From 7c2ebec7160a92793740725ce292d0993506a6df Mon Sep 17 00:00:00 2001
From: curt <curt>
Date: Thu, 23 Mar 2000 03:56:20 +0000
Subject: [PATCH] Initial revision.

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+************************************************
+*                                              * 
+*  FGFS Reconfigurable Aircraft Flight Model   *
+*  Input File Documentation                    * 
+*  Version 0.63, March 17, 2000                *
+*                                              *
+*  Authors:                                    *
+*  Jeff Scott (jscott@uiuc.edu)                *
+*  Bipin Sehgal (bsehgal@uiuc.edu)             *
+*  Michael Selig (m-selig@uiuc.edu)            *
+*  Dept of Aero and Astro Engineering          *
+*  University of Illinois at Urbana-Champaign  *
+*  Urbana, IL                                  *
+*  http://amber.aae.uiuc.edu/~m-selig          *
+*                                              *
+************************************************ 
+
+ 
+**********************************************************************
+This documentation includes:
+ - Required and optional input lines.
+ - Input line formats and conventions.
+
+Viewing this file in emacs makefile-mode with color makes this file
+easier to read.
+**********************************************************************
+
+**********************************************************************
+I. Conventions and Notations and Reading this Document:
+
+ # ...     Comments
+ |         Input line not yet implemented
+ |         Optional data
+ |         Sometimes indicates a feature not yet used,
+           but proposed convention is indicated nevertheless.
+ ||        Input line disabled
+ ||        Option disabled
+ ...       Repeat similar data
+ ->        Continue onto next line
+**********************************************************************
+
+**********************************************************************
+II. General Input Line Format:
+
+Examples input lines include
+
+Cm Cmo 0.194            # []          Bray pg 33
+Cm Cm_a -2.12           # [/rad]      Bray pg 33
+CL CLfa CLfa.dat        # []          Bray pg 50, Table 4.7
+
+These follow the more general input line form
+
+keyword  variableName  <value -or- file> | ->
+    <value -or- file>  # [units]  <data source>
+
+Each term of the input line will be discussed in turn.
+
+(1) KEYWORDS
+============
+
+There currently exist 15 types of variable keywords:
+
+init            Initial values for equation of motion
+geometry        Aircraft-specific geometric quantities
+controlSurface  Control surface deflections and properties
+|controlsMixer  Control surface mixer options
+mass            Aircraft-specific mass properties
+engine          Propulsion data
+CD              Aerodynamic x-force quantities (longitudinal)
+CL              Aerodynamic z-force quantities (longitudinal)
+Cm              Aerodynamic m-moment quantities (longitudinal)
+CY              Aerodynamic y-force quantities (lateral)
+Cl              Aerodynamic l-moment quantities (lateral)
+Cn              Aerodynamic n-moment quantities (lateral)
+|gear           Landing gear model quantities
+ice             Aircraft icing model parameters
+record          Record desired quantities to the file: uiuc_record.dat
+
+As each line of the input file is read, the code recognizes the
+keyword, enters the appropriate switch statement in the code, and
+proceeds to read the next term in the input line.
+
+(2) VARIABLE NAMES
+==================
+
+The variable name indicates the form of the variable itself.  This
+form may be a constant, a stability derivative (a specific form of a
+constant), or a variable-dimensional lookup table.  More variable
+types can be easily prescribed by defining a new convention.  The
+variable name may also indicate that the quantity is to be calculated
+from a hard-coded equation or set of equations provided at an
+appropriate location within the code.
+
+If the parameter name denotes a constant, a numerical value will 
+follow the variable name.  If a lookup table, the name of the table 
+containing the data will follow.
+
+More than one value or file name can be specified if the code is 
+intended to read in multiple pieces of data when implementing the 
+particular switch in question (see also OPTIONAL data, section (3)).
+
+The conventions used for naming the variables are provided below.
+Several of these variable names are not currently used.
+
+1) variable class
+_       denotes stability derivative to be multiple by something
+f       "function of" (indicates an m*n matrix data table is given)
+
+2) timing data (global simulator variables)
+Simtime   current simulator time         [s]
+dt        current simulator time step    [s]
+
+3) aircraft state variables
+Dx_pilot   x-location                    [ft]
+Dy_pilot   y-location                    [ft]
+Dz_pilot   z-location                    [ft]
+Dx_cg      center of gravity x-location  [ft]
+Dy_cg      center of gravity y-location  [ft]
+Dz_cg      center of gravity z-location  [ft]
+V_north    x-velocity                    [ft/s]
+V_east     y-velocity                    [ft/s]
+V_down     z-velocity                    [ft/s]
+V_rel_wind total velocity                [ft/s]
+Dynamic_pressure  dynamic pressure       [lb/ft^2]
+Alpha      angle of attack               [rad]
+Alpha_dot  rate of change of alpha       [rad/s]
+Beta       sideslip angle                [rad]
+Beta_dot   rate of change of beta        [rad]
+Gamma      flight path angle             [rad]
+P_body     roll rate                     [rad/s]
+Q_body     pitch rate                    [rad/s]
+R_body     yaw rate                      [rad/s]
+Phi        bank angle                    [rad]
+Theta      pitch attitude angle          [rad]
+Theta_dot  rate change of theta          [rad/s]
+Psi        heading angle                 [rad]
+|long_trim
+|trim_inc
+M          Mach number                   []
+Re         Reynolds number               []
+
+4) atmosphere properties
+Density          air density             [slug/ft^3]
+
+5) geometric variables
+bw        wingspan                       [ft]
+cbar      mean aerodynamic chord         [ft]
+Sw        wing planform area             [ft^2]
+iw        wing incidence angle           [deg]
+bc        canard span                    [ft]
+cc        canard (mean) chord            [ft]
+Sc        canard area                    [ft^2]
+ic        canard incidence angle         [deg]
+bh        horizontal tail span           [ft]
+ch        horizontal tail (mean) chord   [ft]
+Sh        horizontal tail area           [ft^2]
+ih        horizontal tail incidence angle [deg]
+bv        vertical tail span (height)    [ft]
+cv        vertical tail (mean) chord     [ft]
+iv        vertical tail incidence angle  [deg]
+Sv        vertical tail area             [ft^2]
+
+6) control surface properties
+Sa            aileron area               [ft^2]
+Se            elevator area              [ft^2]
+Sf            flap area                  [ft^2]
+Sr            rudder area                [ft^2]
+Lat_control   roll control input         [?]
+Long_control  pitch control input        [?]
+Rudder_pedal  yaw control input          [?]
+aileron       aileron deflection         [rad]
+elevator      elevator deflection        [rad]
+rudder        rudder deflection          [rad]
+|flap         flap deflection            [rad]
+
+7) mass variables
+|Weight   gross takeoff weight           [lb]
+Mass      aircraft mass (used by LaRC)   [slug]
+I_xx      roll inertia                   [slug-ft^2]
+I_yy      pitch inertia                  [slug-ft^2]
+I_zz      yaw inertia                    [slug-ft^2]
+I_xz      lateral cross inertia          [slug-ft^2]
+
+8) engine/propulsion variables
+|thrust       thrust                          [lb]
+simpleSingle  simple single engine max thrust [lb]
+|Throttle_pct throttle input                  []  # ie, this is the stick
+|Throttle[3]  throttle deflection             [%] # this is what gets used to determine thrust
+
+9) force/moment coefficients
+CD        coefficient of drag            []
+CY        coefficient of side-force      []
+CL        coefficient of lift            []
+Cl        coefficient of roll moment     []
+Cm        coefficient of pitching moment []
+Cn        coefficient of yaw moment      []
+|CT       coefficient of thrust          []
+
+10) total forces/moments
+F_X_wind    aerodynamic x-force in wind-axes    [lb]
+F_Y_wind    aerodynamic y-force in wind-axes    [lb]
+F_Z_wind    aerodynamic z-force in wind-axes    [lb]
+F_X_aero    aerodynamic x-force in body-axes    [lb]
+F_Y_aero    aerodynamic y-force in body-axes    [lb]
+F_Z_aero    aerodynamic z-force in body-axes    [lb]
+F_X_engine  propulsion x-force in body axes     [lb]
+F_Y_engine  propulsion y-force in body axes     [lb]
+F_Z_engine  propulsion z-force in body axes     [lb]
+F_X_gear    gear x-force in body axes           [lb]
+F_Y_gear    gear y-force in body axes           [lb]
+F_Z_gear    gear z-force in body axes           [lb]
+F_X         total x-force                       [lb]
+F_Y         total y-force                       [lb]
+F_Z         total z-force                       [lb]
+M_l_aero    aero roll-moment in body-axes       [ft-lb]
+M_m_aero    aero pitch-moment in body-axes      [ft-lb]
+M_n_aero    aero yaw-moment in body-axes        [ft-lb]
+M_l_engine  prop roll-moment in body axes       [ft-lb]
+M_m_engine  prop pitch-moment in body axes      [ft-lb]
+M_n_engine  prop yaw-moment in body axes        [ft-lb]
+M_l_gear    gear roll-moment in body axes       [ft-lb]
+M_m_gear    gear pitch-moment in body axes      [ft-lb]
+M_n_gear    gear yaw-moment in body axes        [ft-lb]
+M_l_rp      total roll-moment                   [ft-lb]
+M_m_rp      total pitch-moment                  [ft-lb]
+M_n_rp      total yaw-moment                    [ft-lb]
+
+11) landing gear properties
+|cgear  gear damping constant            [?]
+|kgear  gear spring constant             [?]
+|muGear gear rolling friction coef       [?]
+|strutLength  gear strut length          [ft]
+
+12) icing model paramters
+iceTime       time when icing begins                         [s]
+transientTime time period over which eta increases to final  [s]
+eta_final     icing severity factor at end of transient time [-]
+kCA           icing constants for associated aero coef.      [-] (see IV)
+
+13) subscripts
+o       value for all angles = 0 (alfa, beta, etc)
+a       angle of attack
+adot    rate change in angle alpha
+beta    sideslip angle
+|betadot  rate change in beta
+p       roll rate
+q       pitch rate
+r       yaw rate
+|pdot   rate change in p
+|qdot   rate change in q
+|rdot   rate change in r
+|udot   rate change in x-velocity
+da      aileron deflection
+de      elevator deflection
+dr      rudder deflection
+df      flap deflection
+|df2    flap deflection for second set
+|df3    flap deflection for third set
+max     maximum
+min     minimum
+
+(3) | (OPTIONAL DATA)
+=====================
+
+An input line may also be used to provide optional data that
+will be used if provided but is not necessary for the code to 
+operate.  As with the variable data described in section (2), multiple 
+values or data files may be provided if the code is written to use 
+them.
+
+(4) # (COMMENTS)
+================
+
+Appended comments should be provided with each input line to indicate 
+units on the variable in question and to indicate the source the data 
+was drawn from.
+**********************************************************************
+
+**********************************************************************
+III. Sample Input Lines:
+
+CONSTANTS
+=========
+
+geometry bw <value>     # geometric parameter, wingspan
+Cm Cm_a <value>         # stability derivative, d(Cm)/d(alpha)
+controlSurface de <value> <value>  # max and min elevator deflections
+
+LOOKUP TABLES
+=============
+
+CD CDfCL <file.dat>     # CD(CL), drag polar data file
+Cm Cmfade <file.dat>    # Cm(alpha,delta_e), moment data file
+
+HARD-CODED EQUATION
+===================
+
+CD CDfCL                # CD(CL), drag calculated in code based on CL
+
+**********************************************************************
+
+**********************************************************************
+IV. Definitions of Input Lines Currently Available:
+
+Of all the possible permutation of variable names described above in
+section II, only some are currently implemented in the code.  These
+are described below.  Comments, denoted by '#,' are used to define the
+lines and to indicate examples of the data if additional clarity is
+needed for unique situations.  Again, those lines beginning with '|'
+are not currently implemented in the code, but indicate planned
+conventions in later versions.
+
+# Key  Variable  Data      Units      Description                       Where Defined
+#------------------------------------------------------------------------------------
+
+init Dx_pilot <Dx_pilot> # [ft]       initial x-position                ls_generic.h
+init Dy_pilot <Dy_pilot> # [ft]       initial y-position                ls_generic.h
+init Dz_pilot <Dz_pilot> # [ft]       initial z-position                ls_generic.h
+init Dx_cg <Dx_cg>       # [ft]       initial cg x_location             ls_generic.h
+init Dy_cg <Dy_cg>       # [ft]       initial cg y_location             ls_generic.h
+init Dz_cg <Dz_cg>       # [ft]       initial cg z_location             ls_generic.h
+|init V_north <V_north>  # [ft/s]     initial x-velocity                ls_generic.h
+|init V_east <V_east>    # [ft/s]     initial y-velocity                ls_generic.h
+|init V_down <V_down>    # [ft/s]     initial z-velocity                ls_generic.h
+init P_body <P_body>     # [rad/s]    initial roll rate                 ls_generic.h
+init Q_body <Q_body>     # [rad/s]    initial pitch rate                ls_generic.h
+init R_body <R_body>     # [rad/s]    initial yaw rate                  ls_generic.h
+init Phi <Phi>           # [rad]      initial bank angle                ls_generic.h
+init Theta <Theta>       # [rad]      initial pitch attitude angle      ls_generic.h
+init Psi <Psi>           # [rad]      initial heading angle             ls_generic.h
+
+geometry bw <bw>        # [ft]        wingspan                          uiuc_aircraft.h
+geometry cbar <cbar>    # [ft]        wing mean aero chord              uiuc_aircraft.h
+geometry Sw <Sw>        # [ft^2]      wing reference area               uiuc_aircraft.h
+|geometry iw <iw>       # [deg]       wing incidence angle              uiuc_aircraft.h
+|geometry bc <bc>       # [ft]        canard span                       uiuc_aircraft.h
+|geometry cc <cc>       # [ft]        canard chord                      uiuc_aircraft.h
+|geometry Sc <Sc>       # [sq-ft]     canard area                       uiuc_aircraft.h
+|geometry ic <ic>       # [deg]       canard incidence angle            uiuc_aircraft.h
+|geometry bh <bh>       # [ft]        horizontal tail span              uiuc_aircraft.h
+|geometry ch <ch>       # [ft]        horizontal tail chord             uiuc_aircraft.h
+|geometry Sh <Sh>       # [sq-ft]     horizontal tail area              uiuc_aircraft.h
+|geometry ih <ih>       # [deg]       horiz tail incidence angle        uiuc_aircraft.h
+|geometry bv <bv>       # [ft]        vertical tail span                uiuc_aircraft.h
+|geometry cv <cv>       # [ft]        vertical tail chord               uiuc_aircraft.h
+|geometry Sv <Sv>       # [sq-ft]     vertical tail area                uiuc_aircraft.h
+|geometry iv <iv>       # [deg]       vert tail incidence angle         uiuc_aircraft.h
+
+|controlSurface Se <Se>  # [ft^2]     elevator area                     uiuc_aircraft.h
+|controlSurface Sa <Sa>  # [ft^2]     aileron area                      uiuc_aircraft.h
+|controlSurface Sr <Sr>  # [ft^2]     rudder area                       uiuc_aircraft.h
+|controlSurface Sf <Sf>  # [ft^2]     flap area                         uiuc_aircraft.h
+controlSurface de <demax> <demin>   # [deg]  max/min elev deflections   uiuc_aircraft.h
+controlSurface da <damax> <damin>   # [deg]  max/min ail deflections    uiuc_aircraft.h
+controlSurface dr <drmax> <drmin>   # [deg]  max/min rud deflections    uiuc_aircraft.h
+|controlSurface df <dfmax> <dfmin>  # [deg]  max/min flap deflections   uiuc_aircraft.h
+# Note: Currently demin is not used in the code, and the max/min is +-demax.
+
+
+|controlsMixer nomix <?> # []         no controls mixing                uiuc_aircraft.h
+
+|mass Weight <Weight>   # [lb]        gross takeoff weight (not used)
+mass Mass <Mass>        # [slug]      gross takeoff mass                ls_generic.h
+mass I_xx <I_xx>        # [slug-ft^2] roll inertia                      ls_generic.h
+mass I_yy <I_yy>        # [slug-ft^2] pitch inertia                     ls_generic.h
+mass I_zz <I_zz>        # [slug-ft^2] yaw inertia                       ls_generic.h
+mass I_xz <I_xz>        # [slug-ft^2] lateral cross inertia             ls_generic.h
+
+|engine thrust <thrustMax> <thrustMin> # [lb]  max/min engine thrust    uiuc_aircraft.h
+engine simpleSingle <sSMaxThrust> # [lb] simple single engine           uiuc_aircraft.h
+engine c172             # use Cessna 172 engine model of Tony Peden      
+
+CL CLo <CLo>            # []          lift coef for all angles = 0      uiuc_aircraft.h
+CL CL_a <CL_a>          # [/rad]      lift curve slope, d(CL)/d(alpha)  uiuc_aircraft.h
+CL CL_adot <CL_adot>    # [/rad]      d(CL)/d(alpha)/da(time)           uiuc_aircraft.h
+CL CL_q <CL_q>          # [/rad]      d(CL)/delta(q)                    uiuc_aircraft.h
+CL CL_de <CL_de>        # [/rad]      d(CL)/d(de)                       uiuc_aircraft.h
+
+# CL(alpha), conversion for CL, for alpha                           []  uiuc_aircraft.h
+CL CLfa <CLfa.dat> <conversion1> <conversion2>
+
+# CL(alpha,delta_e), conversion for CL, for alpha, for delta_e      []  uiuc_aircraft.h
+CL CLfade <CLfade.dat> <conversion1> <conversion2> <conversion3>
+
+|CL CLfCT <CLfCT.dat>   #             CL(thrust coef)                   uiuc_aircraft.h
+|CL CLfRe               #             CL(Reynolds #), equation          uiuc_aircraft.h
+|CL CL_afaM <CL_afaM.dat> #           CL_alpha(alpha,Mach #)            uiuc_aircraft.h
+# there are examples that might later be included in the code
+
+# note that CD terms must come after CL for induced drag to be computed
+CD CDo <CDo>            # []          drag coef for all angles = 0      uiuc_aircraft.h
+CD CDK <CDK>            # []          constant, as in CD=CDo+K*CL^2     uiuc_aircraft.h
+CD CD_a <CD_a>          # [/rad]      d(CD)/d(alpha)                    uiuc_aircraft.h
+CD CD_de <CD_de>        # [/rad]      d(CD)/d(delta_e)                  uiuc_aircraft.h
+
+# CD(alpha), conversion for CD, for alpha                           []  uiuc_aircraft.h
+CD CDfa <CDfa.dat> <conversion1> <conversion2>
+
+# CD(alpha,delta_e), conversion for CD, for alpha, for delta_e      []  uiuc_aircraft.h
+CD CDfade <CDfade.dat> <conversion1> <conversion2> <conversion3>
+
+
+Cm Cmo <Cmo>            # []          pitch mom coef for all angles=0   uiuc_aircraft.h
+Cm Cm_a <Cm_a>          # [/rad]      d(Cm)/d(alpha)                    uiuc_aircraft.h
+Cm Cm_adot <Cm_adot>    # [/rad]      d(Cm)/d(alpha)/d(time)            uiuc_aircraft.h
+Cm Cm_q <Cm_q>          # [/rad]      d(Cm)/d(q)                        uiuc_aircraft.h
+Cm Cm_de <Cm_de>        # [/rad]      d(Cm)/d(de)                       uiuc_aircraft.h
+|Cm Cmfa <Cmfa.dat>     # []          Cm(alpha)                         uiuc_aircraft.h
+Cm Cmfade <Cmfade.dat>  # []          Cm(alpha,delta_e)                 uiuc_aircraft.h
+# Cm(alpha,delta_e), conversion for Cm, for alpha, for delta_e      []  uiuc_aircraft.h
+Cm Cmfade <Cmfade.dat> <conversion1> <conversion2> <conversion3>
+
+CY CYo <CYo>            # []          side-force coef for all angles=0  uiuc_aircraft.h
+CY CY_beta <CY_beta>    # [/rad]      d(CY)/d(beta)                     uiuc_aircraft.h
+CY CY_p <CY_p>          # [/rad]      d(CY)/d(p)                        uiuc_aircraft.h
+CY CY_r <CY_r>          # [/rad]      d(CY)/d(r)                        uiuc_aircraft.h
+CY CY_da <CY_da>        # [/rad]      d(CY)/d(delta_a)                  uiuc_aircraft.h
+CY CY_dr <CY_dr>        # [/rad]      d(CY)/d(delta_r)                  uiuc_aircraft.h
+
+# CY(alpha,delta_a), conversion for CY, for alpha, for delta_a      []  uiuc_aircraft.h
+CY CYfada <CYfada.dat> <conversion1> <conversion2> <conversion3>
+
+# CY(beta,delta_r), conversion for CY, for beta, for delta_r        []  uiuc_aircraft.h
+CY CYfbetadr <CYfbetadr.dat> <conversion1> <conversion2> <conversion3>
+
+
+Cl Clo <Clo>            # []          roll mom coef for all angles=0    uiuc_aircraft.h
+Cl Cl_beta <Cl_beta>    # [/rad]      d(Cl)/d(beta)                     uiuc_aircraft.h
+Cl Cl_betafCL           # [/rad]      Cl_beta(CL) equation              uiuc_aircraft.h
+Cl Cl_p <Cl_p>          # [/rad]      d(Cl)/d(p)                        uiuc_aircraft.h
+Cl Cl_r <Cl_r>          # [/rad]      d(Cl)/d(r)                        uiuc_aircraft.h
+Cl Cl_rfCL              # [/rad]      Cl_r(CL) equation                 uiuc_aircraft.h
+Cl Cl_da <Cl_da>        # [/rad]      d(Cl)/d(delta_a)                  uiuc_aircraft.h
+Cl Cl_dr <Cl_dr>        # [/rad]      d(Cl)/d(delta_r)                  uiuc_aircraft.h
+Cl Clfada               # []          Cl(alpha,delta_a), equation       uiuc_aircraft.h
+
+# Cl(alpha,delta_a), conversion for Cl, for alpha, for delta_a      []  uiuc_aircraft.h
+Cl Clfada <CYfada.dat> <conversion1> <conversion2> <conversion3>
+
+# Cl(beta,delta_r), conversion for Cl, for beta, for delta_r        []  uiuc_aircraft.h
+Cl Clfbetadr <CYfbetadr.dat> <conversion1> <conversion2> <conversion3>
+
+
+Cn Cno <Cno>            # []          yaw mom coef for all angles=0     uiuc_aircraft.h
+Cn Cn_beta <Cn_beta>    # [/rad]      d(Cn)/d(beta)                     uiuc_aircraft.h
+Cn Cn_betafCL           # [/rad]      Cn_beta(CL) equation              uiuc_aircraft.h
+Cn Cn_p <Cn_p>          # [/rad]      d(Cn)/d(p)                        uiuc_aircraft.h
+Cn Cn_pfCL              # [/rad]      Cn_p(CL) equation                 uiuc_aircraft.h
+Cn Cn_r <Cn_r>          # [/rad]      d(Cn)/d(r)                        uiuc_aircraft.h
+Cn Cn_rfCL              # [/rad]      Cn_r(CL) equation                 uiuc_aircraft.h
+Cn Cn_da <Cn_da>        # [/rad]      d(Cn)/d(da)                       uiuc_aircraft.h
+Cn Cn_dr <Cn_dr>        # [/rad]      d(Cn)/d(dr)                       uiuc_aircraft.h
+Cn Cn_drfCL             # [/rad]      Cn_dr(CL) equation                uiuc_aircraft.h
+
+# Cn(alpha,delta_a), conversion for Cn, for alpha, for delta_a      []  uiuc_aircraft.h
+Cn Cnfada <Cnfada.dat> <conversion1> <conversion2> <conversion3>
+
+# Cn(beta,delta_r), conversion for Cn, for beta, for delta_r        []  uiuc_aircraft.h
+Cn Cnfbetadr <Cnfbetadr.dat> <conversion1> <conversion2> <conversion3>
+
+=============================CONVERSION CODES================================
+
+To calculate the aero forces, angles (eg, alfa, beta, elevator deflection, etc)
+must be in radians.  To convert input data in degree to radian, use a
+conversion code of 1.  To use no conversion, use a conversion code of 0.
+
+------------------------------------------------
+conversion1
+conversion2
+conversion3   Action
+------------------------------------------------
+  0           no conversion (multiply by 1)
+  1           convert degrees to radians
+=============================================================================
+
+|gear kgear <kgear>     # []          gear spring constant(s)           uiuc_aircraft.h
+|gear muRoll <muRoll>   # []          gear rolling friction coef(s)     uiuc_aircraft.h
+|gear cgear <cgear>     # []          gear damping constant(s)          uiuc_aircraft.h
+|gear strutLength <sL>  # [ft]        gear strut length                 uiuc_aircraft.h
+
+ice iceTime <iceTime>   # [s]         time when icing begins            uiuc_aircraft.h
+ice transientTime <tT>  # [s]         period for eta to reach eta_final uiuc_aircraft.h
+ice eta_final <eta_f>   # []          icing severity factor             uiuc_aircraft.h
+ice kCDo <kCDo>         # []          icing constant for CDo            uiuc_aircraft.h
+ice kCDK <kCDo>         # []          icing constant for CDK            uiuc_aircraft.h
+ice kCD_a <kCD_a>       # []          icing constant for CD_a           uiuc_aircraft.h
+|ice kCD_q <kCD_q>      # []          icing constant for CD_q           uiuc_aircraft.h
+ice kCD_de <kCD_de>     # []          icing constant for CD_de          uiuc_aircraft.h
+|ice kCD_dr <kCD_dr>    # []          icing constant for CD_dr          uiuc_aircraft.h
+|ice kCD_df <kCD_df>    # []          icing constant for CD_df          uiuc_aircraft.h
+|ice kCD_adf <kCD_adf>  # []          icing constant for CD_adf         uiuc_aircraft.h
+ice kCLo <kCLo>         # []          icing constant for CLo            uiuc_aircraft.h
+ice kCL_a <kCL_a>       # []          icing constant for CL_a           uiuc_aircraft.h
+ice kCL_adot <kCL_adot> # []          icing constant for CL_adot        uiuc_aircraft.h
+ice kCL_q <kCL_q>       # []          icing constant for CL_q           uiuc_aircraft.h
+ice kCL_de <kCL_de>     # []          icing constant for CL_de          uiuc_aircraft.h
+|ice kCL_df <kCL_df>    # []          icing constant for CL_df          uiuc_aircraft.h
+|ice kCL_adf <kCL_adf>  # []          icing constant for CL_adf         uiuc_aircraft.h
+ice kCmo <kCmo>         # []          icing constant for Cmo            uiuc_aircraft.h
+ice kCm_a <kCm_a>       # []          icing constant for Cm_a           uiuc_aircraft.h
+ice kCm_adot <kCm_adot> # []          icing constant for Cm_adot        uiuc_aircraft.h
+ice kCm_q <kCm_q>       # []          icing constant for Cm_q           uiuc_aircraft.h
+|ice kCm_r <kCm_r>      # []          icing constant for Cm_r           uiuc_aircraft.h
+ice kCm_de <kCm_de>     # []          icing constant for Cm_de          uiuc_aircraft.h
+|ice kCm_df <kCm_df>    # []          icing constant for Cm_df          uiuc_aircraft.h
+ice kCYo <kCYo>         # []          icing constant for CYo            uiuc_aircraft.h
+ice kCY_beta <kCy_beta> # []          icing constant for CY_beta        uiuc_aircraft.h
+ice kCY_p <kCY_p>       # []          icing constant for CY_p           uiuc_aircraft.h
+ice kCY_r <kCY_r>       # []          icing constant for CY_r           uiuc_aircraft.h
+ice kCY_da <kCY_da>     # []          icing constant for CY_da          uiuc_aircraft.h
+ice kCY_dr <kCY_dr>     # []          icing constant for CY_dr          uiuc_aircraft.h
+ice kClo <kClo>         # []          icing constant for Clo            uiuc_aircraft.h
+ice kCl_beta <kCl_beta> # []          icing constant for Cl_beta        uiuc_aircraft.h
+ice kCl_p <kCl_p>       # []          icing constant for Cl_p           uiuc_aircraft.h
+ice kCl_r <kCl_r>       # []          icing constant for Cl_r           uiuc_aircraft.h
+ice kCl_da <kCl_da>     # []          icing constant for Cl_da          uiuc_aircraft.h
+ice kCl_dr <kCl_dr>     # []          icing constant for Cl_dr          uiuc_aircraft.h
+ice kCno <kCno>         # []          icing constant for Cno            uiuc_aircraft.h
+ice kCn_beta <kCn_beta> # []          icing constant for Cn_beta        uiuc_aircraft.h
+ice kCn_p <kCn_p>       # []          icing constant for Cn_p           uiuc_aircraft.h
+ice kCn_r <kCn_r>       # []          icing constant for Cn_r           uiuc_aircraft.h
+ice kCn_da <kCn_da>     # []          icing constant for Cn_da          uiuc_aircraft.h
+ice kCn_dr <kCn_dr>     # []          icing constant for Cn_dr          uiuc_aircraft.h
+
+record Dx_pilot               # [ft]      x-location                    ls_generic.h
+record Dy_pilot               # [ft]      y-loaction                    ls_generic.h
+record Dz_pilot               # [ft]      z-location                    ls_generic.h
+record Dx_cg                  # [ft]      cg x_location                 ls_generic.h
+record Dy_cg                  # [ft]      cg y_location                 ls_generic.h
+record Dz_cg                  # [ft]      cg z_location                 ls_generic.h
+record V_north                # [ft/s]    x-velocity                    ls_generic.h
+record V_east                 # [ft/s]    y-velocity                    ls_generic.h
+record V_down                 # [ft/s]    z-velocity                    ls_generic.h
+record V_rel_wind             # [ft/s]    total velocity                ls_generic.h
+record Dynamic_pressure       # [lb/ft^2] dynamic pressure              ls_generic.h
+record Alpha                  # [rad]     angle of attack               ls_generic.h
+record Alpha_dot              # [rad/s]   rate of change of alpha       ls_generic.h
+record Beta                   # [rad]     sideslip angle                ls_generic.h
+record Beta_dot               # [rad/s]   rate of change of beta        ls_generic.h
+record Gamma                  # [rad]     flight path angle             ls_generic.h
+record P_body                 # [rad]     roll rate                     ls_generic.h
+record Q_body                 # [rad]     pitch rate                    ls_generic.h
+record R_body                 # [rad]     yaw rate                      ls_generic.h
+record Phi                    # [rad]     bank angle                    ls_generic.h
+record Theta                  # [rad]     pitch attitude angle          ls_generic.h
+record Theta_dot              # [rad]     rate change of theta          ls_generic.h
+record Psi                    # [rad]     heading angle                 ls_generic.h
+|record long_trim                                                       
+|record trim_inc                                                        
+record Density                # [slug/ft^3] air density                 ls_generic.h
+record Mass                   # [slug]    aircraft mass                 ls_generic.h
+record Simtime                # [s]       current sim time              global
+record dt                     # [s]       current time step             global
+record Long_control           # []        pitch input                   ls_cockpit.h
+record Lat_control            # []        roll input                    ls_cockpit.h
+record Rudder_pedal           # []        yaw input                     ls_cockpit.h
+|record Throttle_pct          # [%]       throttle input                ls_cockpit.h
+record elevator               # [rad]     elevator deflection           uiuc_aircraft.h
+record aileron                # [rad]     aileron deflection            uiuc_aircraft.h
+record rudder                 # [rad]     rudder deflection             uiuc_aircraft.h
+|record Throttle[3]           # [%]       throttle deflection           ls_cockpit.h
+record CDfaI                  # []        CD(alpha)                     uiuc_aircraft.h
+record CDfadeI                # []        CD(alpha,delta_e)             uiuc_aircraft.h
+record CD                     # []        drag coefficient              uiuc_aircraft.h
+record CLfaI                  # []        CL(alpha)                     uiuc_aircraft.h
+record CLfadeI                # []        CL(alpha,delta_e)             uiuc_aircraft.h
+record CL                     # []        lift coefficient              uiuc_aircraft.h
+record CmfadeI                # []        Cm(alpha,delta_e)             uiuc_aircraft.h
+record Cm                     # []        pitch moment coefficient      uiuc_aircraft.h
+record CYfadaI                # []        CY(alpha,delta_a)             uiuc_aircraft.h
+record CYfbetadrI             # []        CY(beta,delta_r)              uiuc_aircraft.h
+record CY                     # []        side-force coefficient        uiuc_aircraft.h
+record ClfadaI                # []        Cl(alpha,delta_a)             uiuc_aircraft.h
+record ClfbetadrI             # []        Cl(beta,delta_r)              uiuc_aircraft.h
+record Cl                     # []        roll moment coefficient       uiuc_aircraft.h
+record CnfadaI                # []        Cn(alpha,delta_a)             uiuc_aircraft.h
+record CnfbetadrI             # []        Cn(beta,delta_r)              uiuc_aircraft.h
+record Cn                     # []        yaw moment coefficient        uiuc_aircraft.h
+record F_X_wind               # [lb]      aero x-force in wind-axes     ls_generic.h
+record F_Y_wind               # [lb]      aero y-force in wind-axes     ls_generic.h
+record F_Z_wind               # [lb]      aero z-force in wind-axes     ls_generic.h
+record F_X_aero               # [lb]      aero x-force in body-axes     ls_generic.h
+record F_Y_aero               # [lb]      aero y-force in body-axes     ls_generic.h
+record F_Z_aero               # [lb]      aero z-force in body-axes     ls_generic.h
+record F_X_engine             # [lb]      prop x-force in body-axes     ls_generic.h
+record F_Y_engine             # [lb]      prop y-force in body-axes     ls_generic.h
+record F_Z_engine             # [lb]      prop z-force in body-axes     ls_generic.h
+record F_X_gear               # [lb]      gear x-force in body-axes     ls_generic.h
+record F_Y_gear               # [lb]      gear y-force in body-axes     ls_generic.h
+record F_Z_gear               # [lb]      gear z-force in body-axes     ls_generic.h
+record F_X                    # [lb]      total x-force in body-axes    ls_generic.h
+record F_Y                    # [lb]      total y-force in body-axes    ls_generic.h
+record F_Z                    # [lb]      total z-force in body-axes    ls_generic.h
+record M_l_aero               # [ft-lb]   aero roll mom in body axes    ls_generic.h
+record M_m_aero               # [ft-lb]   aero pitch mom in body axes   ls_generic.h
+record M_n_aero               # [ft-lb]   aero yaw mom in body axes     ls_generic.h
+record M_l_engine             # [ft-lb]   prop roll mom in body axes    ls_generic.h
+record M_m_engine             # [ft-lb]   prop pitch mom in body axes   ls_generic.h
+record M_n_engine             # [ft-lb]   prop yaw mom in body axes     ls_generic.h
+record M_l_gear               # [ft-lb]   gear roll mom in body axes    ls_generic.h
+record M_m_gear               # [ft-lb]   gear pitch mom in body axes   ls_generic.h
+record M_n_gear               # [ft-lb]   gear yaw mom in body axes     ls_generic.h
+record M_l_rp                 # [ft-lb]   total roll mom in body axes   ls_generic.h
+record M_m_rp                 # [ft-lb]   total pitch mom in body axes  ls_generic.h
+record M_n_rp                 # [ft-lb]   total yaw mom in body axes    ls_generic.h
+
+**********************************************************************
+
+**********************************************************************
+V. Mandatory Input:
+
+The following data is required for the simulator to function;
+otherwise either the UIUC Aero Model or LaRCsim parts of the code will
+probably crash.
+
+1) initial aircraft state  (LaRCsim)
+Dx_pilot   x-location                    [ft]
+Dy_pilot   y-location                    [ft]
+Dz_pilot   z-location                    [ft]
+
+(items below causing conflict with Flight Gear)
+|V_north   x-velocity                    [ft/s]
+|V_east    y-velocity                    [ft/s]
+|V_down    z-velocity                    [ft/s]
+
+P_body     roll rate                     [rad/s]
+Q_body     pitch rate                    [rad/s]
+R_body     yaw rate                      [rad/s]
+Phi        bank angle                    [rad]
+Theta      pitch attitude angle          [rad]
+Psi        heading angle                 [rad]
+
+2) aircraft geometry   (UIUC Aero Model)
+bw        wingspan                       [ft]
+cbar      mean aerodynamic chord         [ft]
+Sw        wing planform area             [ft^2]
+
+3) engine properties   (UIUC Engine Model)
+(some engine model must be specified, such as...)
+engine simpleSingle
+          <or>
+engine c172
+
+4) mass variables   (LaRCsim)
+Mass      aircraft mass                  [slug]
+I_xx      roll inertia                   [slug-ft^2]
+I_yy      pitch inertia                  [slug-ft^2]
+I_zz      yaw inertia                    [slug-ft^2]
+I_xz      lateral cross inertia          [slug-ft^2]
+
+5) aerodynamic force/moment components   (Aero Model)
+CLo       lift coef for all angles = 0   []
+CL_a      lift curve slope, d(CL)/d(alpha) [/rad]
+CDo       drag coef for all angles = 0   []
+CDK       constant, as in CD=CDo+K*CL^2  []
+          <or>
+CD_a      d(CD)/d(alpha)                 [/rad]
+Cmo       pitch mom coef for all angles=0 []
+Cm_a      d(Cm)/d(alpha)                 [/rad]
+CY_beta   d(CY)/d(beta)                  [/rad]
+Cl_beta   d(Cl)/d(beta)                  [/rad]
+Cn_beta   d(Cn)/d(beta)                  [/rad]
+
+7) gear properties   (none yet)
+
+With the current version, the C172 model gear model is used for *ALL*
+aircraft.  This can produce some interesting effects with heavy
+aircraft (eg, Convair model), and light aircraft (eg, Pioneer UAV)
+
+**********************************************************************