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Updates to JSBSim.

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curt 2000-07-31 15:05:08 +00:00
parent 6a98486375
commit 76b4de7f1f
6 changed files with 97 additions and 31 deletions
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44
src/FDM/JSBSim.cxx
View file

@ -256,6 +256,11 @@ int FGJSBsim::copy_from_JSBsim() {
FDMExec.GetAircraft()->GetXYZcg()(2),
FDMExec.GetAircraft()->GetXYZcg()(3) );
set_Accels_Local( FDMExec.GetPosition()->GetVelDot()(1),
FDMExec.GetPosition()->GetVelDot()(2),
FDMExec.GetPosition()->GetVelDot()(3) );
set_Accels_Body ( FDMExec.GetTranslation()->GetUVWdot()(1),
FDMExec.GetTranslation()->GetUVWdot()(2),
FDMExec.GetTranslation()->GetUVWdot()(3) );
@ -264,17 +269,18 @@ int FGJSBsim::copy_from_JSBsim() {
FDMExec.GetTranslation()->GetUVWdot()(2),
FDMExec.GetTranslation()->GetUVWdot()(3) );
set_Accels_CG_Body_N ( FDMExec.GetTranslation()->GetNcg()(1),
FDMExec.GetTranslation()->GetNcg()(2),
FDMExec.GetTranslation()->GetNcg()(3) );
//set_Accels_CG_Body_N ( FDMExec.GetTranslation()->GetNcg()(1),
// FDMExec.GetTranslation()->GetNcg()(2),
// FDMExec.GetTranslation()->GetNcg()(3) );
//
set_Accels_Pilot_Body( FDMExec.GetAuxiliary()->GetPilotAccel()(1),
FDMExec.GetAuxiliary()->GetPilotAccel()(2),
FDMExec.GetAuxiliary()->GetPilotAccel()(3) );
set_Accels_Pilot_Body_N( FDMExec.GetAuxiliary()->GetNpilot()(1),
FDMExec.GetAuxiliary()->GetNpilot()(2),
FDMExec.GetAuxiliary()->GetNpilot()(3) );
//set_Accels_Pilot_Body_N( FDMExec.GetAuxiliary()->GetNpilot()(1),
// FDMExec.GetAuxiliary()->GetNpilot()(2),
// FDMExec.GetAuxiliary()->GetNpilot()(3) );
@ -304,11 +310,13 @@ int FGJSBsim::copy_from_JSBsim() {
FDMExec.GetState()->GetParameter(FG_PITCHRATE),
FDMExec.GetState()->GetParameter(FG_YAWRATE) );
/* HUH!?! */ set_Euler_Rates( FDMExec.GetRotation()->Getphi(),
FDMExec.GetRotation()->Gettht(),
FDMExec.GetRotation()->Getpsi() );
set_Euler_Rates( FDMExec.GetRotation()->GetEulerRates()(1),
FDMExec.GetRotation()->GetEulerRates()(2),
FDMExec.GetRotation()->GetEulerRates()(3) );
// ***FIXME*** set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
set_Geocentric_Rates( FDMExec.GetPosition()->GetLatitudeDot(),
FDMExec.GetPosition()->GetLongitudeDot(),
FDMExec.GetPosition()->Gethdot() );
set_Mach_number( FDMExec.GetTranslation()->GetMach());
@ -340,9 +348,25 @@ int FGJSBsim::copy_from_JSBsim() {
set_Alpha( FDMExec.GetTranslation()->Getalpha() );
set_Beta( FDMExec.GetTranslation()->Getbeta() );
set_Cos_phi( FDMExec.GetRotation()->GetCosphi() );
//set_Sin_phi ( FDMExec.GetRotation()->GetSinpphi() );
set_Cos_theta( FDMExec.GetRotation()->GetCostht() );
//set_Sin_theta ( FDMExec.GetRotation()->GetSintht() );
//set_Cos_psi( FDMExec.GetRotation()->GetCospsi() );
//set_Sin_psi ( FDMExec.GetRotation()->GetSinpsi() );
set_Gamma_vert_rad( FDMExec.GetPosition()->GetGamma() );
// set_Gamma_horiz_rad( Gamma_horiz_rad );
set_Density( FDMExec.GetAtmosphere()->GetDensity() );
set_Static_pressure( FDMExec.GetAtmosphere()->GetPressure() );
set_Static_temperature ( FDMExec.GetAtmosphere()->GetTemperature() );
/* **FIXME*** */ set_Sea_level_radius( sl_radius2 * METER_TO_FEET );
/* **FIXME*** */ set_Earth_position_angle( 0.0 );

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

@ -88,7 +88,8 @@ extern double globalSeaLevelRadius;
FGPosition::FGPosition(FGFDMExec* fdmex) : FGModel(fdmex),
vUVW(3),
vVel(3)
vVel(3),
vVelDot(3)
{
Name = "FGPosition";
LongitudeDot = LatitudeDot = RadiusDot = 0.0;
@ -169,6 +170,7 @@ void FGPosition::GetState(void) {
vUVW = Translation->GetUVW();
Vt = Translation->GetVt();
vVel = State->GetTb2l()*vUVW;
vVelDot = State->GetTb2l() * Translation->GetUVWdot();
b = Aircraft->GetWingSpan();

5
src/FDM/JSBSim/FGPosition.h
View file

@ -50,8 +50,10 @@ CLASS DECLARATION
*******************************************************************************/
class FGPosition : public FGModel {
FGColumnVector vUVW;
FGColumnVector vVel;
FGColumnVector vVelDot;
double Vee, invMass, invRadius;
double Radius, h;
@ -73,6 +75,7 @@ public:
~FGPosition(void);
inline FGColumnVector GetVel(void) { return vVel; }
inline FGColumnVector GetVelDot(void) { return vVelDot; }
inline FGColumnVector GetUVW(void) { return vUVW; }
inline double GetVn(void) { return vVel(eX); }
inline double GetVe(void) { return vVel(eY); }
@ -81,7 +84,9 @@ public:
inline double Geth(void) { return h; }
inline double Gethdot(void) { return RadiusDot; }
inline double GetLatitude(void) { return Latitude; }
inline double GetLatitudeDot(void) { return LatitudeDot; }
inline double GetLongitude(void) { return Longitude; }
inline double GetLongitudeDot(void) { return LongitudeDot; }
inline double GetRunwayRadius(void) { return RunwayRadius; }
inline double GetDistanceAGL(void) { return DistanceAGL; }
inline double GetGamma(void) { return gamma; }

17
src/FDM/JSBSim/FGRotation.cpp
View file

@ -75,9 +75,12 @@ FGRotation::FGRotation(FGFDMExec* fdmex) : FGModel(fdmex),
vPQR(3),
vPQRdot(3),
vEuler(3),
vEulerRates(3),
vMoments(3)
{
Name = "FGRotation";
cTht=cPhi=cPsi=1.0;
sTht=sPhi=sPsi=0.0;
}
/******************************************************************************/
@ -91,6 +94,7 @@ FGRotation::~FGRotation(void)
bool FGRotation::Run(void)
{
float L2, N1;
float tTheta;
static FGColumnVector vlastPQRdot(3);
if (!FGModel::Run()) {
@ -109,6 +113,19 @@ bool FGRotation::Run(void)
State->CalcMatrices();
vEuler = State->CalcEuler();
cTht=cos(vEuler(eTht)); sTht=sin(vEuler(eTht));
cPhi=cos(vEuler(ePhi)); sPhi=sin(vEuler(ePhi));
cPsi=cos(vEuler(ePsi)); sPsi=sin(vEuler(ePsi));
vEulerRates(eTht) = vPQR(2)*cPhi - vPQR(3)*sPhi;
if(cTht != 0.0) {
tTheta=sTht/cTht; // what's cheaper: / or tan() ?
vEulerRates(ePhi) = vPQR(1) + (vPQR(2)*sPhi + vPQR(3)*cPhi)*tTheta;
vEulerRates(ePsi) = (vPQR(2)*sPhi + vPQR(3)*cPhi)/cTht;
}
vlastPQRdot = vPQRdot;
} else {

18
src/FDM/JSBSim/FGRotation.h
View file

@ -85,6 +85,11 @@ class FGRotation : public FGModel
FGColumnVector vPQRdot;
FGColumnVector vMoments;
FGColumnVector vEuler;
FGColumnVector vEulerRates;
float cTht,sTht;
float cPhi,sPhi;
float cPsi,sPsi;
float Ixx, Iyy, Izz, Ixz;
float dt;
@ -100,11 +105,24 @@ public:
inline FGColumnVector GetPQR(void) {return vPQR;}
inline FGColumnVector GetPQRdot(void) {return vPQRdot;}
inline FGColumnVector GetEuler(void) {return vEuler;}
inline FGColumnVector GetEulerRates(void) { return vEulerRates; }
inline void SetPQR(FGColumnVector tt) {vPQR = tt;}
inline void SetEuler(FGColumnVector tt) {vEuler = tt;}
inline float Getphi(void) {return vEuler(1);}
inline float Gettht(void) {return vEuler(2);}
inline float Getpsi(void) {return vEuler(3);}
inline float GetCosphi(void) {return cPhi;}
inline float GetCostht(void) {return cTht;}
inline float GetCospsi(void) {return cPsi;}
inline float GetSinphi(void) {return sPhi;}
inline float GetSintht(void) {return sTht;}
inline float GetSinpsi(void) {return sPsi;}
};
/******************************************************************************/

34
src/FDM/flight.hxx
View file

@ -341,26 +341,26 @@ public:
}
FG_VECTOR_3 n_cg_body_v;
inline double * get_N_cg_body_v() { return n_cg_body_v; }
inline double get_N_X_cg() const { return n_cg_body_v[0]; }
inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
inline void set_Accels_CG_Body_N( double x, double y, double z ) {
n_cg_body_v[0] = x;
n_cg_body_v[1] = y;
n_cg_body_v[2] = z;
}
// inline double * get_N_cg_body_v() { return n_cg_body_v; }
// inline double get_N_X_cg() const { return n_cg_body_v[0]; }
// inline double get_N_Y_cg() const { return n_cg_body_v[1]; }
// inline double get_N_Z_cg() const { return n_cg_body_v[2]; }
// inline void set_Accels_CG_Body_N( double x, double y, double z ) {
// n_cg_body_v[0] = x;
// n_cg_body_v[1] = y;
// n_cg_body_v[2] = z;
// }
FG_VECTOR_3 n_pilot_body_v;
// inline double * get_N_pilot_body_v() { return n_pilot_body_v; }
inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; }
inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; }
inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
n_pilot_body_v[0] = x;
n_pilot_body_v[1] = y;
n_pilot_body_v[2] = z;
}
// inline double get_N_X_pilot() const { return n_pilot_body_v[0]; }
// inline double get_N_Y_pilot() const { return n_pilot_body_v[1]; }
// inline double get_N_Z_pilot() const { return n_pilot_body_v[2]; }
// inline void set_Accels_Pilot_Body_N( double x, double y, double z ) {
// n_pilot_body_v[0] = x;
// n_pilot_body_v[1] = y;
// n_pilot_body_v[2] = z;
// }
double nlf; //Normal Load Factor
double get_Nlf(void) { return nlf; }