void) { return SideForce; } - inline double GetWheelRollForce(void) { return RollingForce; } - inline double GetBodyXForce(void) { return vLocalForce(eX); } - inline double GetBodyYForce(void) { return vLocalForce(eY); } - inline double GetWheelSlipAngle(void) { return WheelSlip; } - double GetWheelVel(int axis) { return vWhlVelVec(axis);} + inline bool GetRetractable(void) const { return isRetractable; } + inline bool GetGearUnitUp(void) const { return GearUp; } + inline bool GetGearUnitDown(void) const { return GearDown; } + inline double GetWheelSideForce(void) const { return SideForce; } + inline double GetWheelRollForce(void) const { return RollingForce; } + inline double GetBodyXForce(void) const { return vLocalForce(eX); } + inline double GetBodyYForce(void) const { return vLocalForce(eY); } + inline double GetWheelSlipAngle(void) const { return WheelSlip; } + double GetWheelVel(int axis) const { return vWhlVelVec(axis);} + double GetkSpring(void) const { return kSpring; } + double GetbDamp(void) const { return bDamp; } + double GetmaxSteerAngle(void) const { return maxSteerAngle; } + string GetsBrakeGroup(void) const { return sBrakeGroup; } + string GetsRetractable(void) const { return sRetractable; } + string GetsSteerType(void) const { return sSteerType; } private: int GearNumber; diff --git a/src/FDM/JSBSim/FGMassBalance.h b/src/FDM/JSBSim/FGMassBalance.h index af6c5f597..14c11f0ca 100644 --- a/src/FDM/JSBSim/FGMassBalance.h +++ b/src/FDM/JSBSim/FGMassBalance.h @@ -77,8 +77,10 @@ public: inline double GetMass(void) const {return Mass;} inline double GetWeight(void) const {return Weight;} + inline double GetEmptyWeight(void) const {return EmptyWeight;} inline FGColumnVector3& GetXYZcg(void) {return vXYZcg;} inline double GetXYZcg(int axis) const {return vXYZcg(axis);} + inline double GetbaseXYZcg(int axis) const {return vbaseXYZcg(axis);} /** Computes the inertia contribution of a pointmass. Computes and returns the inertia matrix of a pointmass of mass @@ -123,7 +125,11 @@ public: FGMatrix33& GetJ(void) {return mJ;} FGMatrix33& GetJinv(void) {return mJinv;} void SetAircraftBaseInertias(FGMatrix33 BaseJ) {baseJ = BaseJ;} - + FGMatrix33& GetAircraftBaseInertias(void) {return baseJ;} + int GetNumPointMasses(void) {return PointMassLoc.size();} + FGColumnVector3& GetPointMassLoc(int i) {return PointMassLoc[i];} + double GetPointMassWeight(int i) {return PointMassWeight[i];} + void bind(void); void unbind(void); diff --git a/src/FDM/JSBSim/FGNozzle.cpp b/src/FDM/JSBSim/FGNozzle.cpp index 95b3143a9..c159c12a7 100644 --- a/src/FDM/JSBSim/FGNozzle.cpp +++ b/src/FDM/JSBSim/FGNozzle.cpp @@ -35,7 +35,6 @@ HISTORY INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#include #include #include "FGNozzle.h" diff --git a/src/FDM/JSBSim/FGPiston.cpp b/src/FDM/JSBSim/FGPiston.cpp index 0981f2e70..21a619778 100644 --- a/src/FDM/JSBSim/FGPiston.cpp +++ b/src/FDM/JSBSim/FGPiston.cpp @@ -75,7 +75,7 @@ FGPiston::FGPiston(FGFDMExec* exec, FGConfigFile* Eng_cfg, int engine_number) MAP = Atmosphere->GetPressure() * 47.88; // psf to Pa CylinderHeadTemp_degK = 0.0; Displacement = 360; - MaxHP = 200; + MaxHP = 0; Cycles = 2; IdleRPM = 600; Magnetos = 0; @@ -708,6 +708,8 @@ string FGPiston::GetEngineLabels(string delimeter) buf << Name << "_PwrAvail[" << EngineNumber << "]" << delimeter << Name << "_HP[" << EngineNumber << "]" << delimeter + << Name << "_equiv_ratio[" << EngineNumber << "]" << delimeter + << Name << "_MAP[" << EngineNumber << "]" << delimeter << Thruster->GetThrusterLabels(EngineNumber, delimeter); return buf.str(); @@ -720,6 +722,7 @@ string FGPiston::GetEngineValues(string delimeter) std::ostringstream buf; buf << PowerAvailable << delimeter << HP << delimeter + << equivalence_ratio << delimeter << MAP << delimeter << Thruster->GetThrusterValues(EngineNumber, delimeter); return buf.str(); diff --git a/src/FDM/JSBSim/FGPropagate.cpp b/src/FDM/JSBSim/FGPropagate.cpp index 3890d6e64..5c5132f2e 100644 --- a/src/FDM/JSBSim/FGPropagate.cpp +++ b/src/FDM/JSBSim/FGPropagate.cpp @@ -128,7 +128,7 @@ bool FGPropagate::InitModel(void) void FGPropagate::SetInitialState(const FGInitialCondition *FGIC) { SeaLevelRadius = FGIC->GetSeaLevelRadiusFtIC(); - RunwayRadius = FGIC->GetSeaLevelRadiusFtIC() + FGIC->GetTerrainAltitudeFtIC(); + RunwayRadius = SeaLevelRadius; // Set the position lat/lon/radius VState.vLocation = FGLocation( FGIC->GetLongitudeRadIC(), @@ -155,6 +155,9 @@ void FGPropagate::SetInitialState(const FGInitialCondition *FGIC) // Finaly make shure that the quaternion stays normalized. VState.vQtrn.Normalize(); + + // Recompute the RunwayRadius level. + RecomputeRunwayRadius(); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -177,6 +180,8 @@ bool FGPropagate::Run(void) { if (FGModel::Run()) return true; // Fast return if we have nothing to do ... + RecomputeRunwayRadius(); + double dt = State->Getdt()*rate; // The 'stepsize' const FGColumnVector3 omega( 0.0, 0.0, Inertial->omega() ); // earth rotation const FGColumnVector3& vForces = Aircraft->GetForces(); // current forces @@ -245,6 +250,21 @@ bool FGPropagate::Run(void) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +void FGPropagate::RecomputeRunwayRadius(void) +{ + // Get the runway radius. + // Boring: this does not belong here, but since Jon placed the RunwayRadius + // value here it is better done here than somewhere else. + FGLocation contactloc; + FGColumnVector3 dv; + FGGroundCallback* gcb = FDMExec->GetGroundCallback(); + double t = State->Getsim_time(); + gcb->GetAGLevel(t, VState.vLocation, contactloc, dv, dv); + RunwayRadius = contactloc.GetRadius(); +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + void FGPropagate::Seth(double tt) { VState.vLocation.SetRadius( tt + SeaLevelRadius ); @@ -252,6 +272,20 @@ void FGPropagate::Seth(double tt) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +double FGPropagate::GetRunwayRadius(void) const +{ + return RunwayRadius; +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +double FGPropagate::GetDistanceAGL(void) const +{ + return VState.vLocation.GetRadius() - RunwayRadius; +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + void FGPropagate::SetDistanceAGL(double tt) { VState.vLocation.SetRadius( tt + RunwayRadius ); @@ -290,7 +324,7 @@ void FGPropagate::bind(void) PropertyManager->Tie("position/h-agl-ft", this, &FGPropagate::GetDistanceAGL, &FGPropagate::SetDistanceAGL); PropertyManager->Tie("position/radius-to-vehicle-ft", this, &FGPropagate::GetRadius); - PropertyManager->Tie("metrics/runway-radius", this, &FGPropagate::GetRunwayRadius, &FGPropagate::SetRunwayRadius); + PropertyManager->Tie("metrics/runway-radius", this, &FGPropagate::GetRunwayRadius); PropertyManager->Tie("attitude/phi-rad", this, (int)ePhi, (PMF)&FGPropagate::GetEuler); PropertyManager->Tie("attitude/theta-rad", this, (int)eTht, (PMF)&FGPropagate::GetEuler); diff --git a/src/FDM/JSBSim/FGPropagate.h b/src/FDM/JSBSim/FGPropagate.h index d4eb21633..b778bb096 100644 --- a/src/FDM/JSBSim/FGPropagate.h +++ b/src/FDM/JSBSim/FGPropagate.h @@ -116,9 +116,9 @@ public: zero if JSBSim is running in standalone mode. @return distance of the runway from the center of the earth. @units feet */ - double GetRunwayRadius(void) const { return RunwayRadius; } + double GetRunwayRadius(void) const; double GetSeaLevelRadius(void) const { return SeaLevelRadius; } - double GetDistanceAGL(void) const { return VState.vLocation.GetRadius()-RunwayRadius; } + double GetDistanceAGL(void) const; double GetRadius(void) const { return VState.vLocation.GetRadius(); } double GetLongitude(void) const { return VState.vLocation.GetLongitude(); } double GetLatitude(void) const { return VState.vLocation.GetLatitude(); } @@ -139,11 +139,12 @@ public: void SetRadius(double r) { VState.vLocation.SetRadius(r); } void SetLocation(const FGLocation& l) { VState.vLocation = l; } void Seth(double tt); - void SetRunwayRadius(double tt) { RunwayRadius = tt; } void SetSeaLevelRadius(double tt) { SeaLevelRadius = tt; } void SetDistanceAGL(double tt); void SetInitialState(const FGInitialCondition *); + void RecomputeRunwayRadius(void); + void bind(void); void unbind(void); diff --git a/src/FDM/JSBSim/FGPropeller.h b/src/FDM/JSBSim/FGPropeller.h index 2d5037a97..0434e6943 100644 --- a/src/FDM/JSBSim/FGPropeller.h +++ b/src/FDM/JSBSim/FGPropeller.h @@ -125,6 +125,9 @@ public: the direction of flight. */ void SetSense(double s) { Sense = s;} + double GetSense(void) {return Sense;} + double GetPFactorValue(void) {return P_Factor;} + /// Retrieves the pitch of the propeller in degrees. double GetPitch(void) { return Pitch; } diff --git a/src/FDM/JSBSim/FGPropulsion.cpp b/src/FDM/JSBSim/FGPropulsion.cpp index bdb0a211b..11443f7cf 100644 --- a/src/FDM/JSBSim/FGPropulsion.cpp +++ b/src/FDM/JSBSim/FGPropulsion.cpp @@ -255,6 +255,8 @@ bool FGPropulsion::Load(FGConfigFile* AC_cfg) return false; } + Engines.back()->SetEngineFileName(engineFileName); + AC_cfg->GetNextConfigLine(); while ((token = AC_cfg->GetValue()) != string("/AC_ENGINE")) { *AC_cfg >> token; diff --git a/src/FDM/JSBSim/FGScript.cpp b/src/FDM/JSBSim/FGScript.cpp index 4d77492cb..8634b2ebb 100644 --- a/src/FDM/JSBSim/FGScript.cpp +++ b/src/FDM/JSBSim/FGScript.cpp @@ -212,13 +212,13 @@ bool FGScript::LoadScript( string script ) cerr << "Initialization unsuccessful" << endl; exit(-1); } - +/* comment this out for conversion capability FGTrim fgt(FDMExec, tFull); if ( !fgt.DoTrim() ) { cout << "Trim Failed" << endl; } fgt.Report(); - +*/ return true; } diff --git a/src/FDM/JSBSim/FGState.cpp b/src/FDM/JSBSim/FGState.cpp index d21a82b66..1802205b3 100644 --- a/src/FDM/JSBSim/FGState.cpp +++ b/src/FDM/JSBSim/FGState.cpp @@ -165,8 +165,8 @@ FGMatrix33& FGState::GetTs2b(void) FGMatrix33& FGState::GetTb2s(void) { - float alpha,beta; - float ca, cb, sa, sb; + double alpha,beta; + double ca, cb, sa, sb; alpha = Auxiliary->Getalpha(); beta = Auxiliary->Getbeta(); diff --git a/src/FDM/JSBSim/FGTable.cpp b/src/FDM/JSBSim/FGTable.cpp index bf02b1787..62fdf465e 100644 --- a/src/FDM/JSBSim/FGTable.cpp +++ b/src/FDM/JSBSim/FGTable.cpp @@ -335,8 +335,9 @@ FGTable& FGTable::operator<<(const int n) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -void FGTable::Print(void) +void FGTable::Print(int spaces) { + string tabspace; int startRow=0; int startCol=0; @@ -349,9 +350,11 @@ void FGTable::Print(void) ios::fmtflags flags = cout.setf(ios::fixed); // set up output stream #endif + for (int i=0;iGetInertial()->gravity(); cgamma=cos(fgic->GetFlightPathAngleRadIC()); cout << "setPitchRateInPullup(): " << g << ", " << cgamma << ", " @@ -601,7 +601,7 @@ void FGTrim::updateRates(void){ fgic->SetQRadpsIC(q); fgic->SetRRadpsIC(r); } else if( mode == tPullup && fabs(targetNlf-1) > 0.01) { - float g,q,cgamma; + double g,q,cgamma; g=fdmex->GetInertial()->gravity(); cgamma=cos(fgic->GetFlightPathAngleRadIC()); q=g*(targetNlf-cgamma)/fgic->GetVtrueFpsIC(); diff --git a/src/FDM/JSBSim/FGTrim.h b/src/FDM/JSBSim/FGTrim.h index 401d4d7d3..19647cc04 100644 --- a/src/FDM/JSBSim/FGTrim.h +++ b/src/FDM/JSBSim/FGTrim.h @@ -287,7 +287,7 @@ public: */ inline void DebugState(State state) { debug_axis=state; } - inline void SetTargetNlf(float nlf) { targetNlf=nlf; } + inline void SetTargetNlf(double nlf) { targetNlf=nlf; } inline double GetTargetNlf(void) { return targetNlf; } }; diff --git a/src/FDM/JSBSim/FGTrimAxis.h b/src/FDM/JSBSim/FGTrimAxis.h index 1a236d8a3..e0754a03c 100644 --- a/src/FDM/JSBSim/FGTrimAxis.h +++ b/src/FDM/JSBSim/FGTrimAxis.h @@ -135,8 +135,8 @@ public: void SetThetaOnGround(double ff); void SetPhiOnGround(double ff); - inline void SetStateTarget(float target) { state_target=target; } - inline float GetStateTarget(void) { return state_target; } + inline void SetStateTarget(double target) { state_target=target; } + inline double GetStateTarget(void) { return state_target; } bool initTheta(void); @@ -151,10 +151,10 @@ private: State state; Control control; - float state_target; + double state_target; - float state_value; - float control_value; + double state_value; + double control_value; double control_min; double control_max; diff --git a/src/FDM/JSBSim/JSBSim.cxx b/src/FDM/JSBSim/JSBSim.cxx index 3129a961e..b897c3b46 100644 --- a/src/FDM/JSBSim/JSBSim.cxx +++ b/src/FDM/JSBSim/JSBSim.cxx @@ -26,6 +26,7 @@ #endif #include +#include #include // size_t #ifdef SG_MATH_EXCEPTION_CLASH @@ -61,6 +62,7 @@ #include #include #include +#include #include #include #include @@ -76,6 +78,37 @@ FMAX (double a, double b) return a > b ? a : b; } +class FGFSGroundCallback : public FGGroundCallback { +public: + FGFSGroundCallback(FGInterface* ifc) : mInterface(ifc) {} + virtual ~FGFSGroundCallback() {} + + /** Get the altitude above sea level depenent on the location. */ + virtual double GetAltitude(const FGLocation& l) const { + double pt[3] = { SG_FEET_TO_METER*l(eX), + SG_FEET_TO_METER*l(eY), + SG_FEET_TO_METER*l(eZ) }; + double lat, lon, alt; + sgCartToGeod( pt, &lat, &lon, &alt); + return alt * SG_METER_TO_FEET; + } + /** Compute the altitude above ground. */ + virtual double GetAGLevel(double t, const FGLocation& l, + FGLocation& cont, + FGColumnVector3& n, FGColumnVector3& v) const { + double loc_cart[3] = { l(eX), l(eY), l(eZ) }; + double contact[3], normal[3], vel[3], lc, ff, agl; + int groundtype; + mInterface->get_agl_ft(t, loc_cart, contact, normal, vel, + &groundtype, &lc, &ff, &agl); + n = l.GetTec2l()*FGColumnVector3( normal[0], normal[1], normal[2] ); + v = l.GetTec2l()*FGColumnVector3( vel[0], vel[1], vel[2] ); + cont = FGColumnVector3( contact[0], contact[1], contact[2] ); + return agl; + } +private: + FGInterface* mInterface; +}; /******************************************************************************/ @@ -111,6 +144,9 @@ FGJSBsim::FGJSBsim( double dt ) fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() ); + // Register ground callback. + fdmex->SetGroundCallback( new FGFSGroundCallback(this) ); + State = fdmex->GetState(); Atmosphere = fdmex->GetAtmosphere(); FCS = fdmex->GetFCS(); @@ -349,18 +385,55 @@ void FGJSBsim::update( double dt ) int i; - // double save_alt = 0.0; + // Compute the radius of the aircraft. That is the radius of a ball + // where all gear units are in. At the moment it is at least 10ft ... + double acrad = 10.0; + int n_gears = GroundReactions->GetNumGearUnits(); + for (i=0; iGetGearUnit(i)->GetBodyLocation(); + double r = bl.Magnitude(); + if (acrad < r) + acrad = r; + } + // Compute the potential movement of this aircraft and query for the + // ground in this area. + double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude(); + FGColumnVector3 cart = Auxiliary->GetLocationVRP(); + if ( needTrim && startup_trim->getBoolValue() ) { + double alt = fgic->GetAltitudeFtIC(); + double slr = fgic->GetSeaLevelRadiusFtIC(); + double lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS; + double lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS; + cart = FGLocation(lon, lat, alt+slr); + } + double cart_pos[3] = { cart(1), cart(2), cart(3) }; + bool cache_ok = prepare_ground_cache_ft( State->Getsim_time(), cart_pos, + groundCacheRadius ); + if (!cache_ok) { + SG_LOG(SG_FLIGHT, SG_WARN, + "FGInterface is beeing called without scenery below the aircraft!"); + return; + } + copy_to_JSBsim(); trimmed->setBoolValue(false); if ( needTrim ) { if ( startup_trim->getBoolValue() ) { + double contact[3], dummy[3], lc, ff, agl; + int groundtype; + get_agl_ft(State->Getsim_time(), cart_pos, contact, + dummy, dummy, &groundtype, &lc, &ff, &agl); + double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1] + + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC(); + SG_LOG(SG_FLIGHT, SG_INFO, "Ready to trim, terrain altitude is: " - << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET ); - fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() ); + << terrain_alt * SG_METER_TO_FEET ); + + fgic->SetTerrainAltitudeFtIC( terrain_alt ); do_trim(); } else { fdmex->RunIC(); //apply any changes made through the set_ functions @@ -472,10 +545,7 @@ bool FGJSBsim::copy_to_JSBsim() } - _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() ); Propagate->SetSeaLevelRadius( get_Sea_level_radius() ); - Propagate->SetRunwayRadius( get_Runway_altitude() - + get_Sea_level_radius() ); Atmosphere->SetExTemperature( 9.0/5.0*(temperature->getDoubleValue()+273.15) ); @@ -552,9 +622,34 @@ bool FGJSBsim::copy_from_JSBsim() Propagate->GetUVW(3) ); // Make the HUD work ... - _set_Velocities_Ground( Propagate->GetVel(eNorth), - Propagate->GetVel(eEast), - -Propagate->GetVel(eDown) ); + { + const FGLocation& l = Auxiliary->GetLocationVRP(); + double xyz[3] = { l(eX)*SG_FEET_TO_METER, + l(eY)*SG_FEET_TO_METER, + l(eZ)*SG_FEET_TO_METER }; + double lat, lon, alt; + sgCartToGeod(xyz, &lat, &lon, &alt); + FGQuaternion Tec2geodhl(0, -0.5*M_PI-lat, lon); + + FGColumnVector3 ecVel = l.GetTl2ec()*Propagate->GetVel(); + FGColumnVector3 geodhlVel = Tec2geodhl.GetT()*ecVel; + + _set_Velocities_Ground( geodhlVel(eNorth)*SG_FEET_TO_METER, + geodhlVel(eEast)*SG_FEET_TO_METER, + -geodhlVel(eDown)*SG_FEET_TO_METER ); + + // Transform the acceleration to the earth centered frame and then + // back to the geodetic hl frame. + FGColumnVector3 accel = Propagate->GetUVWdot(); + accel -= Propagate->GetUVW()*Propagate->GetPQR(); + accel = Propagate->GetTb2l()*accel; + accel = l.GetTl2ec()*accel; + accel = Tec2geodhl.GetT()*accel; + + _set_Accels_Local( accel(eNorth)*SG_FEET_TO_METER, + accel(eEast)*SG_FEET_TO_METER, + -accel(eDown)*SG_FEET_TO_METER); + } _set_V_rel_wind( Auxiliary->GetVt() ); @@ -575,11 +670,21 @@ bool FGJSBsim::copy_from_JSBsim() _set_Mach_number( Auxiliary->GetMach() ); // Positions of Visual Reference Point - _updateGeocentricPosition( Auxiliary->GetLocationVRP().GetLatitude(), - Auxiliary->GetLocationVRP().GetLongitude(), - Auxiliary->GethVRP() ); + FGLocation l = Auxiliary->GetLocationVRP(); + _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(), + l.GetRadius() - get_Sea_level_radius() ); _set_Altitude_AGL( Propagate->GetDistanceAGL() ); + { + double loc_cart[3] = { l(eX), l(eY), l(eZ) }; + double contact[3], d[3], sd, t; + int id; + is_valid_m(&t, d, &sd); + get_agl_ft(t, loc_cart, contact, d, d, &id, &sd, &sd, &sd); + double rwrad + = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude(); + _set_Runway_altitude( rwrad - get_Sea_level_radius() ); + } _set_Euler_Angles( Propagate->GetEuler(ePhi), Propagate->GetEuler(eTht), @@ -766,8 +871,6 @@ void FGJSBsim::set_Latitude(double lat) &sea_level_radius_meters, &lat_geoc ); _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET ); fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET ); - _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() ); - fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() ); fgic->SetLatitudeRadIC( lat_geoc ); needTrim=true; } @@ -782,8 +885,6 @@ void FGJSBsim::set_Longitude(double lon) update_ic(); fgic->SetLongitudeRadIC( lon ); - _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() ); - fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() ); needTrim=true; } @@ -804,8 +905,6 @@ void FGJSBsim::set_Altitude(double alt) &sea_level_radius_meters, &lat_geoc); _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET ); fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET ); - _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() ); - fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() ); SG_LOG(SG_FLIGHT, SG_INFO, "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET ); fgic->SetLatitudeRadIC( lat_geoc ); diff --git a/src/FDM/JSBSim/JSBSim.hxx b/src/FDM/JSBSim/JSBSim.hxx index d1a54a5a3..623cc69c4 100644 --- a/src/FDM/JSBSim/JSBSim.hxx +++ b/src/FDM/JSBSim/JSBSim.hxx @@ -222,8 +222,8 @@ private: FGGroundReactions *GroundReactions; int runcount; - float trim_elev; - float trim_throttle; + double trim_elev; + double trim_throttle; SGPropertyNode *startup_trim; SGPropertyNode *trimmed; diff --git a/src/FDM/JSBSim/Makefile.am b/src/FDM/JSBSim/Makefile.am index 0f56fe520..fd3001eb7 100644 --- a/src/FDM/JSBSim/Makefile.am +++ b/src/FDM/JSBSim/Makefile.am @@ -47,6 +47,7 @@ libJSBSim_a_SOURCES = \ FGLocation.cpp FGLocation.h \ FGQuaternion.cpp FGQuaternion.h \ FGElectric.cpp FGElectric.h \ + FGGroundCallback.cpp FGGroundCallback.h \ JSBSim.cxx JSBSim.hxx diff --git a/src/FDM/JSBSim/filtersjb/FGCondition.cpp b/src/FDM/JSBSim/filtersjb/FGCondition.cpp index b9fcb62af..af7510b06 100644 --- a/src/FDM/JSBSim/filtersjb/FGCondition.cpp +++ b/src/FDM/JSBSim/filtersjb/FGCondition.cpp @@ -51,8 +51,6 @@ string FGCondition::indent = " "; FGCondition::FGCondition(FGConfigFile* AC_cfg, FGPropertyManager* PropertyManager) : PropertyManager(PropertyManager) { - string property1, property2; - mComparison["EQ"] = eEQ; mComparison["NE"] = eNE; mComparison["GT"] = eGT; @@ -207,6 +205,16 @@ void FGCondition::PrintCondition(void ) } } +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +void FGCondition::convert(void) +{ + if (conditions.empty()) + cout << " " << property1 << " " << conditional << " " << property2 << endl; + else + for (int i; i conditions; diff --git a/src/FDM/JSBSim/filtersjb/FGDeadBand.cpp b/src/FDM/JSBSim/filtersjb/FGDeadBand.cpp index e9e6d3383..5776c13c3 100644 --- a/src/FDM/JSBSim/filtersjb/FGDeadBand.cpp +++ b/src/FDM/JSBSim/filtersjb/FGDeadBand.cpp @@ -121,6 +121,33 @@ bool FGDeadBand::Run(void ) return true; } +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +void FGDeadBand::convert(void) +{ + cout << endl; + cout << " " << endl; + + cout << " " << (InputNodes[0]->GetFullyQualifiedName()).substr(12) << "" << endl; + + if (gain != 1.0) + cout << " " << gain << "" << endl; + + cout << " " << width << "" << endl; + + if (clip) { + cout << " " << endl; + cout << " " << clipmin << "" << endl; + cout << " " << clipmax << "" << endl; + cout << " " << endl; + } + + if (IsOutput) + cout << " " << (OutputNode->GetFullyQualifiedName()).substr(12) << "" << endl; + + cout << " " << endl; +} + //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // The bitmasked value choices are as follows: // unset: In this case (the default) JSBSim would only print diff --git a/src/FDM/JSBSim/filtersjb/FGDeadBand.h b/src/FDM/JSBSim/filtersjb/FGDeadBand.h index af385ffc3..c89a6c9f7 100644 --- a/src/FDM/JSBSim/filtersjb/FGDeadBand.h +++ b/src/FDM/JSBSim/filtersjb/FGDeadBand.h @@ -88,6 +88,7 @@ public: ~FGDeadBand(); bool Run(void); + void convert(void); private: FGConfigFile* AC_cfg; diff --git a/src/FDM/JSBSim/filtersjb/FGFCSComponent.h b/src/FDM/JSBSim/filtersjb/FGFCSComponent.h index d6294f93b..f624b20a5 100644 --- a/src/FDM/JSBSim/filtersjb/FGFCSComponent.h +++ b/src/FDM/JSBSim/filtersjb/FGFCSComponent.h @@ -104,7 +104,7 @@ public: inline string GetName(void) const {return Name;} inline string GetType(void) const { return Type; } virtual double GetOutputPct(void) const { return 0; } - + virtual void convert(void) {}; virtual void bind(); FGPropertyManager* resolveSymbol(string token); diff --git a/src/FDM/JSBSim/filtersjb/FGFilter.cpp b/src/FDM/JSBSim/filtersjb/FGFilter.cpp index a7fa9c5a3..3ecf6523d 100644 --- a/src/FDM/JSBSim/filtersjb/FGFilter.cpp +++ b/src/FDM/JSBSim/filtersjb/FGFilter.cpp @@ -205,6 +205,30 @@ bool FGFilter::Run(void) return true; } +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +void FGFilter::convert(void) +{ + cout << endl; + cout << " " << endl; + + cout << " " << (InputNodes[0]->GetFullyQualifiedName()).substr(12) << "" << endl; + + if (C1 != 0) cout << " " << C1 << "" << endl; + if (C2 != 0) cout << " " << C2 << "" << endl; + if (C3 != 0) cout << " " << C3 << "" << endl; + if (C4 != 0) cout << " " << C4 << "" << endl; + if (C5 != 0) cout << " " << C5 << "" << endl; + if (C6 != 0) cout << " " << C6 << "" << endl; + + if (Trigger != 0) cout << " " << Trigger << "" << endl; + + if (IsOutput) + cout << " " << (OutputNode->GetFullyQualifiedName()).substr(12) << "" << endl; + + cout << " " << endl; +} + //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // The bitmasked value choices are as follows: // unset: In this case (the default) JSBSim would only print diff --git a/src/FDM/JSBSim/filtersjb/FGFilter.h b/src/FDM/JSBSim/filtersjb/FGFilter.h index 521e2d888..e919bf1d4 100644 --- a/src/FDM/JSBSim/filtersjb/FGFilter.h +++ b/src/FDM/JSBSim/filtersjb/FGFilter.h @@ -195,6 +195,7 @@ public: /** When true, causes previous values to be set to current values. This is particularly useful for first pass. */ bool Initialize; + void convert(void); enum {eLag, eLeadLag, eOrder2, eWashout, eIntegrator, eUnknown} FilterType; diff --git a/src/FDM/JSBSim/filtersjb/FGGain.cpp b/src/FDM/JSBSim/filtersjb/FGGain.cpp index 6e3f1bd40..cee78f566 100644 --- a/src/FDM/JSBSim/filtersjb/FGGain.cpp +++ b/src/FDM/JSBSim/filtersjb/FGGain.cpp @@ -175,6 +175,40 @@ bool FGGain::Run(void ) return true; } +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +void FGGain::convert(void) +{ + cout << endl; + cout << " " << endl; + + cout << " " << (InputNodes[0]->GetFullyQualifiedName()).substr(12) << "" << endl; + + if (Gain != 1.0) + cout << " " << Gain << "" << endl; + + if (Type == "PURE_GAIN") { // PURE_GAIN + } else if (Type == "SCHEDULED_GAIN") { // SCHEDULED_GAIN + } else if (Type == "AEROSURFACE_SCALE") { // AEROSURFACE_SCALE + cout << " " << endl; + cout << " " << Min << "" << endl; + cout << " " << Max << "" << endl; + cout << " " << endl; + } + + if (clip) { + cout << " " << endl; + cout << " " << clipmin << "" << endl; + cout << " " << clipmax << "" << endl; + cout << " " << endl; + } + + if (IsOutput) + cout << " " << (OutputNode->GetFullyQualifiedName()).substr(12) << "" << endl; + + cout << " " << endl; +} + //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // The bitmasked value choices are as follows: // unset: In this case (the default) JSBSim would only print diff --git a/src/FDM/JSBSim/filtersjb/FGGain.h b/src/FDM/JSBSim/filtersjb/FGGain.h index ef275e9f7..0dec3ee57 100644 --- a/src/FDM/JSBSim/filtersjb/FGGain.h +++ b/src/FDM/JSBSim/filtersjb/FGGain.h @@ -173,7 +173,7 @@ public: ~FGGain(); double GetOutputPct() const { return OutputPct; } - + void convert(void); bool Run (void); private: diff --git a/src/FDM/JSBSim/filtersjb/FGKinemat.cpp b/src/FDM/JSBSim/filtersjb/FGKinemat.cpp index d908fc4e3..e71159574 100644 --- a/src/FDM/JSBSim/filtersjb/FGKinemat.cpp +++ b/src/FDM/JSBSim/filtersjb/FGKinemat.cpp @@ -178,6 +178,30 @@ bool FGKinemat::Run(void ) return true; } +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +void FGKinemat::convert(void) +{ + cout << endl; + cout << " " << endl; + + cout << " " << (InputNodes[0]->GetFullyQualifiedName()).substr(12) << "" << endl; + + cout << " " << endl; + for (int i=0; i" << endl; + cout << " " << Detents[i] << "" << endl; + cout << " " << endl; + cout << " " << endl; + } + cout << " " << endl; + + if (IsOutput) + cout << " " << (OutputNode->GetFullyQualifiedName()).substr(12) << "" << endl; + + cout << " " << endl; +} + //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // The bitmasked value choices are as follows: // unset: In this case (the default) JSBSim would only print diff --git a/src/FDM/JSBSim/filtersjb/FGKinemat.h b/src/FDM/JSBSim/filtersjb/FGKinemat.h index 9c2339af6..a438b5544 100644 --- a/src/FDM/JSBSim/filtersjb/FGKinemat.h +++ b/src/FDM/JSBSim/filtersjb/FGKinemat.h @@ -101,7 +101,8 @@ public: The routine doing the work. */ bool Run (void); - + void convert(void); + private: FGConfigFile* AC_cfg; vector Detents; diff --git a/src/FDM/JSBSim/filtersjb/FGSummer.cpp b/src/FDM/JSBSim/filtersjb/FGSummer.cpp index 1d3695244..efd2c8f10 100644 --- a/src/FDM/JSBSim/filtersjb/FGSummer.cpp +++ b/src/FDM/JSBSim/filtersjb/FGSummer.cpp @@ -3,7 +3,7 @@ Module: FGSummer.cpp Author: Jon S. Berndt Date started: 4/2000 - + ------------- Copyright (C) 2000 ------------- This program is free software; you can redistribute it and/or modify it under @@ -37,7 +37,7 @@ COMMENTS, REFERENCES, and NOTES INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#include "FGSummer.h" +#include "FGSummer.h" namespace JSBSim { @@ -75,7 +75,7 @@ FGSummer::FGSummer(FGFCS* fcs, FGConfigFile* AC_cfg) : FGFCSComponent(fcs), } else { InputSigns.push_back( 1.0); } - + InputNodes.push_back( resolveSymbol(token) ); } else if (token == "BIAS") { *AC_cfg >> Bias; @@ -90,7 +90,7 @@ FGSummer::FGSummer(FGFCS* fcs, FGConfigFile* AC_cfg) : FGFCSComponent(fcs), OutputNode = PropertyManager->GetNode(sOutputIdx, true); } } - + FGFCSComponent::bind(); Debug(0); @@ -130,6 +130,37 @@ bool FGSummer::Run(void ) return true; } +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +void FGSummer::convert(void) +{ + string sSign; + + cout << endl; + cout << " " << endl; + + for (int i=0; i" << sSign << (InputNodes[i]->GetFullyQualifiedName()).substr(12) << "" << endl; + } + + if (Bias != 0.0) + cout << " " << Bias << "" << endl; + + if (clip) { + cout << " " << endl; + cout << " " << clipmin << "" << endl; + cout << " " << clipmax << "" << endl; + cout << " " << endl; + } + + if (IsOutput) + cout << " " << (OutputNode->GetFullyQualifiedName()).substr(12) << "" << endl; + + cout << " " << endl; +} + //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // The bitmasked value choices are as follows: // unset: In this case (the default) JSBSim would only print @@ -163,7 +194,7 @@ void FGSummer::Debug(int from) cout << " " << InputNodes[i]->getName() << endl; } if (Bias != 0.0) cout << " Bias: " << Bias << endl; - if (clip) cout << " CLIPTO: " << clipmin + if (clip) cout << " CLIPTO: " << clipmin << ", " << clipmax << endl; if (IsOutput) cout << " OUTPUT: " <getName() << endl; } diff --git a/src/FDM/JSBSim/filtersjb/FGSummer.h b/src/FDM/JSBSim/filtersjb/FGSummer.h index 6bb7cae18..7ee68c626 100644 --- a/src/FDM/JSBSim/filtersjb/FGSummer.h +++ b/src/FDM/JSBSim/filtersjb/FGSummer.h @@ -115,6 +115,7 @@ public: /// The execution method for this FCS component. bool Run(void); + void convert(void); private: FGConfigFile* AC_cfg; diff --git a/src/FDM/JSBSim/filtersjb/FGSwitch.cpp b/src/FDM/JSBSim/filtersjb/FGSwitch.cpp index d5c121775..b60f0cc82 100644 --- a/src/FDM/JSBSim/filtersjb/FGSwitch.cpp +++ b/src/FDM/JSBSim/filtersjb/FGSwitch.cpp @@ -188,6 +188,44 @@ bool FGSwitch::Run(void ) return true; } +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +void FGSwitch::convert(void) +{ + cout << endl; + cout << " " << endl; + +// cout << " " << InputNodes[0]->GetName() << "" << endl; + + for (int i=0; i" << endl; + else + cout << " GetFullyQualifiedName()).substr(12) << "\"/>" << endl; + } else if (tests[i].Logic == eAND) { + if (tests[i].OutputProp == 0L) + cout << " " << endl; + else + cout << " GetFullyQualifiedName()).substr(12) << "\">" << endl; + } else if (tests[i].Logic == eOR) { + if (tests[i].OutputProp == 0L) + cout << " " << endl; + else + cout << " GetFullyQualifiedName()).substr(12) << "\">" << endl; + } + for (int j=0; j" << endl; + } + + if (IsOutput) + cout << " " << (OutputNode->GetFullyQualifiedName()).substr(12) << "" << endl; + + cout << " " << endl; +} + //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // The bitmasked value choices are as follows: // unset: In this case (the default) JSBSim would only print diff --git a/src/FDM/JSBSim/filtersjb/FGSwitch.h b/src/FDM/JSBSim/filtersjb/FGSwitch.h index 48247d9ae..a942a8da5 100644 --- a/src/FDM/JSBSim/filtersjb/FGSwitch.h +++ b/src/FDM/JSBSim/filtersjb/FGSwitch.h @@ -133,6 +133,7 @@ public: ~FGSwitch(); bool Run(void); + void convert(void); enum eLogic {elUndef=0, eAND, eOR, eDefault}; enum eComparison {ecUndef=0, eEQ, eNE, eGT, eGE, eLT, eLE};