John DENKER:
"This altimetry method is valid to above 100,000 feet, and correctly handles Kollsman settings"
This commit is contained in:
mfranz
parent
bec023b43c
commit
7e6bc192ba
9 changed files with 396 additions and 75 deletions
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@ -8,6 +8,7 @@ libEnvironment_a_SOURCES = \
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environment.cxx environment.hxx \
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environment_mgr.cxx environment_mgr.hxx \
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environment_ctrl.cxx environment_ctrl.hxx \
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fgmetar.cxx fgmetar.hxx fgclouds.cxx fgclouds.hxx
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fgmetar.cxx fgmetar.hxx fgclouds.cxx fgclouds.hxx \
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atmosphere.cxx atmosphere.hxx
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INCLUDES = -I$(top_srcdir) -I$(top_srcdir)/src
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213
src/Environment/atmosphere.cxx
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213
src/Environment/atmosphere.cxx
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@ -0,0 +1,213 @@
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#include "atmosphere.hxx"
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using namespace std;
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#include <iostream>
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FGAtmoCache::FGAtmoCache() :
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a_tvs_p(0)
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{}
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FGAtmoCache::~FGAtmoCache() {
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delete a_tvs_p;
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}
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// Pressure as a function of height.
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// Valid below 32000 meters,
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// i.e. troposphere and first two layers of stratosphere.
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// Does not depend on any caching; can be used to
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// *construct* caches and interpolation tables.
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//
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// Height in meters, pressure in pascals.
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double FGAtmo::p_vs_a(const double height) {
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using namespace atmodel;
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if (height <= 11000.) {
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return P_layer(height, 0.0, ISA::P0, ISA::T0, ISA::lam0);
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} else if (height <= 20000.) {
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return P_layer(height, 11000., 22632.06, 216.65, 0.0);
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} else if (height <= 32000.) {
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return P_layer(height, 20000., 5474.89, 216.65, -0.001);
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}
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return 0;
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}
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// degrees C, height in feet
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double FGAtmo::fake_t_vs_a_us(const double h_ft) {
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using namespace atmodel;
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return ISA::T0 - ISA::lam0 * h_ft * foot - freezing;
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}
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// Dewpoint. degrees C or K, height in feet
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double FGAtmo::fake_dp_vs_a_us(const double dpsl, const double h_ft) {
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const double dp_lapse(0.002); // [K/m] approximate
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// Reference: http://en.wikipedia.org/wiki/Lapse_rate
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return dpsl - dp_lapse * h_ft * atmodel::foot;
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}
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// Height as a function of pressure.
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// Valid in the troposphere only.
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double FGAtmo::a_vs_p(const double press, const double qnh) {
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using namespace atmodel;
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using namespace ISA;
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double nn = lam0 * Rgas / g / mm;
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return T0 * ( pow(qnh/P0,nn) - pow(press/P0,nn) ) / lam0;
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}
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// force retabulation
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void FGAtmoCache::tabulate() {
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using namespace atmodel;
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delete a_tvs_p;
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a_tvs_p = new SGInterpTable;
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for (double hgt = -1000; hgt <= 32000;) {
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double press = p_vs_a(hgt);
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a_tvs_p->addEntry(press / inHg, hgt / foot);
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#ifdef DEBUG_EXPORT_P_H
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char buf[100];
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char* fmt = " { %9.2f , %5.0f },";
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if (press < 10000) fmt = " { %9.3f , %5.0f },";
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snprintf(buf, 100, fmt, press, hgt);
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cout << buf << endl;
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#endif
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if (hgt < 6000) {
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hgt += 500;
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} else {
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hgt += 1000;
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}
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}
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}
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// make sure cache is valid
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void FGAtmoCache::cache() {
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if (!a_tvs_p)
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tabulate();
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}
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// Pressure within a layer, as a function of height.
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// Physics model: standard or nonstandard atmosphere,
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// depending on what parameters you pass in.
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// Height in meters, pressures in pascals.
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// As always, lapse is positive in the troposphere,
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// and zero in the first part of the stratosphere.
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double FGAtmo::P_layer(const double height, const double href,
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const double Pref, const double Tref,
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const double lapse) {
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using namespace atmodel;
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if (lapse) {
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double N = lapse * Rgas / mm / g;
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return Pref * pow( (Tref - lapse*(height - href)) / Tref , (1/N));
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} else {
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return Pref * exp(-g * mm / Rgas / Tref * (height - href));
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}
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}
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// Check the basic function,
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// then compare against the interpolator.
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void FGAtmoCache::check_model() {
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double hgts[] = {
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-1000,
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-250,
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0,
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250,
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1000,
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5250,
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11000,
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11000.00001,
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15500,
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20000,
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20000.00001,
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25500,
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32000,
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32000.00001,
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-9e99
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};
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for (int i = 0; ; i++) {
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double height = hgts[i];
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if (height < -1e6)
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break;
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using namespace atmodel;
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cache();
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double press = p_vs_a(height);
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cout << "Height: " << height
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<< " \tpressure: " << press << endl;
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cout << "Check: "
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<< a_tvs_p->interpolate(press / inHg)*foot << endl;
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}
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}
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//////////////////////////////////////////////////////////////////////
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FGAltimeter::FGAltimeter() : kset(atmodel::ISA::P0), kft(0)
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{
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cache();
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}
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double FGAltimeter::reading_ft(const double p_inHg, const double set_inHg) {
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using namespace atmodel;
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double press_alt = a_tvs_p->interpolate(p_inHg);
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double kollsman_shift = a_tvs_p->interpolate(set_inHg);
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return (press_alt - kollsman_shift);
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}
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// Altimeter setting.
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// Field elevation in feet
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// Field pressure in inHg
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// field elevation in troposphere only
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double FGAtmo::qnh(const double field_ft, const double press_inHg) {
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using namespace atmodel;
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// Equation derived in altimetry.htm
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// exponent in QNH equation:
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double nn = ISA::lam0 * Rgas / g / mm;
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// pressure ratio factor:
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double prat = pow(ISA::P0/inHg / press_inHg, nn);
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return press_inHg
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* pow(1 + ISA::lam0 * field_ft * foot / ISA::T0 * prat, 1/nn);
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}
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void FGAltimeter::dump_stack1(const double Tref) {
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using namespace atmodel;
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const int bs(200);
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char buf[bs];
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double Psl = P_layer(0, 0, ISA::P0, Tref, ISA::lam0);
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snprintf(buf, bs, "Tref: %6.2f Psl: %5.0f = %7.4f",
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Tref, Psl, Psl / inHg);
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cout << buf << endl;
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snprintf(buf, bs,
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" %6s %6s %6s %6s %6s %6s %6s",
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"A", "Aind", "Apr", "Aprind", "P", "Psl", "Qnh");
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cout << buf << endl;
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double hgts[] = {0, 2500, 5000, 7500, 10000, -9e99};
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for (int ii = 0; ; ii++) {
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double hgt_ft = hgts[ii];
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if (hgt_ft < -1e6)
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break;
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double press = P_layer(hgt_ft*foot, 0, ISA::P0, Tref, ISA::lam0);
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double p_inHg = press / inHg;
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double qnhx = qnh(hgt_ft, p_inHg);
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double qnh2 = round(qnhx*100)/100;
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double Aprind = reading_ft(p_inHg);
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double Apr = a_vs_p(p_inHg*inHg) / foot;
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double hind = reading_ft(p_inHg, qnh2);
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snprintf(buf, bs,
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" %6.0f %6.0f %6.0f %6.0f %6.2f %6.2f %6.2f",
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hgt_ft, hind, Apr, Aprind, p_inHg, Psl/inHg, qnh2);
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cout << buf << endl;
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}
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}
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void FGAltimeter::dump_stack() {
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using namespace atmodel;
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cout << "........." << endl;
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cout << "Size: " << sizeof(FGAtmo) << endl;
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dump_stack1(ISA::T0);
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dump_stack1(ISA::T0 - 20);
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}
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124
src/Environment/atmosphere.hxx
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124
src/Environment/atmosphere.hxx
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@ -0,0 +1,124 @@
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// atmosphere.hxx -- routines to model the air column
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//
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// Written by David Megginson, started February 2002.
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// Modified by John Denker to correct physics errors in 2007
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//
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// Copyright (C) 2002 David Megginson - david@megginson.com
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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//
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// $Id$
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#ifndef _ATMOSPHERE_HXX
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#define _ATMOSPHERE_HXX
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#include <simgear/compiler.h>
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#include <simgear/math/interpolater.hxx>
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#ifdef SG_HAVE_STD_INCLUDES
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# include <cmath>
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#else
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# include <math.h>
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#endif
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using namespace std;
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/**
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* Model the atmosphere in a way consistent with the laws
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* of physics.
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*
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* Each instance of this class models a particular air mass.
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* You may freely move up, down, or sideways in the air mass.
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* In contrast, if you want to compare different air masses,
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* you should use a separate instance for each one.
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*
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* See also ./environment.hxx
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*/
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#define SCD(name,val) const double name(val)
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namespace atmodel {
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SCD(g, 9.80665); // [m/s/s] acceleration of gravity
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SCD(mm, .0289644); // [kg/mole] molar mass of air (dry?)
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SCD(Rgas, 8.31432); // [J/K/mole] gas constant
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SCD(inch, 0.0254); // [m] definition of inch
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SCD(foot, 12 * inch); // [m]
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SCD(inHg, 101325.0 / 760 * 1000 * inch); // [Pa] definition of inHg
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SCD(freezing, 273.15); // [K] centigrade - kelvin offset
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SCD(nm, 1852); // [m] nautical mile (NIST)
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SCD(sm, 5280*foot); // [m] nautical mile (NIST)
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namespace ISA {
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SCD(P0, 101325.0); // [pascals] ISA sea-level pressure
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SCD(T0, 15. + freezing); // [K] ISA sea-level temperature
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SCD(lam0, .0065); // [K/m] ISA troposphere lapse rate
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}
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}
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#undef SCD
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// The base class is little more than a namespace.
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// It has no constructor, no destructor, and no variables.
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class FGAtmo {
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public:
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double p_vs_a(const double height);
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double a_vs_p(const double press, const double qnh = atmodel::ISA::P0);
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double fake_t_vs_a_us(const double h_ft);
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double fake_dp_vs_a_us(const double dpsl, const double h_ft);
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double P_layer(const double height, const double href,
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const double Pref, const double Tref,
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const double lapse );
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void check_one(const double height);
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double qnh(const double field_ft, const double press_in);
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};
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class FGAtmoCache : FGAtmo {
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friend class FGAltimeter;
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SGInterpTable * a_tvs_p; // _tvs_ means "tabulated versus"
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public:
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FGAtmoCache();
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~FGAtmoCache();
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void tabulate();
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void cache();
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void check_model(); // debug
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};
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class FGAltimeter : public FGAtmoCache {
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double kset;
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double kft;
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public:
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FGAltimeter();
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double reading_ft(const double p_inHg,
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const double set_inHg = atmodel::ISA::P0/atmodel::inHg);
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inline double press_alt_ft(const double p_inHg) {
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return a_tvs_p->interpolate(p_inHg);
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}
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inline double kollsman_ft(const double set_inHg) {
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return a_tvs_p->interpolate(set_inHg);
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}
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// debug
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void dump_stack();
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void dump_stack1(const double Tref);
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};
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#endif // _ATMOSPHERE_HXX
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@ -10,7 +10,6 @@ libInstrumentation_a_SOURCES = \
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attitude_indicator.cxx attitude_indicator.hxx \
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clock.cxx clock.hxx \
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dme.cxx dme.hxx \
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encoder.cxx encoder.hxx \
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gps.cxx gps.hxx \
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gsdi.cxx gsdi.hxx \
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gyro.cxx gyro.hxx \
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@ -1,65 +1,38 @@
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// altimeter.cxx - an altimeter tied to the static port.
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// Written by David Megginson, started 2002.
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// Modified by John Denker in 2007 to use a two layer atmosphere
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// model in src/Environment/atmosphere.?xx
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//
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// This file is in the Public Domain and comes with no warranty.
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// Example invocation, in the instrumentation.xml file:
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// <altimeter>
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// <name>encoder</name>
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// <number>0</number>
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// <static-pressure>/systems/static/pressure-inhg</static-pressure>
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// <quantum>10</quantum>
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// <tau>0</tau>
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// </altimeter>
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// Note non-default name, quantum, and tau values.
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#include <simgear/math/interpolater.hxx>
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#include "altimeter.hxx"
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#include <Main/fg_props.hxx>
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#include <Main/util.hxx>
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#include <Environment/atmosphere.hxx>
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#include "altimeter.hxx"
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// A higher number means more responsive
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#define RESPONSIVENESS 10.0
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// Altitude based on pressure difference from sea level.
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// pressure difference inHG, altitude ft
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static double altitude_data[][2] = {
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{ -8.41, -8858.27 },
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{ 0.00, 0.00 },
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{ 3.05, 2952.76 },
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{ 5.86, 5905.51 },
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{ 8.41, 8858.27 },
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{ 10.74, 11811.02 },
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{ 12.87, 14763.78 },
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{ 14.78, 17716.54 },
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{ 16.55, 20669.29 },
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{ 18.13, 23622.05 },
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{ 19.62, 26574.80 },
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{ 20.82, 29527.56 },
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{ 21.96, 32480.31 },
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{ 23.01, 35433.07 },
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{ 23.91, 38385.83 },
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{ 24.71, 41338.58 },
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{ 25.40, 44291.34 },
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{ 26.00, 47244.09 },
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{ 26.51, 50196.85 },
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{ 26.96, 53149.61 },
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{ 27.35, 56102.36 },
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{ 27.68, 59055.12 },
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{ 27.98, 62007.87 },
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{ 29.62, 100000.00 }, // just to fill it in
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{ -1, -1 }
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};
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Altimeter::Altimeter ( SGPropertyNode *node )
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Altimeter::Altimeter ( SGPropertyNode *node, double quantum )
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: _name(node->getStringValue("name", "altimeter")),
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_num(node->getIntValue("number", 0)),
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_static_pressure(node->getStringValue("static-pressure", "/systems/static/pressure-inhg")),
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_altitude_table(new SGInterpTable)
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{
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int i;
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for (i = 0; altitude_data[i][0] != -1; i++)
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_altitude_table->addEntry(altitude_data[i][0], altitude_data[i][1]);
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}
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_tau(node->getDoubleValue("tau", 0.1)),
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_quantum(node->getDoubleValue("quantum", quantum))
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{}
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Altimeter::~Altimeter ()
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{
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delete _altitude_table;
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}
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{}
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void
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Altimeter::init ()
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@ -68,27 +41,36 @@ Altimeter::init ()
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branch = "/instrumentation/" + _name;
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SGPropertyNode *node = fgGetNode(branch.c_str(), _num, true );
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raw_PA = 0.0;
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_pressure_node = fgGetNode(_static_pressure.c_str(), true);
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_serviceable_node = node->getChild("serviceable", 0, true);
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_setting_node = node->getChild("setting-inhg", 0, true);
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_press_alt_node = node->getChild("pressure-alt-ft", 0, true);
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_mode_c_node = node->getChild("mode-c-alt-ft", 0, true);
|
||||
_altitude_node = node->getChild("indicated-altitude-ft", 0, true);
|
||||
|
||||
_serviceable_node = node->getChild("serviceable", 0, true);
|
||||
_setting_node = node->getChild("setting-inhg", 0, true);
|
||||
_pressure_node = fgGetNode(_static_pressure.c_str(), true);
|
||||
_altitude_node = node->getChild("indicated-altitude-ft", 0, true);
|
||||
if (_setting_node->getDoubleValue() == 0)
|
||||
_setting_node->setDoubleValue(29.921260);
|
||||
}
|
||||
|
||||
void
|
||||
Altimeter::update (double dt)
|
||||
{
|
||||
if (_serviceable_node->getBoolValue()) {
|
||||
double trat = _tau > 0 ? dt/_tau : 100;
|
||||
double pressure = _pressure_node->getDoubleValue();
|
||||
double setting = _setting_node->getDoubleValue();
|
||||
|
||||
// Move towards the current setting
|
||||
double last_altitude = _altitude_node->getDoubleValue();
|
||||
double current_altitude =
|
||||
_altitude_table->interpolate(setting - pressure);
|
||||
_altitude_node->setDoubleValue(fgGetLowPass(last_altitude,
|
||||
current_altitude,
|
||||
dt * RESPONSIVENESS));
|
||||
double press_alt = _press_alt_node->getDoubleValue();
|
||||
// The mechanism settles slowly toward new pressure altitude:
|
||||
raw_PA = fgGetLowPass(raw_PA, _altimeter.press_alt_ft(pressure), trat);
|
||||
_mode_c_node->setDoubleValue(100 * round(raw_PA/100));
|
||||
_kollsman = fgGetLowPass(_kollsman, _altimeter.kollsman_ft(setting), trat);
|
||||
if (_quantum)
|
||||
press_alt = _quantum*round(raw_PA/_quantum);
|
||||
else
|
||||
press_alt = raw_PA;
|
||||
_press_alt_node->setDoubleValue(press_alt);
|
||||
_altitude_node->setDoubleValue(press_alt - _kollsman);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1,5 +1,6 @@
|
|||
// altimeter.hxx - an altimeter tied to the static port.
|
||||
// Written by David Megginson, started 2002.
|
||||
// Updated by John Denker to match changes in altimeter.cxx in 2007
|
||||
//
|
||||
// This file is in the Public Domain and comes with no warranty.
|
||||
|
||||
|
|
@ -7,15 +8,9 @@
|
|||
#ifndef __INSTRUMENTS_ALTIMETER_HXX
|
||||
#define __INSTRUMENTS_ALTIMETER_HXX 1
|
||||
|
||||
#ifndef __cplusplus
|
||||
# error This library requires C++
|
||||
#endif
|
||||
|
||||
#include <simgear/props/props.hxx>
|
||||
#include <simgear/structure/subsystem_mgr.hxx>
|
||||
|
||||
|
||||
class SGInterpTable;
|
||||
#include <Environment/atmosphere.hxx>
|
||||
|
||||
|
||||
/**
|
||||
|
|
@ -36,7 +31,7 @@ class Altimeter : public SGSubsystem
|
|||
|
||||
public:
|
||||
|
||||
Altimeter (SGPropertyNode *node);
|
||||
Altimeter (SGPropertyNode *node, double quantum = 0);
|
||||
virtual ~Altimeter ();
|
||||
|
||||
virtual void init ();
|
||||
|
|
@ -47,14 +42,19 @@ private:
|
|||
string _name;
|
||||
int _num;
|
||||
string _static_pressure;
|
||||
double _tau;
|
||||
double _quantum;
|
||||
double _kollsman;
|
||||
double raw_PA;
|
||||
|
||||
SGPropertyNode_ptr _serviceable_node;
|
||||
SGPropertyNode_ptr _setting_node;
|
||||
SGPropertyNode_ptr _pressure_node;
|
||||
SGPropertyNode_ptr _press_alt_node;
|
||||
SGPropertyNode_ptr _mode_c_node;
|
||||
SGPropertyNode_ptr _altitude_node;
|
||||
|
||||
SGInterpTable * _altitude_table;
|
||||
|
||||
FGAltimeter _altimeter;
|
||||
};
|
||||
|
||||
#endif // __INSTRUMENTS_ALTIMETER_HXX
|
||||
|
|
|
|||
|
|
@ -27,7 +27,6 @@
|
|||
#include "attitude_indicator.hxx"
|
||||
#include "clock.hxx"
|
||||
#include "dme.hxx"
|
||||
#include "encoder.hxx"
|
||||
#include "gps.hxx"
|
||||
#include "gsdi.hxx"
|
||||
#include "heading_indicator.hxx"
|
||||
|
|
@ -121,7 +120,7 @@ bool FGInstrumentMgr::build ()
|
|||
new DME( node ), 1.0 );
|
||||
} else if ( name == "encoder" ) {
|
||||
set_subsystem( "instrument" + temp.str(),
|
||||
new Encoder( node ) );
|
||||
new Altimeter( node ) );
|
||||
} else if ( name == "gps" ) {
|
||||
set_subsystem( "instrument" + temp.str(),
|
||||
new GPS( node ), 0.45 );
|
||||
|
|
|
|||
|
|
@ -11,7 +11,9 @@
|
|||
StaticSystem::StaticSystem ( SGPropertyNode *node )
|
||||
:
|
||||
_name(node->getStringValue("name", "static")),
|
||||
_num(node->getIntValue("number", 0))
|
||||
_num(node->getIntValue("number", 0)),
|
||||
_tau(node->getDoubleValue("tau", 1))
|
||||
|
||||
{
|
||||
}
|
||||
|
||||
|
|
@ -45,11 +47,11 @@ void
|
|||
StaticSystem::update (double dt)
|
||||
{
|
||||
if (_serviceable_node->getBoolValue()) {
|
||||
|
||||
double trat = _tau ? dt/_tau : 100;
|
||||
double target = _pressure_in_node->getDoubleValue();
|
||||
double current = _pressure_out_node->getDoubleValue();
|
||||
// double delta = target - current;
|
||||
_pressure_out_node->setDoubleValue(fgGetLowPass(current, target, dt));
|
||||
_pressure_out_node->setDoubleValue(fgGetLowPass(current, target, trat));
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -48,6 +48,7 @@ private:
|
|||
|
||||
string _name;
|
||||
int _num;
|
||||
double _tau;
|
||||
SGPropertyNode_ptr _serviceable_node;
|
||||
SGPropertyNode_ptr _pressure_in_node;
|
||||
SGPropertyNode_ptr _pressure_out_node;
|
||||
|
|
|
|||
Loading…
Reference in a new issue