Merge /u/jsb1685/flightgear/ branch yasim2 into next
https://sourceforge.net/p/flightgear/flightgear/merge-requests/118/
This commit is contained in:
James Turner
commit
865e72f204
11 changed files with 297 additions and 203 deletions
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@ -16,6 +16,9 @@
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namespace yasim {
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//default prop names
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static const char* DEF_PROP_ELEVATOR_TRIM = "/controls/flight/elevator-trim";
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// gadgets
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inline float abs(float f) { return f<0 ? -f : f; }
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@ -59,11 +62,12 @@ Airplane::~Airplane()
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}
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for(i=0; i<_solveWeights.size(); i++)
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delete (SolveWeight*)_solveWeights.get(i);
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for(i=0; i<_cruiseConfig.controls.size(); i++)
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delete (ControlSetting*)_cruiseConfig.controls.get(i);
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for(i=0; i<_cruiseConfig.controls.size(); i++) {
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ControlSetting* c = (ControlSetting*)_cruiseConfig.controls.get(i);
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delete c;
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}
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for(i=0; i<_approachConfig.controls.size(); i++) {
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ControlSetting* c = (ControlSetting*)_approachConfig.controls.get(i);
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if(c != &_approachElevator)
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delete c;
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}
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delete _wing;
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@ -78,7 +82,6 @@ void Airplane::iterate(float dt)
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{
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// The gear might have moved. Change their aerodynamics.
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updateGearState();
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_model.iterate();
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}
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@ -143,7 +146,8 @@ void Airplane::setApproach(float speed, float altitude, float aoa, float fuel, f
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{
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_approachConfig.speed = speed;
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_approachConfig.altitude = altitude;
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_approachConfig.state.setupOrientationFromAoa(aoa); // see runConfig()
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// solver assumes fixed (given) AoA for approach, so setup once
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_approachConfig.state.setupOrientationFromAoa(aoa);
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_approachConfig.aoa = aoa; // not strictly needed, see runConfig()
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_approachConfig.fuel = fuel;
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_approachConfig.glideAngle = gla;
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@ -153,23 +157,32 @@ void Airplane::setCruise(float speed, float altitude, float fuel, float gla)
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{
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_cruiseConfig.speed = speed;
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_cruiseConfig.altitude = altitude;
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_cruiseConfig.aoa = 0;
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_tailIncidence.val = 0;
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_cruiseConfig.fuel = fuel;
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_cruiseConfig.glideAngle = gla;
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}
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void Airplane::setElevatorControl(const char* prop)
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/// set property name for elevator
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void Airplane::setElevatorControl(const char* propName)
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{
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_approachElevator.propHandle = getControlMap()->getInputPropertyHandle(prop);
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_approachElevator.val = 0;
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_approachConfig.controls.add(&_approachElevator);
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_approachElevator = _addControlSetting(APPROACH, propName, 0);
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}
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/// set property name for hstab trim
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void Airplane::setHstabTrimControl(const char* propName)
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{
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_tailIncidence = _addControlSetting(APPROACH, propName, 0);
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_ti2 = _addControlSetting(CRUISE, propName, 0);
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}
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void Airplane::addControlSetting(Configuration cfg, const char* prop, float val)
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{
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_addControlSetting(cfg, prop,val);
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}
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Airplane::ControlSetting* Airplane::_addControlSetting(Configuration cfg, const char* prop, float val)
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{
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ControlSetting* c = new ControlSetting();
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c->propHandle = getControlMap()->getInputPropertyHandle(prop);
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c->propHandle = _controlMap.getInputPropertyHandle(prop);
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c->val = val;
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switch (cfg) {
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case APPROACH:
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@ -179,6 +192,21 @@ void Airplane::addControlSetting(Configuration cfg, const char* prop, float val)
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_cruiseConfig.controls.add(c);
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break;
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}
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return c;
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}
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/**
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* used by the XML parser in FGFDM and solveAirplane
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*/
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void Airplane::addControlInput(const char* propName, ControlMap::ControlType type, void* obj, int subobj, int opt, float src0, float src1, float dst0, float dst1)
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{
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ControlMap::ObjectID oid = ControlMap::getObjectID(obj, subobj);
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_controlMap.addMapping(propName, type, oid, opt, src0, src1, dst0, dst1);
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// tail incidence is needed by solver so capture the prop name if used in XML
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if (type == ControlMap::INCIDENCE && obj == _tail) {
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setHstabTrimControl(propName);
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}
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}
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void Airplane::addSolutionWeight(Configuration cfg, int idx, float wgt)
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@ -727,11 +755,13 @@ void Airplane::setupWeights(bool isApproach)
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}
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}
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/// used by solver to simulate property input
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void Airplane::setControlValues(const Vector& controls)
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{
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_controlMap.reset();
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for(int i=0; i < controls.size(); i++) {
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ControlSetting* c = (ControlSetting*)controls.get(i);
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if (c->propHandle >= 0)
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_controlMap.setInput(c->propHandle, c->val);
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}
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_controlMap.applyControls();
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@ -740,7 +770,7 @@ void Airplane::setControlValues(const Vector& controls)
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void Airplane::runConfig(Config &cfg)
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{
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// aoa is consider to be given for approach so we calculate orientation
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// only once in setApproach()
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// for approach only once in setApproach() but everytime for cruise here.
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if (!cfg.isApproach) {
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cfg.state.setupOrientationFromAoa(cfg.aoa);
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}
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@ -774,6 +804,7 @@ void Airplane::runConfig(Config &cfg)
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_model.initIteration();
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_model.calcForces(&cfg.state);
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}
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/// Used only in solveAirplane() and solveHelicopter(), not at runtime
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void Airplane::applyDragFactor(float factor)
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{
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@ -790,8 +821,7 @@ void Airplane::applyDragFactor(float factor)
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}
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for(i=0; i<_fuselages.size(); i++) {
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Fuselage* f = (Fuselage*)_fuselages.get(i);
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int j;
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for(j=0; j<f->surfs.size(); j++) {
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for(int j=0; j<f->surfs.size(); j++) {
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Surface* s = (Surface*)f->surfs.get(j);
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if( isVersionOrNewer( YASIM_VERSION_32 ) ) {
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// For new YASim, the solver drag factor is only applied to
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@ -802,7 +832,7 @@ void Airplane::applyDragFactor(float factor)
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// it won't be affected by the streamlining done to reduce
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// longitudinal drag. So the solver should only adjust the
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// fuselage's longitudinal (X axis) drag coefficient.
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s->setDragCoefficient(s->getDragCoefficient() * applied);
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s->mulDragCoefficient(applied);
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} else {
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// Originally YASim applied the drag factor to all axes
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// for Fuselage Surfaces.
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@ -820,7 +850,8 @@ void Airplane::applyDragFactor(float factor)
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}
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}
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/// Used only in Airplane::solve() and solveHelicopter(), not at runtime
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/// Used only in solveAirplane() and solveHelicopter(), not at runtime
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/// change lift coefficient cz in surfaces
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void Airplane::applyLiftRatio(float factor)
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{
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float applied = Math::pow(factor, SOLVE_TWEAK);
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@ -870,9 +901,20 @@ void Airplane::solveAirplane()
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_solutionIterations = 0;
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_failureMsg = 0;
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if (_approachElevator == nullptr) {
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setElevatorControl(DEF_PROP_ELEVATOR_TRIM);
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}
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if (_tailIncidence == nullptr) {
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// no control mapping from XML parser, so we just create "local"
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// variables for solver instead of full mapping / property
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_tailIncidence = new ControlSetting;
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_ti2 = new ControlSetting;
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}
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while(1) {
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if(_solutionIterations++ > 10000) {
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_failureMsg = "Solution failed to converge after 10000 iterations";
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if(_solutionIterations++ > SOLVER_MAX_ITERATIONS) {
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_failureMsg = "Solution failed to converge!";
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return;
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}
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// Run an iteration at cruise, and extract the needed numbers:
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@ -884,7 +926,7 @@ void Airplane::solveAirplane()
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_cruiseConfig.state.localToGlobal(tmp, tmp);
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float xforce = _cruiseConfig.weight * tmp[0];
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float clift0 = _getLift(_cruiseConfig);
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float pitch0 = _getPitch(_cruiseConfig);
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float cpitch0 = _getPitch(_cruiseConfig);
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// Run an approach iteration, and do likewise
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runConfig(_approachConfig);
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@ -899,19 +941,23 @@ void Airplane::solveAirplane()
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float clift1 = _getLift(_cruiseConfig);
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// Do the same with the tail incidence
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_tail->setIncidence(_tailIncidence.val + ARCMIN);
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float savedIncidence = _tailIncidence->val;
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_ti2->val = _tailIncidence->val += ARCMIN;
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if (!_tail->setIncidence(_tailIncidence->val)) {
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_failureMsg = "Tail incidence out of bounds.";
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return;
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};
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runConfig(_cruiseConfig);
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_tail->setIncidence(_tailIncidence.val);
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_ti2->val = _tailIncidence->val = savedIncidence;
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_tail->setIncidence(_tailIncidence->val);
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float pitch1 = _getPitch(_cruiseConfig);
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float cpitch1 = _getPitch(_cruiseConfig);
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// Now calculate:
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float awgt = 9.8f * _approachConfig.weight;
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float dragFactor = thrust / (thrust-xforce);
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float liftFactor = awgt / (awgt+alift);
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float aoaDelta = -clift0 * (ARCMIN/(clift1-clift0));
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float tailDelta = -pitch0 * (ARCMIN/(pitch1-pitch0));
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// Sanity:
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if(dragFactor <= 0 || liftFactor <= 0)
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@ -922,12 +968,11 @@ void Airplane::solveAirplane()
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// same thing -- pitching moment -- by diddling a different
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// variable).
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const float ELEVDIDDLE = 0.001f;
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_approachElevator.val += ELEVDIDDLE;
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_approachElevator->val += ELEVDIDDLE;
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runConfig(_approachConfig);
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_approachElevator.val -= ELEVDIDDLE;
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_approachElevator->val -= ELEVDIDDLE;
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double apitch1 = _getPitch(_approachConfig);
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float elevDelta = -apitch0 * (ELEVDIDDLE/(apitch1-apitch0));
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// Now apply the values we just computed. Note that the
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// "minor" variables are deferred until we get the lift/drag
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@ -944,25 +989,28 @@ void Airplane::solveAirplane()
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}
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// OK, now we can adjust the minor variables:
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float aoaDelta = -clift0 * (ARCMIN/(clift1-clift0));
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float tailDelta = -cpitch0 * (ARCMIN/(cpitch1-cpitch0));
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_cruiseConfig.aoa += SOLVE_TWEAK*aoaDelta;
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_tailIncidence.val += SOLVE_TWEAK*tailDelta;
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_tailIncidence->val += SOLVE_TWEAK*tailDelta;
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_cruiseConfig.aoa = Math::clamp(_cruiseConfig.aoa, -0.175f, 0.175f);
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_tailIncidence.val = Math::clamp(_tailIncidence.val, -0.175f, 0.175f);
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_tailIncidence->val = Math::clamp(_tailIncidence->val, -0.175f, 0.175f);
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if(abs(xforce/_cruiseConfig.weight) < STHRESH*0.0001 &&
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abs(alift/_approachConfig.weight) < STHRESH*0.0001 &&
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abs(aoaDelta) < STHRESH*.000017 &&
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abs(tailDelta) < STHRESH*.000017)
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{
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float elevDelta = -apitch0 * (ELEVDIDDLE/(apitch1-apitch0));
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// If this finaly value is OK, then we're all done
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if(abs(elevDelta) < STHRESH*0.0001)
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break;
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// Otherwise, adjust and do the next iteration
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_approachElevator.val += SOLVE_TWEAK * elevDelta;
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if(abs(_approachElevator.val) > 1) {
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_failureMsg = "Insufficient elevator to trim for approach";
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_approachElevator->val += SOLVE_TWEAK * elevDelta;
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if(abs(_approachElevator->val) > 1) {
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_failureMsg = "Insufficient elevator to trim for approach.";
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break;
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}
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}
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@ -977,10 +1025,16 @@ void Airplane::solveAirplane()
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} else if(Math::abs(_cruiseConfig.aoa) >= .17453293) {
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_failureMsg = "Cruise AoA > 10 degrees";
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return;
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} else if(Math::abs(_tailIncidence.val) >= .17453293) {
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} else if(Math::abs(_tailIncidence->val) >= .17453293) {
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_failureMsg = "Tail incidence > 10 degrees";
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return;
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}
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// if we have a property tree, export result from solver
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if (_wingsN != nullptr) {
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if (_tailIncidence->propHandle >= 0) {
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fgSetFloat(_controlMap.getProperty(_tailIncidence->propHandle)->name, _tailIncidence->val);
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}
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}
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}
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void Airplane::solveHelicopter()
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@ -64,10 +64,10 @@ public:
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void setApproach(float speed, float altitude, float aoa, float fuel, float gla);
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void setCruise(float speed, float altitude, float fuel, float gla);
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///set name of property controlling the elevator
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void setElevatorControl(const char* prop);
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/// add (fixed) control setting to approach/cruise config (for solver)
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void addControlSetting(Configuration cfg, const char* prop, float val);
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/// add a control input mapping for runtime
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void addControlInput(const char* propName, ControlMap::ControlType type, void* obj, int subobj, int opt, float src0, float src1, float dst0, float dst1);
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void addSolutionWeight(Configuration cfg, int idx, float wgt);
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int numGear() const { return _gears.size(); }
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@ -101,10 +101,11 @@ public:
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float getDragCoefficient() const { return _dragFactor; }
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float getLiftRatio() const { return _liftRatio; }
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float getCruiseAoA() const { return _cruiseConfig.aoa; }
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float getTailIncidence() const { return _tailIncidence.val; }
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float getApproachElevator() const { return _approachElevator.val; }
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float getTailIncidence() const { return _tailIncidence->val; }
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float getApproachElevator() const { return _approachElevator->val; }
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const char* getFailureMsg() const { return _failureMsg; }
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// next two are used only in yasim CLI tool
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void setApproachControls() { setControlValues(_approachConfig.controls); }
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void setCruiseControls() { setControlValues(_cruiseConfig.controls); }
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@ -208,6 +209,11 @@ private:
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float _getWingLoad(float mass) const;
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///calculate distance between CGx and AC of wing w
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float _getWingLever(const Wing* w) const;
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ControlSetting* _addControlSetting(Configuration cfg, const char* prop, float val);
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///set name of property controlling the elevator
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void setElevatorControl(const char* propName);
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/// set property name controling tail trim (incidence)
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void setHstabTrimControl(const char* propName);
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|
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Model _model;
|
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ControlMap _controlMap;
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@ -237,8 +243,9 @@ private:
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int _solutionIterations {0};
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float _dragFactor {1};
|
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float _liftRatio {1};
|
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ControlSetting _tailIncidence;
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ControlSetting _approachElevator;
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ControlSetting* _tailIncidence {nullptr}; // added to approach config so solver can change it
|
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ControlSetting* _ti2 {nullptr}; // copy of _tailIncidence added to cruise config
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ControlSetting* _approachElevator {nullptr};
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const char* _failureMsg {0};
|
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/// hard limits for cg from gear position
|
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float _cgMax {-1e6};
|
||||
|
|
|
|||
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@ -88,10 +88,11 @@ ControlMap::~ControlMap()
|
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}
|
||||
|
||||
/**
|
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prop: name of input property
|
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inputProp: name of input property
|
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control: identifier (see enum OutputType)
|
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object: object to which this input belongs to
|
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id: object to which this input belongs to
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options: bits OPT_INVERT, OPT_SPLIT, OPT_SQUARE
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src,dst: input will be clamped to src range and mapped to dst range
|
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*/
|
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void ControlMap::addMapping(const char* inputProp, ControlType control, ObjectID id, int options, float src0, float src1, float dst0, float dst1)
|
||||
{
|
||||
|
|
@ -150,9 +151,9 @@ void ControlMap::reset()
|
|||
}
|
||||
}
|
||||
|
||||
void ControlMap::setInput(int input, float val)
|
||||
void ControlMap::setInput(int propHandle, float val)
|
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{
|
||||
Vector* maps = (Vector*)_inputs.get(input);
|
||||
Vector* maps = (Vector*)_inputs.get(propHandle);
|
||||
for(int i = 0; i < maps->size(); i++) {
|
||||
MapRec* m = (MapRec*)maps->get(i);
|
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float val2 = val;
|
||||
|
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@ -186,28 +187,22 @@ float ControlMap::getOutputR(int handle)
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|||
|
||||
void ControlMap::applyControls(float dt)
|
||||
{
|
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int outrec;
|
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for(outrec=0; outrec<_outputs.size(); outrec++)
|
||||
for(int outrec=0; outrec<_outputs.size(); outrec++)
|
||||
{
|
||||
OutRec* o = (OutRec*)_outputs.get(outrec);
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||||
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||||
// Generate a summed value. Note the check for "split"
|
||||
// control axes like ailerons.
|
||||
float lval = 0, rval = 0;
|
||||
int i;
|
||||
for(i=0; i<o->maps.size(); i++) {
|
||||
for(int i = 0; i < o->maps.size(); i++) {
|
||||
MapRec* m = (MapRec*)o->maps.get(i);
|
||||
float val = m->val;
|
||||
|
||||
if(m->opt & OPT_SQUARE)
|
||||
val = val * Math::abs(val);
|
||||
if(m->opt & OPT_INVERT)
|
||||
val = -val;
|
||||
if(m->opt & OPT_SQUARE) { val = val * Math::abs(val); }
|
||||
if(m->opt & OPT_INVERT) { val = -val; }
|
||||
lval += val;
|
||||
if(m->opt & OPT_SPLIT)
|
||||
rval -= val;
|
||||
else
|
||||
rval += val;
|
||||
if(m->opt & OPT_SPLIT) { rval -= val; }
|
||||
else { rval += val; }
|
||||
}
|
||||
|
||||
// If there is a finite transition time, clamp the values to
|
||||
|
|
@ -218,13 +213,16 @@ void ControlMap::applyControls(float dt)
|
|||
float adl = Math::abs(dl);
|
||||
float adr = Math::abs(dr);
|
||||
|
||||
float max = (dt/o->transitionTime) * (rangeMax(o->control) - rangeMin(o->control));
|
||||
if(adl > max) dl = dl*max/adl;
|
||||
if(adr > max) dr = dr*max/adr;
|
||||
|
||||
float maxDelta = (dt/o->transitionTime) * (rangeMax(o->control) - rangeMin(o->control));
|
||||
if(adl > maxDelta) {
|
||||
dl = dl*maxDelta/adl;
|
||||
lval = o->oldValueLeft + dl;
|
||||
}
|
||||
if(adr > maxDelta) {
|
||||
dr = dr*maxDelta/adr;
|
||||
rval = o->oldValueRight + dr;
|
||||
}
|
||||
}
|
||||
|
||||
o->oldValueLeft = lval;
|
||||
o->oldValueRight = rval;
|
||||
|
|
@ -357,6 +355,7 @@ void ControlMap::applyControls(float dt)
|
|||
case PROP:
|
||||
break;
|
||||
case INCIDENCE:
|
||||
((Wing*)obj)->setIncidence(lval);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
|
@ -366,6 +365,7 @@ float ControlMap::rangeMin(ControlType control)
|
|||
{
|
||||
// The minimum of the range for each type of control
|
||||
switch(control) {
|
||||
case INCIDENCE: return INCIDENCE_MIN;
|
||||
case FLAP0: return -1; // [-1:1]
|
||||
case FLAP1: return -1;
|
||||
case STEER: return -1;
|
||||
|
|
@ -384,6 +384,7 @@ float ControlMap::rangeMax(ControlType control)
|
|||
{
|
||||
// The maximum of the range for each type of control
|
||||
switch(control) {
|
||||
case INCIDENCE: return INCIDENCE_MAX;
|
||||
case FLAP0: return 1; // [-1:1]
|
||||
case FLAP1: return 1;
|
||||
case STEER: return 1;
|
||||
|
|
@ -397,13 +398,14 @@ float ControlMap::rangeMax(ControlType control)
|
|||
/// register property name, return ID (int)
|
||||
int ControlMap::getInputPropertyHandle(const char* name)
|
||||
{
|
||||
// search for existing
|
||||
for(int i=0; i < _properties.size(); i++) {
|
||||
PropHandle* p = (PropHandle*)_properties.get(i);
|
||||
if(!strcmp(p->name, name))
|
||||
return p->handle;
|
||||
}
|
||||
|
||||
// create new
|
||||
// else create new
|
||||
PropHandle* p = new PropHandle();
|
||||
p->name = strdup(name);
|
||||
|
||||
|
|
@ -411,6 +413,7 @@ int ControlMap::getInputPropertyHandle(const char* name)
|
|||
|
||||
Vector* v = new Vector();
|
||||
p->handle = _inputs.add(v);
|
||||
|
||||
_properties.add(p);
|
||||
return p->handle;
|
||||
}
|
||||
|
|
@ -446,4 +449,10 @@ ControlMap::ObjectID ControlMap::getObjectID(void* object, int subObj)
|
|||
return o;
|
||||
}
|
||||
|
||||
// used at runtime in FGFDM::getExternalInput
|
||||
ControlMap::PropHandle* ControlMap::getProperty(const int i) {
|
||||
assert((i >= 0) && (i < _properties.size()));
|
||||
return ((PropHandle*)_properties.get(i));
|
||||
}
|
||||
|
||||
} // namespace yasim
|
||||
|
|
|
|||
|
|
@ -72,6 +72,7 @@ public:
|
|||
char* name {nullptr};
|
||||
int handle {0};
|
||||
};
|
||||
// to identify controls per wing section we need wing object + section id
|
||||
struct ObjectID {
|
||||
void* object {nullptr};
|
||||
int subObj {0};
|
||||
|
|
@ -125,7 +126,7 @@ public:
|
|||
// register property name, return handle
|
||||
int getInputPropertyHandle(const char* name);
|
||||
int numProperties() { return _properties.size(); }
|
||||
PropHandle* getProperty(const int i) { return ((PropHandle*)_properties.get(i)); }
|
||||
PropHandle* getProperty(const int i);
|
||||
|
||||
private:
|
||||
//output data for a control of an object
|
||||
|
|
@ -154,10 +155,9 @@ private:
|
|||
|
||||
// An unordered list of output settings.
|
||||
Vector _outputs;
|
||||
// control properties
|
||||
Vector _properties;
|
||||
|
||||
void* addMapping(const char* prop, ControlType control, ObjectID id, int options = 0);
|
||||
Vector _properties; // list of PropHandle*
|
||||
|
||||
OutRec* getOutRec(ObjectID id, ControlType control);
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -37,11 +37,6 @@ namespace yasim {
|
|||
|
||||
FGFDM::FGFDM()
|
||||
{
|
||||
// Map /controls/flight/elevator to the approach elevator control. This
|
||||
// should probably be settable, but there are very few aircraft
|
||||
// who trim their approaches using things other than elevator.
|
||||
_airplane.setElevatorControl("/controls/flight/elevator-trim");
|
||||
|
||||
// FIXME: read seed from somewhere?
|
||||
int seed = 0;
|
||||
_turb = new Turbulence(10, seed);
|
||||
|
|
@ -62,8 +57,8 @@ FGFDM::~FGFDM()
|
|||
delete wr;
|
||||
}
|
||||
|
||||
for(int i=0; i<_controlProps.size(); i++)
|
||||
delete (PropOut*)_controlProps.get(i);
|
||||
for(int i=0; i<_controlOutputs.size(); i++)
|
||||
delete (ControlOutput*)_controlOutputs.get(i);
|
||||
|
||||
delete _turb;
|
||||
}
|
||||
|
|
@ -419,14 +414,15 @@ void FGFDM::setOutputProperties(float dt)
|
|||
_arzN->setFloatValue(racc[2]);
|
||||
|
||||
ControlMap* cm = _airplane.getControlMap();
|
||||
for(int i=0; i<_controlProps.size(); i++) {
|
||||
PropOut* p = (PropOut*)_controlProps.get(i);
|
||||
for(int i=0; i<_controlOutputs.size(); i++) {
|
||||
ControlOutput* p = (ControlOutput*)_controlOutputs.get(i);
|
||||
float val = (p->left
|
||||
? cm->getOutput(p->handle)
|
||||
: cm->getOutputR(p->handle));
|
||||
float rmin = cm->rangeMin(p->control);
|
||||
float rmax = cm->rangeMax(p->control);
|
||||
float frac = (val - rmin) / (rmax - rmin);
|
||||
// clamp output
|
||||
val = frac*(p->max - p->min) + p->min;
|
||||
p->prop->setFloatValue(val);
|
||||
}
|
||||
|
|
@ -531,11 +527,10 @@ void FGFDM::parseWing(const XMLAttributes* a, const char* type, Airplane* airpla
|
|||
float chord {0};
|
||||
float length = attrf(a, "length");
|
||||
|
||||
// These come in with positive indicating positive AoA, but the
|
||||
// internals expect a rotation about the left-pointing Y axis, so
|
||||
// invert the sign.
|
||||
// positive incidence/twist means positive AoA (leading edge up).
|
||||
// Due to the coordinate system used in class Surface the sign will be inverted (only) there.
|
||||
float incidence {0};
|
||||
float twist = attrf(a, "twist", 0) * DEG2RAD * -1;
|
||||
float twist = attrf(a, "twist", 0) * DEG2RAD;
|
||||
|
||||
// if this element is declared as section of a wing, skip attributes
|
||||
// that are ignored in class Wing anyway because they are calculated
|
||||
|
|
@ -543,7 +538,15 @@ void FGFDM::parseWing(const XMLAttributes* a, const char* type, Airplane* airpla
|
|||
if (!isSection) {
|
||||
attrf_xyz(a, base);
|
||||
chord = attrf(a, "chord");
|
||||
incidence = attrf(a, "incidence", 0) * DEG2RAD * -1;
|
||||
incidence = attrf(a, "incidence", 0) * DEG2RAD;
|
||||
}
|
||||
else {
|
||||
if (a->hasAttribute("x") || a->hasAttribute("y") || a->hasAttribute("z") ||
|
||||
a->hasAttribute("chord") || a->hasAttribute("incidence")
|
||||
) {
|
||||
SG_LOG(SG_FLIGHT, SG_WARN, "YASim warning: redundant attribute in wing definition \n"
|
||||
"when using <wing append=\"1\" ...> x, y, z, chord and incidence will be ignored. ");
|
||||
}
|
||||
}
|
||||
|
||||
// optional attributes (with defaults)
|
||||
|
|
@ -569,8 +572,8 @@ void FGFDM::parseWing(const XMLAttributes* a, const char* type, Airplane* airpla
|
|||
}
|
||||
else if (!strcmp(type, "hstab")) {
|
||||
w = airplane->getTail();
|
||||
if (a->hasAttribute("incidence-max")) w->setIncidenceMax(attrf(a, "incidence-max") * DEG2RAD);
|
||||
if (a->hasAttribute("incidence-min")) w->setIncidenceMin(attrf(a, "incidence-min") * DEG2RAD);
|
||||
if (a->hasAttribute("incidence-max-deg")) w->setIncidenceMax(attrf(a, "incidence-max-deg") * DEG2RAD);
|
||||
if (a->hasAttribute("incidence-min-deg")) w->setIncidenceMin(attrf(a, "incidence-min-deg") * DEG2RAD);
|
||||
} else {
|
||||
w = new Wing(airplane, mirror);
|
||||
}
|
||||
|
|
@ -1155,48 +1158,47 @@ void FGFDM::parseControlSetting(const XMLAttributes* a)
|
|||
void FGFDM::parseControlIn(const XMLAttributes* a)
|
||||
{
|
||||
// map input property to a YASim control
|
||||
ControlMap* cm = _airplane.getControlMap();
|
||||
ControlMap::ControlType control = cm->parseControl(a->getValue("control"));
|
||||
ControlMap::ObjectID oid = cm->getObjectID(_currObj, _wingSection);
|
||||
ControlMap::ControlType control = ControlMap::parseControl(a->getValue("control"));
|
||||
int opt = 0;
|
||||
opt |= a->hasAttribute("split") ? ControlMap::OPT_SPLIT : 0;
|
||||
opt |= a->hasAttribute("invert") ? ControlMap::OPT_INVERT : 0;
|
||||
opt |= a->hasAttribute("square") ? ControlMap::OPT_SQUARE : 0;
|
||||
float src0, src1, dst0, dst1;
|
||||
src0 = dst0 = cm->rangeMin(control);
|
||||
src1 = dst1 = cm->rangeMax(control);
|
||||
src0 = dst0 = ControlMap::rangeMin(control);
|
||||
src1 = dst1 = ControlMap::rangeMax(control);
|
||||
if(a->hasAttribute("src0")) {
|
||||
src0 = attrf(a, "src0");
|
||||
src1 = attrf(a, "src1");
|
||||
dst0 = attrf(a, "dst0");
|
||||
dst1 = attrf(a, "dst1");
|
||||
}
|
||||
cm->addMapping(a->getValue("axis"), control, oid, opt, src0, src1, dst0, dst1);
|
||||
_airplane.addControlInput(a->getValue("axis"), control, _currObj, _wingSection, opt, src0, src1, dst0, dst1);
|
||||
}
|
||||
|
||||
void FGFDM::parseControlOut(const XMLAttributes* a)
|
||||
{
|
||||
// A property output for a control on the current object
|
||||
ControlMap* cm = _airplane.getControlMap();
|
||||
ControlMap::ControlType control = cm->parseControl(a->getValue("control"));
|
||||
ControlMap::ObjectID oid = cm->getObjectID(_currObj, _wingSection);
|
||||
ControlMap::ControlType control = ControlMap::parseControl(a->getValue("control"));
|
||||
ControlMap::ObjectID oid = ControlMap::getObjectID(_currObj, _wingSection);
|
||||
|
||||
PropOut* p = new PropOut();
|
||||
ControlOutput* p = new ControlOutput();
|
||||
p->prop = fgGetNode(a->getValue("prop"), true);
|
||||
p->handle = cm->getOutputHandle(oid, control);
|
||||
p->control = control;
|
||||
p->left = !(a->hasAttribute("side") &&
|
||||
!strcmp("right", a->getValue("side")));
|
||||
// for output clamping
|
||||
p->min = attrf(a, "min", cm->rangeMin(control));
|
||||
p->max = attrf(a, "max", cm->rangeMax(control));
|
||||
_controlProps.add(p);
|
||||
_controlOutputs.add(p);
|
||||
}
|
||||
|
||||
void FGFDM::parseControlSpeed(const XMLAttributes* a)
|
||||
{
|
||||
ControlMap* cm = _airplane.getControlMap();
|
||||
ControlMap::ControlType control = cm->parseControl(a->getValue("control"));
|
||||
ControlMap::ObjectID oid = cm->getObjectID(_currObj, _wingSection);
|
||||
ControlMap::ControlType control = ControlMap::parseControl(a->getValue("control"));
|
||||
ControlMap::ObjectID oid = ControlMap::getObjectID(_currObj, _wingSection);
|
||||
int handle = cm->getOutputHandle(oid, control);
|
||||
float time = attrf(a, "transition-time", 0);
|
||||
cm->setTransitionTime(handle, time);
|
||||
|
|
|
|||
|
|
@ -40,9 +40,9 @@ private:
|
|||
float size {0};
|
||||
int handle {0};
|
||||
};
|
||||
struct PropOut {
|
||||
SGPropertyNode* prop {nullptr};
|
||||
struct ControlOutput {
|
||||
int handle {0};
|
||||
SGPropertyNode* prop {nullptr};
|
||||
ControlMap::ControlType control;
|
||||
bool left {false};
|
||||
float min {0};
|
||||
|
|
@ -107,7 +107,7 @@ private:
|
|||
Vector _thrusters;
|
||||
|
||||
// Output properties for the ControlMap
|
||||
Vector _controlProps;
|
||||
Vector _controlOutputs;
|
||||
|
||||
// Radius of the vehicle, for intersection testing.
|
||||
float _vehicle_radius {0};
|
||||
|
|
|
|||
|
|
@ -30,9 +30,9 @@ Surface::Surface(Version* version, const float* pos, float c0 = 1 ) :
|
|||
_flapN = _surfN->getNode("flap-pos", true);
|
||||
_slatN = _surfN->getNode("slat-pos", true);
|
||||
_spoilerN = _surfN->getNode("spoiler-pos", true);
|
||||
_incidenceN = _surfN->getNode("incidence", true);
|
||||
_incidenceN = _surfN->getNode("incidence-deg", true);
|
||||
_incidenceN->setFloatValue(0);
|
||||
_twistN = _surfN->getNode("twist", true);
|
||||
_twistN = _surfN->getNode("twist-deg", true);
|
||||
_twistN->setFloatValue(0);
|
||||
_surfN->getNode("pos-x", true)->setFloatValue(pos[0]);
|
||||
_surfN->getNode("pos-y", true)->setFloatValue(pos[1]);
|
||||
|
|
@ -340,17 +340,17 @@ float Surface::controlDrag(float lift, float drag)
|
|||
|
||||
|
||||
void Surface::setIncidence(float angle) {
|
||||
_incidence = angle;
|
||||
_incidence = angle * -1;
|
||||
if (_surfN != 0) {
|
||||
_incidenceN->setFloatValue(angle);
|
||||
_incidenceN->setFloatValue(angle * RAD2DEG);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void Surface::setTwist(float angle) {
|
||||
_twist = angle;
|
||||
_twist = angle * -1;
|
||||
if (_surfN != 0) {
|
||||
_twistN->setFloatValue(angle);
|
||||
_twistN->setFloatValue(angle * RAD2DEG);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -390,19 +390,23 @@ void Wing::multiplyDragCoefficient(float factor)
|
|||
}
|
||||
|
||||
///update incidence for wing (rotate wing while maintaining initial twist config)
|
||||
void Wing::setIncidence(float incidence)
|
||||
bool Wing::setIncidence(float incidence)
|
||||
{
|
||||
if (incidence < _incidenceMin || incidence > _incidenceMax)
|
||||
{
|
||||
fprintf(stderr, "YASim: cannot set incidence, parameter out of range.");
|
||||
return;
|
||||
return false;
|
||||
}
|
||||
_incidence = incidence;
|
||||
WingSection* ws;
|
||||
for (int section=0; section < _sections.size(); section++)
|
||||
{
|
||||
ws = (WingSection*)_sections.get(section);
|
||||
ws->setIncidence(incidence);
|
||||
}
|
||||
if (_wingN) {
|
||||
_wingN->getNode("incidence-deg", true)->setFloatValue(_incidence * RAD2DEG);
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
void Wing::WingSection::setDragCoefficient(float scale)
|
||||
|
|
@ -542,7 +546,7 @@ void Wing::writeInfoToProptree()
|
|||
sectN->getNode("base-y", true)->setFloatValue(ws->_rootChord.y);
|
||||
sectN->getNode("base-z", true)->setFloatValue(ws->_rootChord.z);
|
||||
sectN->getNode("chord", true)->setFloatValue(ws->_rootChord.length);
|
||||
sectN->getNode("incidence", true)->setFloatValue(ws->_sectionIncidence);
|
||||
sectN->getNode("incidence-deg", true)->setFloatValue(ws->_sectionIncidence * RAD2DEG);
|
||||
}
|
||||
_wingN->getNode("weight", true)->setFloatValue(wgt);
|
||||
_wingN->getNode("drag", true)->setFloatValue(dragSum);
|
||||
|
|
@ -596,8 +600,8 @@ void Wing::printSectionInfo()
|
|||
printf("#wing sections: %d\n", _sections.size());
|
||||
for (int section=0; section < _sections.size(); section++) {
|
||||
ws = (WingSection*)_sections.get(section);
|
||||
printf("Section %d base point (%.3f, %.3f, %.3f), chord %.3f\n", section,
|
||||
ws->_rootChord.x, ws->_rootChord.y, ws->_rootChord.z, ws->_rootChord.length);
|
||||
printf("Section %d base point (%.3f, %.3f, %.3f), chord %.3f, incidence at section root %.1fdeg\n", section,
|
||||
ws->_rootChord.x, ws->_rootChord.y, ws->_rootChord.z, ws->_rootChord.length, ws->_sectionIncidence * RAD2DEG);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -164,7 +164,7 @@ public:
|
|||
void multiplyLiftRatio(float factor);
|
||||
void multiplyDragCoefficient(float factor);
|
||||
// setIncidence used to rotate (trim) the hstab
|
||||
void setIncidence(float incidence);
|
||||
bool setIncidence(float incidence);
|
||||
// limits for setIncidence
|
||||
void setIncidenceMin(float min) { _incidenceMin = min; };
|
||||
void setIncidenceMax(float max) { _incidenceMax = max; };
|
||||
|
|
|
|||
|
|
@ -8,6 +8,7 @@
|
|||
common file for YASim wide constants and static helper functions
|
||||
*/
|
||||
namespace yasim {
|
||||
static const int SOLVER_MAX_ITERATIONS = 4000;
|
||||
static const float YASIM_PI = 3.14159265358979323846f;
|
||||
static const float PI2 = YASIM_PI*2;
|
||||
static const float RAD2DEG = 180/YASIM_PI;
|
||||
|
|
|
|||
|
|
@ -36,7 +36,7 @@ enum Config
|
|||
};
|
||||
|
||||
// Generate a graph of lift, drag and L/D against AoA at the specified
|
||||
// speed and altitude. The result is a space-separated file of
|
||||
// speed and altitude. The result is a tab-separated file of
|
||||
// numbers: "aoa lift drag LD" (aoa in degrees, lift and drag in
|
||||
// G's). You can use this in gnuplot like so (assuming the output is
|
||||
// in a file named "dat":
|
||||
|
|
@ -95,11 +95,11 @@ void yasim_graph(Airplane* a, const float alt, const float kts, int cfg = CONFIG
|
|||
ld_max= ld;
|
||||
ld_max_deg = deg;
|
||||
}
|
||||
printf("%d %.4g %.4g %.4g\n", deg, lift, drag, ld);
|
||||
printf("%2d\t%.4f\t%.4f\t%.4f\n", deg, lift, drag, ld);
|
||||
}
|
||||
printf("# cl_max %g at %d deg\n", cl_max, cl_max_deg);
|
||||
printf("# cd_min %g at %d deg\n", cd_min, cd_min_deg);
|
||||
printf("# ld_max %g at %d deg\n", ld_max, ld_max_deg);
|
||||
printf("# cl_max %.4f at %d deg\n", cl_max, cl_max_deg);
|
||||
printf("# cd_min %.4f at %d deg\n", cd_min, cd_min_deg);
|
||||
printf("# ld_max %.4f at %d deg\n", ld_max, ld_max_deg);
|
||||
}
|
||||
|
||||
void yasim_masses(Airplane* a)
|
||||
|
|
@ -164,80 +164,13 @@ void yasim_drag(Airplane* a, const float aoa, const float alt, int cfg = CONFIG_
|
|||
printf("# cd_min %g at %d kts\n", cd_min, cd_min_kts);
|
||||
}
|
||||
|
||||
int usage()
|
||||
void report(Airplane* a)
|
||||
{
|
||||
fprintf(stderr, "Usage: \n");
|
||||
fprintf(stderr, " yasim <aircraft.xml> [-g [-a meters] [-s kts] [-approach | -cruise] ]\n");
|
||||
fprintf(stderr, " yasim <aircraft.xml> [-d [-a meters] [-approach | -cruise] ]\n");
|
||||
fprintf(stderr, " yasim <aircraft.xml> [-m]\n");
|
||||
fprintf(stderr, " -g print lift/drag table: aoa, lift, drag, lift/drag \n");
|
||||
fprintf(stderr, " -d print drag over TAS: kts, drag\n");
|
||||
fprintf(stderr, " -a set altitude in meters!\n");
|
||||
fprintf(stderr, " -s set speed in knots\n");
|
||||
fprintf(stderr, " -m print mass distribution table: id, x, y, z, mass \n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
FGFDM* fdm = new FGFDM();
|
||||
Airplane* a = fdm->getAirplane();
|
||||
|
||||
if(argc < 2) return usage();
|
||||
// Read
|
||||
try {
|
||||
string file = argv[1];
|
||||
readXML(SGPath(file), *fdm);
|
||||
}
|
||||
catch (const sg_exception &e) {
|
||||
printf("XML parse error: %s (%s)\n", e.getFormattedMessage().c_str(), e.getOrigin());
|
||||
}
|
||||
|
||||
// ... and run
|
||||
a->compile();
|
||||
if(a->getFailureMsg())
|
||||
printf("SOLUTION FAILURE: %s\n", a->getFailureMsg());
|
||||
if(!a->getFailureMsg() && argc > 2 ) {
|
||||
if(strcmp(argv[2], "-g") == 0) {
|
||||
float alt = 5000, kts = 100;
|
||||
int cfg = CONFIG_NONE;
|
||||
for(int i=3; i<argc; i++) {
|
||||
if (std::strcmp(argv[i], "-a") == 0) {
|
||||
if (i+1 < argc) alt = std::atof(argv[++i]);
|
||||
}
|
||||
else if(std::strcmp(argv[i], "-s") == 0) {
|
||||
if(i+1 < argc) kts = std::atof(argv[++i]);
|
||||
}
|
||||
else if(std::strcmp(argv[i], "-approach") == 0) cfg = CONFIG_APPROACH;
|
||||
else if(std::strcmp(argv[i], "-cruise") == 0) cfg = CONFIG_CRUISE;
|
||||
else return usage();
|
||||
}
|
||||
yasim_graph(a, alt, kts, cfg);
|
||||
}
|
||||
else if(strcmp(argv[2], "-d") == 0) {
|
||||
float alt = 2000, aoa = a->getCruiseAoA();
|
||||
int cfg = CONFIG_NONE;
|
||||
for(int i=3; i<argc; i++) {
|
||||
if (std::strcmp(argv[i], "-a") == 0) {
|
||||
if (i+1 < argc) alt = std::atof(argv[++i]);
|
||||
}
|
||||
else if(std::strcmp(argv[i], "-approach") == 0) cfg = CONFIG_APPROACH;
|
||||
else if(std::strcmp(argv[i], "-cruise") == 0) cfg = CONFIG_CRUISE;
|
||||
else return usage();
|
||||
}
|
||||
yasim_drag(a, aoa, alt, cfg);
|
||||
}
|
||||
else if(strcmp(argv[2], "-m") == 0) {
|
||||
yasim_masses(a);
|
||||
}
|
||||
}
|
||||
else {
|
||||
printf("==========================\n");
|
||||
printf("= YASim solution results =\n");
|
||||
printf("==========================\n");
|
||||
float aoa = a->getCruiseAoA() * RAD2DEG;
|
||||
float tailIncidence = -1 * a->getTailIncidence() * RAD2DEG;
|
||||
float tailIncidence = a->getTailIncidence() * RAD2DEG;
|
||||
float drag = 1000 * a->getDragCoefficient();
|
||||
float cg[3];
|
||||
a->getModel()->getBody()->getCG(cg);
|
||||
|
|
@ -297,6 +230,90 @@ int main(int argc, char** argv)
|
|||
printf(" %7.0f, %7.0f, %7.0f\n", SI_inertia[3], SI_inertia[4], SI_inertia[5]);
|
||||
printf(" %7.0f, %7.0f, %7.0f\n", SI_inertia[6], SI_inertia[7], SI_inertia[8]);
|
||||
}
|
||||
|
||||
int usage()
|
||||
{
|
||||
fprintf(stderr, "Usage: \n");
|
||||
fprintf(stderr, " yasim <aircraft.xml> [-g [-a meters] [-s kts] [-approach | -cruise] ]\n");
|
||||
fprintf(stderr, " yasim <aircraft.xml> [-d [-a meters] [-approach | -cruise] ]\n");
|
||||
fprintf(stderr, " yasim <aircraft.xml> [-m]\n");
|
||||
fprintf(stderr, " yasim <aircraft.xml> [-test] [-a meters] [-s kts] [-approach | -cruise] ]\n");
|
||||
fprintf(stderr, " -g print lift/drag table: aoa, lift, drag, lift/drag \n");
|
||||
fprintf(stderr, " -d print drag over TAS: kts, drag\n");
|
||||
fprintf(stderr, " -a set altitude in meters!\n");
|
||||
fprintf(stderr, " -s set speed in knots\n");
|
||||
fprintf(stderr, " -m print mass distribution table: id, x, y, z, mass \n");
|
||||
fprintf(stderr, " -test print summary and output like -g -m \n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
FGFDM* fdm = new FGFDM();
|
||||
Airplane* a = fdm->getAirplane();
|
||||
|
||||
if(argc < 2) return usage();
|
||||
// Read
|
||||
try {
|
||||
string file = argv[1];
|
||||
readXML(SGPath(file), *fdm);
|
||||
}
|
||||
catch (const sg_exception &e) {
|
||||
printf("XML parse error: %s (%s)\n", e.getFormattedMessage().c_str(), e.getOrigin());
|
||||
}
|
||||
|
||||
// ... and run
|
||||
a->compile();
|
||||
if(a->getFailureMsg())
|
||||
printf("SOLUTION FAILURE: %s\n", a->getFailureMsg());
|
||||
if(!a->getFailureMsg() && argc > 2 ) {
|
||||
bool test = (strcmp(argv[2], "-test") == 0);
|
||||
if((strcmp(argv[2], "-g") == 0) || test)
|
||||
{
|
||||
float alt = 5000, kts = 100;
|
||||
int cfg = CONFIG_NONE;
|
||||
for(int i=3; i<argc; i++) {
|
||||
if (std::strcmp(argv[i], "-a") == 0) {
|
||||
if (i+1 < argc) alt = std::atof(argv[++i]);
|
||||
}
|
||||
else if(std::strcmp(argv[i], "-s") == 0) {
|
||||
if(i+1 < argc) kts = std::atof(argv[++i]);
|
||||
}
|
||||
else if(std::strcmp(argv[i], "-approach") == 0) cfg = CONFIG_APPROACH;
|
||||
else if(std::strcmp(argv[i], "-cruise") == 0) cfg = CONFIG_CRUISE;
|
||||
else return usage();
|
||||
}
|
||||
if (test) {
|
||||
report(a);
|
||||
printf("\n#-- lift, drag at altitude %.0f meters, %.0f knots, Config %d --\n", alt, kts, cfg);
|
||||
}
|
||||
yasim_graph(a, alt, kts, cfg);
|
||||
if (test) {
|
||||
printf("\n#-- mass distribution --\n");
|
||||
yasim_masses(a);
|
||||
}
|
||||
}
|
||||
else if(strcmp(argv[2], "-d") == 0) {
|
||||
float alt = 2000, aoa = a->getCruiseAoA();
|
||||
int cfg = CONFIG_NONE;
|
||||
for(int i=3; i<argc; i++) {
|
||||
if (std::strcmp(argv[i], "-a") == 0) {
|
||||
if (i+1 < argc) alt = std::atof(argv[++i]);
|
||||
}
|
||||
else if(std::strcmp(argv[i], "-approach") == 0) cfg = CONFIG_APPROACH;
|
||||
else if(std::strcmp(argv[i], "-cruise") == 0) cfg = CONFIG_CRUISE;
|
||||
else return usage();
|
||||
}
|
||||
yasim_drag(a, aoa, alt, cfg);
|
||||
}
|
||||
else if(strcmp(argv[2], "-m") == 0) {
|
||||
yasim_masses(a);
|
||||
}
|
||||
}
|
||||
else {
|
||||
report(a);
|
||||
}
|
||||
delete fdm;
|
||||
return 0;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue