Sync'ed JSBSim
- Fixed the Calibrated Air Speed (CAS) computations for supersonic velocities - Fixed the Nlf (Normal load factor) sign - Nlf can now be specified as an initial condition via the property ic/targetNlf - Added blocking sockets to the input features - Added a property to piston engines to get the AFR (Air to Fuel Ratio) - Added conversion from m/s to ft/s - Restored the initial conditions for engines running (-1 means all engines)
This commit is contained in:
Bertrand Coconnier
parent
ec0b515864
commit
6cc3d14032
20 changed files with 196 additions and 170 deletions
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@ -393,11 +393,8 @@ void FGFDMExec::LoadInputs(unsigned int idx)
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Auxiliary->in.SinTht = Propagate->GetSinEuler(eTht);
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Auxiliary->in.CosPhi = Propagate->GetCosEuler(ePhi);
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Auxiliary->in.SinPhi = Propagate->GetSinEuler(ePhi);
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Auxiliary->in.Psi = Propagate->GetEuler(ePsi);
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Auxiliary->in.TotalWindNED = Winds->GetTotalWindNED();
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Auxiliary->in.TurbPQR = Winds->GetTurbPQR();
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Auxiliary->in.WindPsi = Winds->GetWindPsi();
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Auxiliary->in.Vwind = Winds->GetTotalWindNED().Magnitude();
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break;
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case eSystems:
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// Dynamic inputs come into the components that FCS manages through properties
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@ -41,6 +41,7 @@ INCLUDES
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#include <iostream>
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#include <sstream>
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#include <cstdlib>
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#include "models/FGAtmosphere.h"
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using namespace std;
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@ -289,49 +290,47 @@ double FGJSBBase::PitotTotalPressure(double mach, double p)
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// The denominator below is zero for Mach ~ 0.38, for which
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// we'll never be here, so we're safe
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return p*166.92158*pow(mach,7.0)/pow(7*mach*mach-1,2.5);
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return p*166.92158009316827*pow(mach,7.0)/pow(7*mach*mach-1,2.5);
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}
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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double FGJSBBase::VcalibratedFromMach(double mach, double p, double psl, double rhosl)
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{
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double pt = PitotTotalPressure(mach, p);
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double A = pow(((pt-p)/psl+1), 1./3.5);
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// Based on the formulas in the US Air Force Aircraft Performance Flight Testing
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// Manual (AFFTC-TIH-99-01). In particular sections 4.6 to 4.8.
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return sqrt(7*psl/rhosl*(A-1));
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double FGJSBBase::MachFromImpactPressure(double qc, double p)
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{
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double A = qc / p + 1;
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double M = sqrt(5.0*(pow(A, 1. / 3.5) - 1)); // Equation (4.12)
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if (M > 1.0)
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for (unsigned int i = 0; i<10; i++)
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M = 0.8812848543473311*sqrt(A*pow(1 - 1.0 / (7.0*M*M), 2.5)); // Equation (4.17)
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return M;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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double FGJSBBase::MachFromVcalibrated(double vcas, double p, double psl, double rhosl)
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double FGJSBBase::VcalibratedFromMach(double mach, double p)
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{
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double pt = p + psl*(pow(1+vcas*vcas*rhosl/(7.0*psl),3.5)-1);
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double asl = FGAtmosphere::StdDaySLsoundspeed;
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double psl = FGAtmosphere::StdDaySLpressure;
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double qc = PitotTotalPressure(mach, p) - p;
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if (pt/p < 1.89293)
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return sqrt(5.0*(pow(pt/p, 1./3.5) -1)); // Mach < 1
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else {
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// Mach >= 1
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double mach = sqrt(0.77666*pt/p); // Initial guess is based on a quadratic approximation of the Rayleigh formula
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double delta = 1.;
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double target = pt/(166.92158*p);
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int iter = 0;
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// Find the root with Newton-Raphson. Since the differential is never zero,
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// the function is monotonic and has only one root with a multiplicity of one.
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// Convergence is certain.
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while (delta > 1E-5 && iter < 10) {
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double m2 = mach*mach; // Mach^2
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double m6 = m2*m2*m2; // Mach^6
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delta = mach*m6/pow(7.0*m2-1.0,2.5) - target;
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double diff = 7.0*m6*(2.0*m2-1)/pow(7.0*m2-1.0,3.5); // Never zero when Mach >= 1
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mach -= delta/diff;
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iter++;
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return asl * MachFromImpactPressure(qc, psl);
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}
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return mach;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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double FGJSBBase::MachFromVcalibrated(double vcas, double p)
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{
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double asl = FGAtmosphere::StdDaySLsoundspeed;
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double psl = FGAtmosphere::StdDaySLpressure;
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double qc = PitotTotalPressure(vcas / asl, psl) - psl;
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return MachFromImpactPressure(qc, p);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -262,28 +262,31 @@ public:
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* @return The total pressure in front of the Pitot tube in psf */
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static double PitotTotalPressure(double mach, double p);
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/** Calculate the calibrated airspeed from the Mach number. It uses the
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* Rayleigh formula for supersonic speeds (See "Introduction to Aerodynamics
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* of a Compressible Fluid - H.W. Liepmann, A.E. Puckett - Wiley & sons
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* (1947)" §5.4 pp 75-80)
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/** Compute the Mach number from the differential pressure (qc) and the
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* static pressure. Based on the formulas in the US Air Force Aircraft
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* Performance Flight Testing Manual (AFFTC-TIH-99-01).
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* @param qc The differential/impact pressure
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* @param p Pressure in psf
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* @return The Mach number */
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static double MachFromImpactPressure(double qc, double p);
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/** Calculate the calibrated airspeed from the Mach number. Based on the
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* formulas in the US Air Force Aircraft Performance Flight Testing
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* Manual (AFFTC-TIH-99-01).
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* @param mach The Mach number
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* @param p Pressure in psf
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* @param psl Pressure at sea level in psf
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* @param rhosl Density at sea level in slugs/ft^3
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* @return The calibrated airspeed (CAS) in ft/s
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* */
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static double VcalibratedFromMach(double mach, double p, double psl, double rhosl);
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static double VcalibratedFromMach(double mach, double p);
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/** Calculate the Mach number from the calibrated airspeed. For subsonic
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* speeds, the reversed formula has a closed form. For supersonic speeds, the
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* Rayleigh formula is reversed by the Newton-Raphson algorithm.
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/** Calculate the Mach number from the calibrated airspeed.Based on the
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* formulas in the US Air Force Aircraft Performance Flight Testing
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* Manual (AFFTC-TIH-99-01).
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* @param vcas The calibrated airspeed (CAS) in ft/s
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* @param p Pressure in psf
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* @param psl Pressure at sea level in psf
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* @param rhosl Density at sea level in slugs/ft^3
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* @return The Mach number
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* */
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static double MachFromVcalibrated(double vcas, double p, double psl, double rhosl);
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static double MachFromVcalibrated(double vcas, double p);
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/** Finite precision comparison.
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@param a first value to compare
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@ -53,6 +53,7 @@ INCLUDES
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#include "models/FGAircraft.h"
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#include "models/FGAccelerations.h"
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#include "input_output/FGXMLFileRead.h"
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#include "FGTrim.h"
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using namespace std;
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@ -148,7 +149,7 @@ void FGInitialCondition::InitializeIC(void)
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lastAltitudeSet = setasl;
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lastLatitudeSet = setgeoc;
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enginesRunning = 0;
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needTrim = 0;
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trimRequested = TrimMode::tNone;
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}
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//******************************************************************************
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@ -178,9 +179,7 @@ void FGInitialCondition::SetVcalibratedKtsIC(double vcas)
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{
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double altitudeASL = position.GetAltitudeASL();
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double pressure = Atmosphere->GetPressure(altitudeASL);
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double pressureSL = Atmosphere->GetPressureSL();
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double rhoSL = Atmosphere->GetDensitySL();
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double mach = MachFromVcalibrated(fabs(vcas)*ktstofps, pressure, pressureSL, rhoSL);
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double mach = MachFromVcalibrated(fabs(vcas)*ktstofps, pressure);
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double soundSpeed = Atmosphere->GetSoundSpeed(altitudeASL);
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SetVtrueFpsIC(mach * soundSpeed);
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@ -691,13 +690,12 @@ void FGInitialCondition::SetAltitudeASLFtIC(double alt)
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{
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double altitudeASL = position.GetAltitudeASL();
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double pressure = Atmosphere->GetPressure(altitudeASL);
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double pressureSL = Atmosphere->GetPressureSL();
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double soundSpeed = Atmosphere->GetSoundSpeed(altitudeASL);
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double rho = Atmosphere->GetDensity(altitudeASL);
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double rhoSL = Atmosphere->GetDensitySL();
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double mach0 = vt / soundSpeed;
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double vc0 = VcalibratedFromMach(mach0, pressure, pressureSL, rhoSL);
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double vc0 = VcalibratedFromMach(mach0, pressure);
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double ve0 = vt * sqrt(rho/rhoSL);
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double geodLatitude = position.GetGeodLatitudeRad();
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@ -715,7 +713,7 @@ void FGInitialCondition::SetAltitudeASLFtIC(double alt)
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switch(lastSpeedSet) {
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case setvc:
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mach0 = MachFromVcalibrated(vc0, pressure, pressureSL, rhoSL);
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mach0 = MachFromVcalibrated(vc0, pressure);
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SetVtrueFpsIC(mach0 * soundSpeed);
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break;
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case setmach:
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@ -834,12 +832,10 @@ double FGInitialCondition::GetVcalibratedKtsIC(void) const
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{
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double altitudeASL = position.GetAltitudeASL();
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double pressure = Atmosphere->GetPressure(altitudeASL);
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double pressureSL = Atmosphere->GetPressureSL();
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double rhoSL = Atmosphere->GetDensitySL();
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double soundSpeed = Atmosphere->GetSoundSpeed(altitudeASL);
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double mach = vt / soundSpeed;
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return fpstokts * VcalibratedFromMach(mach, pressure, pressureSL, rhoSL);
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return fpstokts * VcalibratedFromMach(mach, pressure);
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}
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//******************************************************************************
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@ -916,7 +912,8 @@ bool FGInitialCondition::Load(const SGPath& rstfile, bool useStoredPath)
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// Check to see if any engines are specified to be initialized in a running state
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Element* running_elements = document->FindElement("running");
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while (running_elements) {
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enginesRunning |= 1 << int(running_elements->GetDataAsNumber());
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int engineNumber = int(running_elements->GetDataAsNumber());
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enginesRunning |= engineNumber == -1 ? engineNumber : 1 << engineNumber;
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running_elements = document->FindNextElement("running");
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}
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@ -979,6 +976,27 @@ bool FGInitialCondition::LoadLatitude(Element* position_el)
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//******************************************************************************
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void FGInitialCondition::SetTrimRequest(std::string trim)
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{
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std::string& trimOption = to_lower(trim);
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if (trimOption == "1")
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trimRequested = TrimMode::tGround; // For backwards compatabiity
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else if (trimOption == "longitudinal")
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trimRequested = TrimMode::tLongitudinal;
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else if (trimOption == "full")
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trimRequested = TrimMode::tFull;
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else if (trimOption == "ground")
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trimRequested = TrimMode::tGround;
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else if (trimOption == "pullup")
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trimRequested = TrimMode::tPullup;
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else if (trimOption == "custom")
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trimRequested = TrimMode::tCustom;
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else if (trimOption == "turn")
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trimRequested = TrimMode::tTurn;
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}
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//******************************************************************************
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bool FGInitialCondition::Load_v1(Element* document)
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{
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bool result = true;
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@ -1047,7 +1065,7 @@ bool FGInitialCondition::Load_v1(Element* document)
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if (document->FindElement("targetNlf"))
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SetTargetNlfIC(document->FindElementValueAsNumber("targetNlf"));
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if (document->FindElement("trim"))
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needTrim = document->FindElementValueAsNumber("trim");
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SetTrimRequest(document->FindElementValue("trim"));
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// Refer to Stevens and Lewis, 1.5-14a, pg. 49.
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// This is the rotation rate of the "Local" frame, expressed in the local frame.
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@ -1486,6 +1504,11 @@ void FGInitialCondition::bind(FGPropertyManager* PropertyManager)
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true);
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PropertyManager->Tie("ic/geod-alt-ft", &position,
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&FGLocation::GetGeodAltitude);
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PropertyManager->Tie("ic/targetNlf", this,
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&FGInitialCondition::GetTargetNlfIC,
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&FGInitialCondition::SetTargetNlfIC,
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true);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -163,8 +163,8 @@ CLASS DOCUMENTATION
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- vc (calibrated airspeed, ft/sec)
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- mach (mach)
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- vground (ground speed, ft/sec)
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- running (-1 for all engines, 0 for no engines, 1 ... n for specific engines)
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- trim (0 for no trim, 1 for ground trim)
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- trim (0 for no trim, 1 for ground trim, 'Longitudinal', 'Full', 'Ground', 'Pullup', 'Custom', 'Turn')
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- running (-1 for all engines, 0 ... n-1 for specific engines)
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<h3>Properties</h3>
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@property ic/vc-kts (read/write) Calibrated airspeed initial condition in knots
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@ -679,8 +679,8 @@ public:
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bool IsEngineRunning(unsigned int n) const { return (enginesRunning & (1 << n)) != 0; }
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/** Does initialization file call for trim ?
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@return true if initialization file (version 1) called for trim. */
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bool NeedTrim(void) const { return needTrim == 0 ? false : true; }
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@return Trim type, if any requested (version 1). */
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int TrimRequested(void) const { return trimRequested; }
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void bind(FGPropertyManager* pm);
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@ -701,7 +701,7 @@ private:
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altitudeset lastAltitudeSet;
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latitudeset lastLatitudeSet;
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unsigned int enginesRunning;
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int needTrim;
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int trimRequested;
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FGFDMExec *fdmex;
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FGAtmosphere* Atmosphere;
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@ -721,6 +721,7 @@ private:
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void calcThetaBeta(double alfa, const FGColumnVector3& _vt_NED);
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double ComputeGeodAltitude(double geodLatitude);
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bool LoadLatitude(Element* position_el);
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void SetTrimRequest(std::string trim);
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void Debug(int from);
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};
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}
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@ -76,7 +76,7 @@ FGTrim::FGTrim(FGFDMExec *FDMExec,TrimMode tt)
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gamma_fallback=false;
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mode=tt;
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xlo=xhi=alo=ahi=0.0;
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targetNlf=1.0;
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targetNlf=fgic.GetTargetNlfIC();
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debug_axis=tAll;
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SetMode(tt);
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if (debug_lvl & 2) cout << "Instantiated: FGTrim" << endl;
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@ -57,9 +57,8 @@ CLASS IMPLEMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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FGInputSocket::FGInputSocket(FGFDMExec* fdmex) :
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FGInputType(fdmex),
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socket(0),
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SockProtocol(FGfdmSocket::ptTCP)
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FGInputType(fdmex), socket(0), SockProtocol(FGfdmSocket::ptTCP),
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BlockingInput(false)
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{
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}
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@ -84,6 +83,10 @@ bool FGInputSocket::Load(Element* el)
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return false;
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}
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string action = el->GetAttributeValue("action");
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if (to_upper(action) == "BLOCKING_INPUT")
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BlockingInput = true;
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return true;
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}
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@ -116,7 +119,9 @@ void FGInputSocket::Read(bool Holding)
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if (socket == 0) return;
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if (!socket->GetConnectStatus()) return;
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data = socket->Receive(); // get socket transmission if present
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if (BlockingInput)
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socket->WaitUntilReadable(); // block until a transmission is received
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data = socket->Receive(); // read data
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if (data.size() > 0) {
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// parse lines
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@ -165,7 +170,7 @@ void FGInputSocket::Read(bool Holding)
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value = atof(str_value.c_str());
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node->setDoubleValue(value);
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}
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socket->Reply("");
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socket->Reply("set successful\n");
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} else if (command == "get") { // GET PROPERTY
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@ -199,12 +204,12 @@ void FGInputSocket::Read(bool Holding)
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} else if (command == "hold") { // PAUSE
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FDMExec->Hold();
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socket->Reply("");
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socket->Reply("Holding\n");
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} else if (command == "resume") { // RESUME
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FDMExec->Resume();
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socket->Reply("");
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socket->Reply("Resuming\n");
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} else if (command == "iterate") { // ITERATE
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@ -220,12 +225,12 @@ void FGInputSocket::Read(bool Holding)
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}
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FDMExec->EnableIncrementThenHold( argumentInt );
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FDMExec->Resume();
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socket->Reply("");
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socket->Reply("Iterations performed\n");
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} else if (command == "quit") { // QUIT
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// close the socket connection
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socket->Reply("");
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socket->Reply("Closing connection\n");
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socket->Close();
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} else if (command == "info") { // INFO
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@ -88,6 +88,7 @@ protected:
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FGfdmSocket* socket;
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FGfdmSocket::ProtocolType SockProtocol;
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std::string data;
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bool BlockingInput;
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};
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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@ -124,6 +124,7 @@ Element::Element(const string& nm)
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convert["KTS"]["FT/SEC"] = 1.68781;
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convert["FT/SEC"]["KTS"] = 1.0/convert["KTS"]["FT/SEC"];
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convert["M/S"]["FT/S"] = 3.2808399;
|
||||
convert["M/S"]["KTS"] = convert["M/S"]["FT/S"]/convert["KTS"]["FT/SEC"];
|
||||
convert["M/SEC"]["FT/SEC"] = 3.2808399;
|
||||
convert["FT/S"]["M/S"] = 1.0/convert["M/S"]["FT/S"];
|
||||
convert["M/SEC"]["FT/SEC"] = 3.2808399;
|
||||
|
|
|
|||
|
|
@ -357,10 +357,23 @@ void FGfdmSocket::Send(const char *data, int length)
|
|||
|
||||
void FGfdmSocket::WaitUntilReadable(void)
|
||||
{
|
||||
if (sckt_in <= 0)
|
||||
return;
|
||||
|
||||
fd_set fds;
|
||||
FD_ZERO(&fds);
|
||||
FD_SET(sckt_in, &fds);
|
||||
select(sckt_in+1, &fds, NULL, NULL, NULL);
|
||||
|
||||
/*
|
||||
If you want to check select return status:
|
||||
|
||||
int recVal = select(sckt_in+1, &fds, NULL, NULL, NULL);
|
||||
recVal: received value
|
||||
0, if socket timeout
|
||||
-1, if socket error
|
||||
anithing else, if socket is readable
|
||||
*/
|
||||
}
|
||||
|
||||
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
|
|
|||
|
|
@ -50,7 +50,7 @@ CLASS DECLARATION
|
|||
|
||||
struct LagrangeMultiplier {
|
||||
FGColumnVector3 ForceJacobian;
|
||||
FGColumnVector3 MomentJacobian;
|
||||
FGColumnVector3 LeverArm;
|
||||
double Min;
|
||||
double Max;
|
||||
double value;
|
||||
|
|
|
|||
|
|
@ -118,7 +118,7 @@ bool FGAccelerations::Run(bool Holding)
|
|||
CalculateUVWdot(); // Translational rate derivative
|
||||
|
||||
if (!FDMExec->GetHoldDown())
|
||||
ResolveFrictionForces(in.DeltaT * rate); // Update rate derivatives with friction forces
|
||||
CalculateFrictionForces(in.DeltaT * rate); // Update rate derivatives with friction forces
|
||||
|
||||
Debug(2);
|
||||
return false;
|
||||
|
|
@ -233,7 +233,7 @@ void FGAccelerations::SetHoldDown(bool hd)
|
|||
}
|
||||
|
||||
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
// Resolves the contact forces just before integrating the EOM.
|
||||
// Computes the contact forces just before integrating the EOM.
|
||||
// This routine is using Lagrange multipliers and the projected Gauss-Seidel
|
||||
// (PGS) method.
|
||||
// Reference: See Erin Catto, "Iterative Dynamics with Temporal Coherence",
|
||||
|
|
@ -245,11 +245,8 @@ void FGAccelerations::SetHoldDown(bool hd)
|
|||
// The friction forces are resolved in the body frame relative to the origin
|
||||
// (Earth center).
|
||||
|
||||
void FGAccelerations::ResolveFrictionForces(double dt)
|
||||
void FGAccelerations::CalculateFrictionForces(double dt)
|
||||
{
|
||||
const double invMass = 1.0 / in.Mass;
|
||||
const FGMatrix33& Jinv = in.Jinv;
|
||||
FGColumnVector3 vdot, wdot;
|
||||
vector<LagrangeMultiplier*>& multipliers = *in.MultipliersList;
|
||||
size_t n = multipliers.size();
|
||||
|
||||
|
|
@ -264,25 +261,30 @@ void FGAccelerations::ResolveFrictionForces(double dt)
|
|||
|
||||
// Assemble the linear system of equations
|
||||
for (unsigned int i=0; i < n; i++) {
|
||||
FGColumnVector3 v1 = invMass * multipliers[i]->ForceJacobian;
|
||||
FGColumnVector3 v2 = Jinv * multipliers[i]->MomentJacobian; // Should be J^-T but J is symmetric and so is J^-1
|
||||
FGColumnVector3 U = multipliers[i]->ForceJacobian;
|
||||
FGColumnVector3 r = multipliers[i]->LeverArm;
|
||||
FGColumnVector3 v1 = U / in.Mass;
|
||||
FGColumnVector3 v2 = in.Jinv * (r*U); // Should be J^-T but J is symmetric and so is J^-1
|
||||
|
||||
for (unsigned int j=0; j < i; j++)
|
||||
a[i*n+j] = a[j*n+i]; // Takes advantage of the symmetry of Jac^T*M^-1*Jac
|
||||
for (unsigned int j=i; j < n; j++)
|
||||
a[i*n+j] = DotProduct(v1, multipliers[j]->ForceJacobian)
|
||||
+ DotProduct(v2, multipliers[j]->MomentJacobian);
|
||||
|
||||
for (unsigned int j=i; j < n; j++) {
|
||||
U = multipliers[j]->ForceJacobian;
|
||||
r = multipliers[j]->LeverArm;
|
||||
a[i*n+j] = DotProduct(U, v1 + v2*r);
|
||||
}
|
||||
}
|
||||
|
||||
// Assemble the RHS member
|
||||
|
||||
// Translation
|
||||
vdot = vUVWdot;
|
||||
FGColumnVector3 vdot = vUVWdot;
|
||||
if (dt > 0.) // Zeroes out the relative movement between the aircraft and the ground
|
||||
vdot += (in.vUVW - in.Tec2b * in.TerrainVelocity) / dt;
|
||||
|
||||
// Rotation
|
||||
wdot = vPQRdot;
|
||||
FGColumnVector3 wdot = vPQRdot;
|
||||
if (dt > 0.) // Zeroes out the relative movement between the aircraft and the ground
|
||||
wdot += (in.vPQR - in.Tec2b * in.TerrainAngularVel) / dt;
|
||||
|
||||
|
|
@ -291,12 +293,14 @@ void FGAccelerations::ResolveFrictionForces(double dt)
|
|||
// 2. Divide every line of 'a' and 'rhs' by a[i,i]. This is in order to save
|
||||
// a division computation at each iteration of Gauss-Seidel.
|
||||
for (unsigned int i=0; i < n; i++) {
|
||||
double d = 1.0 / a[i*n+i];
|
||||
double d = a[i*n+i];
|
||||
FGColumnVector3 U = multipliers[i]->ForceJacobian;
|
||||
FGColumnVector3 r = multipliers[i]->LeverArm;
|
||||
|
||||
rhs[i] = -DotProduct(U, vdot + wdot*r)/d;
|
||||
|
||||
rhs[i] = -(DotProduct(multipliers[i]->ForceJacobian, vdot)
|
||||
+DotProduct(multipliers[i]->MomentJacobian, wdot))*d;
|
||||
for (unsigned int j=0; j < n; j++)
|
||||
a[i*n+j] *= d;
|
||||
a[i*n+j] /= d;
|
||||
}
|
||||
|
||||
// Resolve the Lagrange multipliers with the projected Gauss-Seidel method
|
||||
|
|
@ -323,12 +327,16 @@ void FGAccelerations::ResolveFrictionForces(double dt)
|
|||
|
||||
for (unsigned int i=0; i< n; i++) {
|
||||
double lambda = multipliers[i]->value;
|
||||
vFrictionForces += lambda * multipliers[i]->ForceJacobian;
|
||||
vFrictionMoments += lambda * multipliers[i]->MomentJacobian;
|
||||
FGColumnVector3 U = multipliers[i]->ForceJacobian;
|
||||
FGColumnVector3 r = multipliers[i]->LeverArm;
|
||||
|
||||
FGColumnVector3 F = lambda * U;
|
||||
vFrictionForces += F;
|
||||
vFrictionMoments += r * F;
|
||||
}
|
||||
|
||||
FGColumnVector3 accel = invMass * vFrictionForces;
|
||||
FGColumnVector3 omegadot = Jinv * vFrictionMoments;
|
||||
FGColumnVector3 accel = vFrictionForces / in.Mass;
|
||||
FGColumnVector3 omegadot = in.Jinv * vFrictionMoments;
|
||||
|
||||
vBodyAccel += accel;
|
||||
vUVWdot += accel;
|
||||
|
|
@ -344,7 +352,7 @@ void FGAccelerations::InitializeDerivatives(void)
|
|||
// Make an initial run and set past values
|
||||
CalculatePQRdot(); // Angular rate derivative
|
||||
CalculateUVWdot(); // Translational rate derivative
|
||||
ResolveFrictionForces(0.); // Update rate derivatives with friction forces
|
||||
CalculateFrictionForces(0.); // Update rate derivatives with friction forces
|
||||
}
|
||||
|
||||
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
|
|
|||
|
|
@ -59,8 +59,6 @@ CLASS DOCUMENTATION
|
|||
|
||||
- Calculate the angular accelerations
|
||||
- Calculate the translational accelerations
|
||||
- Calculate the angular rate
|
||||
- Calculate the translational velocity
|
||||
|
||||
This class is collecting all the forces and the moments acting on the body
|
||||
to calculate the corresponding accelerations according to Newton's second
|
||||
|
|
@ -100,7 +98,7 @@ class FGAccelerations : public FGModel {
|
|||
public:
|
||||
/** Constructor.
|
||||
@param Executive a pointer to the parent executive object */
|
||||
FGAccelerations(FGFDMExec* Executive);
|
||||
explicit FGAccelerations(FGFDMExec* Executive);
|
||||
|
||||
/// Destructor
|
||||
~FGAccelerations();
|
||||
|
|
@ -391,7 +389,7 @@ private:
|
|||
void CalculatePQRdot(void);
|
||||
void CalculateUVWdot(void);
|
||||
|
||||
void ResolveFrictionForces(double dt);
|
||||
void CalculateFrictionForces(double dt);
|
||||
|
||||
void bind(void);
|
||||
void Debug(int from);
|
||||
|
|
|
|||
|
|
@ -65,6 +65,10 @@ double FGAtmosphere::Reng = Rstar / Mair;
|
|||
|
||||
const double FGAtmosphere::SHRatio = 1.40;
|
||||
|
||||
const double FGAtmosphere::StdDaySLtemperature = 518.67;
|
||||
const double FGAtmosphere::StdDaySLpressure = 2116.228;
|
||||
const double FGAtmosphere::StdDaySLsoundspeed = sqrt(SHRatio*Reng*StdDaySLtemperature);
|
||||
|
||||
FGAtmosphere::FGAtmosphere(FGFDMExec* fdmex) : FGModel(fdmex),
|
||||
PressureAltitude(0.0), // ft
|
||||
DensityAltitude(0.0), // ft
|
||||
|
|
@ -91,10 +95,10 @@ bool FGAtmosphere::InitModel(void)
|
|||
if (!FGModel::InitModel()) return false;
|
||||
|
||||
Calculate(0.0);
|
||||
SLtemperature = Temperature = 518.67;
|
||||
SLpressure = Pressure = 2116.228;
|
||||
SLtemperature = Temperature = StdDaySLtemperature;
|
||||
SLpressure = Pressure = StdDaySLpressure;
|
||||
SLdensity = Density = Pressure/(Reng*Temperature);
|
||||
SLsoundspeed = Soundspeed = sqrt(SHRatio*Reng*Temperature);
|
||||
SLsoundspeed = Soundspeed = StdDaySLsoundspeed;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -211,6 +211,10 @@ public:
|
|||
double altitudeASL;
|
||||
} in;
|
||||
|
||||
static const double StdDaySLtemperature;
|
||||
static const double StdDaySLpressure;
|
||||
static const double StdDaySLsoundspeed;
|
||||
|
||||
protected:
|
||||
double SLtemperature, SLdensity, SLpressure, SLsoundspeed; // Sea level conditions
|
||||
double Temperature, Density, Pressure, Soundspeed; // Current actual conditions at altitude
|
||||
|
|
|
|||
|
|
@ -59,9 +59,9 @@ CLASS IMPLEMENTATION
|
|||
FGAuxiliary::FGAuxiliary(FGFDMExec* fdmex) : FGModel(fdmex)
|
||||
{
|
||||
Name = "FGAuxiliary";
|
||||
pt = 1.0;
|
||||
tat = 1.0;
|
||||
tatc = RankineToCelsius(tat);
|
||||
pt = 2116.23; // ISA SL pressure
|
||||
tatc = 15.0; // ISA SL temperature
|
||||
tat = 518.67;
|
||||
|
||||
vcas = veas = 0.0;
|
||||
qbar = qbarUW = qbarUV = 0.0;
|
||||
|
|
@ -81,7 +81,6 @@ FGAuxiliary::FGAuxiliary(FGFDMExec* fdmex) : FGModel(fdmex)
|
|||
vAeroUVW.InitMatrix();
|
||||
vAeroPQR.InitMatrix();
|
||||
vMachUVW.InitMatrix();
|
||||
vEuler.InitMatrix();
|
||||
vEulerRates.InitMatrix();
|
||||
|
||||
bind();
|
||||
|
|
@ -117,7 +116,6 @@ bool FGAuxiliary::InitModel(void)
|
|||
vAeroUVW.InitMatrix();
|
||||
vAeroPQR.InitMatrix();
|
||||
vMachUVW.InitMatrix();
|
||||
vEuler.InitMatrix();
|
||||
vEulerRates.InitMatrix();
|
||||
|
||||
return true;
|
||||
|
|
@ -204,7 +202,7 @@ bool FGAuxiliary::Run(bool Holding)
|
|||
pt = PitotTotalPressure(Mach, in.Pressure);
|
||||
|
||||
if (abs(Mach) > 0.0) {
|
||||
vcas = VcalibratedFromMach(Mach, in.Pressure, in.PressureSL, in.DensitySL);
|
||||
vcas = VcalibratedFromMach(Mach, in.Pressure);
|
||||
veas = sqrt(2 * qbar / in.DensitySL);
|
||||
}
|
||||
else
|
||||
|
|
@ -273,34 +271,12 @@ void FGAuxiliary::UpdateWindMatrices(void)
|
|||
mTb2w = mTw2b.Transposed();
|
||||
}
|
||||
|
||||
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
//
|
||||
// A positive headwind is blowing with you, a negative headwind is blowing against you.
|
||||
// psi is the direction the wind is blowing *towards*.
|
||||
// ToDo: should this simply be in the atmosphere class? Same with Get Crosswind.
|
||||
|
||||
double FGAuxiliary::GetHeadWind(void) const
|
||||
{
|
||||
return in.Vwind * cos(in.WindPsi - in.Psi);
|
||||
}
|
||||
|
||||
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
//
|
||||
// A positive crosswind is blowing towards the right (from teh perspective of the
|
||||
// pilot). A negative crosswind is blowing towards the -Y direction (left).
|
||||
// psi is the direction the wind is blowing *towards*.
|
||||
|
||||
double FGAuxiliary::GetCrossWind(void) const
|
||||
{
|
||||
return in.Vwind * sin(in.WindPsi - in.Psi);
|
||||
}
|
||||
|
||||
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
||||
double FGAuxiliary::GetNlf(void) const
|
||||
{
|
||||
if (in.Mass != 0)
|
||||
return (-in.vFw(3))/(in.Mass*slugtolb);
|
||||
return (in.vFw(3))/(in.Mass*slugtolb);
|
||||
else
|
||||
return 0.;
|
||||
}
|
||||
|
|
@ -375,8 +351,6 @@ void FGAuxiliary::bind(void)
|
|||
PropertyManager->Tie("accelerations/Nz", this, &FGAuxiliary::GetNz);
|
||||
PropertyManager->Tie("accelerations/Ny", this, &FGAuxiliary::GetNy);
|
||||
PropertyManager->Tie("forces/load-factor", this, &FGAuxiliary::GetNlf);
|
||||
/* PropertyManager->Tie("atmosphere/headwind-fps", this, &FGAuxiliary::GetHeadWind, true);
|
||||
PropertyManager->Tie("atmosphere/crosswind-fps", this, &FGAuxiliary::GetCrossWind, true); */
|
||||
PropertyManager->Tie("aero/alpha-rad", this, (PF)&FGAuxiliary::Getalpha);
|
||||
PropertyManager->Tie("aero/beta-rad", this, (PF)&FGAuxiliary::Getbeta);
|
||||
PropertyManager->Tie("aero/mag-beta-rad", this, (PF)&FGAuxiliary::GetMagBeta);
|
||||
|
|
|
|||
|
|
@ -234,9 +234,6 @@ public:
|
|||
else return BadUnits();
|
||||
}
|
||||
|
||||
double GetHeadWind(void) const;
|
||||
double GetCrossWind(void) const;
|
||||
|
||||
// Time routines, SET and GET functions, used by FGMSIS atmosphere
|
||||
|
||||
void SetDayOfYear (int doy) { day_of_year = doy; }
|
||||
|
|
@ -282,11 +279,8 @@ public:
|
|||
double SinTht;
|
||||
double CosPhi;
|
||||
double SinPhi;
|
||||
double Psi;
|
||||
FGColumnVector3 TotalWindNED;
|
||||
FGColumnVector3 TurbPQR;
|
||||
double WindPsi;
|
||||
double Vwind;
|
||||
} in;
|
||||
|
||||
private:
|
||||
|
|
@ -302,7 +296,6 @@ private:
|
|||
FGColumnVector3 vNwcg;
|
||||
FGColumnVector3 vAeroPQR;
|
||||
FGColumnVector3 vAeroUVW;
|
||||
FGColumnVector3 vEuler;
|
||||
FGColumnVector3 vEulerRates;
|
||||
FGColumnVector3 vMachUVW;
|
||||
FGLocation vLocationVRP;
|
||||
|
|
|
|||
|
|
@ -264,7 +264,7 @@ void FGLGear::ResetToIC(void)
|
|||
// Initialize Lagrange multipliers
|
||||
for (int i=0; i < 3; i++) {
|
||||
LMultiplier[i].ForceJacobian.InitMatrix();
|
||||
LMultiplier[i].MomentJacobian.InitMatrix();
|
||||
LMultiplier[i].LeverArm.InitMatrix();
|
||||
LMultiplier[i].Min = 0.0;
|
||||
LMultiplier[i].Max = 0.0;
|
||||
LMultiplier[i].value = 0.0;
|
||||
|
|
@ -675,29 +675,31 @@ void FGLGear::ComputeJacobian(const FGColumnVector3& vWhlContactVec)
|
|||
velocityDirection.Normalize();
|
||||
|
||||
LMultiplier[ftDynamic].ForceJacobian = mT * velocityDirection;
|
||||
LMultiplier[ftDynamic].MomentJacobian = vWhlContactVec * LMultiplier[ftDynamic].ForceJacobian;
|
||||
LMultiplier[ftDynamic].Max = 0.;
|
||||
LMultiplier[ftDynamic].Min = -fabs(staticFFactor * dynamicFCoeff * vFn(eZ));
|
||||
LMultiplier[ftDynamic].LeverArm = vWhlContactVec;
|
||||
|
||||
// The Lagrange multiplier value obtained from the previous iteration is kept
|
||||
// This is supposed to accelerate the convergence of the projected Gauss-Seidel
|
||||
// algorithm. The code just below is to make sure that the initial value
|
||||
// is consistent with the current friction coefficient and normal reaction.
|
||||
// The Lagrange multiplier value obtained from the previous iteration is
|
||||
// kept. This is supposed to accelerate the convergence of the projected
|
||||
// Gauss-Seidel algorithm. The code just below is to make sure that the
|
||||
// initial value is consistent with the current friction coefficient and
|
||||
// normal reaction.
|
||||
LMultiplier[ftDynamic].value = Constrain(LMultiplier[ftDynamic].Min, LMultiplier[ftDynamic].value, LMultiplier[ftDynamic].Max);
|
||||
|
||||
GroundReactions->RegisterLagrangeMultiplier(&LMultiplier[ftDynamic]);
|
||||
}
|
||||
else {
|
||||
// Static friction is used for ctSTRUCTURE when the contact point is not moving.
|
||||
// It is always used for ctBOGEY elements because the friction coefficients
|
||||
// of a tyre depend on the direction of the movement (roll & side directions).
|
||||
// This cannot be handled properly by the so-called "dynamic friction".
|
||||
// Static friction is used for ctSTRUCTURE when the contact point is not
|
||||
// moving. It is always used for ctBOGEY elements because the friction
|
||||
// coefficients of a tyre depend on the direction of the movement (roll &
|
||||
// side directions). This cannot be handled properly by the so-called
|
||||
// "dynamic friction".
|
||||
StaticFriction = true;
|
||||
|
||||
LMultiplier[ftRoll].ForceJacobian = mT * FGColumnVector3(1.,0.,0.);
|
||||
LMultiplier[ftSide].ForceJacobian = mT * FGColumnVector3(0.,1.,0.);
|
||||
LMultiplier[ftRoll].MomentJacobian = vWhlContactVec * LMultiplier[ftRoll].ForceJacobian;
|
||||
LMultiplier[ftSide].MomentJacobian = vWhlContactVec * LMultiplier[ftSide].ForceJacobian;
|
||||
LMultiplier[ftRoll].LeverArm = vWhlContactVec;
|
||||
LMultiplier[ftSide].LeverArm = vWhlContactVec;
|
||||
|
||||
switch(eContactType) {
|
||||
case ctBOGEY:
|
||||
|
|
@ -713,10 +715,11 @@ void FGLGear::ComputeJacobian(const FGColumnVector3& vWhlContactVec)
|
|||
LMultiplier[ftRoll].Min = -LMultiplier[ftRoll].Max;
|
||||
LMultiplier[ftSide].Min = -LMultiplier[ftSide].Max;
|
||||
|
||||
// The Lagrange multiplier value obtained from the previous iteration is kept
|
||||
// This is supposed to accelerate the convergence of the projected Gauss-Seidel
|
||||
// algorithm. The code just below is to make sure that the initial value
|
||||
// is consistent with the current friction coefficient and normal reaction.
|
||||
// The Lagrange multiplier value obtained from the previous iteration is
|
||||
// kept. This is supposed to accelerate the convergence of the projected
|
||||
// Gauss-Seidel algorithm. The code just below is to make sure that the
|
||||
// initial value is consistent with the current friction coefficient and
|
||||
// normal reaction.
|
||||
LMultiplier[ftRoll].value = Constrain(LMultiplier[ftRoll].Min, LMultiplier[ftRoll].value, LMultiplier[ftRoll].Max);
|
||||
LMultiplier[ftSide].value = Constrain(LMultiplier[ftSide].Min, LMultiplier[ftSide].value, LMultiplier[ftSide].Max);
|
||||
|
||||
|
|
|
|||
|
|
@ -388,6 +388,8 @@ FGPiston::FGPiston(FGFDMExec* exec, Element* el, int engine_number, struct Input
|
|||
property_name = base_property_name + "/boostloss-hp";
|
||||
PropertyManager->Tie(property_name, &BoostLossHP);
|
||||
}
|
||||
property_name = base_property_name + "/AFR";
|
||||
PropertyManager->Tie(property_name, this, &FGPiston::getAFR);
|
||||
|
||||
// Set up and sanity-check the turbo/supercharging configuration based on the input values.
|
||||
if (TakeoffBoost > RatedBoost[0]) bTakeoffBoost = true;
|
||||
|
|
@ -749,8 +751,6 @@ void FGPiston::doFuelFlow(void)
|
|||
{
|
||||
double thi_sea_level = 1.3 * in.MixturePos[EngineNumber]; // Allows an AFR of infinity:1 to 11.3075:1
|
||||
equivalence_ratio = thi_sea_level * 101325.0 / p_amb;
|
||||
// double AFR = 10+(12*(1-in.Mixture[EngineNumber]));// mixture 10:1 to 22:1
|
||||
// m_dot_fuel = m_dot_air / AFR;
|
||||
m_dot_fuel = (m_dot_air * equivalence_ratio) / 14.7;
|
||||
FuelFlowRate = m_dot_fuel * 2.2046; // kg to lb
|
||||
if(Starved) // There is no fuel, so zero out the flows we've calculated so far
|
||||
|
|
|
|||
|
|
@ -46,7 +46,6 @@ INCLUDES
|
|||
DEFINITIONS
|
||||
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
||||
|
||||
#define ID_PISTON "$Id: FGPiston.h,v 1.39 2017/04/29 11:16:46 ehofman Exp $"
|
||||
#define FG_MAX_BOOST_SPEEDS 3
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
|
@ -215,7 +214,6 @@ boostspeed they refer to:
|
|||
@author David Megginson (initial porting and additional code)
|
||||
@author Ron Jensen (additional engine code)
|
||||
@see Taylor, Charles Fayette, "The Internal Combustion Engine in Theory and Practice"
|
||||
@version $Id: FGPiston.h,v 1.39 2017/04/29 11:16:46 ehofman Exp $
|
||||
*/
|
||||
|
||||
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||||
|
|
@ -249,6 +247,7 @@ public:
|
|||
double getOilPressure_psi(void) const {return OilPressure_psi;}
|
||||
double getOilTemp_degF (void) const {return KelvinToFahrenheit(OilTemp_degK);}
|
||||
double getRPM(void) const {return RPM;}
|
||||
double getAFR(void) const {return m_dot_fuel > 0.0 ? m_dot_air / m_dot_fuel : INFINITY;}
|
||||
|
||||
protected:
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue