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Oct. 10, 2000 sync with JSBSim master repository.

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This commit is contained in:
curt 2000-10-10 17:44:35 +00:00
parent b2d7a4e27a
commit 6caf599f2b
15 changed files with 141 additions and 85 deletions
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4
src/FDM/JSBSim.cxx
View file

@ -80,7 +80,7 @@ int FGJSBsim::init( double dt ) {
current_options.get_aircraft() );
if (result) {
FG_LOG( FG_FLIGHT, FG_INFO, " loaded aircraft" << current_options.get_aircraft() );
FG_LOG( FG_FLIGHT, FG_INFO, " loaded aircraft " << current_options.get_aircraft() );
} else {
FG_LOG( FG_FLIGHT, FG_INFO, " aircraft" << current_options.get_aircraft()
<< " does not exist");
@ -103,7 +103,7 @@ int FGJSBsim::init( double dt ) {
FG_LOG( FG_FLIGHT, FG_INFO, " Initializing JSBSim with:" );
FGInitialCondition *fgic = new FGInitialCondition(&FDMExec);
fgic->SetAltitudeAGLFtIC(get_Altitude());
fgic->SetAltitudeFtIC(get_Altitude());
if((current_options.get_mach() < 0) && (current_options.get_vc() < 0 )) {
fgic->SetUBodyFpsIC(current_options.get_uBody());
fgic->SetVBodyFpsIC(current_options.get_vBody());

55
src/FDM/JSBSim/FGAircraft.cpp
View file

@ -168,35 +168,20 @@ FGAircraft::FGAircraft(FGFDMExec* fdmex) : FGModel(fdmex),
FGAircraft::~FGAircraft(void) {
unsigned int i,j;
cout << " ~FGAircraft" << endl;
if (Engine != NULL) {
for (i=0; i<numEngines; i++)
delete Engine[i];
}
cout << " Engine" << endl;
if (Tank != NULL) {
for (i=0; i<numTanks; i++)
delete Tank[i];
}
cout << " Tank" << endl;
cout << " NumAxes: " << 6 << endl;
for (i=0; i<6; i++) {
cout << " NumCoeffs: " << Coeff[i].size() << " " << &Coeff[i] << endl;
for (j=0; j<Coeff[i].size(); j++) {
cout << " Coeff[" << i << "][" << j << "]: " << Coeff[i][j] << endl;
delete Coeff[i][j];
}
}
delete[] Coeff;
cout << " Coeffs" << endl;
for (i=0; i<lGear.size(); i++) {
delete lGear[i];
}
}
/******************************************************************************/
@ -409,21 +394,15 @@ void FGAircraft::FMAero(void) {
void FGAircraft::FMGear(void) {
if (GearUp) {
// crash routine
} else {
// iGear = lGear.begin();
// while (iGear != lGear.end()) {
// vForces += iGear->Force();
// vMoments += iGear->Moment();
// iGear++;
// }
for (unsigned int i=0;i<lGear.size();i++) {
vForces += lGear[i]->Force();
vMoments += lGear[i]->Moment();
if ( !GearUp ) {
vector <FGLGear>::iterator iGear = lGear.begin();
while (iGear != lGear.end()) {
vForces += iGear->Force();
vMoments += iGear->Moment();
iGear++;
}
} else {
// Crash Routine
}
}
@ -581,7 +560,7 @@ void FGAircraft::ReadUndercarriage(FGConfigFile* AC_cfg) {
AC_cfg->GetNextConfigLine();
while ((token = AC_cfg->GetValue()) != "/UNDERCARRIAGE") {
lGear.push_back(new FGLGear(AC_cfg, FDMExec));
lGear.push_back(FGLGear(AC_cfg, FDMExec));
}
}
@ -737,10 +716,10 @@ string FGAircraft::GetGroundReactionStrings(void) {
for (unsigned int i=0;i<lGear.size();i++) {
if (!firstime) GroundReactionStrings += ", ";
GroundReactionStrings += (lGear[i]->GetName() + "_WOW, ");
GroundReactionStrings += (lGear[i]->GetName() + "_compressLength, ");
GroundReactionStrings += (lGear[i]->GetName() + "_compressSpeed, ");
GroundReactionStrings += (lGear[i]->GetName() + "_Force");
GroundReactionStrings += (lGear[i].GetName() + "_WOW, ");
GroundReactionStrings += (lGear[i].GetName() + "_compressLength, ");
GroundReactionStrings += (lGear[i].GetName() + "_compressSpeed, ");
GroundReactionStrings += (lGear[i].GetName() + "_Force");
firstime = false;
}
@ -758,10 +737,10 @@ string FGAircraft::GetGroundReactionValues(void) {
for (unsigned int i=0;i<lGear.size();i++) {
if (!firstime) GroundReactionValues += ", ";
GroundReactionValues += string( lGear[i]->GetWOW()?"1":"0" ) + ", ";
GroundReactionValues += (string(gcvt(lGear[i]->GetCompLen(), 5, buff)) + ", ");
GroundReactionValues += (string(gcvt(lGear[i]->GetCompVel(), 6, buff)) + ", ");
GroundReactionValues += (string(gcvt(lGear[i]->GetCompForce(), 10, buff)));
GroundReactionValues += string( lGear[i].GetWOW()?"1":"0" ) + ", ";
GroundReactionValues += (string(gcvt(lGear[i].GetCompLen(), 5, buff)) + ", ");
GroundReactionValues += (string(gcvt(lGear[i].GetCompVel(), 6, buff)) + ", ");
GroundReactionValues += (string(gcvt(lGear[i].GetCompForce(), 10, buff)));
firstime = false;
}

33
src/FDM/JSBSim/FGAircraft.h
View file

@ -125,6 +125,14 @@ INCLUDES
DEFINITIONS
*******************************************************************************/
/** Encapsulates an Aircraft and its systems.
Owns all the parts (other classes) which make
up this aircraft. This includes the Engines, Tanks, Propellers, Nozzles,
aerodynamic and mass properties, landing gear, etc.
@author Jon S. Berndt
@version $Id$
*/
/*******************************************************************************
CLASS DECLARATION
*******************************************************************************/
@ -136,16 +144,31 @@ class FGAircraft : public FGModel {
enum {ePhi=1, eTht, ePsi};
public:
FGAircraft(FGFDMExec*);
/** Constructor
@param Executive a pointer to the parent executive object
*/
FGAircraft(FGFDMExec *Executive);
/// Destructor
~FGAircraft(void);
/** Runs the model; called by the Executive
@see JSBSim.cpp documentation
@return bool returns false if no error
*/
bool Run(void);
bool LoadAircraft(string, string, string);
/** Loads the aircraft.
The executive calls this method to load the aircraft into JSBSim.
@param apath path to the aircraft files (e.g. "aircraft/X15/")
@param epath path to engine files (e.g. "engine/")
@param acname name of aircraft (e.g. "X15")
@return true if succesful
*/
bool LoadAircraft(string apath, string epath, string acname);
inline string GetAircraftName(void) { return AircraftName; }
inline void SetGearUp(bool tt) { GearUp = tt; }
inline bool GetGearUp(void) { return GearUp; }
inline int GetNumGearUnits(void) { return lGear.size(); }
inline FGLGear* GetGearUnit(int ii) { return lGear[ii]; }
inline FGLGear* GetGearUnit(int ii) { return &(lGear[ii]); }
inline float GetWingArea(void) { return WingArea; }
inline float GetWingSpan(void) { return WingSpan; }
inline float Getcbar(void) { return cbar; }
@ -177,8 +200,6 @@ public:
string GetGroundReactionStrings(void);
string GetGroundReactionValues(void);
vector <FGLGear>::iterator iGear;
enum { ssSimulation = 1,
ssAerosurfaces = 2,
ssRates = 4,
@ -235,7 +256,7 @@ private:
bool GearUp;
string Axis[6];
vector <FGLGear*> lGear;
vector <FGLGear> lGear;
string AircraftPath;
string EnginePath;

4
src/FDM/JSBSim/FGControls.cpp
View file

@ -51,8 +51,8 @@ FGControls::~FGControls() {
// $Log$
// Revision 1.16 2000/10/09 19:16:22 curt
// Oct. 9, 2000 - synced with latest JSBsim code.
// Revision 1.17 2000/10/10 15:44:35 curt
// Oct. 10, 2000 sync with JSBSim master repository.
//
// Revision 1.3 2000/04/26 10:55:57 jsb
// Made changes as required by Curt to install JSBSim into FGFS

4
src/FDM/JSBSim/FGControls.h
View file

@ -177,8 +177,8 @@ extern FGControls controls;
// $Log$
// Revision 1.15 2000/10/09 19:16:22 curt
// Oct. 9, 2000 - synced with latest JSBsim code.
// Revision 1.16 2000/10/10 15:44:35 curt
// Oct. 10, 2000 sync with JSBSim master repository.
//
// Revision 1.6 2000/06/03 13:59:52 jsb
// Changes for compatibility with MSVC

66
src/FDM/JSBSim/FGFDMExec.cpp
View file

@ -84,8 +84,21 @@ FGFDMExec::FGFDMExec(void)
Auxiliary = 0;
Output = 0;
// Instantiate this FDM Executive's Models
allocated = false;
terminate = false;
frozen = false;
}
FGFDMExec::~FGFDMExec(void){
DeAllocate();
}
bool FGFDMExec::Allocate(void) {
bool result=true;
Atmosphere = new FGAtmosphere(this);
FCS = new FGFCS(this);
Aircraft = new FGAircraft(this);
@ -107,7 +120,9 @@ FGFDMExec::FGFDMExec(void)
if (!Position->InitModel()) {cerr << "Position model init failed"; Error+=32;}
if (!Auxiliary->InitModel()) {cerr << "Auxiliary model init failed"; Error+=64;}
if (!Output->InitModel()) {cerr << "Output model init failed"; Error+=128;}
if(Error > 0) result=false;
// Schedule a model. The second arg (the integer) is the pass number. For
// instance, the atmosphere model gets executed every fifth pass it is called
// by the executive. Everything else here gets executed each pass.
@ -120,24 +135,41 @@ FGFDMExec::FGFDMExec(void)
Schedule(Position, 1);
Schedule(Auxiliary, 1);
Schedule(Output, 1);
allocated = true;
return result;
terminate = false;
frozen = false;
}
bool FGFDMExec::DeAllocate(void) {
if(allocated) {
if ( Atmosphere != 0 ) delete Atmosphere;
if ( FCS != 0 ) delete FCS;
if ( Aircraft != 0 ) delete Aircraft;
if ( Translation != 0 ) delete Translation;
if ( Rotation != 0 ) delete Rotation;
if ( Position != 0 ) delete Position;
if ( Auxiliary != 0 ) delete Auxiliary;
if ( Output != 0 ) delete Output;
if ( State != 0 ) delete State;
FGFDMExec::~FGFDMExec(void){
FirstModel = 0L;
Error = 0;
State = 0;
Atmosphere = 0;
FCS = 0;
Aircraft = 0;
Translation = 0;
Rotation = 0;
Position = 0;
Auxiliary = 0;
Output = 0;
allocated = false;
if ( Atmosphere != NULL ) delete Atmosphere;
if ( FCS != NULL ) delete FCS;
if ( Aircraft != NULL ) delete Aircraft;
if ( Translation != NULL ) delete Translation;
if ( Rotation != NULL ) delete Rotation;
if ( Position != NULL ) delete Position;
if ( Auxiliary != NULL ) delete Auxiliary;
if ( Output != NULL ) delete Output;
if ( State != NULL ) delete State;
}
}
@ -199,7 +231,9 @@ bool FGFDMExec::RunIC(FGInitialCondition *fgic)
bool FGFDMExec::LoadModel(string APath, string EPath, string model)
{
AircraftPath = APath;
DeAllocate();
Allocate();
AircraftPath = APath;
EnginePath = EPath;
return Aircraft->LoadAircraft(AircraftPath, EnginePath, model);
}

4
src/FDM/JSBSim/FGFDMExec.h
View file

@ -96,6 +96,7 @@ public:
private:
bool frozen;
bool terminate;
bool allocated;
int Error;
string AircraftPath;
@ -112,6 +113,9 @@ private:
FGPosition* Position;
FGAuxiliary* Auxiliary;
FGOutput* Output;
bool Allocate(void);
bool DeAllocate(void);
protected:
};

2
src/FDM/JSBSim/FGInitialCondition.h
View file

@ -126,7 +126,7 @@ public:
void SetAltitudeAGLFtIC(float tt);
//"vertical" flight path, recalculate theta
inline void SetFlightPathAngleDegIC(float tt) { SetFlightPathAngleRadIC(gamma=tt*DEGTORAD); }
inline void SetFlightPathAngleDegIC(float tt) { SetFlightPathAngleRadIC(tt*DEGTORAD); }
void SetFlightPathAngleRadIC(float tt);
//set speed first
void SetClimbRateFpmIC(float tt);

1
src/FDM/JSBSim/FGLGear.cpp
View file

@ -83,6 +83,7 @@ FGLGear::FGLGear(FGConfigFile* AC_cfg, FGFDMExec* fdmex) : vXYZ(3),
FGLGear::~FGLGear(void)
{
cout << "Destructing Landing Gear ..." << endl;
}
/******************************************************************************/

1
src/FDM/JSBSim/FGOutput.cpp
View file

@ -61,6 +61,7 @@ FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
Type = otNone;
Filename = "JSBSim.out";
SubSystems = 0;
enabled = true;
#ifdef FG_WITH_JSBSIM_SOCKET
socket = new FGfdmSocket("localhost",1138);

5
src/FDM/JSBSim/FGState.cpp
View file

@ -87,7 +87,6 @@ FGState::FGState(FGFDMExec* fdex) : mTb2l(3,3),
{
FDMExec = fdex;
adot = bdot = 0.0;
a = 1000.0;
sim_time = 0.0;
dt = 1.0/120.0;
@ -144,11 +143,11 @@ float FGState::GetParameter(eParam val_idx) {
case FG_ALPHA:
return FDMExec->GetTranslation()->Getalpha();
case FG_ALPHADOT:
return Getadot();
return FDMExec->GetTranslation()->Getadot();
case FG_BETA:
return FDMExec->GetTranslation()->Getbeta();
case FG_BETADOT:
return Getbdot();
return FDMExec->GetTranslation()->Getbdot();
case FG_PITCHRATE:
return (FDMExec->GetRotation()->GetPQR())(2);
case FG_ROLLRATE:

6
src/FDM/JSBSim/FGState.h
View file

@ -81,9 +81,6 @@ public:
void Initialize(FGInitialCondition *FGIC);
bool StoreData(string);
inline float Getadot(void) { return adot; }
inline float Getbdot(void) { return bdot; }
inline float Geta(void) { return a; }
inline float Getsim_time(void) { return sim_time; }
@ -96,8 +93,6 @@ public:
float GetParameter(string val_string);
eParam GetParameterIndex(string val_string);
inline void Setadot(float tt) { adot = tt; }
inline void Setbdot(float tt) { bdot = tt; }
inline void Seta(float tt) { a = tt; }
@ -125,7 +120,6 @@ public:
private:
float adot, bdot; // alpha dot and beta dot
float a; // speed of sound
float sim_time, dt;
float saved_dt;

19
src/FDM/JSBSim/FGTranslation.cpp
View file

@ -87,6 +87,7 @@ FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex),
Vt = 0.0;
Mach = 0.0;
alpha = beta = 0.0;
adot = bdot = 0.0;
rho = 0.002378;
}
@ -127,7 +128,25 @@ bool FGTranslation::Run(void) {
if (vUVW(eV) != 0.0)
beta = vUVW(eU)*vUVW(eU)+vUVW(eW)*vUVW(eW) > 0.0 ? atan2(vUVW(eV),
sqrt(vUVW(eU)*vUVW(eU) + vUVW(eW)*vUVW(eW))) : 0.0;
// stolen, quite shamelessly, from LaRCsim
float mUW = (vUVW(eU)*vUVW(eU) + vUVW(eW)*vUVW(eW));
float signU=1;
if (vUVW(eU) != 0.0)
signU = vUVW(eU)/fabs(vUVW(eU));
if( (mUW == 0.0) || (Vt == 0.0) ) {
adot = 0.0;
bdot = 0.0;
} else {
adot = (vUVW(eU)*vUVWdot(eW) - vUVW(eW)*vUVWdot(eU))/mUW;
bdot = (signU*mUW*vUVWdot(eV) - vUVW(eV)*(vUVW(eU)*vUVWdot(eU)
+ vUVW(eW)*vUVWdot(eW)))/(Vt*Vt*sqrt(mUW));
}
//
qbar = 0.5*rho*Vt*Vt;
Mach = Vt / State->Geta();

6
src/FDM/JSBSim/FGTranslation.h
View file

@ -88,7 +88,8 @@ public:
inline float Getqbar (void) { return qbar; }
inline float GetVt (void) { return Vt; }
inline float GetMach (void) { return Mach; }
inline float Getadot (void) { return adot; }
inline float Getbdot (void) { return bdot; }
void SetUVW(FGColumnVector tt) { vUVW = tt; }
@ -97,6 +98,8 @@ public:
inline void Setqbar (float tt) { qbar = tt; }
inline void SetVt (float tt) { Vt = tt; }
inline void SetMach (float tt) { Mach=tt; }
inline void Setadot (float tt) { adot = tt; }
inline void Setbdot (float tt) { bdot = tt; }
inline void SetAB(float t1, float t2) { alpha=t1; beta=t2; }
@ -115,6 +118,7 @@ private:
float Vt, qbar, Mach;
float Mass, dt;
float alpha, beta;
float adot,bdot;
float rho;
void GetState(void);

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

@ -144,24 +144,24 @@ int main(int argc, char** argv)
while (FDMExec->GetState()->Getsim_time() <= 10.0)
{
// Fake an elevator ramp here after 1 second, hold for one second, ramp down
/*
if (FDMExec->GetState()->Getsim_time() >= 1.00 &&
FDMExec->GetState()->Getsim_time() < 2.0)
{
cmd = FDMExec->GetState()->Getsim_time() - 1.00;
cmd = -(FDMExec->GetState()->Getsim_time() - 1.00)/2.0;
} else if (FDMExec->GetState()->Getsim_time() >= 2.00 &&
FDMExec->GetState()->Getsim_time() < 3.0)
FDMExec->GetState()->Getsim_time() < 6.0)
{
cmd = 1.00;
} else if (FDMExec->GetState()->Getsim_time() >= 3.00 &&
FDMExec->GetState()->Getsim_time() < 4.0)
cmd = -1.00/2.0;
} else if (FDMExec->GetState()->Getsim_time() >= 6.00 &&
FDMExec->GetState()->Getsim_time() < 7.0)
{
cmd = 4.0 - FDMExec->GetState()->Getsim_time();
cmd = -(7.0 - FDMExec->GetState()->Getsim_time())/2.0;
} else {
cmd = 0.00;
}
FDMExec->GetFCS()->SetDeCmd(cmd); // input between -1 and 1
*/
FDMExec->Run();
}