From 69baf3a9d6adb645325e7bfc0305b09604379d9f Mon Sep 17 00:00:00 2001 From: bcoconni Date: Sun, 24 Nov 2013 20:12:17 +0100 Subject: [PATCH] Synchronized with JSBSim/CVS --- src/FDM/JSBSim/CMakeLists.txt | 2 + src/FDM/JSBSim/FGFDMExec.cpp | 8 +- src/FDM/JSBSim/FGFDMExec.h | 7 +- src/FDM/JSBSim/JSBSim.cxx | 2 + .../initialization/FGInitialCondition.cpp | 31 +-- .../initialization/FGInitialCondition.h | 13 +- src/FDM/JSBSim/initialization/FGTrim.cpp | 228 +++++++++++++++++- src/FDM/JSBSim/initialization/FGTrim.h | 19 +- src/FDM/JSBSim/initialization/FGTrimAxis.cpp | 151 +----------- src/FDM/JSBSim/initialization/FGTrimAxis.h | 7 +- src/FDM/JSBSim/input_output/FGOutputFG.cpp | 14 +- src/FDM/JSBSim/input_output/FGOutputFile.cpp | 3 +- .../JSBSim/input_output/FGOutputSocket.cpp | 3 +- .../JSBSim/input_output/FGOutputTextFile.cpp | 3 +- src/FDM/JSBSim/input_output/FGOutputType.cpp | 5 +- .../JSBSim/input_output/FGPropertyManager.h | 9 +- src/FDM/JSBSim/input_output/FGScript.cpp | 7 +- src/FDM/JSBSim/input_output/FGScript.h | 7 +- src/FDM/JSBSim/input_output/FGXMLElement.cpp | 98 +++++--- src/FDM/JSBSim/input_output/FGXMLElement.h | 33 ++- src/FDM/JSBSim/input_output/FGXMLFileRead.h | 12 +- src/FDM/JSBSim/input_output/FGXMLParse.cpp | 8 +- src/FDM/JSBSim/input_output/net_fdm.hxx | 11 +- .../JSBSim/input_output/string_utilities.h | 23 +- src/FDM/JSBSim/math/FGFunction.cpp | 9 +- src/FDM/JSBSim/math/FGLocation.cpp | 3 +- src/FDM/JSBSim/math/FGLocation.h | 7 +- src/FDM/JSBSim/math/FGModelFunctions.cpp | 3 +- src/FDM/JSBSim/math/FGModelFunctions.h | 3 +- src/FDM/JSBSim/math/FGPropertyValue.cpp | 13 +- src/FDM/JSBSim/math/FGPropertyValue.h | 3 +- src/FDM/JSBSim/math/FGQuaternion.h | 23 +- src/FDM/JSBSim/models/FGAerodynamics.cpp | 12 +- src/FDM/JSBSim/models/FGAerodynamics.h | 9 +- src/FDM/JSBSim/models/FGAircraft.cpp | 3 +- src/FDM/JSBSim/models/FGAircraft.h | 5 +- src/FDM/JSBSim/models/FGBuoyantForces.cpp | 11 +- src/FDM/JSBSim/models/FGBuoyantForces.h | 7 +- src/FDM/JSBSim/models/FGExternalReactions.cpp | 12 +- src/FDM/JSBSim/models/FGExternalReactions.h | 6 +- src/FDM/JSBSim/models/FGFCS.cpp | 23 +- src/FDM/JSBSim/models/FGFCS.h | 8 +- src/FDM/JSBSim/models/FGFCSChannel.h | 10 +- src/FDM/JSBSim/models/FGGroundReactions.cpp | 8 +- src/FDM/JSBSim/models/FGGroundReactions.h | 6 +- src/FDM/JSBSim/models/FGLGear.cpp | 14 +- src/FDM/JSBSim/models/FGLGear.h | 5 +- src/FDM/JSBSim/models/FGMassBalance.cpp | 8 +- src/FDM/JSBSim/models/FGMassBalance.h | 6 +- src/FDM/JSBSim/models/FGOutput.cpp | 9 +- src/FDM/JSBSim/models/FGOutput.h | 7 +- src/FDM/JSBSim/models/FGPropagate.cpp | 68 +++--- src/FDM/JSBSim/models/FGPropulsion.cpp | 12 +- src/FDM/JSBSim/models/FGPropulsion.h | 7 +- .../models/flight_control/FGAccelerometer.cpp | 5 +- .../models/flight_control/FGAccelerometer.h | 5 +- .../models/flight_control/FGActuator.cpp | 3 +- .../JSBSim/models/flight_control/FGActuator.h | 5 +- .../JSBSim/models/flight_control/FGAngles.cpp | 5 +- .../models/flight_control/FGDistributor.cpp | 177 ++++++++++++++ .../models/flight_control/FGDistributor.h | 215 +++++++++++++++++ .../models/flight_control/FGFCSComponent.cpp | 30 ++- .../models/flight_control/FGFCSComponent.h | 7 +- .../models/flight_control/FGFCSFunction.cpp | 6 +- .../models/flight_control/FGFCSFunction.h | 5 +- .../JSBSim/models/flight_control/FGGyro.cpp | 5 +- src/FDM/JSBSim/models/flight_control/FGGyro.h | 5 +- .../models/flight_control/FGMagnetometer.cpp | 8 +- .../models/flight_control/FGMagnetometer.h | 5 +- .../flight_control/FGSensorOrientation.h | 6 +- .../JSBSim/models/flight_control/FGSwitch.cpp | 11 +- .../JSBSim/models/flight_control/FGSwitch.h | 10 +- .../JSBSim/models/propulsion/FGElectric.cpp | 3 +- src/FDM/JSBSim/models/propulsion/FGElectric.h | 5 +- src/FDM/JSBSim/models/propulsion/FGEngine.cpp | 12 +- src/FDM/JSBSim/models/propulsion/FGEngine.h | 8 +- src/FDM/JSBSim/models/propulsion/FGPiston.cpp | 3 +- src/FDM/JSBSim/models/propulsion/FGRocket.cpp | 4 +- src/FDM/JSBSim/models/propulsion/FGRocket.h | 5 +- src/FDM/JSBSim/models/propulsion/FGRotor.cpp | 3 +- .../models/propulsion/FGTransmission.cpp | 4 +- .../JSBSim/models/propulsion/FGTurbine.cpp | 3 +- .../JSBSim/models/propulsion/FGTurboProp.cpp | 49 ++-- .../JSBSim/models/propulsion/FGTurboProp.h | 6 +- 84 files changed, 1169 insertions(+), 473 deletions(-) mode change 100644 => 100755 src/FDM/JSBSim/input_output/FGScript.cpp mode change 100644 => 100755 src/FDM/JSBSim/input_output/FGXMLElement.cpp mode change 100644 => 100755 src/FDM/JSBSim/input_output/FGXMLElement.h mode change 100644 => 100755 src/FDM/JSBSim/input_output/FGXMLFileRead.h mode change 100644 => 100755 src/FDM/JSBSim/input_output/FGXMLParse.cpp mode change 100644 => 100755 src/FDM/JSBSim/math/FGFunction.cpp mode change 100644 => 100755 src/FDM/JSBSim/math/FGModelFunctions.cpp mode change 100644 => 100755 src/FDM/JSBSim/math/FGModelFunctions.h mode change 100644 => 100755 src/FDM/JSBSim/math/FGPropertyValue.cpp mode change 100644 => 100755 src/FDM/JSBSim/math/FGPropertyValue.h mode change 100644 => 100755 src/FDM/JSBSim/models/FGExternalReactions.cpp mode change 100644 => 100755 src/FDM/JSBSim/models/FGExternalReactions.h mode change 100644 => 100755 src/FDM/JSBSim/models/FGFCSChannel.h mode change 100644 => 100755 src/FDM/JSBSim/models/flight_control/FGAccelerometer.cpp mode change 100644 => 100755 src/FDM/JSBSim/models/flight_control/FGAccelerometer.h create mode 100755 src/FDM/JSBSim/models/flight_control/FGDistributor.cpp create mode 100755 src/FDM/JSBSim/models/flight_control/FGDistributor.h mode change 100644 => 100755 src/FDM/JSBSim/models/flight_control/FGFCSFunction.cpp mode change 100644 => 100755 src/FDM/JSBSim/models/flight_control/FGFCSFunction.h mode change 100644 => 100755 src/FDM/JSBSim/models/flight_control/FGGyro.cpp mode change 100644 => 100755 src/FDM/JSBSim/models/flight_control/FGGyro.h mode change 100644 => 100755 src/FDM/JSBSim/models/flight_control/FGMagnetometer.cpp mode change 100644 => 100755 src/FDM/JSBSim/models/flight_control/FGMagnetometer.h mode change 100644 => 100755 src/FDM/JSBSim/models/flight_control/FGSensorOrientation.h mode change 100644 => 100755 src/FDM/JSBSim/models/propulsion/FGTurboProp.cpp mode change 100644 => 100755 src/FDM/JSBSim/models/propulsion/FGTurboProp.h diff --git a/src/FDM/JSBSim/CMakeLists.txt b/src/FDM/JSBSim/CMakeLists.txt index 5449aa1fc..c31b355ba 100644 --- a/src/FDM/JSBSim/CMakeLists.txt +++ b/src/FDM/JSBSim/CMakeLists.txt @@ -79,6 +79,7 @@ set(HEADERS models/flight_control/FGSummer.h models/flight_control/FGSwitch.h models/flight_control/FGWaypoint.h + models/flight_control/FGDistributor.h models/propulsion/FGElectric.h models/propulsion/FGEngine.h models/propulsion/FGForce.h @@ -168,6 +169,7 @@ set(SOURCES models/flight_control/FGSummer.cpp models/flight_control/FGSwitch.cpp models/flight_control/FGWaypoint.cpp + models/flight_control/FGDistributor.cpp models/propulsion/FGElectric.cpp models/propulsion/FGEngine.cpp models/propulsion/FGForce.cpp diff --git a/src/FDM/JSBSim/FGFDMExec.cpp b/src/FDM/JSBSim/FGFDMExec.cpp index 6f75b26c0..b61529229 100644 --- a/src/FDM/JSBSim/FGFDMExec.cpp +++ b/src/FDM/JSBSim/FGFDMExec.cpp @@ -68,12 +68,14 @@ INCLUDES #include "initialization/FGLinearization.h" #include "input_output/FGPropertyManager.h" #include "input_output/FGScript.h" +#include "input_output/FGXMLFileRead.h" +#include "input_output/FGXMLElement.h" using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGFDMExec.cpp,v 1.148 2013/06/10 01:46:27 jberndt Exp $"; +static const char *IdSrc = "$Id: FGFDMExec.cpp,v 1.150 2013/11/24 11:40:55 bcoconni Exp $"; static const char *IdHdr = ID_FDMEXEC; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -160,6 +162,7 @@ FGFDMExec::FGFDMExec(FGPropertyManager* root, unsigned int* fdmctr) : Root(root) instance->Tie("simulation/randomseed", this, (iPMF)0, &FGFDMExec::SRand, false); instance->Tie("simulation/terminate", (int *)&Terminate); instance->Tie("simulation/sim-time-sec", this, &FGFDMExec::GetSimTime); + instance->Tie("simulation/dt", this, &FGFDMExec::GetDeltaT); instance->Tie("simulation/jsbsim-debug", this, &FGFDMExec::GetDebugLevel, &FGFDMExec::SetDebugLevel); instance->Tie("simulation/frame", (int *)&Frame, false); @@ -708,8 +711,9 @@ bool FGFDMExec::LoadModel(const string& model, bool addModelToPath) } int saved_debug_lvl = debug_lvl; + FGXMLFileRead XMLFileRead; + Element *document = XMLFileRead.LoadXMLDocument(aircraftCfgFileName); // "document" is a class member - document = LoadXMLDocument(aircraftCfgFileName); // "document" is a class member if (document) { if (IsChild) debug_lvl = 0; diff --git a/src/FDM/JSBSim/FGFDMExec.h b/src/FDM/JSBSim/FGFDMExec.h index 3ffef0241..bf4215523 100644 --- a/src/FDM/JSBSim/FGFDMExec.h +++ b/src/FDM/JSBSim/FGFDMExec.h @@ -47,7 +47,6 @@ INCLUDES #include "initialization/FGTrim.h" #include "FGJSBBase.h" #include "input_output/FGPropertyManager.h" -#include "input_output/FGXMLFileRead.h" #include "models/FGPropagate.h" #include "math/FGColumnVector3.h" #include "models/FGOutput.h" @@ -56,7 +55,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.83 2013/06/10 01:46:27 jberndt Exp $" +#define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.85 2013/11/24 11:40:55 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -179,14 +178,14 @@ CLASS DOCUMENTATION property actually maps toa function call of DoTrim(). @author Jon S. Berndt - @version $Revision: 1.83 $ + @version $Revision: 1.85 $ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -class FGFDMExec : public FGJSBBase, public FGXMLFileRead +class FGFDMExec : public FGJSBBase { struct childData { FGFDMExec* exec; diff --git a/src/FDM/JSBSim/JSBSim.cxx b/src/FDM/JSBSim/JSBSim.cxx index f6efc4b11..d71d8fca2 100644 --- a/src/FDM/JSBSim/JSBSim.cxx +++ b/src/FDM/JSBSim/JSBSim.cxx @@ -1261,6 +1261,8 @@ void FGJSBsim::do_trim(void) fgtrim = new FGTrim(fdmex,tFull); } + fdmex->RunIC(); + if ( !fgtrim->DoTrim() ) { fgtrim->Report(); fgtrim->TrimStats(); diff --git a/src/FDM/JSBSim/initialization/FGInitialCondition.cpp b/src/FDM/JSBSim/initialization/FGInitialCondition.cpp index 21d4e8b40..804a61ed8 100644 --- a/src/FDM/JSBSim/initialization/FGInitialCondition.cpp +++ b/src/FDM/JSBSim/initialization/FGInitialCondition.cpp @@ -58,12 +58,14 @@ INCLUDES #include "models/FGFCS.h" #include "input_output/FGPropertyManager.h" #include "input_output/string_utilities.h" +#include "input_output/FGXMLFileRead.h" +#include "input_output/FGXMLElement.h" using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGInitialCondition.cpp,v 1.87 2013/01/19 14:19:43 bcoconni Exp $"; +static const char *IdSrc = "$Id: FGInitialCondition.cpp,v 1.89 2013/11/24 11:40:55 bcoconni Exp $"; static const char *IdHdr = ID_INITIALCONDITION; //****************************************************************************** @@ -109,7 +111,7 @@ void FGInitialCondition::ResetIC(double u0, double v0, double w0, position.SetLongitude(lonRad0); position.SetLatitude(latRad0); - position.SetAltitudeAGL(altAGLFt0, fdmex->GetSimTime()); + position.SetAltitudeAGL(altAGLFt0, 0.0); orientation = FGQuaternion(phi0, theta0, psi0); const FGMatrix33& Tb2l = orientation.GetTInv(); @@ -665,22 +667,22 @@ void FGInitialCondition::SetTerrainElevationFtIC(double elev) double FGInitialCondition::GetAltitudeAGLFtIC(void) const { - return position.GetAltitudeAGL(fdmex->GetSimTime()); + return position.GetAltitudeAGL(0.0); } //****************************************************************************** double FGInitialCondition::GetTerrainElevationFtIC(void) const { - return position.GetTerrainRadius(fdmex->GetSimTime()) - - position.GetSeaLevelRadius(); + return position.GetTerrainRadius(0.0) - position.GetSeaLevelRadius(); } //****************************************************************************** void FGInitialCondition::SetAltitudeAGLFtIC(double agl) { - double terrainElevation = position.GetTerrainRadius(fdmex->GetSimTime()) - position.GetSeaLevelRadius(); + double terrainElevation = position.GetTerrainRadius(0.0) + - position.GetSeaLevelRadius(); SetAltitudeASLFtIC(agl + terrainElevation); lastAltitudeSet = setagl; } @@ -870,7 +872,8 @@ bool FGInitialCondition::Load(string rstfile, bool useStoredPath) init_file_name = rstfile; } - document = LoadXMLDocument(init_file_name); + FGXMLFileRead XMLFileRead; + Element* document = XMLFileRead.LoadXMLDocument(init_file_name); // Make sure that the document is valid if (!document) { @@ -887,14 +890,14 @@ bool FGInitialCondition::Load(string rstfile, bool useStoredPath) bool result = false; if (version == HUGE_VAL) { - result = Load_v1(); // Default to the old version + result = Load_v1(document); // Default to the old version } else if (version >= 3.0) { cerr << "Only initialization file formats 1 and 2 are currently supported" << endl; exit (-1); } else if (version >= 2.0) { - result = Load_v2(); + result = Load_v2(document); } else if (version >= 1.0) { - result = Load_v1(); + result = Load_v1(document); } // Check to see if any engines are specified to be initialized in a running state @@ -909,7 +912,7 @@ bool FGInitialCondition::Load(string rstfile, bool useStoredPath) //****************************************************************************** -bool FGInitialCondition::Load_v1(void) +bool FGInitialCondition::Load_v1(Element* document) { bool result = true; @@ -995,7 +998,7 @@ bool FGInitialCondition::Load_v1(void) //****************************************************************************** -bool FGInitialCondition::Load_v2(void) +bool FGInitialCondition::Load_v2(Element* document) { FGColumnVector3 vOrient; bool result = true; @@ -1026,7 +1029,7 @@ bool FGInitialCondition::Load_v2(void) position.SetRadius(position_el->FindElementValueAsNumberConvertTo("radius", "FT")); } else if (position_el->FindElement("altitudeAGL")) { position.SetAltitudeAGL(position_el->FindElementValueAsNumberConvertTo("altitudeAGL", "FT"), - fdmex->GetSimTime()); + 0.0); } else if (position_el->FindElement("altitudeMSL")) { position.SetAltitudeASL(position_el->FindElementValueAsNumberConvertTo("altitudeMSL", "FT")); } else { @@ -1042,7 +1045,7 @@ bool FGInitialCondition::Load_v2(void) double longitude = position.GetLongitude(); double altitude = position.GetAltitudeASL(); // SetPositionGeodetic() assumes altitude position.SetPositionGeodetic(longitude, latitude, altitude); // is geodetic, but it's close enough for now. - position.SetAltitudeAGL(altitude, fdmex->GetSimTime()); + position.SetAltitudeAGL(altitude, 0.0); } else { position.SetLatitude(latitude); } diff --git a/src/FDM/JSBSim/initialization/FGInitialCondition.h b/src/FDM/JSBSim/initialization/FGInitialCondition.h index 5b3c96896..57c953306 100644 --- a/src/FDM/JSBSim/initialization/FGInitialCondition.h +++ b/src/FDM/JSBSim/initialization/FGInitialCondition.h @@ -47,7 +47,6 @@ SENTRY INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#include "input_output/FGXMLFileRead.h" #include "math/FGLocation.h" #include "math/FGQuaternion.h" @@ -55,7 +54,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_INITIALCONDITION "$Id: FGInitialCondition.h,v 1.36 2013/01/19 14:19:43 bcoconni Exp $" +#define ID_INITIALCONDITION "$Id: FGInitialCondition.h,v 1.39 2013/11/24 11:40:55 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -67,6 +66,8 @@ class FGFDMExec; class FGMatrix33; class FGColumnVector3; class FGAtmosphere; +class FGPropertyManager; +class Element; typedef enum { setvt, setvc, setve, setmach, setuvw, setned, setvg } speedset; typedef enum { setasl, setagl} altitudeset; @@ -216,14 +217,14 @@ CLASS DOCUMENTATION @property ic/r-rad_sec (read/write) Yaw rate initial condition in radians/second @author Tony Peden - @version "$Id: FGInitialCondition.h,v 1.36 2013/01/19 14:19:43 bcoconni Exp $" + @version "$Id: FGInitialCondition.h,v 1.39 2013/11/24 11:40:55 bcoconni Exp $" */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -class FGInitialCondition : public FGJSBBase, public FGXMLFileRead +class FGInitialCondition : public FGJSBBase { public: /// Constructor @@ -682,8 +683,8 @@ private: FGPropertyManager *PropertyManager; FGAtmosphere* Atmosphere; - bool Load_v1(void); - bool Load_v2(void); + bool Load_v1(Element* document); + bool Load_v2(Element* document); void InitializeIC(void); void SetEulerAngleRadIC(int idx, double angle); diff --git a/src/FDM/JSBSim/initialization/FGTrim.cpp b/src/FDM/JSBSim/initialization/FGTrim.cpp index d7446fa25..85de49462 100644 --- a/src/FDM/JSBSim/initialization/FGTrim.cpp +++ b/src/FDM/JSBSim/initialization/FGTrim.cpp @@ -45,6 +45,9 @@ INCLUDES #include "FGTrim.h" #include "models/FGGroundReactions.h" #include "models/FGInertial.h" +#include "models/FGAccelerations.h" +#include "models/FGMassBalance.h" +#include "models/FGFCS.h" #if _MSC_VER #pragma warning (disable : 4786 4788) @@ -54,7 +57,7 @@ using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGTrim.cpp,v 1.17 2012/09/05 21:49:19 bcoconni Exp $"; +static const char *IdSrc = "$Id: FGTrim.cpp,v 1.18 2013/11/24 16:53:15 bcoconni Exp $"; static const char *IdHdr = ID_TRIM; //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -225,6 +228,13 @@ bool FGTrim::DoTrim(void) { trim_failed=false; int i; + FGFCS *FCS = fdmex->GetFCS(); + vector throttle0 = FCS->GetThrottleCmd(); + double elevator0 = FCS->GetDeCmd(); + double aileron0 = FCS->GetDaCmd(); + double rudder0 = FCS->GetDrCmd(); + double PitchTrim0 = FCS->GetPitchTrimCmd(); + FGInitialCondition fgic0 = *fgic; for(i=0;i < fdmex->GetGroundReactions()->GetNumGearUnits();i++){ fdmex->GetGroundReactions()->GetGearUnit(i)->SetReport(false); @@ -239,15 +249,21 @@ bool FGTrim::DoTrim(void) { fgic->SetQRadpsIC(0.0); fgic->SetRRadpsIC(0.0); + if (mode == tGround) { + trimOnGround(); + double theta = fgic->GetThetaRadIC(); + double phi = fgic->GetPhiRadIC(); + // Take opportunity of the first approx. found by trimOnGround() to + // refine the control limits. + TrimAxes[0]->SetControlLimits(0., fgic->GetAltitudeAGLFtIC()); + TrimAxes[1]->SetControlLimits(theta - 5.0 * degtorad, theta + 5.0 * degtorad); + TrimAxes[2]->SetControlLimits(phi - 30.0 * degtorad, phi + 30.0 * degtorad); + } + //clear the sub iterations counts & zero out the controls for(current_axis=0;current_axisGetStateName() //<< " " << TrimAxes[current_axis]->GetControlName()<< endl; - if(TrimAxes[current_axis]->GetStateType() == tQdot) { - if(mode == tGround) { - TrimAxes[current_axis]->initTheta(); - } - } xlo=TrimAxes[current_axis]->GetControlMin(); xhi=TrimAxes[current_axis]->GetControlMax(); TrimAxes[current_axis]->SetControl((xlo+xhi)/2); @@ -258,7 +274,6 @@ bool FGTrim::DoTrim(void) { solution[current_axis]=false; } - if(mode == tPullup ) { cout << "Setting pitch rate and nlf... " << endl; setupPullup(); @@ -297,7 +312,6 @@ bool FGTrim::DoTrim(void) { } } - if((axis_count == TrimAxes.size()-1) && (TrimAxes.size() > 1)) { //cout << TrimAxes.size()-1 << " out of " << TrimAxes.size() << "!" << endl; //At this point we can check the input limits of the failed axis @@ -338,24 +352,218 @@ bool FGTrim::DoTrim(void) { if(N > max_iterations) trim_failed=true; } while((axis_count < TrimAxes.size()) && (!trim_failed)); + if((!trim_failed) && (axis_count >= TrimAxes.size())) { total_its=N; if (debug_lvl > 0) cout << endl << " Trim successful" << endl; - } else { + } else { // The trim has failed total_its=N; + + // Restore the aircraft parameters to their initial values + *fgic = fgic0; + FCS->SetDeCmd(elevator0); + FCS->SetDaCmd(aileron0); + FCS->SetDrCmd(rudder0); + FCS->SetPitchTrimCmd(PitchTrim0); + for (unsigned int i=0; i < throttle0.size(); i++) + FCS->SetThrottleCmd(i, throttle0[i]); + + // If WOW is true we must make sure there are no gears into the ground. + if (fdmex->GetGroundReactions()->GetWOW()) { + fdmex->Initialize(fgic); + fdmex->Run(); + trimOnGround(); + } + if (debug_lvl > 0) cout << endl << " Trim failed" << endl; } + for(i=0;i < fdmex->GetGroundReactions()->GetNumGearUnits();i++){ fdmex->GetGroundReactions()->GetGearUnit(i)->SetReport(true); } + fdmex->SetTrimStatus(false); fdmex->ResumeIntegration(); fdmex->EnableOutput(); return !trim_failed; } +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +// Trim the aircraft on the ground. The algorithm is looking for a stable +// position of the aicraft. Assuming the aircaft is a rigid body and the ground +// a plane: we need to find the translations and rotations of the aircraft that +// will move 3 non-colinear points in contact with the ground. +// The algorithm proceeds in three stages (one for each point): +// 1. Look for the contact point closer to or deeper into the ground. Move the +// aircraft along the vertical direction so that only this contact point +// remains in contact with the ground. +// 2. The forces applied on the aircraft (most likely the gravity) will generate +// a moment on the aircraft around the point in contact. The rotation axis is +// therefore the moment axis. The 2nd stage thus consists in determining the +// minimum rotation angle around the first point in contact that will place a +// second contact point on the ground. +// 3. At this stage, 2 points are in contact with the ground: the rotation axis +// is therefore the vector generated by the 2 points. Like stage #2, the +// rotation direction will be driven by the moment around the axis formed by +// the 2 points in contact. The rotation angle is obtained similarly to stage +// #2: it is the minimum angle that will place a third contact point on the +// ground. +// The calculations below do not account for the compression of the landing +// gears meaning that the position found is close to the real position but not +// strictly equal to it. + +void FGTrim::trimOnGround(void) +{ + FGGroundReactions* GroundReactions = fdmex->GetGroundReactions(); + FGPropagate* Propagate = fdmex->GetPropagate(); + FGMassBalance* MassBalance = fdmex->GetMassBalance(); + FGAccelerations* Accelerations = fdmex->GetAccelerations(); + vector contacts; + FGLocation CGLocation = Propagate->GetLocation(); + FGMatrix33 Tec2b = Propagate->GetTec2b(); + FGMatrix33 Tl2b = Propagate->GetTl2b(); + double hmin = 1E+10; + int contactRef = -1; + + // Build the list of the aircraft contact points and take opportunity of the + // loop to find which one is closer to (or deeper into) the ground. + for (int i = 0; i < GroundReactions->GetNumGearUnits(); i++) { + ContactPoints c; + FGLGear* gear = GroundReactions->GetGearUnit(i); + c.location = gear->GetLocalGear(); + FGLocation gearLoc = CGLocation.LocalToLocation(c.location); + c.location = Tl2b * c.location; + + FGColumnVector3 normal, vDummy; + FGLocation lDummy; + double height = gearLoc.GetContactPoint(fdmex->GetSimTime(), lDummy, + normal, vDummy, vDummy); + c.normal = Tec2b * normal; + + contacts.push_back(c); + + if (height < hmin) { + hmin = height; + contactRef = i; + } + } + + // Remove the contact point that is closest to the ground from the list: + // the rotation axis will be going thru this point so we need to remove it + // to avoid divisions by zero that could result from the computation of + // the rotations. + FGColumnVector3 contact0 = contacts[contactRef].location; + contacts.erase(contacts.begin() + contactRef); + + // Update the initial conditions: this should remove the forces generated + // by overcompressed landing gears + fgic->SetAltitudeASLFtIC(fgic->GetAltitudeASLFtIC() - hmin); + fdmex->Initialize(fgic); + fdmex->Run(); + + // Compute the rotation axis: it is obtained from the direction of the + // moment measured at the contact point 'contact0' + FGColumnVector3 force = MassBalance->GetMass() * Accelerations->GetUVWdot(); + FGColumnVector3 moment = MassBalance->GetJ() * Accelerations->GetPQRdot() + + force * contact0; + FGColumnVector3 rotationAxis = moment.Normalize(); + + // Compute the rotation parameters: angle and the first point to come into + // contact with the ground when the rotation is applied. + RotationParameters rParam = calcRotation(contacts, rotationAxis, contact0); + FGQuaternion q0(rParam.angleMin, rotationAxis); + + // Apply the computed rotation to all the contact points + FGMatrix33 rot = q0.GetTInv(); + vector::iterator iter; + for (iter = contacts.begin(); iter != contacts.end(); iter++) + iter->location = contact0 + rot * (iter->location - contact0); + + // Remove the second point to come in contact with the ground from the list. + // The reason is the same than above: avoid divisions by zero when the next + // rotation will be computed. + FGColumnVector3 contact1 = rParam.contactRef->location; + contacts.erase(rParam.contactRef); + + // Compute the rotation axis: now there are 2 points in contact with the + // ground so the only option for the aircraft is to rotate around the axis + // generated by these 2 points. + rotationAxis = contact1 - contact0; + // Make sure that the rotation orientation is consistent with the moment. + if (DotProduct(rotationAxis, moment) < 0.0) + rotationAxis = contact0 - contact1; + + rotationAxis.Normalize(); + + // Compute the rotation parameters + rParam = calcRotation(contacts, rotationAxis, contact0); + FGQuaternion q1(rParam.angleMin, rotationAxis); + + // Update the aircraft orientation + FGColumnVector3 euler = (q0 * q1 * fgic->GetOrientation()).GetEuler(); + + fgic->SetPhiRadIC(euler(1)); + fgic->SetThetaRadIC(euler(2)); + fgic->SetPsiRadIC(euler(3)); +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +// Given a set of points and a rotation axis, this routine computes for each +// point the rotation angle that would drive the point in contact with the +// plane. It returns the minimum angle as well as the point with which this +// angle has been obtained. +// The rotation axis is defined by a vector 'u' and a point 'M0' on the axis. +// Since we are in the body frame, the position if 'M0' is measured from the CG +// hence the name 'GM0'. + +FGTrim::RotationParameters FGTrim::calcRotation(vector& contacts, + const FGColumnVector3& u, + const FGColumnVector3& GM0) +{ + RotationParameters rParam; + vector::iterator iter; + + rParam.angleMin = 3.0 * M_PI; + + for (iter = contacts.begin(); iter != contacts.end(); iter++) { + // Below the processed contact point is named 'M' + // Construct an orthonormal basis (u, v, t). The ground normal is obtained + // from iter->normal. + FGColumnVector3 t = u * iter->normal; + double length = t.Magnitude(); + t /= length; // Normalize the tangent + FGColumnVector3 v = t * u; + FGColumnVector3 MM0 = GM0 - iter->location; + // d0 is the distance from the circle center 'C' to the reference point 'M0' + double d0 = DotProduct(MM0, u); + // Compute the square of the circle radius i.e. the square of the distance + // between 'C' and 'M'. + double sqrRadius = DotProduct(MM0, MM0) - d0 * d0; + // Compute the distance from the circle center 'C' to the line made by the + // intersection between the ground and the plane that contains the circle. + double DistPlane = d0 * DotProduct(u, iter->normal) / length; + // The coordinate of the point of intersection 'P' between the circle and + // the ground is (0, DistPlane, alpha) in the basis (u, v, t) + double alpha = sqrt(sqrRadius - DistPlane * DistPlane); + FGColumnVector3 CP = alpha * t + DistPlane * v; + // The transformation is now constructed: we can extract the angle using the + // classical formulas (cosine is obtained from the dot product and sine from + // the cross product). + double cosine = -DotProduct(MM0, CP) / sqrRadius; + double sine = DotProduct(MM0 * u, CP) / sqrRadius; + double angle = atan2(sine, cosine); + if (angle < 0.0) angle += 2.0 * M_PI; + if (angle < rParam.angleMin) { + rParam.angleMin = angle; + rParam.contactRef = iter; + } + } + + return rParam; +} + //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGTrim::solve(void) { @@ -645,7 +853,7 @@ void FGTrim::SetMode(TrimMode tt) { cout << " Ground Trim" << endl; TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tWdot,tAltAGL )); TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tQdot,tTheta )); - //TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tPdot,tPhi )); + TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tPdot,tPhi )); break; case tPullup: TrimAxes.push_back(new FGTrimAxis(fdmex,fgic,tNlf,tAlpha )); diff --git a/src/FDM/JSBSim/initialization/FGTrim.h b/src/FDM/JSBSim/initialization/FGTrim.h index d40eaf24b..4ad5e056f 100644 --- a/src/FDM/JSBSim/initialization/FGTrim.h +++ b/src/FDM/JSBSim/initialization/FGTrim.h @@ -60,7 +60,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_TRIM "$Id: FGTrim.h,v 1.8 2011/01/24 13:01:55 jberndt Exp $" +#define ID_TRIM "$Id: FGTrim.h,v 1.10 2013/11/24 16:53:15 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -120,7 +120,7 @@ CLASS DOCUMENTATION @endcode @author Tony Peden - @version "$Id: FGTrim.h,v 1.8 2011/01/24 13:01:55 jberndt Exp $" + @version "$Id: FGTrim.h,v 1.10 2013/11/24 16:53:15 bcoconni Exp $" */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -178,6 +178,21 @@ private: void updateRates(void); void setDebug(void); + struct ContactPoints { + FGColumnVector3 location; + FGColumnVector3 normal; + }; + + struct RotationParameters { + double angleMin; + std::vector::iterator contactRef; + }; + + void trimOnGround(void); + RotationParameters calcRotation(std::vector& contacts, + const FGColumnVector3& rotationAxis, + const FGColumnVector3& contact0); + public: /** Initializes the trimming class @param FDMExec pointer to a JSBSim executive object. diff --git a/src/FDM/JSBSim/initialization/FGTrimAxis.cpp b/src/FDM/JSBSim/initialization/FGTrimAxis.cpp index 9d8ee207a..2fbaec8a2 100644 --- a/src/FDM/JSBSim/initialization/FGTrimAxis.cpp +++ b/src/FDM/JSBSim/initialization/FGTrimAxis.cpp @@ -56,7 +56,7 @@ using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGTrimAxis.cpp,v 1.14 2012/09/05 21:49:19 bcoconni Exp $"; +static const char *IdSrc = "$Id: FGTrimAxis.cpp,v 1.15 2013/11/24 16:53:15 bcoconni Exp $"; static const char *IdHdr = ID_TRIMAXIS; /*****************************************************************************/ @@ -243,155 +243,6 @@ void FGTrimAxis::setControl(void) { } } - - - - -/*****************************************************************************/ - -// the aircraft center of rotation is no longer the cg once the gear -// contact the ground so the altitude needs to be changed when pitch -// and roll angle are adjusted. Instead of attempting to calculate the -// new center of rotation, pick a gear unit as a reference and use its -// location vector to calculate the new height change. i.e. new altitude = -// earth z component of that vector (which is in body axes ) -void FGTrimAxis::SetThetaOnGround(double ff) { - int center,i,ref; - - // favor an off-center unit so that the same one can be used for both - // pitch and roll. An on-center unit is used (for pitch)if that's all - // that's in contact with the ground. - i=0; ref=-1; center=-1; - while( (ref < 0) && (i < fdmex->GetGroundReactions()->GetNumGearUnits()) ) { - if(fdmex->GetGroundReactions()->GetGearUnit(i)->GetWOW()) { - if(fabs(fdmex->GetGroundReactions()->GetGearUnit(i)->GetBodyLocation(2)) > 0.01) - ref=i; - else - center=i; - } - i++; - } - if((ref < 0) && (center >= 0)) { - ref=center; - } - cout << "SetThetaOnGround ref gear: " << ref << endl; - if(ref >= 0) { - double sp = fdmex->GetPropagate()->GetSinEuler(ePhi); - double cp = fdmex->GetPropagate()->GetCosEuler(ePhi); - double lx = fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(1); - double ly = fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(2); - double lz = fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(3); - double hagl = -1*lx*sin(ff) + - ly*sp*cos(ff) + - lz*cp*cos(ff); - - fgic->SetAltitudeAGLFtIC(hagl); - cout << "SetThetaOnGround new alt: " << hagl << endl; - } - fgic->SetThetaRadIC(ff); - cout << "SetThetaOnGround new theta: " << ff << endl; -} - -/*****************************************************************************/ - -bool FGTrimAxis::initTheta(void) { - int i,N; - int iForward = 0; - int iAft = 1; - double zAft,zForward,zDiff,theta; - double xAft,xForward,xDiff; - bool level; - double saveAlt; - - saveAlt=fgic->GetAltitudeAGLFtIC(); - fgic->SetAltitudeAGLFtIC(100); - - - N=fdmex->GetGroundReactions()->GetNumGearUnits(); - - //find the first wheel unit forward of the cg - //the list is short so a simple linear search is fine - for( i=0; iGetGroundReactions()->GetGearUnit(i)->GetBodyLocation(1) > 0 ) { - iForward=i; - break; - } - } - //now find the first wheel unit aft of the cg - for( i=0; iGetGroundReactions()->GetGearUnit(i)->GetBodyLocation(1) < 0 ) { - iAft=i; - break; - } - } - - // now adjust theta till the wheels are the same distance from the ground - xAft=fdmex->GetGroundReactions()->GetGearUnit(iAft)->GetBodyLocation(1); - xForward=fdmex->GetGroundReactions()->GetGearUnit(iForward)->GetBodyLocation(1); - xDiff = xForward - xAft; - zAft=fdmex->GetGroundReactions()->GetGearUnit(iAft)->GetLocalGear(3); - zForward=fdmex->GetGroundReactions()->GetGearUnit(iForward)->GetLocalGear(3); - zDiff = zForward - zAft; - level=false; - theta=fgic->GetThetaDegIC(); - while(!level && (i < 100)) { - theta+=radtodeg*atan(zDiff/xDiff); - fgic->SetThetaDegIC(theta); - fdmex->Initialize(fgic); - fdmex->Run(); - zAft=fdmex->GetGroundReactions()->GetGearUnit(iAft)->GetLocalGear(3); - zForward=fdmex->GetGroundReactions()->GetGearUnit(iForward)->GetLocalGear(3); - zDiff = zForward - zAft; - //cout << endl << theta << " " << zDiff << endl; - //cout << "0: " << fdmex->GetGroundReactions()->GetGearUnit(0)->GetLocalGear() << endl; - //cout << "1: " << fdmex->GetGroundReactions()->GetGearUnit(1)->GetLocalGear() << endl; - if(fabs(zDiff ) < 0.1) - level=true; - i++; - } - //cout << i << endl; - if (debug_lvl > 0) { - cout << " Initial Theta: " << fdmex->GetPropagate()->GetEuler(eTht)*radtodeg << endl; - cout << " Used gear unit " << iAft << " as aft and " << iForward << " as forward" << endl; - } - control_min=(theta+5)*degtorad; - control_max=(theta-5)*degtorad; - fgic->SetAltitudeAGLFtIC(saveAlt); - if(i < 100) - return true; - else - return false; -} - -/*****************************************************************************/ - -void FGTrimAxis::SetPhiOnGround(double ff) { - int i,ref; - - i=0; ref=-1; - //must have an off-center unit here - while ( (ref < 0) && (i < fdmex->GetGroundReactions()->GetNumGearUnits()) ) { - if ( (fdmex->GetGroundReactions()->GetGearUnit(i)->GetWOW()) && - (fabs(fdmex->GetGroundReactions()->GetGearUnit(i)->GetBodyLocation(2)) > 0.01)) - ref=i; - i++; - } - if (ref >= 0) { - double st = fdmex->GetPropagate()->GetSinEuler(eTht); - double ct = fdmex->GetPropagate()->GetCosEuler(eTht); - double lx = fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(1); - double ly = fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(2); - double lz = fdmex->GetGroundReactions()->GetGearUnit(ref)->GetBodyLocation(3); - double hagl = -1*lx*st + - ly*sin(ff)*ct + - lz*cos(ff)*ct; - - fgic->SetAltitudeAGLFtIC(hagl); - } - fgic->SetPhiRadIC(ff); - -} - /*****************************************************************************/ void FGTrimAxis::Run(void) { diff --git a/src/FDM/JSBSim/initialization/FGTrimAxis.h b/src/FDM/JSBSim/initialization/FGTrimAxis.h index e89825660..ebbd9db03 100644 --- a/src/FDM/JSBSim/initialization/FGTrimAxis.h +++ b/src/FDM/JSBSim/initialization/FGTrimAxis.h @@ -48,7 +48,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_TRIMAXIS "$Id: FGTrimAxis.h,v 1.5 2010/09/07 18:36:29 andgi Exp $" +#define ID_TRIMAXIS "$Id: FGTrimAxis.h,v 1.7 2013/11/24 16:53:15 bcoconni Exp $" #define DEFAULT_TOLERANCE 0.001 @@ -140,14 +140,9 @@ public: inline int GetRunCount(void) { return total_stability_iterations; } double GetAvgStability( void ); - void SetThetaOnGround(double ff); - void SetPhiOnGround(double ff); - inline void SetStateTarget(double target) { state_target=target; } inline double GetStateTarget(void) { return state_target; } - bool initTheta(void); - void AxisReport(void); bool InTolerance(void) { getState(); return (fabs(state_value) <= tolerance); } diff --git a/src/FDM/JSBSim/input_output/FGOutputFG.cpp b/src/FDM/JSBSim/input_output/FGOutputFG.cpp index 873e3dcbd..b6a2964e1 100644 --- a/src/FDM/JSBSim/input_output/FGOutputFG.cpp +++ b/src/FDM/JSBSim/input_output/FGOutputFG.cpp @@ -71,7 +71,7 @@ using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGOutputFG.cpp,v 1.5 2012/12/15 16:13:57 bcoconni Exp $"; +static const char *IdSrc = "$Id: FGOutputFG.cpp,v 1.6 2013/11/09 14:06:36 bcoconni Exp $"; static const char *IdHdr = ID_OUTPUTFG; // (stolen from FGFS native_fdm.cxx) @@ -159,9 +159,9 @@ void FGOutputFG::SocketDataFill(FGNetFDM* net) net->v_east = (float)(Propagate->GetVel(eEast)); // east vel in NED frame, fps net->v_down = (float)(Propagate->GetVel(eDown)); // down vel in NED frame, fps //---ADD METHOD TO CALCULATE THESE TERMS--- - net->v_wind_body_north = (float)(Propagate->GetVel(eNorth)); // north vel in NED relative to airmass, fps - net->v_wind_body_east = (float)(Propagate->GetVel(eEast)); // east vel in NED relative to airmass, fps - net->v_wind_body_down = (float)(Propagate->GetVel(eDown)); // down vel in NED relative to airmass, fps + net->v_body_u = (float)(Propagate->GetUVW(1)); // ECEF speed in body axis + net->v_body_v = (float)(Propagate->GetUVW(2)); // ECEF speed in body axis + net->v_body_w = (float)(Propagate->GetUVW(3)); // ECEF speed in body axis // Accelerations net->A_X_pilot = (float)(Auxiliary->GetPilotAccel(1)); // X body accel, ft/s/s @@ -282,9 +282,9 @@ void FGOutputFG::SocketDataFill(FGNetFDM* net) htonf(net->v_north); htonf(net->v_east); htonf(net->v_down); - htonf(net->v_wind_body_north); - htonf(net->v_wind_body_east); - htonf(net->v_wind_body_down); + htonf(net->v_body_u); + htonf(net->v_body_v); + htonf(net->v_body_w); htonf(net->A_X_pilot); htonf(net->A_Y_pilot); diff --git a/src/FDM/JSBSim/input_output/FGOutputFile.cpp b/src/FDM/JSBSim/input_output/FGOutputFile.cpp index 700bee6c4..c1cfc7d32 100644 --- a/src/FDM/JSBSim/input_output/FGOutputFile.cpp +++ b/src/FDM/JSBSim/input_output/FGOutputFile.cpp @@ -41,12 +41,13 @@ INCLUDES #include #include "FGOutputFile.h" +#include "input_output/FGXMLElement.h" using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGOutputFile.cpp,v 1.3 2012/12/15 16:13:57 bcoconni Exp $"; +static const char *IdSrc = "$Id: FGOutputFile.cpp,v 1.4 2013/11/24 11:40:55 bcoconni Exp $"; static const char *IdHdr = ID_OUTPUTFILE; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/input_output/FGOutputSocket.cpp b/src/FDM/JSBSim/input_output/FGOutputSocket.cpp index f41cc21e1..7e913ff66 100644 --- a/src/FDM/JSBSim/input_output/FGOutputSocket.cpp +++ b/src/FDM/JSBSim/input_output/FGOutputSocket.cpp @@ -54,12 +54,13 @@ INCLUDES #include "models/FGGroundReactions.h" #include "models/FGFCS.h" #include "models/atmosphere/FGWinds.h" +#include "input_output/FGXMLElement.h" using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGOutputSocket.cpp,v 1.5 2013/01/12 21:14:46 bcoconni Exp $"; +static const char *IdSrc = "$Id: FGOutputSocket.cpp,v 1.6 2013/11/24 11:40:55 bcoconni Exp $"; static const char *IdHdr = ID_OUTPUTSOCKET; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/input_output/FGOutputTextFile.cpp b/src/FDM/JSBSim/input_output/FGOutputTextFile.cpp index 35fe76c01..03c593bad 100644 --- a/src/FDM/JSBSim/input_output/FGOutputTextFile.cpp +++ b/src/FDM/JSBSim/input_output/FGOutputTextFile.cpp @@ -58,12 +58,13 @@ INCLUDES #include "models/FGBuoyantForces.h" #include "models/FGFCS.h" #include "models/atmosphere/FGWinds.h" +#include "input_output/FGXMLElement.h" using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGOutputTextFile.cpp,v 1.6 2013/09/11 12:51:13 jberndt Exp $"; +static const char *IdSrc = "$Id: FGOutputTextFile.cpp,v 1.7 2013/11/24 11:40:55 bcoconni Exp $"; static const char *IdHdr = ID_OUTPUTTEXTFILE; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/input_output/FGOutputType.cpp b/src/FDM/JSBSim/input_output/FGOutputType.cpp index 1abae8bdb..90b9c2c7a 100644 --- a/src/FDM/JSBSim/input_output/FGOutputType.cpp +++ b/src/FDM/JSBSim/input_output/FGOutputType.cpp @@ -46,7 +46,7 @@ INCLUDES namespace JSBSim { -static const char *IdSrc = "$Id: FGOutputType.cpp,v 1.6 2013/01/26 17:06:49 bcoconni Exp $"; +static const char *IdSrc = "$Id: FGOutputType.cpp,v 1.7 2013/09/27 19:45:40 jberndt Exp $"; static const char *IdHdr = ID_OUTPUTTYPE; using namespace std; @@ -101,8 +101,7 @@ void FGOutputType::SetIdx(int idx) bool FGOutputType::Load(Element* element) { // Perform base class Load. - if(!FGModel::Load(element)) - return false; +// if(!FGModel::Load(element)) return false; if (element->FindElementValue("simulation") == string("ON")) SubSystems += ssSimulation; diff --git a/src/FDM/JSBSim/input_output/FGPropertyManager.h b/src/FDM/JSBSim/input_output/FGPropertyManager.h index 57b523cb8..e3595941b 100644 --- a/src/FDM/JSBSim/input_output/FGPropertyManager.h +++ b/src/FDM/JSBSim/input_output/FGPropertyManager.h @@ -53,7 +53,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_PROPERTYMANAGER "$Id: FGPropertyManager.h,v 1.26 2013/06/10 01:49:06 jberndt Exp $" +#define ID_PROPERTYMANAGER "$Id: FGPropertyManager.h,v 1.28 2013/09/28 14:43:15 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -393,7 +393,12 @@ class FGPropertyManager { return root->GetNode(path, create); } FGPropertyNode* GetNode(const std::string &relpath, int index, bool create = false) { return root->GetNode(relpath, index, create); } - bool HasNode(const std::string& path) const { return root->HasNode(path); } + bool HasNode(const std::string& path) const + { + std::string newPath = path; + if (newPath[0] == '-') newPath.erase(0,1); + return root->HasNode(newPath); + } /** Property-ify a name * replaces spaces with '-' and, optionally, makes name all lower case diff --git a/src/FDM/JSBSim/input_output/FGScript.cpp b/src/FDM/JSBSim/input_output/FGScript.cpp old mode 100644 new mode 100755 index 6ac660c90..5a0e548e8 --- a/src/FDM/JSBSim/input_output/FGScript.cpp +++ b/src/FDM/JSBSim/input_output/FGScript.cpp @@ -47,7 +47,7 @@ INCLUDES #include "FGScript.h" #include "input_output/FGXMLElement.h" -#include "input_output/FGXMLParse.h" +#include "input_output/FGXMLFileRead.h" #include "initialization/FGTrim.h" #include "models/FGInput.h" @@ -55,7 +55,7 @@ using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGScript.cpp,v 1.52 2013/09/11 12:46:35 jberndt Exp $"; +static const char *IdSrc = "$Id: FGScript.cpp,v 1.53 2013/11/24 11:40:55 bcoconni Exp $"; static const char *IdHdr = ID_FGSCRIPT; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -114,7 +114,8 @@ bool FGScript::LoadScript(string script, double deltaT, const string initfile) struct event *newEvent; FGCondition *newCondition; - document = LoadXMLDocument(script); + FGXMLFileRead XMLFileRead; + Element* document = XMLFileRead.LoadXMLDocument(script); if (!document) { cerr << "File: " << script << " could not be loaded." << endl; diff --git a/src/FDM/JSBSim/input_output/FGScript.h b/src/FDM/JSBSim/input_output/FGScript.h index 21323858d..81d4d9e54 100644 --- a/src/FDM/JSBSim/input_output/FGScript.h +++ b/src/FDM/JSBSim/input_output/FGScript.h @@ -43,13 +43,12 @@ INCLUDES #include "FGJSBBase.h" #include "math/FGFunction.h" #include "math/FGCondition.h" -#include "input_output/FGXMLFileRead.h" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_FGSCRIPT "$Id: FGScript.h,v 1.25 2013/09/11 12:46:35 jberndt Exp $" +#define ID_FGSCRIPT "$Id: FGScript.h,v 1.27 2013/11/24 11:40:55 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -158,14 +157,14 @@ CLASS DOCUMENTATION comes the "run" section, where the conditions are described in "event" clauses.

@author Jon S. Berndt - @version "$Id: FGScript.h,v 1.25 2013/09/11 12:46:35 jberndt Exp $" + @version "$Id: FGScript.h,v 1.27 2013/11/24 11:40:55 bcoconni Exp $" */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -class FGScript : public FGJSBBase, public FGXMLFileRead +class FGScript : public FGJSBBase { public: /// Default constructor diff --git a/src/FDM/JSBSim/input_output/FGXMLElement.cpp b/src/FDM/JSBSim/input_output/FGXMLElement.cpp old mode 100644 new mode 100755 index 72c4f1758..4f7c9d5aa --- a/src/FDM/JSBSim/input_output/FGXMLElement.cpp +++ b/src/FDM/JSBSim/input_output/FGXMLElement.cpp @@ -31,6 +31,7 @@ INCLUDES #include #include #include +#include #include "FGXMLElement.h" #include "string_utilities.h" @@ -43,7 +44,7 @@ FORWARD DECLARATIONS namespace JSBSim { -static const char *IdSrc = "$Id: FGXMLElement.cpp,v 1.39 2013/06/20 04:37:27 jberndt Exp $"; +static const char *IdSrc = "$Id: FGXMLElement.cpp,v 1.41 2013/11/16 14:51:20 bcoconni Exp $"; static const char *IdHdr = ID_XMLELEMENT; bool Element::converterIsInitialized = false; @@ -58,6 +59,7 @@ Element::Element(const string& nm) name = nm; parent = 0L; element_index = 0; + line_number = -1; if (!converterIsInitialized) { converterIsInitialized = true; @@ -279,8 +281,11 @@ double Element::GetAttributeValueAsNumber(const string& attr) double number=0; if (is_number(trim(attribute))) number = atof(attribute.c_str()); - else - throw("Expecting numeric attribute value, but got: " + attribute); + else { + cerr << ReadFrom() << "Expecting numeric attribute value, but got: " + << attribute << endl; + exit(-1); + } return (number); } @@ -329,14 +334,18 @@ double Element::GetDataAsNumber(void) double number=0; if (is_number(trim(data_lines[0]))) number = atof(data_lines[0].c_str()); - else - throw("Expected numeric value, but got: " + data_lines[0]); + else { + cerr << ReadFrom() << "Expected numeric value, but got: " << data_lines[0] + << endl; + exit(-1); + } return number; } else if (data_lines.size() == 0) { return HUGE_VAL; } else { - cerr << "Attempting to get single data value from multiple lines in element " << name << endl; + cerr << ReadFrom() << "Attempting to get single data value from multiple lines in element " + << name << endl; return HUGE_VAL; } } @@ -404,8 +413,9 @@ double Element::FindElementValueAsNumber(const string& el) value = DisperseValue(element, value); return value; } else { - cerr << "Attempting to get single data value from multiple lines" << endl; - return 0; + cerr << ReadFrom() << "Attempting to get non-existent element " << el + << endl; + exit(-1); } } @@ -428,27 +438,24 @@ double Element::FindElementValueAsNumberConvertTo(const string& el, const string Element* element = FindElement(el); if (!element) { - throw("Attempting to get the value of a non-existent element "+el); -// cerr << "Attempting to get non-existent element " << el << endl; -// exit(0); + cerr << ReadFrom() << "Attempting to get non-existent element " << el + << endl; + exit(-1); } string supplied_units = element->GetAttributeValue("unit"); if (!supplied_units.empty()) { if (convert.find(supplied_units) == convert.end()) { - throw("Supplied unit: \"" + supplied_units + "\" does not exist (typo?). Add new unit" - + " conversion in FGXMLElement.cpp."); -// cerr << endl << "Supplied unit: \"" << supplied_units << "\" does not exist (typo?). Add new unit" -// << " conversion in FGXMLElement.cpp." << endl; -// exit(-1); + cerr << element->ReadFrom() << "Supplied unit: \"" + << supplied_units << "\" does not exist (typo?)." << endl; + exit(-1); } if (convert[supplied_units].find(target_units) == convert[supplied_units].end()) { - throw("Supplied unit: \"" + supplied_units + "\" cannot be converted to " - + target_units + ". Add new unit conversion in FGXMLElement.cpp or fix typo"); -// cerr << endl << "Supplied unit: \"" << supplied_units << "\" cannot be converted to " -// << target_units << ". Add new unit conversion in FGXMLElement.cpp or fix typo" << endl; -// exit(-1); + cerr << element->ReadFrom() << "Supplied unit: \"" + << supplied_units << "\" cannot be converted to " << target_units + << endl; + exit(-1); } } @@ -472,18 +479,19 @@ double Element::FindElementValueAsNumberConvertFromTo( const string& el, if (!element) { cerr << "Attempting to get non-existent element " << el << endl; - exit(0); + exit(-1); } if (!supplied_units.empty()) { if (convert.find(supplied_units) == convert.end()) { - cerr << endl << "Supplied unit: \"" << supplied_units << "\" does not exist (typo?). Add new unit" - << " conversion in FGXMLElement.cpp." << endl; + cerr << element->ReadFrom() << "Supplied unit: \"" + << supplied_units << "\" does not exist (typo?)." << endl; exit(-1); } if (convert[supplied_units].find(target_units) == convert[supplied_units].end()) { - cerr << endl << "Supplied unit: \"" << supplied_units << "\" cannot be converted to " - << target_units << ". Add new unit conversion in FGXMLElement.cpp or fix typo" << endl; + cerr << element->ReadFrom() << "Supplied unit: \"" + << supplied_units << "\" cannot be converted to " << target_units + << endl; exit(-1); } } @@ -509,13 +517,14 @@ FGColumnVector3 Element::FindElementTripletConvertTo( const string& target_units if (!supplied_units.empty()) { if (convert.find(supplied_units) == convert.end()) { - cerr << endl << "Supplied unit: \"" << supplied_units << "\" does not exist (typo?). Add new unit" - << " conversion in FGXMLElement.cpp." << endl; + cerr << ReadFrom() << "Supplied unit: \"" + << supplied_units << "\" does not exist (typo?)." << endl; exit(-1); } if (convert[supplied_units].find(target_units) == convert[supplied_units].end()) { - cerr << endl << "Supplied unit: \"" << supplied_units << "\" cannot be converted to " - << target_units << ". Add new unit conversion in FGXMLElement.cpp or fix typo" << endl; + cerr << ReadFrom() << "Supplied unit: \"" + << supplied_units << "\" cannot be converted to " << target_units + << endl; exit(-1); } } @@ -565,12 +574,22 @@ double Element::DisperseValue(Element *e, double val, const std::string supplied if (!supplied_units.empty()) disp *= convert[supplied_units][target_units]; string attType = e->GetAttributeValue("type"); if (attType == "gaussian") { - value = val + disp*GaussianRandomNumber(); + double grn = GaussianRandomNumber(); + value = val + disp*grn; +/* std::cout << "DISPERSION GAUSSIAN: Initial: " << val + << " Dispersion: " << disp + << " Gaussian Rand Num: " << grn + << " Total Dispersed Value: " << value << endl; */ } else if (attType == "uniform") { - value = val + disp * ((((double)rand()/RAND_MAX)-0.5)*2.0); + double urn = ((((double)rand()/RAND_MAX)-0.5)*2.0); + value = val + disp * urn; +/* std::cout << "DISPERSION UNIFORM: Initial: " << val + << " Dispersion: " << disp + << " Uniform Rand Num: " << urn + << " Total Dispersed Value: " << value << endl; */ } else { - std::cerr << "Unknown dispersion type" << endl; - throw("Unknown dispersion type"); + cerr << ReadFrom() << "Unknown dispersion type" << attType << endl; + exit(-1); } } @@ -649,4 +668,15 @@ void Element::AddData(string d) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +string Element::ReadFrom(void) const +{ + ostringstream message; + + message << endl + << "In file " << GetFileName() << ": line " << GetLineNumber() + << endl; + + return message.str(); +} + } // end namespace JSBSim diff --git a/src/FDM/JSBSim/input_output/FGXMLElement.h b/src/FDM/JSBSim/input_output/FGXMLElement.h old mode 100644 new mode 100755 index f8b89c8fe..b4fa5352f --- a/src/FDM/JSBSim/input_output/FGXMLElement.h +++ b/src/FDM/JSBSim/input_output/FGXMLElement.h @@ -44,7 +44,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_XMLELEMENT "$Id: FGXMLElement.h,v 1.17 2012/07/26 04:33:46 jberndt Exp $" +#define ID_XMLELEMENT "$Id: FGXMLElement.h,v 1.18 2013/11/16 14:51:20 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -136,7 +136,7 @@ CLASS DOCUMENTATION - GAL = gallon (U.S. liquid) @author Jon S. Berndt - @version $Id: FGXMLElement.h,v 1.17 2012/07/26 04:33:46 jberndt Exp $ + @version $Id: FGXMLElement.h,v 1.18 2013/11/16 14:51:20 bcoconni Exp $ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -218,6 +218,16 @@ public: @return a pointer to the parent Element, or 0 if this is the top level Element. */ Element* GetParent(void) {return parent;} + /** Returns the line number at which the element has been defined. + @return the line number + */ + int GetLineNumber(void) const { return line_number; } + + /** Returns the name of the file in which the element has been read. + @return the file name + */ + const std::string& GetFileName(void) const { return file_name; } + /** Searches for a specified element. Finds the first element that matches the supplied string, or simply the first element if no search string is supplied. This function call resets the internal @@ -331,6 +341,23 @@ public: * @param d The tab level. A level corresponds to a single space. */ void Print(unsigned int level=0); + /** Set the line number at which the element has been read. + * @param line line number. + */ + void SetLineNumber(int line) { line_number = line; } + + /** Set the name of the file in which the element has been read. + * @param name file name + */ + void SetFileName(const std::string& name) { file_name = name; } + + /** Return a string that contains a description of the location where the + * current XML element was read from. + * @return a string describing the file name and line number where the + * element was read. + */ + std::string ReadFrom(void) const; + private: std::string name; std::map attributes; @@ -339,6 +366,8 @@ private: std::vector attribute_key; Element *parent; unsigned int element_index; + std::string file_name; + int line_number; typedef std::map > tMapConvert; static tMapConvert convert; static bool converterIsInitialized; diff --git a/src/FDM/JSBSim/input_output/FGXMLFileRead.h b/src/FDM/JSBSim/input_output/FGXMLFileRead.h old mode 100644 new mode 100755 index 09c889d1b..c92142702 --- a/src/FDM/JSBSim/input_output/FGXMLFileRead.h +++ b/src/FDM/JSBSim/input_output/FGXMLFileRead.h @@ -43,7 +43,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_XMLFILEREAD "$Id: FGXMLFileRead.h,v 1.7 2012/12/12 06:19:57 jberndt Exp $" +#define ID_XMLFILEREAD "$Id: FGXMLFileRead.h,v 1.8 2013/11/24 11:40:55 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -56,13 +56,11 @@ public: FGXMLFileRead(void) {} ~FGXMLFileRead(void) {} -protected: - Element* document; Element* LoadXMLDocument(std::string XML_filename, bool verbose=true) { return LoadXMLDocument(XML_filename, file_parser, true); } - + Element* LoadXMLDocument(std::string XML_filename, FGXMLParse& fparse, bool verbose=true) { std::ifstream infile; @@ -80,12 +78,12 @@ protected: } readXML(infile, fparse, XML_filename); - document = fparse.GetDocument(); + Element* document = fparse.GetDocument(); infile.close(); - + return document; } - + void ResetParser(void) {file_parser.reset();} private: diff --git a/src/FDM/JSBSim/input_output/FGXMLParse.cpp b/src/FDM/JSBSim/input_output/FGXMLParse.cpp old mode 100644 new mode 100755 index 22d30a255..3710f14f5 --- a/src/FDM/JSBSim/input_output/FGXMLParse.cpp +++ b/src/FDM/JSBSim/input_output/FGXMLParse.cpp @@ -40,7 +40,7 @@ using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGXMLParse.cpp,v 1.11 2010/09/28 02:54:03 jberndt Exp $"; +static const char *IdSrc = "$Id: FGXMLParse.cpp,v 1.12 2013/11/16 14:51:20 bcoconni Exp $"; static const char *IdHdr = ID_XMLPARSE; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -107,10 +107,14 @@ void FGXMLParse::startElement (const char * name, const XMLAttributes &atts) } if (current_element == 0L) { - cerr << "No current element read (no top-level element in XML file?)" << endl; + cerr << "In file " << getPath() << ": line " << getLine() << endl + << "No current element read (running out of memory?)" << endl; exit (-1); } + current_element->SetLineNumber(getLine()); + current_element->SetFileName(getPath()); + for (int i=0; iAddAttribute(atts.getName(i), atts.getValue(i)); } diff --git a/src/FDM/JSBSim/input_output/net_fdm.hxx b/src/FDM/JSBSim/input_output/net_fdm.hxx index db9022a0b..600f9cf09 100644 --- a/src/FDM/JSBSim/input_output/net_fdm.hxx +++ b/src/FDM/JSBSim/input_output/net_fdm.hxx @@ -6,7 +6,7 @@ // // This file is in the Public Domain, and comes with no warranty. // -// $Id: net_fdm.hxx,v 1.5 2011/11/10 12:06:14 jberndt Exp $ +// $Id: net_fdm.hxx,v 1.6 2013/11/09 14:06:36 bcoconni Exp $ #ifndef _NET_FDM_HXX @@ -61,12 +61,9 @@ public: float v_north; // north velocity in local/body frame, fps float v_east; // east velocity in local/body frame, fps float v_down; // down/vertical velocity in local/body frame, fps - float v_wind_body_north; // north velocity in local/body frame - // relative to local airmass, fps - float v_wind_body_east; // east velocity in local/body frame - // relative to local airmass, fps - float v_wind_body_down; // down/vertical velocity in local/body - // frame relative to local airmass, fps + float v_body_u; // ECEF velocity in body axis + float v_body_v; // ECEF velocity in body axis + float v_body_w; // ECEF velocity in body axis // Accelerations float A_X_pilot; // X accel in body frame ft/sec^2 diff --git a/src/FDM/JSBSim/input_output/string_utilities.h b/src/FDM/JSBSim/input_output/string_utilities.h index 1476e3eb1..aa64f64c4 100644 --- a/src/FDM/JSBSim/input_output/string_utilities.h +++ b/src/FDM/JSBSim/input_output/string_utilities.h @@ -39,6 +39,8 @@ INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #include +#include +#include #include #include @@ -46,7 +48,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_STRINGUTILS "$Id: string_utilities.h,v 1.15 2012/11/17 19:31:26 bcoconni Exp $" +#define ID_STRINGUTILS "$Id: string_utilities.h,v 1.16 2013/11/17 05:14:21 jberndt Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -70,7 +72,10 @@ CLASS DECLARATION extern std::string& to_lower(std::string& str); extern bool is_number(const std::string& str); std::vector split(std::string str, char d); +/* Comment out to_string functions when they are defined already - C++ 11 defines these */ extern std::string to_string(int); + extern std::string to_string(double); + extern std::string to_string(float); extern std::string replace(std::string str, const std::string& old, const std::string& newstr); #else #include @@ -153,7 +158,7 @@ CLASS DECLARATION return str_array; } - +/* Comment out to_string functions when they are defined already - C++ 11 defines these */ string to_string(int i) { char buffer[32]; @@ -161,6 +166,20 @@ CLASS DECLARATION return string(buffer); } + string to_string(float x) + { + std::ostringstream o; + if (!(o << x)) cerr << "Bad float to string conversion" << endl; + return o.str(); + } + + string to_string(double x) + { + std::ostringstream o; + if (!(o << x)) cerr << "Bad double to string conversion" << endl; + return o.str(); + } + string replace(string str, const string& oldstr, const string& newstr) { int old_idx; diff --git a/src/FDM/JSBSim/math/FGFunction.cpp b/src/FDM/JSBSim/math/FGFunction.cpp old mode 100644 new mode 100755 index 0de0ecf43..6beeedb89 --- a/src/FDM/JSBSim/math/FGFunction.cpp +++ b/src/FDM/JSBSim/math/FGFunction.cpp @@ -43,7 +43,7 @@ using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGFunction.cpp,v 1.51 2013/09/11 12:49:36 jberndt Exp $"; +static const char *IdSrc = "$Id: FGFunction.cpp,v 1.53 2013/09/27 19:42:08 jberndt Exp $"; static const char *IdHdr = ID_FUNCTION; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -807,9 +807,10 @@ void FGFunction::bind(void) } if (PropertyManager->HasNode(tmp)) { - FGPropertyNode* property = PropertyManager->GetNode(tmp); - if (property->isTied()) { - cout << "Property " << tmp << " has already been successfully bound (late)." << endl; + FGPropertyNode* _property = PropertyManager->GetNode(tmp); + if (_property->isTied()) { + cout << "Property " << tmp << " has already been successfully bound (late)." << endl; + throw("Failed to bind the property to an existing already tied node."); } } PropertyManager->Tie( tmp, this, &FGFunction::GetValue); diff --git a/src/FDM/JSBSim/math/FGLocation.cpp b/src/FDM/JSBSim/math/FGLocation.cpp index 57a4ad66d..12afdadde 100644 --- a/src/FDM/JSBSim/math/FGLocation.cpp +++ b/src/FDM/JSBSim/math/FGLocation.cpp @@ -44,11 +44,10 @@ INCLUDES #include #include "FGLocation.h" -#include "input_output/FGPropertyManager.h" namespace JSBSim { -static const char *IdSrc = "$Id: FGLocation.cpp,v 1.29 2012/04/14 12:14:37 bcoconni Exp $"; +static const char *IdSrc = "$Id: FGLocation.cpp,v 1.30 2013/10/19 17:59:51 bcoconni Exp $"; static const char *IdHdr = ID_LOCATION; using std::cerr; using std::endl; diff --git a/src/FDM/JSBSim/math/FGLocation.h b/src/FDM/JSBSim/math/FGLocation.h index 8d2008215..cc8a86b21 100644 --- a/src/FDM/JSBSim/math/FGLocation.h +++ b/src/FDM/JSBSim/math/FGLocation.h @@ -42,8 +42,9 @@ SENTRY INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ +#include + #include "FGJSBBase.h" -#include "input_output/FGPropertyManager.h" #include "FGColumnVector3.h" #include "FGMatrix33.h" #include "input_output/FGGroundCallback.h" @@ -52,7 +53,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_LOCATION "$Id: FGLocation.h,v 1.31 2012/02/05 14:56:17 bcoconni Exp $" +#define ID_LOCATION "$Id: FGLocation.h,v 1.32 2013/10/19 17:59:51 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -151,7 +152,7 @@ CLASS DOCUMENTATION @see W. C. Durham "Aircraft Dynamics & Control", section 2.2 @author Mathias Froehlich - @version $Id: FGLocation.h,v 1.31 2012/02/05 14:56:17 bcoconni Exp $ + @version $Id: FGLocation.h,v 1.32 2013/10/19 17:59:51 bcoconni Exp $ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/math/FGModelFunctions.cpp b/src/FDM/JSBSim/math/FGModelFunctions.cpp old mode 100644 new mode 100755 index 856f43a1a..200a67db1 --- a/src/FDM/JSBSim/math/FGModelFunctions.cpp +++ b/src/FDM/JSBSim/math/FGModelFunctions.cpp @@ -41,12 +41,13 @@ INCLUDES #include #include #include "FGModelFunctions.h" +#include "input_output/FGXMLElement.h" using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGModelFunctions.cpp,v 1.6 2012/09/05 05:00:57 jberndt Exp $"; +static const char *IdSrc = "$Id: FGModelFunctions.cpp,v 1.7 2013/11/24 11:40:55 bcoconni Exp $"; static const char *IdHdr = ID_MODELFUNCTIONS; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/math/FGModelFunctions.h b/src/FDM/JSBSim/math/FGModelFunctions.h old mode 100644 new mode 100755 index 5950e4b68..6b56e2483 --- a/src/FDM/JSBSim/math/FGModelFunctions.h +++ b/src/FDM/JSBSim/math/FGModelFunctions.h @@ -38,13 +38,12 @@ INCLUDES #include #include "math/FGFunction.h" #include "input_output/FGPropertyManager.h" -#include "input_output/FGXMLElement.h" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_MODELFUNCTIONS "$Id: FGModelFunctions.h,v 1.5 2012/04/13 13:25:52 jberndt Exp $" +#define ID_MODELFUNCTIONS "$Id: FGModelFunctions.h,v 1.6 2013/11/24 11:40:55 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS diff --git a/src/FDM/JSBSim/math/FGPropertyValue.cpp b/src/FDM/JSBSim/math/FGPropertyValue.cpp old mode 100644 new mode 100755 index 1407a0cb7..f4b759154 --- a/src/FDM/JSBSim/math/FGPropertyValue.cpp +++ b/src/FDM/JSBSim/math/FGPropertyValue.cpp @@ -34,7 +34,7 @@ INCLUDES namespace JSBSim { -static const char *IdSrc = "$Id: FGPropertyValue.cpp,v 1.8 2013/01/26 17:06:49 bcoconni Exp $"; +static const char *IdSrc = "$Id: FGPropertyValue.cpp,v 1.9 2013/09/27 19:42:53 jberndt Exp $"; static const char *IdHdr = ID_PROPERTYVALUE; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -44,13 +44,20 @@ CLASS IMPLEMENTATION FGPropertyValue::FGPropertyValue(FGPropertyNode* propNode) : PropertyManager(0L), PropertyNode(propNode) { + Sign = 1; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FGPropertyValue::FGPropertyValue(std::string propName, FGPropertyManager* propertyManager) - : PropertyManager(propertyManager), PropertyNode(0L), PropertyName(propName) + : PropertyManager(propertyManager), PropertyNode(0L) { + Sign = 1; + if (propName[0] == '-') { + propName.erase(0,1); + Sign = -1; + } + PropertyName = propName; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -69,7 +76,7 @@ double FGPropertyValue::GetValue(void) const } } - return node->getDoubleValue(); + return node->getDoubleValue()*Sign; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/math/FGPropertyValue.h b/src/FDM/JSBSim/math/FGPropertyValue.h old mode 100644 new mode 100755 index 4ea0e5393..265b2fd07 --- a/src/FDM/JSBSim/math/FGPropertyValue.h +++ b/src/FDM/JSBSim/math/FGPropertyValue.h @@ -42,7 +42,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_PROPERTYVALUE "$Id: FGPropertyValue.h,v 1.10 2013/01/26 17:06:49 bcoconni Exp $" +#define ID_PROPERTYVALUE "$Id: FGPropertyValue.h,v 1.11 2013/09/27 19:43:01 jberndt Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -79,6 +79,7 @@ private: FGPropertyManager* PropertyManager; // Property root used to do late binding. FGPropertyNode_ptr PropertyNode; std::string PropertyName; + int Sign; }; } // namespace JSBSim diff --git a/src/FDM/JSBSim/math/FGQuaternion.h b/src/FDM/JSBSim/math/FGQuaternion.h index e52ccc549..3692dcc0d 100644 --- a/src/FDM/JSBSim/math/FGQuaternion.h +++ b/src/FDM/JSBSim/math/FGQuaternion.h @@ -48,7 +48,7 @@ SENTRY DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_QUATERNION "$Id: FGQuaternion.h,v 1.25 2012/09/05 05:00:57 jberndt Exp $" +#define ID_QUATERNION "$Id: FGQuaternion.h,v 1.26 2013/11/24 16:53:15 bcoconni Exp $" namespace JSBSim { @@ -149,6 +149,27 @@ public: } } + /** Initializer by a rotation axis and an angle. + Initialize the quaternion to represent the rotation around a given + angle and an arbitrary axis. + @param angle The angle in radians + @param axis The rotation axis + */ + FGQuaternion(double angle, const FGColumnVector3& axis) + : mCacheValid(false) { + + double angle2 = 0.5 * angle; + + double length = axis.Magnitude(); + double Sangle2 = sin(angle2) / length; + double Cangle2 = cos(angle2); + + data[0] = Cangle2; + data[1] = Sangle2 * axis(1); + data[2] = Sangle2 * axis(2); + data[3] = Sangle2 * axis(3); + } + /** Initializer by matrix. Initialize the quaternion with the matrix representing a transform from one frame to another using the standard aerospace sequence, Yaw-Pitch-Roll (3-2-1). diff --git a/src/FDM/JSBSim/models/FGAerodynamics.cpp b/src/FDM/JSBSim/models/FGAerodynamics.cpp index 02921c230..494fa41ca 100644 --- a/src/FDM/JSBSim/models/FGAerodynamics.cpp +++ b/src/FDM/JSBSim/models/FGAerodynamics.cpp @@ -43,12 +43,14 @@ INCLUDES #include "FGFDMExec.h" #include "FGAerodynamics.h" #include "input_output/FGPropertyManager.h" +#include "input_output/FGXMLFileRead.h" +#include "input_output/FGXMLElement.h" using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGAerodynamics.cpp,v 1.48 2013/09/11 12:42:14 jberndt Exp $"; +static const char *IdSrc = "$Id: FGAerodynamics.cpp,v 1.49 2013/11/24 11:40:55 bcoconni Exp $"; static const char *IdHdr = ID_AERODYNAMICS; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -284,11 +286,13 @@ bool FGAerodynamics::Load(Element *element) Element *temp_element, *axis_element, *function_element; string separator = "/"; + FGXMLFileRead XMLFileRead; + Element* document; fname = element->GetAttributeValue("file"); if (!fname.empty()) { file = FDMExec->GetFullAircraftPath() + separator + fname; - document = LoadXMLDocument(file); + document = XMLFileRead.LoadXMLDocument(file); if (document == 0L) return false; } else { document = element; @@ -296,7 +300,7 @@ bool FGAerodynamics::Load(Element *element) FGModel::Load(document); // Perform base class Pre-Load - DetermineAxisSystem(); // Detemine if Lift/Side/Drag, etc. is used. + DetermineAxisSystem(document); // Detemine if Lift/Side/Drag, etc. is used. Debug(2); @@ -370,7 +374,7 @@ bool FGAerodynamics::Load(Element *element) // This is OK, and the warning is due to the SIDE specifier used for both // the Lift/Drag and Axial/Normal axis systems. -void FGAerodynamics::DetermineAxisSystem() +void FGAerodynamics::DetermineAxisSystem(Element* document) { Element* axis_element = document->FindElement("axis"); string axis; diff --git a/src/FDM/JSBSim/models/FGAerodynamics.h b/src/FDM/JSBSim/models/FGAerodynamics.h index 5616a4779..da28d87b9 100644 --- a/src/FDM/JSBSim/models/FGAerodynamics.h +++ b/src/FDM/JSBSim/models/FGAerodynamics.h @@ -46,13 +46,12 @@ INCLUDES #include "math/FGFunction.h" #include "math/FGColumnVector3.h" #include "math/FGMatrix33.h" -#include "input_output/FGXMLFileRead.h" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_AERODYNAMICS "$Id: FGAerodynamics.h,v 1.27 2013/09/11 12:42:14 jberndt Exp $" +#define ID_AERODYNAMICS "$Id: FGAerodynamics.h,v 1.29 2013/11/24 11:40:55 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -109,14 +108,14 @@ CLASS DOCUMENTATION Systems may NOT be combined, or a load error will occur. @author Jon S. Berndt, Tony Peden - @version $Revision: 1.27 $ + @version $Revision: 1.29 $ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -class FGAerodynamics : public FGModel, public FGXMLFileRead +class FGAerodynamics : public FGModel { public: @@ -252,7 +251,7 @@ private: double clsq, lod, qbar_area; typedef double (FGAerodynamics::*PMF)(int) const; - void DetermineAxisSystem(void); + void DetermineAxisSystem(Element* document); void bind(void); void Debug(int from); diff --git a/src/FDM/JSBSim/models/FGAircraft.cpp b/src/FDM/JSBSim/models/FGAircraft.cpp index 34205ee88..fe46509df 100644 --- a/src/FDM/JSBSim/models/FGAircraft.cpp +++ b/src/FDM/JSBSim/models/FGAircraft.cpp @@ -46,6 +46,7 @@ INCLUDES #include "FGAircraft.h" #include "FGFDMExec.h" #include "input_output/FGPropertyManager.h" +#include "input_output/FGXMLElement.h" using namespace std; @@ -59,7 +60,7 @@ DEFINITIONS GLOBAL DATA %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -static const char *IdSrc = "$Id: FGAircraft.cpp,v 1.34 2012/09/15 17:00:56 bcoconni Exp $"; +static const char *IdSrc = "$Id: FGAircraft.cpp,v 1.35 2013/11/24 11:40:55 bcoconni Exp $"; static const char *IdHdr = ID_AIRCRAFT; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/FGAircraft.h b/src/FDM/JSBSim/models/FGAircraft.h index c36f5accd..08f3a2da7 100644 --- a/src/FDM/JSBSim/models/FGAircraft.h +++ b/src/FDM/JSBSim/models/FGAircraft.h @@ -42,7 +42,6 @@ INCLUDES #include #include "FGModel.h" -#include "input_output/FGXMLElement.h" #include "math/FGColumnVector3.h" #include "math/FGMatrix33.h" @@ -50,7 +49,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_AIRCRAFT "$Id: FGAircraft.h,v 1.20 2012/09/15 17:00:56 bcoconni Exp $" +#define ID_AIRCRAFT "$Id: FGAircraft.h,v 1.21 2013/11/24 11:40:55 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -91,7 +90,7 @@ CLASS DOCUMENTATION @endcode @author Jon S. Berndt - @version $Id: FGAircraft.h,v 1.20 2012/09/15 17:00:56 bcoconni Exp $ + @version $Id: FGAircraft.h,v 1.21 2013/11/24 11:40:55 bcoconni Exp $ @see Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420 Naval Postgraduate School, January 1994 diff --git a/src/FDM/JSBSim/models/FGBuoyantForces.cpp b/src/FDM/JSBSim/models/FGBuoyantForces.cpp index b50817608..078acbd71 100644 --- a/src/FDM/JSBSim/models/FGBuoyantForces.cpp +++ b/src/FDM/JSBSim/models/FGBuoyantForces.cpp @@ -36,16 +36,19 @@ HISTORY INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ +#include + #include "FGBuoyantForces.h" #include "FGMassBalance.h" #include "input_output/FGPropertyManager.h" -#include +#include "input_output/FGXMLFileRead.h" +#include "input_output/FGXMLElement.h" using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGBuoyantForces.cpp,v 1.21 2011/10/31 14:54:41 bcoconni Exp $"; +static const char *IdSrc = "$Id: FGBuoyantForces.cpp,v 1.22 2013/11/24 11:40:55 bcoconni Exp $"; static const char *IdHdr = ID_BUOYANTFORCES; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -117,11 +120,13 @@ bool FGBuoyantForces::Load(Element *element) Debug(2); string separator = "/"; + FGXMLFileRead XMLFileRead; + Element* document; fname = element->GetAttributeValue("file"); if (!fname.empty()) { file = FDMExec->GetFullAircraftPath() + separator + fname; - document = LoadXMLDocument(file); + document = XMLFileRead.LoadXMLDocument(file); } else { document = element; } diff --git a/src/FDM/JSBSim/models/FGBuoyantForces.h b/src/FDM/JSBSim/models/FGBuoyantForces.h index 098e9a49e..b63d90a84 100644 --- a/src/FDM/JSBSim/models/FGBuoyantForces.h +++ b/src/FDM/JSBSim/models/FGBuoyantForces.h @@ -45,13 +45,12 @@ INCLUDES #include "FGModel.h" #include "FGGasCell.h" #include "math/FGColumnVector3.h" -#include "input_output/FGXMLFileRead.h" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_BUOYANTFORCES "$Id: FGBuoyantForces.h,v 1.16 2011/10/31 14:54:41 bcoconni Exp $" +#define ID_BUOYANTFORCES "$Id: FGBuoyantForces.h,v 1.18 2013/11/24 11:40:55 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -96,14 +95,14 @@ CLASS DOCUMENTATION See FGGasCell for the full configuration file format for gas cells. @author Anders Gidenstam, Jon S. Berndt - @version $Id: FGBuoyantForces.h,v 1.16 2011/10/31 14:54:41 bcoconni Exp $ + @version $Id: FGBuoyantForces.h,v 1.18 2013/11/24 11:40:55 bcoconni Exp $ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -class FGBuoyantForces : public FGModel, public FGXMLFileRead +class FGBuoyantForces : public FGModel { public: diff --git a/src/FDM/JSBSim/models/FGExternalReactions.cpp b/src/FDM/JSBSim/models/FGExternalReactions.cpp old mode 100644 new mode 100755 index f9e98f9f5..730b79013 --- a/src/FDM/JSBSim/models/FGExternalReactions.cpp +++ b/src/FDM/JSBSim/models/FGExternalReactions.cpp @@ -36,11 +36,13 @@ HISTORY INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#include "FGExternalReactions.h" -#include "input_output/FGXMLElement.h" #include #include +#include "FGExternalReactions.h" +#include "input_output/FGXMLFileRead.h" +#include "input_output/FGXMLElement.h" + using namespace std; namespace JSBSim { @@ -53,7 +55,7 @@ DEFINITIONS GLOBAL DATA %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -static const char *IdSrc = "$Id: FGExternalReactions.cpp,v 1.12 2011/07/20 12:16:34 jberndt Exp $"; +static const char *IdSrc = "$Id: FGExternalReactions.cpp,v 1.13 2013/11/24 11:40:56 bcoconni Exp $"; static const char *IdHdr = ID_EXTERNALREACTIONS; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -73,9 +75,11 @@ bool FGExternalReactions::Load(Element* el) { // check if a file attribute was specified string fname = el->GetAttributeValue("file"); + FGXMLFileRead XMLFileRead; + if (!fname.empty()) { string file = FDMExec->GetFullAircraftPath() + "/" + fname; - el = LoadXMLDocument(file); + el = XMLFileRead.LoadXMLDocument(file); if (el == 0L) return false; } diff --git a/src/FDM/JSBSim/models/FGExternalReactions.h b/src/FDM/JSBSim/models/FGExternalReactions.h old mode 100644 new mode 100755 index 7945abf88..b6c39a764 --- a/src/FDM/JSBSim/models/FGExternalReactions.h +++ b/src/FDM/JSBSim/models/FGExternalReactions.h @@ -41,14 +41,12 @@ INCLUDES #include #include "FGModel.h" #include "FGExternalForce.h" -#include "input_output/FGXMLFileRead.h" - /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_EXTERNALREACTIONS "$Id: FGExternalReactions.h,v 1.14 2011/10/31 14:54:41 bcoconni Exp $" +#define ID_EXTERNALREACTIONS "$Id: FGExternalReactions.h,v 1.15 2013/11/24 11:40:56 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -117,7 +115,7 @@ CLASS DOCUMENTATION CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -class FGExternalReactions : public FGModel, public FGXMLFileRead +class FGExternalReactions : public FGModel { public: /** Constructor. diff --git a/src/FDM/JSBSim/models/FGFCS.cpp b/src/FDM/JSBSim/models/FGFCS.cpp index 855925e1c..59deaafa2 100644 --- a/src/FDM/JSBSim/models/FGFCS.cpp +++ b/src/FDM/JSBSim/models/FGFCS.cpp @@ -45,6 +45,8 @@ INCLUDES #include "FGFDMExec.h" #include "FGGroundReactions.h" #include "input_output/FGPropertyManager.h" +#include "input_output/FGXMLFileRead.h" +#include "input_output/FGXMLElement.h" #include "models/flight_control/FGFilter.h" #include "models/flight_control/FGDeadBand.h" @@ -61,6 +63,7 @@ INCLUDES #include "models/flight_control/FGGyro.h" #include "models/flight_control/FGWaypoint.h" #include "models/flight_control/FGAngles.h" +#include "models/flight_control/FGDistributor.h" #include "FGFCSChannel.h" @@ -68,7 +71,7 @@ using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGFCS.cpp,v 1.81 2013/06/20 04:37:27 jberndt Exp $"; +static const char *IdSrc = "$Id: FGFCS.cpp,v 1.83 2013/11/24 11:40:56 bcoconni Exp $"; static const char *IdHdr = ID_FCS; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -174,7 +177,10 @@ bool FGFCS::Run(bool Holding) } // Execute system channels in order - for (i=0; iExecute(); + for (i=0; iGetName() << endl; + SystemChannels[i]->Execute(); + } RunPostFunctions(); @@ -485,6 +491,8 @@ bool FGFCS::Load(Element* el, SystemType systype) string name, file, fname="", interface_property_string, parent_name; Element *component_element; Element *channel_element; + FGXMLFileRead XMLFileRead; + Element* document; // ToDo: The handling of name and file attributes could be improved, here, // considering that a name can be in the external file, as well. @@ -502,7 +510,7 @@ bool FGFCS::Load(Element* el, SystemType systype) cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl; return false; } else { - document = LoadXMLDocument(file); + document = XMLFileRead.LoadXMLDocument(file); if (!document) { cerr << "Error loading file " << file << endl; return false; @@ -566,6 +574,7 @@ bool FGFCS::Load(Element* el, SystemType systype) FGFCSChannel* newChannel = 0; string sOnOffProperty = channel_element->GetAttributeValue("execute"); + string sChannelName = channel_element->GetAttributeValue("name"); FGPropertyNode* OnOffPropertyNode = 0; if (sOnOffProperty.length() > 0) { OnOffPropertyNode = PropertyManager->GetNode(sOnOffProperty); @@ -576,10 +585,10 @@ bool FGFCS::Load(Element* el, SystemType systype) << "understood. The simulation will abort" << reset << endl; throw("Bad system definition"); } else { - newChannel = new FGFCSChannel(OnOffPropertyNode); + newChannel = new FGFCSChannel(sChannelName, OnOffPropertyNode); } } else { - newChannel = new FGFCSChannel(); + newChannel = new FGFCSChannel(sChannelName); } SystemChannels.push_back(newChannel); @@ -631,6 +640,8 @@ bool FGFCS::Load(Element* el, SystemType systype) newChannel->Add(new FGWaypoint(this, component_element)); } else if (component_element->GetName() == string("angle")) { newChannel->Add(new FGAngles(this, component_element)); + } else if (component_element->GetName() == string("distributor")) { + newChannel->Add(new FGDistributor(this, component_element)); } else { cerr << "Unknown FCS component: " << component_element->GetName() << endl; } @@ -646,8 +657,6 @@ bool FGFCS::Load(Element* el, SystemType systype) PostLoad(document, PropertyManager); - ResetParser(); - return true; } diff --git a/src/FDM/JSBSim/models/FGFCS.h b/src/FDM/JSBSim/models/FGFCS.h index d67aea408..7a12f8d04 100644 --- a/src/FDM/JSBSim/models/FGFCS.h +++ b/src/FDM/JSBSim/models/FGFCS.h @@ -45,13 +45,12 @@ INCLUDES #include "models/flight_control/FGFCSComponent.h" #include "models/FGModel.h" #include "models/FGLGear.h" -#include "input_output/FGXMLFileRead.h" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_FCS "$Id: FGFCS.h,v 1.42 2013/06/20 04:37:27 jberndt Exp $" +#define ID_FCS "$Id: FGFCS.h,v 1.45 2013/11/24 11:40:56 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -169,7 +168,7 @@ CLASS DOCUMENTATION @property gear/tailhook-pos-norm @author Jon S. Berndt - @version $Revision: 1.42 $ + @version $Revision: 1.45 $ @see FGActuator @see FGDeadBand @see FGFCSFunction @@ -184,13 +183,14 @@ CLASS DOCUMENTATION @see FGAngles @see FGFCSComponent @see Element + @see FGDistributor */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -class FGFCS : public FGModel, public FGXMLFileRead +class FGFCS : public FGModel { public: diff --git a/src/FDM/JSBSim/models/FGFCSChannel.h b/src/FDM/JSBSim/models/FGFCSChannel.h old mode 100644 new mode 100755 index fafd7230f..cb2686f0b --- a/src/FDM/JSBSim/models/FGFCSChannel.h +++ b/src/FDM/JSBSim/models/FGFCSChannel.h @@ -44,7 +44,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_FCSCHANNEL "$Id: FGFCSChannel.h,v 1.2 2013/01/26 17:06:50 bcoconni Exp $" +#define ID_FCSCHANNEL "$Id: FGFCSChannel.h,v 1.3 2013/09/27 19:44:45 jberndt Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -70,8 +70,8 @@ typedef std::vector FCSCompVec; class FGFCSChannel { public: /// Constructor - FGFCSChannel(FGPropertyNode* node=0) : - OnOffNode(node) + FGFCSChannel(string name, FGPropertyNode* node=0) : + OnOffNode(node), Name(name) { } /// Destructor @@ -79,6 +79,9 @@ public: for (unsigned int i=0; iGetAttributeValue("file"); if (!fname.empty()) { file = FDMExec->GetFullAircraftPath() + separator + fname; - document = LoadXMLDocument(file); + document = XMLFileRead.LoadXMLDocument(file); if (document == 0L) return false; } else { document = elem; diff --git a/src/FDM/JSBSim/models/FGGroundReactions.h b/src/FDM/JSBSim/models/FGGroundReactions.h index 8af49bda9..0619a8771 100644 --- a/src/FDM/JSBSim/models/FGGroundReactions.h +++ b/src/FDM/JSBSim/models/FGGroundReactions.h @@ -43,10 +43,8 @@ INCLUDES #include "FGModel.h" #include "FGLGear.h" #include "math/FGColumnVector3.h" -#include "input_output/FGXMLElement.h" -#include "input_output/FGXMLFileRead.h" -#define ID_GROUNDREACTIONS "$Id: FGGroundReactions.h,v 1.25 2012/12/12 06:19:57 jberndt Exp $" +#define ID_GROUNDREACTIONS "$Id: FGGroundReactions.h,v 1.27 2013/11/24 11:40:56 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -79,7 +77,7 @@ CLASS DOCUMENTATION CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -class FGGroundReactions : public FGModel, public FGXMLFileRead +class FGGroundReactions : public FGModel { public: FGGroundReactions(FGFDMExec*); diff --git a/src/FDM/JSBSim/models/FGLGear.cpp b/src/FDM/JSBSim/models/FGLGear.cpp index c31f4f2d4..3796bffe3 100644 --- a/src/FDM/JSBSim/models/FGLGear.cpp +++ b/src/FDM/JSBSim/models/FGLGear.cpp @@ -48,6 +48,7 @@ INCLUDES #include "input_output/FGPropertyManager.h" #include "models/FGGroundReactions.h" #include "math/FGTable.h" +#include "input_output/FGXMLElement.h" using namespace std; @@ -61,7 +62,7 @@ DEFINITIONS GLOBAL DATA %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -static const char *IdSrc = "$Id: FGLGear.cpp,v 1.104 2013/01/25 14:02:13 jberndt Exp $"; +static const char *IdSrc = "$Id: FGLGear.cpp,v 1.106 2013/11/24 11:40:56 bcoconni Exp $"; static const char *IdHdr = ID_LGEAR; // Body To Structural (body frame is rotated 180 deg about Y and lengths are given in @@ -723,6 +724,14 @@ void FGLGear::UpdateForces(void) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +void FGLGear::SetstaticFCoeff(double coeff) +{ + staticFCoeff = coeff; + Peak = coeff; +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + void FGLGear::bind(void) { string property_name; @@ -749,7 +758,8 @@ void FGLGear::bind(void) property_name = base_property_name + "/compression-velocity-fps"; PropertyManager->Tie( property_name.c_str(), &compressSpeed ); property_name = base_property_name + "/static_friction_coeff"; - PropertyManager->Tie( property_name.c_str(), &staticFCoeff ); + PropertyManager->Tie( property_name.c_str(), (FGLGear*)this, + &FGLGear::GetstaticFCoeff, &FGLGear::SetstaticFCoeff); property_name = base_property_name + "/dynamic_friction_coeff"; PropertyManager->Tie( property_name.c_str(), &dynamicFCoeff ); diff --git a/src/FDM/JSBSim/models/FGLGear.h b/src/FDM/JSBSim/models/FGLGear.h index 83b039aae..45844e424 100644 --- a/src/FDM/JSBSim/models/FGLGear.h +++ b/src/FDM/JSBSim/models/FGLGear.h @@ -48,7 +48,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_LGEAR "$Id: FGLGear.h,v 1.56 2012/12/15 15:16:16 bcoconni Exp $" +#define ID_LGEAR "$Id: FGLGear.h,v 1.58 2013/11/15 22:43:01 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -177,7 +177,7 @@ CLASS DOCUMENTATION @endcode @author Jon S. Berndt - @version $Id: FGLGear.h,v 1.56 2012/12/15 15:16:16 bcoconni Exp $ + @version $Id: FGLGear.h,v 1.58 2013/11/15 22:43:01 bcoconni Exp $ @see Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at NASA-Ames", NASA CR-2497, January 1975 @see Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics", @@ -380,6 +380,7 @@ private: void ComputeGroundFrame(void); void ComputeJacobian(const FGColumnVector3& vWhlContactVec); void UpdateForces(void); + void SetstaticFCoeff(double coeff); void CrashDetect(void); void InitializeReporting(void); void ResetReporting(void); diff --git a/src/FDM/JSBSim/models/FGMassBalance.cpp b/src/FDM/JSBSim/models/FGMassBalance.cpp index 446aaaca5..0226cabd4 100644 --- a/src/FDM/JSBSim/models/FGMassBalance.cpp +++ b/src/FDM/JSBSim/models/FGMassBalance.cpp @@ -44,12 +44,14 @@ INCLUDES #include "FGMassBalance.h" #include "FGFDMExec.h" #include "input_output/FGPropertyManager.h" +#include "input_output/FGXMLFileRead.h" +#include "input_output/FGXMLElement.h" using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGMassBalance.cpp,v 1.42 2012/12/12 06:19:57 jberndt Exp $"; +static const char *IdSrc = "$Id: FGMassBalance.cpp,v 1.43 2013/11/24 11:40:56 bcoconni Exp $"; static const char *IdHdr = ID_MASSBALANCE; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -104,11 +106,13 @@ bool FGMassBalance::Load(Element* elem) double bixx, biyy, bizz, bixy, bixz, biyz; string fname="", file=""; string separator = "/"; + FGXMLFileRead XMLFileRead; + Element* document; fname = elem->GetAttributeValue("file"); if (!fname.empty()) { file = FDMExec->GetFullAircraftPath() + separator + fname; - document = LoadXMLDocument(file); + document = XMLFileRead.LoadXMLDocument(file); if (document == 0L) return false; } else { document = elem; diff --git a/src/FDM/JSBSim/models/FGMassBalance.h b/src/FDM/JSBSim/models/FGMassBalance.h index 947fdda08..833bb1a54 100644 --- a/src/FDM/JSBSim/models/FGMassBalance.h +++ b/src/FDM/JSBSim/models/FGMassBalance.h @@ -43,14 +43,12 @@ INCLUDES #include "FGModel.h" #include "math/FGColumnVector3.h" #include "math/FGMatrix33.h" -#include "input_output/FGXMLElement.h" -#include "input_output/FGXMLFileRead.h" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_MASSBALANCE "$Id: FGMassBalance.h,v 1.28 2012/12/12 06:19:57 jberndt Exp $" +#define ID_MASSBALANCE "$Id: FGMassBalance.h,v 1.29 2013/11/24 11:40:56 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONSS @@ -108,7 +106,7 @@ CLASS DOCUMENTATION CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -class FGMassBalance : public FGModel, public FGXMLFileRead +class FGMassBalance : public FGModel { public: diff --git a/src/FDM/JSBSim/models/FGOutput.cpp b/src/FDM/JSBSim/models/FGOutput.cpp index 221c9b7d3..159362181 100644 --- a/src/FDM/JSBSim/models/FGOutput.cpp +++ b/src/FDM/JSBSim/models/FGOutput.cpp @@ -44,12 +44,14 @@ INCLUDES #include "input_output/FGOutputSocket.h" #include "input_output/FGOutputTextFile.h" #include "input_output/FGOutputFG.h" +#include "input_output/FGXMLFileRead.h" +#include "input_output/FGXMLElement.h" using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGOutput.cpp,v 1.73 2013/09/11 12:44:02 jberndt Exp $"; +static const char *IdSrc = "$Id: FGOutput.cpp,v 1.74 2013/11/24 11:40:56 bcoconni Exp $"; static const char *IdHdr = ID_OUTPUT; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -192,11 +194,10 @@ string FGOutput::GetOutputName(unsigned int idx) const bool FGOutput::SetDirectivesFile(const std::string& fname) { - Element* document = LoadXMLDocument(fname); + FGXMLFileRead XMLFile; + Element* document = XMLFile.LoadXMLDocument(fname); bool result = Load(document); - ResetParser(); - if (!result) cerr << endl << "Aircraft output element has problems in file " << fname << endl; diff --git a/src/FDM/JSBSim/models/FGOutput.h b/src/FDM/JSBSim/models/FGOutput.h index 8336151fb..86e14c1ff 100644 --- a/src/FDM/JSBSim/models/FGOutput.h +++ b/src/FDM/JSBSim/models/FGOutput.h @@ -42,13 +42,12 @@ INCLUDES #include "FGModel.h" #include "input_output/FGOutputType.h" -#include "input_output/FGXMLFileRead.h" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_OUTPUT "$Id: FGOutput.h,v 1.27 2013/01/26 17:06:50 bcoconni Exp $" +#define ID_OUTPUT "$Id: FGOutput.h,v 1.29 2013/11/24 11:40:56 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -122,14 +121,14 @@ CLASS DOCUMENTATION The class FGOutput is the manager of the outputs requested by the user. It manages a list of instances derived from the abstract class FGOutputType. - @version $Id: FGOutput.h,v 1.27 2013/01/26 17:06:50 bcoconni Exp $ + @version $Id: FGOutput.h,v 1.29 2013/11/24 11:40:56 bcoconni Exp $ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -class FGOutput : public FGModel, public FGXMLFileRead +class FGOutput : public FGModel { public: FGOutput(FGFDMExec*); diff --git a/src/FDM/JSBSim/models/FGPropagate.cpp b/src/FDM/JSBSim/models/FGPropagate.cpp index d1183a43b..12efa827a 100644 --- a/src/FDM/JSBSim/models/FGPropagate.cpp +++ b/src/FDM/JSBSim/models/FGPropagate.cpp @@ -67,6 +67,7 @@ INCLUDES #include #include #include +#include #include "FGPropagate.h" #include "FGGroundReactions.h" @@ -77,7 +78,7 @@ using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGPropagate.cpp,v 1.115 2013/09/14 11:26:02 bcoconni Exp $"; +static const char *IdSrc = "$Id: FGPropagate.cpp,v 1.119 2013/11/24 11:40:56 bcoconni Exp $"; static const char *IdHdr = ID_PROPAGATE; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -618,33 +619,43 @@ void FGPropagate::DumpState(void) void FGPropagate::WriteStateFile(int num) { + ofstream outfile; + + if (num == 0) return; + string filename = FDMExec->GetFullAircraftPath(); - if (filename.empty()) - filename = "initfile.xml"; - else - filename.append("/initfile.xml"); + string sim_time = to_string((double)FDMExec->GetSimTime()); + if (filename.empty()) filename = "initfile."; + else filename.append("/initfile."); - ofstream outfile(filename.c_str()); + // Append sim time to the filename since there may be more than one created during a simulation run + filename += to_string((double)FDMExec->GetSimTime())+".xml"; - if (outfile.is_open()) { - switch(num) { - case 1: - outfile << "" << endl; - outfile << "" << endl; - outfile << " " << VState.vUVW(eU) << " " << endl; - outfile << " " << VState.vUVW(eV) << " " << endl; - outfile << " " << VState.vUVW(eW) << " " << endl; - outfile << " " << VState.qAttitudeLocal.GetEuler(ePhi)*radtodeg << " " << endl; - outfile << " " << VState.qAttitudeLocal.GetEuler(eTht)*radtodeg << " " << endl; - outfile << " " << VState.qAttitudeLocal.GetEuler(ePsi)*radtodeg << " " << endl; - outfile << " " << VState.vLocation.GetLongitudeDeg() << " " << endl; - outfile << " " << VState.vLocation.GetLatitudeDeg() << " " << endl; - outfile << " " << GetDistanceAGL() << " " << endl; - outfile << "" << endl; - outfile.close(); + switch(num) { + case 1: + outfile.open(filename.c_str()); + if (outfile.is_open()) { + outfile << "" << endl; + outfile << "" << endl; + outfile << " " << VState.vUVW(eU) << " " << endl; + outfile << " " << VState.vUVW(eV) << " " << endl; + outfile << " " << VState.vUVW(eW) << " " << endl; + outfile << " " << VState.qAttitudeLocal.GetEuler(ePhi)*radtodeg << " " << endl; + outfile << " " << VState.qAttitudeLocal.GetEuler(eTht)*radtodeg << " " << endl; + outfile << " " << VState.qAttitudeLocal.GetEuler(ePsi)*radtodeg << " " << endl; + outfile << " " << VState.vLocation.GetLongitudeDeg() << " " << endl; + outfile << " " << VState.vLocation.GetLatitudeDeg() << " " << endl; + outfile << " " << GetDistanceAGL() << " " << endl; + outfile << "" << endl; + outfile.close(); + } else { + cerr << "Could not open and/or write the state to the initial conditions file: " << filename << endl; + } break; - case 2: + case 2: + outfile.open(filename.c_str()); + if (outfile.is_open()) { outfile << "" << endl; outfile << "" << endl; outfile << "" << endl; @@ -674,13 +685,12 @@ void FGPropagate::WriteStateFile(int num) outfile << "" << endl; outfile << "" << endl; outfile.close(); - break; - default: - return; // Ignore other writes to the property, e.g. on FlightGear reset. - throw("When writing a state file, the supplied value must be 1 or 2 for the version number of the resulting IC file"); + } else { + cerr << "Could not open and/or write the state to the initial conditions file: " << filename << endl; } - } else { - cerr << "Could not open and/or write the state to the initial conditions file: " << filename << endl; + break; + default: + cerr << "When writing a state file, the supplied value must be 1 or 2 for the version number of the resulting IC file" << endl; } } diff --git a/src/FDM/JSBSim/models/FGPropulsion.cpp b/src/FDM/JSBSim/models/FGPropulsion.cpp index 372795790..8066846d6 100644 --- a/src/FDM/JSBSim/models/FGPropulsion.cpp +++ b/src/FDM/JSBSim/models/FGPropulsion.cpp @@ -59,14 +59,15 @@ INCLUDES #include "models/propulsion/FGTurboProp.h" #include "models/propulsion/FGTank.h" #include "input_output/FGPropertyManager.h" -#include "input_output/FGXMLParse.h" +#include "input_output/FGXMLFileRead.h" +#include "input_output/FGXMLElement.h" #include "math/FGColumnVector3.h" using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGPropulsion.cpp,v 1.70 2013/09/11 23:24:49 jentron Exp $"; +static const char *IdSrc = "$Id: FGPropulsion.cpp,v 1.71 2013/11/24 11:40:56 bcoconni Exp $"; static const char *IdHdr = ID_PROPULSION; extern short debug_lvl; @@ -376,6 +377,7 @@ bool FGPropulsion::Load(Element* elem) string type, engine_filename; string separator = "/"; Element *el=0; + FGXMLFileRead XMLFileRead; FGXMLParse main_file_parser; Debug(2); @@ -384,7 +386,7 @@ bool FGPropulsion::Load(Element* elem) fname = elem->GetAttributeValue("file"); if (!fname.empty()) { file = FDMExec->GetFullAircraftPath() + separator + fname; - el = LoadXMLDocument(file, main_file_parser); + el = XMLFileRead.LoadXMLDocument(file, main_file_parser); if (el == 0L) return false; } else { el = elem; @@ -421,7 +423,7 @@ bool FGPropulsion::Load(Element* elem) return false; } - document = LoadXMLDocument(engine_filename); + Element* document = XMLFileRead.LoadXMLDocument(engine_filename); document->SetParent(engine_element); type = document->GetName(); @@ -458,7 +460,7 @@ bool FGPropulsion::Load(Element* elem) numEngines++; engine_element = el->FindNextElement("engine"); - ResetParser(); + XMLFileRead.ResetParser(); } CalculateTankInertias(); diff --git a/src/FDM/JSBSim/models/FGPropulsion.h b/src/FDM/JSBSim/models/FGPropulsion.h index 4be73b169..cca5adf00 100644 --- a/src/FDM/JSBSim/models/FGPropulsion.h +++ b/src/FDM/JSBSim/models/FGPropulsion.h @@ -44,13 +44,12 @@ INCLUDES #include "FGModel.h" #include "propulsion/FGEngine.h" #include "math/FGMatrix33.h" -#include "input_output/FGXMLFileRead.h" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_PROPULSION "$Id: FGPropulsion.h,v 1.31 2011/10/31 14:54:41 bcoconni Exp $" +#define ID_PROPULSION "$Id: FGPropulsion.h,v 1.32 2013/11/24 11:40:56 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -92,7 +91,7 @@ CLASS DOCUMENTATION @endcode @author Jon S. Berndt - @version $Id: FGPropulsion.h,v 1.31 2011/10/31 14:54:41 bcoconni Exp $ + @version $Id: FGPropulsion.h,v 1.32 2013/11/24 11:40:56 bcoconni Exp $ @see FGEngine FGTank @@ -102,7 +101,7 @@ CLASS DOCUMENTATION CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -class FGPropulsion : public FGModel, public FGXMLFileRead +class FGPropulsion : public FGModel { public: /// Constructor diff --git a/src/FDM/JSBSim/models/flight_control/FGAccelerometer.cpp b/src/FDM/JSBSim/models/flight_control/FGAccelerometer.cpp old mode 100644 new mode 100755 index 9f321a220..e4113aa6f --- a/src/FDM/JSBSim/models/flight_control/FGAccelerometer.cpp +++ b/src/FDM/JSBSim/models/flight_control/FGAccelerometer.cpp @@ -37,20 +37,21 @@ COMMENTS, REFERENCES, and NOTES INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#include "FGAccelerometer.h" #include #include +#include "FGAccelerometer.h" #include "models/FGPropagate.h" #include "models/FGAccelerations.h" #include "models/FGMassBalance.h" #include "models/FGInertial.h" +#include "input_output/FGXMLElement.h" using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGAccelerometer.cpp,v 1.11 2012/11/17 18:03:19 jberndt Exp $"; +static const char *IdSrc = "$Id: FGAccelerometer.cpp,v 1.12 2013/11/24 11:40:56 bcoconni Exp $"; static const char *IdHdr = ID_ACCELEROMETER; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/flight_control/FGAccelerometer.h b/src/FDM/JSBSim/models/flight_control/FGAccelerometer.h old mode 100644 new mode 100755 index 44194bb6f..70aabd3fc --- a/src/FDM/JSBSim/models/flight_control/FGAccelerometer.h +++ b/src/FDM/JSBSim/models/flight_control/FGAccelerometer.h @@ -38,7 +38,6 @@ INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #include "FGSensor.h" -#include "input_output/FGXMLElement.h" #include "math/FGColumnVector3.h" #include "math/FGMatrix33.h" #include "FGSensorOrientation.h" @@ -47,7 +46,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_ACCELEROMETER "$Id: FGAccelerometer.h,v 1.6 2012/01/08 12:39:14 bcoconni Exp $" +#define ID_ACCELEROMETER "$Id: FGAccelerometer.h,v 1.7 2013/11/24 11:40:56 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -127,7 +126,7 @@ even varying all the way from 0.95 to 1.05 in adjacent frames - whatever the del time. @author Jon S. Berndt -@version $Revision: 1.6 $ +@version $Revision: 1.7 $ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/flight_control/FGActuator.cpp b/src/FDM/JSBSim/models/flight_control/FGActuator.cpp index a335689c5..1be3971b4 100644 --- a/src/FDM/JSBSim/models/flight_control/FGActuator.cpp +++ b/src/FDM/JSBSim/models/flight_control/FGActuator.cpp @@ -38,12 +38,13 @@ INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #include "FGActuator.h" +#include "input_output/FGXMLElement.h" using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGActuator.cpp,v 1.28 2013/06/10 02:04:50 jberndt Exp $"; +static const char *IdSrc = "$Id: FGActuator.cpp,v 1.29 2013/11/24 11:40:56 bcoconni Exp $"; static const char *IdHdr = ID_ACTUATOR; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/flight_control/FGActuator.h b/src/FDM/JSBSim/models/flight_control/FGActuator.h index a8e8d5932..6c3fff546 100644 --- a/src/FDM/JSBSim/models/flight_control/FGActuator.h +++ b/src/FDM/JSBSim/models/flight_control/FGActuator.h @@ -38,13 +38,12 @@ INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #include "FGFCSComponent.h" -#include "input_output/FGXMLElement.h" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_ACTUATOR "$Id: FGActuator.h,v 1.15 2013/01/26 17:06:50 bcoconni Exp $" +#define ID_ACTUATOR "$Id: FGActuator.h,v 1.16 2013/11/24 11:40:56 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -120,7 +119,7 @@ Example: @endcode @author Jon S. Berndt -@version $Revision: 1.15 $ +@version $Revision: 1.16 $ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/flight_control/FGAngles.cpp b/src/FDM/JSBSim/models/flight_control/FGAngles.cpp index f9287c506..fea7f68a3 100755 --- a/src/FDM/JSBSim/models/flight_control/FGAngles.cpp +++ b/src/FDM/JSBSim/models/flight_control/FGAngles.cpp @@ -1,4 +1,5 @@ -/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + Module: FGAngles.cpp Author: Jon S. Berndt Date started: 6/2013 @@ -73,7 +74,7 @@ using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGAngles.cpp,v 1.1 2013/06/20 04:37:28 jberndt Exp $"; +static const char *IdSrc = "$Id: FGAngles.cpp,v 1.2 2013/09/27 19:36:28 jberndt Exp $"; static const char *IdHdr = ID_ANGLES; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/flight_control/FGDistributor.cpp b/src/FDM/JSBSim/models/flight_control/FGDistributor.cpp new file mode 100755 index 000000000..da16ddbf3 --- /dev/null +++ b/src/FDM/JSBSim/models/flight_control/FGDistributor.cpp @@ -0,0 +1,177 @@ +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + Module: FGDistributor.cpp + Author: Jon S. Berndt + Date started: 9/2013 + + ------------- Copyright (C) 2013 ------------- + + This program is free software; you can redistribute it and/or modify it under + the terms of the GNU Lesser General Public License as published by the Free Software + Foundation; either version 2 of the License, or (at your option) any later + version. + + This program is distributed in the hope that it will be useful, but WITHOUT + ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more + details. + + You should have received a copy of the GNU Lesser General Public License along with + this program; if not, write to the Free Software Foundation, Inc., 59 Temple + Place - Suite 330, Boston, MA 02111-1307, USA. + + Further information about the GNU Lesser General Public License can also be found on + the world wide web at http://www.gnu.org. + +FUNCTIONAL DESCRIPTION +-------------------------------------------------------------------------------- + +HISTORY +-------------------------------------------------------------------------------- + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +COMMENTS, REFERENCES, and NOTES +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +Also, see the header file (FGDistributor.h) for further details. + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +INCLUDES +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +#include + +#include "FGDistributor.h" +#include "input_output/FGXMLElement.h" + +using namespace std; + +namespace JSBSim { + +static const char *IdSrc = "$Id: FGDistributor.cpp,v 1.3 2013/11/24 11:40:56 bcoconni Exp $"; +static const char *IdHdr = ID_DISTRIBUTOR; + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +CLASS IMPLEMENTATION +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +FGDistributor::FGDistributor(FGFCS* fcs, Element* element) : FGFCSComponent(fcs, element) +{ + Element *case_element=0; + Element* test_element=0; + Element* prop_val_element=0; + string type_string; + Case* current_case=0; + + FGFCSComponent::bind(); // Bind() this component here in case it is used + // in its own definition for a sample-and-hold + + type_string = element->GetAttributeValue("type"); + if (type_string == "inclusive") Type = eInclusive; + else if (type_string == "exclusive") Type = eExclusive; + else { + throw("Not a known Distributor type, "+type_string); + } + + case_element = element->FindElement("case"); + while (case_element) { + current_case = new struct Case; + test_element = case_element->FindElement("test"); + if (test_element) current_case->SetTest(new FGCondition(test_element, PropertyManager)); + prop_val_element = case_element->FindElement("property"); + while (prop_val_element) { + string value_string = prop_val_element->GetAttributeValue("value"); + string property_string = prop_val_element->GetDataLine(); + current_case->AddPropValPair(new PropValPair(property_string, value_string, PropertyManager)); + prop_val_element = case_element->FindNextElement("property"); + } + Cases.push_back(current_case); + case_element = element->FindNextElement("case"); + } + + Debug(0); +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +FGDistributor::~FGDistributor() +{ + + Debug(1); +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +bool FGDistributor::Run(void ) +{ + bool completed = false; + for (unsigned int ctr=0; ctrHasTest()) { + if (Cases[ctr]->GetTestResult() && !((Type == eExclusive) && completed)) { + Cases[ctr]->SetPropValPairs(); + completed = true; + } + } else { // If no test present, execute always + Cases[ctr]->SetPropValPairs(); + } + } + +// if (delay != 0) Delay(); +// Clip(); +// if (IsOutput) SetOutput(); + + return true; +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +// The bitmasked value choices are as follows: +// unset: In this case (the default) JSBSim would only print +// out the normally expected messages, essentially echoing +// the config files as they are read. If the environment +// variable is not set, debug_lvl is set to 1 internally +// 0: This requests JSBSim not to output any messages +// whatsoever. +// 1: This value explicity requests the normal JSBSim +// startup messages +// 2: This value asks for a message to be printed out when +// a class is instantiated +// 4: When this value is set, a message is displayed when a +// FGModel object executes its Run() method +// 8: When this value is set, various runtime state variables +// are printed out periodically +// 16: When set various parameters are sanity checked and +// a message is printed out when they go out of bounds + +void FGDistributor::Debug(int from) +{ + string comp, scratch; + string indent = " "; + //bool first = false; + + if (debug_lvl <= 0) return; + + if (debug_lvl & 1) { // Standard console startup message output + if (from == 0) { // Constructor + + } + } + if (debug_lvl & 2 ) { // Instantiation/Destruction notification + if (from == 0) cout << "Instantiated: FGDistributor" << endl; + if (from == 1) cout << "Destroyed: FGDistributor" << endl; + } + if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects + } + if (debug_lvl & 8 ) { // Runtime state variables + } + if (debug_lvl & 16) { // Sanity checking + } + if (debug_lvl & 64) { + if (from == 0) { // Constructor + cout << IdSrc << endl; + cout << IdHdr << endl; + } + } +} + +} //namespace JSBSim + diff --git a/src/FDM/JSBSim/models/flight_control/FGDistributor.h b/src/FDM/JSBSim/models/flight_control/FGDistributor.h new file mode 100755 index 000000000..55f8c7af2 --- /dev/null +++ b/src/FDM/JSBSim/models/flight_control/FGDistributor.h @@ -0,0 +1,215 @@ +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + Header: FGDistributor.h + Author: Jon S. Berndt + Date started: 09/27/2013 + + ------------- Copyright (C) 2013 jon@jsbsim.org ------------- + + This program is free software; you can redistribute it and/or modify it under + the terms of the GNU Lesser General Public License as published by the Free Software + Foundation; either version 2 of the License, or (at your option) any later + version. + + This program is distributed in the hope that it will be useful, but WITHOUT + ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more + details. + + You should have received a copy of the GNU Lesser General Public License along with + this program; if not, write to the Free Software Foundation, Inc., 59 Temple + Place - Suite 330, Boston, MA 02111-1307, USA. + + Further information about the GNU Lesser General Public License can also be found on + the world wide web at http://www.gnu.org. + +HISTORY +-------------------------------------------------------------------------------- + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +SENTRY +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +#ifndef FGDISTRIBUTOR_H +#define FGDISTRIBUTOR_H + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +INCLUDES +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +#include +#include + +#include "FGFCSComponent.h" +#include "math/FGCondition.h" +#include "math/FGPropertyValue.h" +#include "math/FGRealValue.h" + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +DEFINITIONS +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +#define ID_DISTRIBUTOR "$Id: FGDistributor.h,v 1.5 2013/11/24 11:40:57 bcoconni Exp $" + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +FORWARD DECLARATIONS +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +namespace JSBSim { + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +CLASS DOCUMENTATION +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +/** Encapsulates a distributor for the flight control system. + +The distributor component models a distributor - + +Within a test, additional tests can be specified, which allows for +complex groupings of logical comparisons. Each test contains +additional conditions, as well as possibly additional tests. + +@code + + + + [ + {property} {conditional} {property|value} + + {property} {conditional} {property|value} + ... + + ... + ] + property_name + ... + + + ... + + +@endcode + +Here's an example: + +@code + +@endcode + +Note: In the "logic" attribute, "AND" is the default logic, if none is supplied. + +@author Jon S. Berndt +@version $Id: FGDistributor.h,v 1.5 2013/11/24 11:40:57 bcoconni Exp $ +*/ + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +CLASS DECLARATION +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +class FGDistributor : public FGFCSComponent +{ +public: + /** Constructor + @param fcs a pointer to the parent FGFCS class + @param element a pointer to the Element (from the config file XML tree) + that represents this distributor component */ + FGDistributor(FGFCS* fcs, Element* element); + + /// Destructor + ~FGDistributor(); + + /** Executes the distributor logic. + @return true - always*/ + bool Run(void); + +private: + + enum eType {eInclusive=0, eExclusive} Type; + + class PropValPair { + public: + PropValPair(std::string prop, std::string val, FGPropertyManager* propMan) { + PropMan = propMan; + sign = 1; + Val = 0; + ValString = val; + FGPropertyNode *node = propMan->GetNode(prop, false); + if (node) PropNode = node; + else PropNode = 0; + PropName = prop; + if (is_number(ValString)) { + Val = new FGRealValue(atof(ValString.c_str())); + } else { + // "value" must be a property if execution passes to here. + if (ValString[0] == '-') { + sign = -1; + ValString.erase(0,1); + } + node = propMan->GetNode(ValString, false); + if (node) Val = new FGPropertyValue(node); + } + } + + ~PropValPair() { + delete PropNode; + delete PropMan; + } + + void SetPropToValue() { + if (PropNode == 0) { + if (PropMan->HasNode(PropName)) { + PropNode = PropMan->GetNode(PropName); + } else { + throw(PropName+" in distributor component is not known"); + } + } + if (Val == 0) { + if (PropMan->HasNode(ValString)) { + FGPropertyNode* node = PropMan->GetNode(ValString, false); + if (node) Val = new FGPropertyValue(node); + } else { + throw(ValString+" in distributor component is not known. Check spelling."); + } + } + PropNode->setDoubleValue(Val->GetValue()*sign); + } + + private: + std::string PropName; + FGPropertyNode* PropNode; + FGPropertyManager* PropMan; + FGParameter* Val; + std::string ValString; + int sign; + }; + + class Case { + public: + Case() { + Test = 0; + } + + ~Case() { + for (unsigned int i=0; iSetPropToValue(); + } + bool HasTest() {return (Test != 0);} + bool GetTestResult() { return Test->Evaluate(); } + + private: + FGCondition* Test; + std::vector PropValPairs; + }; + + std::vector Cases; + + void Debug(int from); +}; +} +#endif diff --git a/src/FDM/JSBSim/models/flight_control/FGFCSComponent.cpp b/src/FDM/JSBSim/models/flight_control/FGFCSComponent.cpp index 198ad689f..630f5cb8c 100644 --- a/src/FDM/JSBSim/models/flight_control/FGFCSComponent.cpp +++ b/src/FDM/JSBSim/models/flight_control/FGFCSComponent.cpp @@ -48,7 +48,7 @@ using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGFCSComponent.cpp,v 1.36 2013/06/20 04:37:28 jberndt Exp $"; +static const char *IdSrc = "$Id: FGFCSComponent.cpp,v 1.37 2013/09/27 19:38:36 jberndt Exp $"; static const char *IdHdr = ID_FCSCOMPONENT; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -57,14 +57,14 @@ CLASS IMPLEMENTATION FGFCSComponent::FGFCSComponent(FGFCS* _fcs, Element* element) : fcs(_fcs) { - Element *input_element, *clip_el; + Element *input_element,*init_element, *clip_el; Input = Output = clipmin = clipmax = delay_time = 0.0; treenode = 0; delay = index = 0; ClipMinPropertyNode = ClipMaxPropertyNode = 0; clipMinSign = clipMaxSign = 1.0; IsOutput = clip = false; - string input, clip_string; + string input,init, clip_string; dt = fcs->GetDt(); PropertyManager = fcs->GetPropertyManager(); @@ -112,12 +112,36 @@ FGFCSComponent::FGFCSComponent(FGFCS* _fcs, Element* element) : fcs(_fcs) Type = "WAYPOINT_DISTANCE"; } else if (element->GetName() == string("angle")) { Type = "ANGLE"; + } else if (element->GetName() == string("distributor")) { + Type = "DISTRIBUTOR"; } else { // illegal component in this channel Type = "UNKNOWN"; } Name = element->GetAttributeValue("name"); + init_element = element->FindElement("init"); + while (init_element) { + init = init_element->GetDataLine(); + if (init[0] == '-') { + InitSigns.push_back(-1.0); + init.erase(0,1); + } else { + InitSigns.push_back( 1.0); + } + FGPropertyNode* node = 0L; + if (PropertyManager->HasNode(init)) { + node = PropertyManager->GetNode(init); + InitNodes.push_back(new FGPropertyValue( node )); + } else { + InitNodes.push_back(new FGPropertyValue( init, + PropertyManager )); + } + InitNames.push_back( init ); + + init_element = element->FindNextElement("init"); + } + input_element = element->FindElement("input"); while (input_element) { input = input_element->GetDataLine(); diff --git a/src/FDM/JSBSim/models/flight_control/FGFCSComponent.h b/src/FDM/JSBSim/models/flight_control/FGFCSComponent.h index 1c0c03ef9..77b014095 100644 --- a/src/FDM/JSBSim/models/flight_control/FGFCSComponent.h +++ b/src/FDM/JSBSim/models/flight_control/FGFCSComponent.h @@ -46,7 +46,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_FCSCOMPONENT "$Id: FGFCSComponent.h,v 1.22 2013/06/20 04:37:28 jberndt Exp $" +#define ID_FCSCOMPONENT "$Id: FGFCSComponent.h,v 1.23 2013/09/27 19:38:44 jberndt Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -82,7 +82,7 @@ CLASS DOCUMENTATION - FGAngle @author Jon S. Berndt - @version $Id: FGFCSComponent.h,v 1.22 2013/06/20 04:37:28 jberndt Exp $ + @version $Id: FGFCSComponent.h,v 1.23 2013/09/27 19:38:44 jberndt Exp $ @see Documentation for the FGFCS class, and for the configuration file class */ @@ -112,6 +112,9 @@ protected: std::vector OutputNodes; FGPropertyNode_ptr ClipMinPropertyNode; FGPropertyNode_ptr ClipMaxPropertyNode; + std::vector InitNodes; + std::vector InitNames; + std::vector InitSigns; std::vector InputNodes; std::vector InputNames; std::vector InputSigns; diff --git a/src/FDM/JSBSim/models/flight_control/FGFCSFunction.cpp b/src/FDM/JSBSim/models/flight_control/FGFCSFunction.cpp old mode 100644 new mode 100755 index 28032d306..6d21a055f --- a/src/FDM/JSBSim/models/flight_control/FGFCSFunction.cpp +++ b/src/FDM/JSBSim/models/flight_control/FGFCSFunction.cpp @@ -37,15 +37,17 @@ COMMENTS, REFERENCES, and NOTES INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#include "FGFCSFunction.h" #include #include +#include "FGFCSFunction.h" +#include "input_output/FGXMLElement.h" + using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGFCSFunction.cpp,v 1.12 2012/11/17 18:03:19 jberndt Exp $"; +static const char *IdSrc = "$Id: FGFCSFunction.cpp,v 1.13 2013/11/24 11:40:57 bcoconni Exp $"; static const char *IdHdr = ID_FCSFUNCTION; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/flight_control/FGFCSFunction.h b/src/FDM/JSBSim/models/flight_control/FGFCSFunction.h old mode 100644 new mode 100755 index 779014ce1..f5fa5249c --- a/src/FDM/JSBSim/models/flight_control/FGFCSFunction.h +++ b/src/FDM/JSBSim/models/flight_control/FGFCSFunction.h @@ -38,14 +38,13 @@ INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #include "FGFCSComponent.h" -#include "input_output/FGXMLElement.h" #include "math/FGFunction.h" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_FCSFUNCTION "$Id: FGFCSFunction.h,v 1.8 2011/11/10 12:06:14 jberndt Exp $" +#define ID_FCSFUNCTION "$Id: FGFCSFunction.h,v 1.9 2013/11/24 11:40:57 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -105,7 +104,7 @@ a function (from an aero specification): @endcode - @version $Id: FGFCSFunction.h,v 1.8 2011/11/10 12:06:14 jberndt Exp $ + @version $Id: FGFCSFunction.h,v 1.9 2013/11/24 11:40:57 bcoconni Exp $ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/flight_control/FGGyro.cpp b/src/FDM/JSBSim/models/flight_control/FGGyro.cpp old mode 100644 new mode 100755 index 19d8de26c..cc5ce5360 --- a/src/FDM/JSBSim/models/flight_control/FGGyro.cpp +++ b/src/FDM/JSBSim/models/flight_control/FGGyro.cpp @@ -37,16 +37,17 @@ COMMENTS, REFERENCES, and NOTES INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#include "FGGyro.h" #include +#include "FGGyro.h" #include "models/FGAccelerations.h" +#include "input_output/FGXMLElement.h" using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGGyro.cpp,v 1.7 2012/11/17 18:03:19 jberndt Exp $"; +static const char *IdSrc = "$Id: FGGyro.cpp,v 1.8 2013/11/24 11:40:57 bcoconni Exp $"; static const char *IdHdr = ID_GYRO; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/flight_control/FGGyro.h b/src/FDM/JSBSim/models/flight_control/FGGyro.h old mode 100644 new mode 100755 index 39db505bb..a3399088f --- a/src/FDM/JSBSim/models/flight_control/FGGyro.h +++ b/src/FDM/JSBSim/models/flight_control/FGGyro.h @@ -38,7 +38,6 @@ INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #include "FGSensor.h" -#include "input_output/FGXMLElement.h" #include "math/FGColumnVector3.h" #include "math/FGMatrix33.h" #include "FGSensorOrientation.h" @@ -47,7 +46,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_GYRO "$Id: FGGyro.h,v 1.6 2011/07/17 13:51:23 jberndt Exp $" +#define ID_GYRO "$Id: FGGyro.h,v 1.7 2013/11/24 11:40:57 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -104,7 +103,7 @@ even varying all the way from 0.95 to 1.05 in adjacent frames - whatever the del time. @author Jon S. Berndt -@version $Revision: 1.6 $ +@version $Revision: 1.7 $ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/flight_control/FGMagnetometer.cpp b/src/FDM/JSBSim/models/flight_control/FGMagnetometer.cpp old mode 100644 new mode 100755 index e0a54a7e2..8eefb8ce8 --- a/src/FDM/JSBSim/models/flight_control/FGMagnetometer.cpp +++ b/src/FDM/JSBSim/models/flight_control/FGMagnetometer.cpp @@ -37,17 +37,19 @@ COMMENTS, REFERENCES, and NOTES INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#include "FGMagnetometer.h" -#include "simgear/magvar/coremag.hxx" #include #include #include +#include "FGMagnetometer.h" +#include "simgear/magvar/coremag.hxx" +#include "input_output/FGXMLElement.h" + using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGMagnetometer.cpp,v 1.6 2012/11/17 18:03:19 jberndt Exp $"; +static const char *IdSrc = "$Id: FGMagnetometer.cpp,v 1.7 2013/11/24 11:40:57 bcoconni Exp $"; static const char *IdHdr = ID_MAGNETOMETER; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/flight_control/FGMagnetometer.h b/src/FDM/JSBSim/models/flight_control/FGMagnetometer.h old mode 100644 new mode 100755 index c7a850ab3..c0dac1433 --- a/src/FDM/JSBSim/models/flight_control/FGMagnetometer.h +++ b/src/FDM/JSBSim/models/flight_control/FGMagnetometer.h @@ -38,7 +38,6 @@ INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #include "FGSensor.h" -#include "input_output/FGXMLElement.h" #include "models/FGPropagate.h" #include "models/FGMassBalance.h" #include "models/FGInertial.h" @@ -50,7 +49,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_MAGNETOMETER "$Id: FGMagnetometer.h,v 1.4 2009/12/11 06:03:06 jberndt Exp $" +#define ID_MAGNETOMETER "$Id: FGMagnetometer.h,v 1.5 2013/11/24 11:40:57 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -118,7 +117,7 @@ even varying all the way from 0.95 to 1.05 in adjacent frames - whatever the del time. @author Jon S. Berndt -@version $Revision: 1.4 $ +@version $Revision: 1.5 $ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/flight_control/FGSensorOrientation.h b/src/FDM/JSBSim/models/flight_control/FGSensorOrientation.h old mode 100644 new mode 100755 index 99f5d1347..f5bdafa89 --- a/src/FDM/JSBSim/models/flight_control/FGSensorOrientation.h +++ b/src/FDM/JSBSim/models/flight_control/FGSensorOrientation.h @@ -48,7 +48,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_SensorOrientation "$Id: FGSensorOrientation.h,v 1.3 2009/10/24 22:59:30 jberndt Exp $" +#define ID_SensorOrientation "$Id: FGSensorOrientation.h,v 1.5 2013/11/17 05:12:57 jberndt Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -65,7 +65,7 @@ CLASS DOCUMENTATION Syntax: @author Jon S. Berndt -@version $Revision: 1.3 $ +@version $Revision: 1.5 $ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -79,7 +79,7 @@ public: { Element* orient_element = element->FindElement("orientation"); if (orient_element) vOrient = orient_element->FindElementTripletConvertTo("RAD"); - else { std::cerr << "No orientation given for this sensor. " << std::endl;} + Element* axis_element = element->FindElement("axis"); if (axis_element) { diff --git a/src/FDM/JSBSim/models/flight_control/FGSwitch.cpp b/src/FDM/JSBSim/models/flight_control/FGSwitch.cpp index fa28935d9..4d91a30d8 100644 --- a/src/FDM/JSBSim/models/flight_control/FGSwitch.cpp +++ b/src/FDM/JSBSim/models/flight_control/FGSwitch.cpp @@ -61,14 +61,16 @@ Also, see the header file (FGSwitch.h) for further details. INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#include "FGSwitch.h" #include +#include "FGSwitch.h" +#include "input_output/FGXMLElement.h" + using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGSwitch.cpp,v 1.25 2012/12/02 12:59:19 bcoconni Exp $"; +static const char *IdSrc = "$Id: FGSwitch.cpp,v 1.27 2013/11/24 11:40:57 bcoconni Exp $"; static const char *IdHdr = ID_SWITCH; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -95,6 +97,11 @@ FGSwitch::FGSwitch(FGFCS* fcs, Element* element) : FGFCSComponent(fcs, element) value = test_element->GetAttributeValue("value"); current_test->setTestValue(value, Name, PropertyManager); current_test->Default = true; + if (delay > 0 && is_number(value)) { // If there is a delay, initialize the + for (unsigned int i=0; i #include + #include "FGFCSComponent.h" -#include "input_output/FGXMLElement.h" #include "math/FGCondition.h" #include "math/FGPropertyValue.h" @@ -48,7 +48,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_SWITCH "$Id: FGSwitch.h,v 1.16 2013/01/26 17:06:50 bcoconni Exp $" +#define ID_SWITCH "$Id: FGSwitch.h,v 1.18 2013/11/24 11:40:57 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -127,7 +127,7 @@ ap/attitude_hold takes the value 1), the value of the switch component will be whatever value fcs/roll-ap-error-summer is. @author Jon S. Berndt -@version $Id: FGSwitch.h,v 1.16 2013/01/26 17:06:50 bcoconni Exp $ +@version $Id: FGSwitch.h,v 1.18 2013/11/24 11:40:57 bcoconni Exp $ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -171,7 +171,9 @@ private: sign = 1.0; } - void setTestValue(std::string value, std::string Name, FGPropertyManager* propMan) { + void setTestValue(std::string value, std::string Name, + FGPropertyManager* propMan) + { if (value.empty()) { std::cerr << "No VALUE supplied for switch component: " << Name << std::endl; } else { diff --git a/src/FDM/JSBSim/models/propulsion/FGElectric.cpp b/src/FDM/JSBSim/models/propulsion/FGElectric.cpp index c591ceb63..088a41993 100644 --- a/src/FDM/JSBSim/models/propulsion/FGElectric.cpp +++ b/src/FDM/JSBSim/models/propulsion/FGElectric.cpp @@ -44,12 +44,13 @@ INCLUDES #include "FGElectric.h" #include "FGPropeller.h" +#include "input_output/FGXMLElement.h" using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGElectric.cpp,v 1.13 2011/08/03 03:21:06 jberndt Exp $"; +static const char *IdSrc = "$Id: FGElectric.cpp,v 1.14 2013/11/24 11:40:57 bcoconni Exp $"; static const char *IdHdr = ID_ELECTRIC; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/propulsion/FGElectric.h b/src/FDM/JSBSim/models/propulsion/FGElectric.h index f35be2186..cfbdf1678 100644 --- a/src/FDM/JSBSim/models/propulsion/FGElectric.h +++ b/src/FDM/JSBSim/models/propulsion/FGElectric.h @@ -39,13 +39,12 @@ INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #include "FGEngine.h" -#include "input_output/FGXMLElement.h" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_ELECTRIC "$Id: FGElectric.h,v 1.11 2011/07/28 12:48:19 jberndt Exp $"; +#define ID_ELECTRIC "$Id: FGElectric.h,v 1.12 2013/11/24 11:40:57 bcoconni Exp $"; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -65,7 +64,7 @@ CLASS DOCUMENTATION there is no battery model available, so this motor does not consume any energy. There is no internal friction. @author David Culp - @version "$Id: FGElectric.h,v 1.11 2011/07/28 12:48:19 jberndt Exp $" + @version "$Id: FGElectric.h,v 1.12 2013/11/24 11:40:57 bcoconni Exp $" */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/propulsion/FGEngine.cpp b/src/FDM/JSBSim/models/propulsion/FGEngine.cpp index e4a9cb77e..62917a7bc 100644 --- a/src/FDM/JSBSim/models/propulsion/FGEngine.cpp +++ b/src/FDM/JSBSim/models/propulsion/FGEngine.cpp @@ -46,14 +46,15 @@ INCLUDES #include "FGPropeller.h" #include "FGNozzle.h" #include "FGRotor.h" -#include "input_output/FGXMLParse.h" +#include "input_output/FGXMLFileRead.h" +#include "input_output/FGXMLElement.h" #include "math/FGColumnVector3.h" using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGEngine.cpp,v 1.52 2013/01/12 19:24:45 jberndt Exp $"; +static const char *IdSrc = "$Id: FGEngine.cpp,v 1.54 2013/11/24 11:40:57 bcoconni Exp $"; static const char *IdHdr = ID_ENGINE; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -83,7 +84,7 @@ FGEngine::FGEngine(FGFDMExec* exec, Element* engine_element, int engine_number, Name = engine_element->GetAttributeValue("name"); - Load(engine_element, PropertyManager, ::to_string(EngineNumber)); // Call ModelFunctions loader + Load(engine_element, PropertyManager, to_string((int)EngineNumber)); // Call ModelFunctions loader // Find and set engine location @@ -133,7 +134,7 @@ FGEngine::FGEngine(FGFDMExec* exec, Element* engine_element, int engine_number, property_name = base_property_name + "/fuel-used-lbs"; PropertyManager->Tie( property_name.c_str(), this, &FGEngine::GetFuelUsedLbs); - PostLoad(engine_element, PropertyManager, ::to_string(EngineNumber)); + PostLoad(engine_element, PropertyManager, to_string((int)EngineNumber)); Debug(0); } @@ -268,7 +269,8 @@ bool FGEngine::LoadThruster(Element *thruster_element) return false; } - document = LoadXMLDocument(thruster_fullpathname); + FGXMLFileRead XMLFileRead; + Element *document = XMLFileRead.LoadXMLDocument(thruster_fullpathname); document->SetParent(thruster_element); thrType = document->GetName(); diff --git a/src/FDM/JSBSim/models/propulsion/FGEngine.h b/src/FDM/JSBSim/models/propulsion/FGEngine.h index aeb243f6e..a27583395 100644 --- a/src/FDM/JSBSim/models/propulsion/FGEngine.h +++ b/src/FDM/JSBSim/models/propulsion/FGEngine.h @@ -47,15 +47,13 @@ INCLUDES #include #include "math/FGModelFunctions.h" -#include "input_output/FGXMLFileRead.h" -#include "input_output/FGXMLElement.h" #include "math/FGColumnVector3.h" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_ENGINE "$Id: FGEngine.h,v 1.36 2012/07/29 12:04:09 bcoconni Exp $" +#define ID_ENGINE "$Id: FGEngine.h,v 1.38 2013/11/24 11:40:57 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -113,14 +111,14 @@ CLASS DOCUMENTATION documentation for engine and thruster classes. @author Jon S. Berndt - @version $Id: FGEngine.h,v 1.36 2012/07/29 12:04:09 bcoconni Exp $ + @version $Id: FGEngine.h,v 1.38 2013/11/24 11:40:57 bcoconni Exp $ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -class FGEngine : public FGModelFunctions, public FGXMLFileRead +class FGEngine : public FGModelFunctions { public: struct Inputs { diff --git a/src/FDM/JSBSim/models/propulsion/FGPiston.cpp b/src/FDM/JSBSim/models/propulsion/FGPiston.cpp index ae563404c..10e43820e 100644 --- a/src/FDM/JSBSim/models/propulsion/FGPiston.cpp +++ b/src/FDM/JSBSim/models/propulsion/FGPiston.cpp @@ -45,12 +45,13 @@ INCLUDES #include "FGPiston.h" #include "FGPropeller.h" +#include "input_output/FGXMLElement.h" using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGPiston.cpp,v 1.71 2012/04/07 01:50:54 jentron Exp $"; +static const char *IdSrc = "$Id: FGPiston.cpp,v 1.72 2013/11/24 11:40:57 bcoconni Exp $"; static const char *IdHdr = ID_PISTON; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/propulsion/FGRocket.cpp b/src/FDM/JSBSim/models/propulsion/FGRocket.cpp index b17cf31e2..6d4123ab3 100644 --- a/src/FDM/JSBSim/models/propulsion/FGRocket.cpp +++ b/src/FDM/JSBSim/models/propulsion/FGRocket.cpp @@ -40,14 +40,16 @@ INCLUDES #include #include + #include "FGRocket.h" #include "FGThruster.h" +#include "input_output/FGXMLElement.h" using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGRocket.cpp,v 1.30 2013/06/10 02:00:11 jberndt Exp $"; +static const char *IdSrc = "$Id: FGRocket.cpp,v 1.31 2013/11/24 11:40:57 bcoconni Exp $"; static const char *IdHdr = ID_ROCKET; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/propulsion/FGRocket.h b/src/FDM/JSBSim/models/propulsion/FGRocket.h index 8b9a3334e..b93f15193 100644 --- a/src/FDM/JSBSim/models/propulsion/FGRocket.h +++ b/src/FDM/JSBSim/models/propulsion/FGRocket.h @@ -41,13 +41,12 @@ INCLUDES #include "FGEngine.h" #include "math/FGTable.h" #include "math/FGFunction.h" -#include "input_output/FGXMLElement.h" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_ROCKET "$Id: FGRocket.h,v 1.19 2012/09/17 12:29:13 jberndt Exp $" +#define ID_ROCKET "$Id: FGRocket.h,v 1.20 2013/11/24 11:40:57 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -119,7 +118,7 @@ for the rocket engine to be throttle up to 1. At that time, the solid rocket fuel begins burning and thrust is provided. @author Jon S. Berndt - $Id: FGRocket.h,v 1.19 2012/09/17 12:29:13 jberndt Exp $ + $Id: FGRocket.h,v 1.20 2013/11/24 11:40:57 bcoconni Exp $ @see FGNozzle, FGThruster, FGForce, diff --git a/src/FDM/JSBSim/models/propulsion/FGRotor.cpp b/src/FDM/JSBSim/models/propulsion/FGRotor.cpp index 19100ea2f..977c96726 100644 --- a/src/FDM/JSBSim/models/propulsion/FGRotor.cpp +++ b/src/FDM/JSBSim/models/propulsion/FGRotor.cpp @@ -48,6 +48,7 @@ INCLUDES #include "FGRotor.h" #include "models/FGMassBalance.h" #include "models/FGPropulsion.h" // to get the GearRatio from a linked rotor +#include "input_output/FGXMLElement.h" using std::cerr; using std::cout; @@ -56,7 +57,7 @@ using std::ostringstream; namespace JSBSim { -static const char *IdSrc = "$Id: FGRotor.cpp,v 1.20 2012/03/18 15:48:36 jentron Exp $"; +static const char *IdSrc = "$Id: FGRotor.cpp,v 1.21 2013/11/24 11:40:57 bcoconni Exp $"; static const char *IdHdr = ID_ROTOR; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/propulsion/FGTransmission.cpp b/src/FDM/JSBSim/models/propulsion/FGTransmission.cpp index 97bad3f81..a887dcd3e 100644 --- a/src/FDM/JSBSim/models/propulsion/FGTransmission.cpp +++ b/src/FDM/JSBSim/models/propulsion/FGTransmission.cpp @@ -42,13 +42,13 @@ INCLUDES #include "FGTransmission.h" +using std::string; using std::cout; using std::endl; -using std::string; namespace JSBSim { -static const char *IdSrc = "$Id: FGTransmission.cpp,v 1.1 2012/02/25 14:37:02 jentron Exp $"; +static const char *IdSrc = "$Id: FGTransmission.cpp,v 1.2 2013/11/15 22:43:03 bcoconni Exp $"; static const char *IdHdr = ID_TRANSMISSION; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/propulsion/FGTurbine.cpp b/src/FDM/JSBSim/models/propulsion/FGTurbine.cpp index 21880d73a..d48439103 100644 --- a/src/FDM/JSBSim/models/propulsion/FGTurbine.cpp +++ b/src/FDM/JSBSim/models/propulsion/FGTurbine.cpp @@ -44,12 +44,13 @@ INCLUDES #include "FGTurbine.h" #include "FGThruster.h" +#include "input_output/FGXMLElement.h" using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGTurbine.cpp,v 1.37 2012/11/17 19:38:43 jberndt Exp $"; +static const char *IdSrc = "$Id: FGTurbine.cpp,v 1.38 2013/11/24 11:40:57 bcoconni Exp $"; static const char *IdHdr = ID_TURBINE; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/propulsion/FGTurboProp.cpp b/src/FDM/JSBSim/models/propulsion/FGTurboProp.cpp old mode 100644 new mode 100755 index c0bb27912..fa3109c66 --- a/src/FDM/JSBSim/models/propulsion/FGTurboProp.cpp +++ b/src/FDM/JSBSim/models/propulsion/FGTurboProp.cpp @@ -48,12 +48,13 @@ INCLUDES #include "FGTurboProp.h" #include "FGPropeller.h" #include "FGRotor.h" +#include "input_output/FGXMLElement.h" using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGTurboProp.cpp,v 1.24 2011/09/25 23:56:11 jentron Exp $"; +static const char *IdSrc = "$Id: FGTurboProp.cpp,v 1.26 2013/11/24 14:22:22 bcoconni Exp $"; static const char *IdHdr = ID_TURBOPROP; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -62,7 +63,7 @@ CLASS IMPLEMENTATION FGTurboProp::FGTurboProp(FGFDMExec* exec, Element *el, int engine_number, struct Inputs& input) : FGEngine(exec, el, engine_number, input), - ITT_N1(NULL), EnginePowerRPM_N1(NULL), EnginePowerVC(NULL) + ITT_N1(NULL), EnginePowerRPM_N1(NULL), EnginePowerVC(NULL), CombustionEfficiency_N1(NULL) { SetDefaults(); thrusterType = Thruster->GetType(); @@ -79,6 +80,7 @@ FGTurboProp::~FGTurboProp() delete ITT_N1; delete EnginePowerRPM_N1; delete EnginePowerVC; + delete CombustionEfficiency_N1; Debug(1); } @@ -86,7 +88,6 @@ FGTurboProp::~FGTurboProp() bool FGTurboProp::Load(FGFDMExec* exec, Element *el) { - IdleFF=-1; MaxStartingTime = 999999; //very big timeout -> infinite Ielu_max_torque=-1; @@ -110,8 +111,10 @@ bool FGTurboProp::Load(FGFDMExec* exec, Element *el) if (el->FindElement("maxpower")) MaxPower = el->FindElementValueAsNumber("maxpower"); - if (el->FindElement("idlefuelflow")) - IdleFF = el->FindElementValueAsNumber("idlefuelflow"); + if (el->FindElement("idlefuelflow")) { + cerr << el->ReadFrom() << "Note: 'idlefuelflow' is obsolete, " + << "use the 'CombustionEfficiency_N1' table instead." << endl; + } if (el->FindElement("psfc")) PSFC = el->FindElementValueAsNumber("psfc"); if (el->FindElement("n1idle_max_delay")) @@ -139,9 +142,11 @@ bool FGTurboProp::Load(FGFDMExec* exec, Element *el) EnginePowerRPM_N1 = new FGTable(PropertyManager, table_element); } else if (name == "ITT_N1") { ITT_N1 = new FGTable(PropertyManager, table_element); + } else if (name == "CombustionEfficiency_N1") { + CombustionEfficiency_N1 = new FGTable(PropertyManager, table_element); } else { - cerr << "Unknown table type: " << name << " in turbine definition." << - endl; + cerr << el->ReadFrom() << "Unknown table type: " << name + << " in turboprop definition." << endl; } } @@ -151,9 +156,19 @@ bool FGTurboProp::Load(FGFDMExec* exec, Element *el) N1_factor = MaxN1 - IdleN1; N2_factor = MaxN2 - IdleN2; OilTemp_degK = in.TAT_c + 273.0; - if (IdleFF==-1) IdleFF = pow(MilThrust, 0.2) * 107.0; // just an estimate - // cout << "ENG POWER:" << EnginePowerRPM_N1->GetValue(1200,90) << endl; + // default table based on '9.333 - (N1)/12.0' approximation + // gives 430%Fuel at 60%N1 + if (! CombustionEfficiency_N1) { + CombustionEfficiency_N1 = new FGTable(6); + *CombustionEfficiency_N1 << 60.0 << 12.0/52.0; + *CombustionEfficiency_N1 << 82.0 << 12.0/30.0; + *CombustionEfficiency_N1 << 96.0 << 12.0/16.0; + *CombustionEfficiency_N1 << 100.0 << 1.0; + *CombustionEfficiency_N1 << 104.0 << 1.5; + *CombustionEfficiency_N1 << 110.0 << 6.0; + } + return true; } @@ -294,7 +309,9 @@ double FGTurboProp::Off(void) double FGTurboProp::Run(void) { - double thrust = 0.0, EngPower_HP, eff_coef; + double thrust = 0.0; + double EngPower_HP; + Running = true; Starter = false; EngStarting = false; //--- @@ -305,8 +322,8 @@ double FGTurboProp::Run(void) EngPower_HP *= EnginePowerVC->GetValue(); if (EngPower_HP > MaxPower) EngPower_HP = MaxPower; - eff_coef = 9.333 - (N1)/12; // 430%Fuel at 60%N1 - FuelFlow_pph = PSFC * EngPower_HP * eff_coef; + CombustionEfficiency = CombustionEfficiency_N1->GetValue(N1); + FuelFlow_pph = PSFC / CombustionEfficiency * EngPower_HP; Eng_Temperature = ExpSeek(&Eng_Temperature,Eng_ITT_degC,300,400); double ITT_goal = ITT_N1->GetValue((N1-old_N1)*300+N1,1); @@ -368,7 +385,6 @@ double FGTurboProp::SpinUp(void) double FGTurboProp::Start(void) { double EngPower_HP = 0.0; - double eff_coef; EngStarting = false; if ((N1 > 15.0) && !Starved) { // minimum 15% N2 needed for start @@ -379,8 +395,8 @@ double FGTurboProp::Start(void) EngPower_HP *= EnginePowerVC->GetValue(); if (EngPower_HP > MaxPower) EngPower_HP = MaxPower; N1 = ExpSeek(&N1, IdleN1*1.1, Idle_Max_Delay*4, Idle_Max_Delay * 2.4); - eff_coef = 9.333 - (N1)/12; // 430%Fuel at 60%N1 - FuelFlow_pph = PSFC * EngPower_HP * eff_coef; + CombustionEfficiency = CombustionEfficiency_N1->GetValue(N1); + FuelFlow_pph = PSFC / CombustionEfficiency * EngPower_HP; Eng_Temperature = ExpSeek(&Eng_Temperature,Eng_ITT_degC,300,400); double ITT_goal = ITT_N1->GetValue((N1-old_N1)*300+N1,1); Eng_ITT_degC = ExpSeek(&Eng_ITT_degC,ITT_goal,ITT_Delay,ITT_Delay*1.2); @@ -477,6 +493,7 @@ void FGTurboProp::SetDefaults(void) ITT_Delay = 0.05; ReverseMaxPower = 0.0; BetaRangeThrottleEnd = 0.0; + CombustionEfficiency = 1.0; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -541,6 +558,8 @@ void FGTurboProp::bindmodel() PropertyManager->Tie( property_name.c_str(), &Eng_Temperature); property_name = base_property_name + "/ielu_intervent"; PropertyManager->Tie( property_name.c_str(), &Ielu_intervent); + property_name = base_property_name + "/combustion_efficiency"; + PropertyManager->Tie( property_name.c_str(), &CombustionEfficiency); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/propulsion/FGTurboProp.h b/src/FDM/JSBSim/models/propulsion/FGTurboProp.h old mode 100644 new mode 100755 index 330a7267a..bb70f864c --- a/src/FDM/JSBSim/models/propulsion/FGTurboProp.h +++ b/src/FDM/JSBSim/models/propulsion/FGTurboProp.h @@ -44,10 +44,9 @@ INCLUDES #include #include "FGEngine.h" -#include "input_output/FGXMLElement.h" #include "math/FGTable.h" -#define ID_TURBOPROP "$Id: FGTurboProp.h,v 1.16 2011/08/04 13:45:42 jberndt Exp $" +#define ID_TURBOPROP "$Id: FGTurboProp.h,v 1.18 2013/11/24 14:22:22 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -160,7 +159,6 @@ private: double N2; ///< N2 double MaxN1; ///< N1 at 100% throttle double MaxN2; ///< N2 at 100% throttle - double IdleFF; ///< Idle Fuel Flow (lbm/hr) double delay; ///< Inverse spool-up time from idle to 100% (seconds) double N1_factor; ///< factor to tie N1 and throttle double N2_factor; ///< factor to tie N2 and throttle @@ -195,6 +193,7 @@ private: double Velocity; double rho; double PSFC; // Power specific fuel comsumption [lb/(HP*hr)] at best efficiency + double CombustionEfficiency; double HP; // engine power output @@ -222,6 +221,7 @@ private: FGTable* ITT_N1; // ITT temperature depending on throttle command FGTable* EnginePowerRPM_N1; FGTable* EnginePowerVC; + FGTable* CombustionEfficiency_N1; }; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%