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Latest jsbsim updates.

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This commit is contained in:
curt 2001-04-02 03:12:38 +00:00
parent 2aca8ca2cf
commit 94034c3081
15 changed files with 471 additions and 405 deletions
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18
src/FDM/JSBSim/FGAircraft.cpp
View file

@ -225,8 +225,8 @@ bool FGAircraft::LoadAircraft(string aircraft_path, string engine_path, string f
ReadPrologue(&AC_cfg);
while ((AC_cfg.GetNextConfigLine() != "EOF") &&
(token = AC_cfg.GetValue()) != "/FDM_CONFIG") {
while ((AC_cfg.GetNextConfigLine() != string("EOF")) &&
(token = AC_cfg.GetValue()) != string("/FDM_CONFIG")) {
if (token == "METRICS") {
cout << fgcyan << "\n Reading Metrics" << fgdef << endl;
ReadMetrics(&AC_cfg);
@ -455,9 +455,9 @@ void FGAircraft::ReadMetrics(FGConfigFile* AC_cfg) {
AC_cfg->GetNextConfigLine();
while ((token = AC_cfg->GetValue()) != "/METRICS") {
while ((token = AC_cfg->GetValue()) != string("/METRICS")) {
*AC_cfg >> parameter;
if (parameter == "AC_WINGAREA") {
if (parameter == string("AC_WINGAREA")) {
*AC_cfg >> WingArea;
cout << " WingArea: " << WingArea << endl;
} else if (parameter == "AC_WINGSPAN") {
@ -522,12 +522,12 @@ void FGAircraft::ReadAerodynamics(FGConfigFile* AC_cfg) {
AC_cfg->GetNextConfigLine();
while ((token = AC_cfg->GetValue()) != "/AERODYNAMICS") {
while ((token = AC_cfg->GetValue()) != string("/AERODYNAMICS")) {
if (token == "AXIS") {
CoeffArray ca;
axis = AC_cfg->GetValue("NAME");
AC_cfg->GetNextConfigLine();
while ((token = AC_cfg->GetValue()) != "/AXIS") {
while ((token = AC_cfg->GetValue()) != string("/AXIS")) {
ca.push_back(new FGCoefficient(FDMExec, AC_cfg));
DisplayCoeffFactors(ca.back()->Getmultipliers());
}
@ -544,7 +544,7 @@ void FGAircraft::ReadUndercarriage(FGConfigFile* AC_cfg) {
AC_cfg->GetNextConfigLine();
while ((token = AC_cfg->GetValue()) != "/UNDERCARRIAGE") {
while ((token = AC_cfg->GetValue()) != string("/UNDERCARRIAGE")) {
lGear.push_back(FGLGear(AC_cfg, FDMExec));
}
}
@ -562,7 +562,7 @@ void FGAircraft::ReadOutput(FGConfigFile* AC_cfg) {
Output->SetType(token);
AC_cfg->GetNextConfigLine();
while ((token = AC_cfg->GetValue()) != "/OUTPUT") {
while ((token = AC_cfg->GetValue()) != string("/OUTPUT")) {
*AC_cfg >> parameter;
if (parameter == "RATE_IN_HZ") *AC_cfg >> OutRate;
if (parameter == "SIMULATION") {
@ -634,7 +634,7 @@ void FGAircraft::ReadPrologue(FGConfigFile* AC_cfg) {
CFGVersion = AC_cfg->GetValue("VERSION");
cout << " Version: " << highint << CFGVersion
<< normint << endl;
if (CFGVersion != NEEDED_CFG_VERSION) {
if (CFGVersion != string(NEEDED_CFG_VERSION)) {
cout << endl << fgred << "YOU HAVE AN INCOMPATIBLE CFG FILE FOR THIS AIRCRAFT."
" RESULTS WILL BE UNPREDICTABLE !!" << endl;
cout << "Current version needed is: " << NEEDED_CFG_VERSION << endl;

6
src/FDM/JSBSim/FGCoefficient.cpp
View file

@ -48,7 +48,11 @@ INCLUDES
#include "FGState.h"
#include "FGFDMExec.h"
#include <iomanip.h>
#ifndef FGFS
# include <iomanip.h>
#else
# include STL_IOMANIP
#endif
static const char *IdSrc = "$Id$";
static const char *IdHdr = "ID_COEFFICIENT";

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

@ -53,8 +53,8 @@ FGControls::~FGControls() {
// $Log$
// Revision 1.22 2001/03/29 23:04:51 curt
// Latest round of JSBSim updates.
// Revision 1.23 2001/04/02 01:12:38 curt
// Latest jsbsim updates.
//
// Revision 1.7 2001/03/22 14:10:24 jberndt
// Fixed ID comment

4
src/FDM/JSBSim/FGControls.h
View file

@ -178,8 +178,8 @@ extern FGControls controls;
// $Log$
// Revision 1.21 2001/03/29 23:04:51 curt
// Latest round of JSBSim updates.
// Revision 1.22 2001/04/02 01:12:38 curt
// Latest jsbsim updates.
//
// Revision 1.10 2001/03/22 14:10:24 jberndt
// Fixed ID comment

6
src/FDM/JSBSim/FGFDMExec.cpp
View file

@ -117,6 +117,7 @@ CLASS IMPLEMENTATION
FGFDMExec::FGFDMExec(void)
{
Frame = 0;
FirstModel = 0;
Error = 0;
State = 0;
@ -304,13 +305,16 @@ bool FGFDMExec::Run(void)
if (State->Getsim_time() >= EndTime) return false;
}
if (debug_lvl & 4) cout << "=========================" << endl;
if (debug_lvl & 4)
cout << "================== Frame: " << Frame << " Time: "
<< State->Getsim_time() << endl;
while (!model_iterator->Run()) {
model_iterator = model_iterator->NextModel;
if (model_iterator == 0L) break;
}
Frame++;
State->IncrTime();
return true;

663
src/FDM/JSBSim/FGFDMExec.h
View file

@ -1,331 +1,332 @@
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Header: FGFDMExec.h
Author: Jon Berndt
Date started: 11/17/98
------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
details.
You should have received a copy of the GNU General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA.
Further information about the GNU General Public License can also be found on
the world wide web at http://www.gnu.org.
HISTORY
--------------------------------------------------------------------------------
11/17/98 JSB Created
7/31/99 TP Added RunIC function that runs the sim so that every frame
begins with the IC values from the given FGInitialCondition
object and dt=0.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifndef FGFDMEXEC_HEADER_H
#define FGFDMEXEC_HEADER_H
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifdef FGFS
# include <simgear/compiler.h>
# ifdef FG_HAVE_STD_INCLUDES
# include <vector>
# else
# include <vector.h>
# endif
#else
# include <vector>
#endif
#include "FGModel.h"
#include "FGInitialCondition.h"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_FDMEXEC "$Id$"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGState;
class FGAtmosphere;
class FGFCS;
class FGPropulsion;
class FGAircraft;
class FGTranslation;
class FGRotation;
class FGPosition;
class FGAuxiliary;
class FGOutput;
class FGInitialCondition;
struct condition {
vector <eParam> TestParam;
vector <eParam> SetParam;
vector <float> TestValue;
vector <float> SetValue;
vector <string> Comparison;
vector <float> TC;
vector <bool> Persistent;
vector <eAction> Action;
vector <eType> Type;
vector <bool> Triggered;
vector <float> newValue;
vector <float> OriginalValue;
vector <float> StartTime;
vector <float> EndTime;
condition() {
}
};
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/** Encapsulates the JSBSim simulation executive.
@author Jon S. Berndt
@version $Id$
@doc This class is the interface class through which all other simulation classes
are instantiated, initialized, and run. When integrated with FlightGear (or
other flight simulator) this class is typically instantiated by an interface
class on the simulator side.
<h4>Scripting support provided in the Executive</h4>
<p>There is simple scripting support provided in the FGFDMExec
class. Commands are specified using the <u>Simple Scripting
Directives for JSBSim</u> (SSDJ). The script file is in XML
format. A test condition (or conditions) can be set up in the
script and when the condition evaluates to true, the specified
action[s] is/are taken. A test condition can be <em>persistent</em>,
meaning that if a test condition evaluates to true, then passes
and evaluates to false, the condition is reset and may again be
triggered. When the set of tests evaluates to true for a given
condition, an item may be set to another value. This value might
be a boolean, a value, or a delta value, and the change from the
current value to the new value can be either via a step function,
a ramp, or an exponential approach. The speed of a ramp or
approach is specified via the time constant. Here is the format
of the script file:</p>
<pre><strong>&lt;?xml version=&quot;1.0&quot;?&gt;
&lt;runscript name=&quot;C172-01A&quot;&gt;
&lt;!--
This run is for testing C172 runs
--&gt;
&lt;use aircraft=&quot;c172&quot;&gt;
&lt;use initialize=&quot;reset00&quot;&gt;
&lt;run start=&quot;0.0&quot; end=&quot;4.5&quot; dt=&quot;0.05&quot;&gt;
&lt;when&gt;
&lt;parameter name=&quot;FG_TIME&quot; comparison=&quot;ge&quot; value=&quot;0.25&quot;&gt;
&lt;parameter name=&quot;FG_TIME&quot; comparison=&quot;le&quot; value=&quot;0.50&quot;&gt;
&lt;set name=&quot;FG_AILERON_CMD&quot; type=&quot;FG_VALUE&quot; value=&quot;0.25&quot;
action=&quot;FG_STEP&quot; persistent=&quot;false&quot; tc =&quot;0.25&quot;&gt;
&lt;/when&gt;
&lt;when&gt;
&lt;parameter name=&quot;FG_TIME&quot; comparison=&quot;ge&quot; value=&quot;0.5&quot;&gt;
&lt;parameter name=&quot;FG_TIME&quot; comparison=&quot;le&quot; value=&quot;1.5&quot;&gt;
&lt;set name=&quot;FG_AILERON_CMD&quot; type=&quot;FG_DELTA&quot; value=&quot;0.5&quot;
action=&quot;FG_EXP&quot; persistent=&quot;false&quot; tc =&quot;0.5&quot;&gt;
&lt;/when&gt;
&lt;when&gt;
&lt;parameter name=&quot;FG_TIME&quot; comparison=&quot;ge&quot; value=&quot;1.5&quot;&gt;
&lt;parameter name=&quot;FG_TIME&quot; comparison=&quot;le&quot; value=&quot;2.5&quot;&gt;
&lt;set name=&quot;FG_RUDDER_CMD&quot; type=&quot;FG_DELTA&quot; value=&quot;0.5&quot;
action=&quot;FG_RAMP&quot; persistent=&quot;false&quot; tc =&quot;0.5&quot;&gt;
&lt;/when&gt;
&lt;/run&gt;
&lt;/runscript&gt;</strong></pre>
<p>The first line must always be present. The second line
identifies this file as a script file, and gives a descriptive
name to the script file. Comments are next, delineated by the
&lt;!-- and --&gt; symbols. The aircraft and initialization files
to be used are specified in the &quot;use&quot; lines. Next,
comes the &quot;run&quot; section, where the conditions are
described in &quot;when&quot; clauses.</p>
<h4>JSBSim Debugging Directives</h4>
This describes to any interested entity the debug level
requested by setting the JSBSIM_DEBUG environment variable.
The bitmasked value choices are as follows:<ol>
<li><b>unset</b>: In this case (the default) JSBSim would only print
out the normally expected messages, essentially echoing
the config files as they are read. If the environment
variable is not set, debug_lvl is set to 1 internally</li>
<li><b>0</b>: This requests JSBSim not to output any messages
whatsoever.</li>
<li><b>1</b>: This value explicity requests the normal JSBSim
startup messages</li>
<li><b>2</b>: This value asks for a message to be printed out when
a class is instantiated</li>
<li><b>4</b>: When this value is set, a message is displayed when a
FGModel object executes its Run() method</li>
<li><b>8</b>: When this value is set, various runtime state variables
are printed out periodically</li>
</ol>
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGFDMExec
{
public:
/// Default constructor
FGFDMExec(void);
/// Default destructor
~FGFDMExec();
/** This routine places a model into the runlist at the specified rate. The
"rate" is not really a clock rate. It represents how many calls to the
FGFDMExec::Run() method must be made before the model is executed. A
value of 1 means that the model will be executed for each call to the
exec's Run() method. A value of 5 means that the model will only be
executed every 5th call to the exec's Run() method.
@param model A pointer to the model being scheduled.
@param rate The rate at which to execute the model as described above.
@return Currently returns 0 always. */
int Schedule(FGModel* model, int rate);
/** This executes each scheduled model in succession, as well as running any
scripts which are loaded.
@return true if successful, false if sim should be ended */
bool Run(void);
/** Initializes the sim with a set of initial conditions.
@param fgic A pointer to a filled out initial conditions class which
describes the desired initial conditions.
@return true if successful
*/
bool RunIC(FGInitialCondition *fgic);
/// Freezes the sim
void Freeze(void) {frozen = true;}
/// Resumes the sim
void Resume(void) {frozen = false;}
/** Loads an aircraft model.
@param AircraftPath path to the aircraft directory. For instance:
"aircraft". Under aircraft, then, would be directories for various
modeled aircraft such as C172/, x15/, etc.
@param EnginePath path to the directory under which engine config
files are kept, for instance "engine"
@param model the name of the aircraft model itself. This file will
be looked for in the directory specified in the AircraftPath variable,
and in turn under the directory with the same name as the model. For
instance: "aircraft/x15/x15.xml"
@return true if successful*/
bool LoadModel(string AircraftPath, string EnginePath, string model);
/** Loads a script to drive JSBSim (usually in standalone mode).
The language is the Simple Script Directives for JSBSim (SSDJ).
@param script the filename (including path name, if any) for the script.
@return true if successful */
bool LoadScript(string script);
/** This function is called each pass through the executive Run() method IF
scripting is enabled. */
void RunScript(void);
bool SetEnginePath(string path) {EnginePath = path; return true;}
bool SetAircraftPath(string path) {AircraftPath = path; return true;}
bool SetScriptPath(string path) {ScriptPath = path; return true;}
/// @name Top-level executive State and Model retrieval mechanism
//@{
/// Returns the FGState pointer.
inline FGState* GetState(void) {return State;}
/// Returns the FGAtmosphere pointer.
inline FGAtmosphere* GetAtmosphere(void) {return Atmosphere;}
/// Returns the FGFCS pointer.
inline FGFCS* GetFCS(void) {return FCS;}
/// Returns the FGPropulsion pointer.
inline FGPropulsion* GetPropulsion(void) {return Propulsion;}
/// Returns the FGAircraft pointer.
inline FGAircraft* GetAircraft(void) {return Aircraft;}
/// Returns the FGTranslation pointer.
inline FGTranslation* GetTranslation(void) {return Translation;}
/// Returns the FGRotation pointer.
inline FGRotation* GetRotation(void) {return Rotation;}
/// Returns the FGPosition pointer.
inline FGPosition* GetPosition(void) {return Position;}
/// Returns the FGAuxiliary pointer.
inline FGAuxiliary* GetAuxiliary(void) {return Auxiliary;}
/// Returns the FGOutput pointer.
inline FGOutput* GetOutput(void) {return Output;}
//@}
/// Retrieves the engine path.
inline string GetEnginePath(void) {return EnginePath;}
/// Retrieves the aircraft path.
inline string GetAircraftPath(void) {return AircraftPath;}
private:
FGModel* FirstModel;
bool frozen;
bool terminate;
int Error;
bool modelLoaded;
bool Scripted;
string AircraftPath;
string EnginePath;
string ScriptPath;
string ScriptName;
float StartTime;
float EndTime;
vector <struct condition> Conditions;
FGState* State;
FGAtmosphere* Atmosphere;
FGFCS* FCS;
FGPropulsion* Propulsion;
FGAircraft* Aircraft;
FGTranslation* Translation;
FGRotation* Rotation;
FGPosition* Position;
FGAuxiliary* Auxiliary;
FGOutput* Output;
bool Allocate(void);
bool DeAllocate(void);
void Debug(void);
};
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Header: FGFDMExec.h
Author: Jon Berndt
Date started: 11/17/98
------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
details.
You should have received a copy of the GNU General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA.
Further information about the GNU General Public License can also be found on
the world wide web at http://www.gnu.org.
HISTORY
--------------------------------------------------------------------------------
11/17/98 JSB Created
7/31/99 TP Added RunIC function that runs the sim so that every frame
begins with the IC values from the given FGInitialCondition
object and dt=0.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifndef FGFDMEXEC_HEADER_H
#define FGFDMEXEC_HEADER_H
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifdef FGFS
# include <simgear/compiler.h>
# ifdef FG_HAVE_STD_INCLUDES
# include <vector>
# else
# include <vector.h>
# endif
#else
# include <vector>
#endif
#include "FGModel.h"
#include "FGInitialCondition.h"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_FDMEXEC "$Id$"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGState;
class FGAtmosphere;
class FGFCS;
class FGPropulsion;
class FGAircraft;
class FGTranslation;
class FGRotation;
class FGPosition;
class FGAuxiliary;
class FGOutput;
class FGInitialCondition;
struct condition {
vector <eParam> TestParam;
vector <eParam> SetParam;
vector <float> TestValue;
vector <float> SetValue;
vector <string> Comparison;
vector <float> TC;
vector <bool> Persistent;
vector <eAction> Action;
vector <eType> Type;
vector <bool> Triggered;
vector <float> newValue;
vector <float> OriginalValue;
vector <float> StartTime;
vector <float> EndTime;
condition() {
}
};
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/** Encapsulates the JSBSim simulation executive.
@author Jon S. Berndt
@version $Id$
@doc This class is the interface class through which all other simulation classes
are instantiated, initialized, and run. When integrated with FlightGear (or
other flight simulator) this class is typically instantiated by an interface
class on the simulator side.
<h4>Scripting support provided in the Executive</h4>
<p>There is simple scripting support provided in the FGFDMExec
class. Commands are specified using the <u>Simple Scripting
Directives for JSBSim</u> (SSDJ). The script file is in XML
format. A test condition (or conditions) can be set up in the
script and when the condition evaluates to true, the specified
action[s] is/are taken. A test condition can be <em>persistent</em>,
meaning that if a test condition evaluates to true, then passes
and evaluates to false, the condition is reset and may again be
triggered. When the set of tests evaluates to true for a given
condition, an item may be set to another value. This value might
be a boolean, a value, or a delta value, and the change from the
current value to the new value can be either via a step function,
a ramp, or an exponential approach. The speed of a ramp or
approach is specified via the time constant. Here is the format
of the script file:</p>
<pre><strong>&lt;?xml version=&quot;1.0&quot;?&gt;
&lt;runscript name=&quot;C172-01A&quot;&gt;
&lt;!--
This run is for testing C172 runs
--&gt;
&lt;use aircraft=&quot;c172&quot;&gt;
&lt;use initialize=&quot;reset00&quot;&gt;
&lt;run start=&quot;0.0&quot; end=&quot;4.5&quot; dt=&quot;0.05&quot;&gt;
&lt;when&gt;
&lt;parameter name=&quot;FG_TIME&quot; comparison=&quot;ge&quot; value=&quot;0.25&quot;&gt;
&lt;parameter name=&quot;FG_TIME&quot; comparison=&quot;le&quot; value=&quot;0.50&quot;&gt;
&lt;set name=&quot;FG_AILERON_CMD&quot; type=&quot;FG_VALUE&quot; value=&quot;0.25&quot;
action=&quot;FG_STEP&quot; persistent=&quot;false&quot; tc =&quot;0.25&quot;&gt;
&lt;/when&gt;
&lt;when&gt;
&lt;parameter name=&quot;FG_TIME&quot; comparison=&quot;ge&quot; value=&quot;0.5&quot;&gt;
&lt;parameter name=&quot;FG_TIME&quot; comparison=&quot;le&quot; value=&quot;1.5&quot;&gt;
&lt;set name=&quot;FG_AILERON_CMD&quot; type=&quot;FG_DELTA&quot; value=&quot;0.5&quot;
action=&quot;FG_EXP&quot; persistent=&quot;false&quot; tc =&quot;0.5&quot;&gt;
&lt;/when&gt;
&lt;when&gt;
&lt;parameter name=&quot;FG_TIME&quot; comparison=&quot;ge&quot; value=&quot;1.5&quot;&gt;
&lt;parameter name=&quot;FG_TIME&quot; comparison=&quot;le&quot; value=&quot;2.5&quot;&gt;
&lt;set name=&quot;FG_RUDDER_CMD&quot; type=&quot;FG_DELTA&quot; value=&quot;0.5&quot;
action=&quot;FG_RAMP&quot; persistent=&quot;false&quot; tc =&quot;0.5&quot;&gt;
&lt;/when&gt;
&lt;/run&gt;
&lt;/runscript&gt;</strong></pre>
<p>The first line must always be present. The second line
identifies this file as a script file, and gives a descriptive
name to the script file. Comments are next, delineated by the
&lt;!-- and --&gt; symbols. The aircraft and initialization files
to be used are specified in the &quot;use&quot; lines. Next,
comes the &quot;run&quot; section, where the conditions are
described in &quot;when&quot; clauses.</p>
<h4>JSBSim Debugging Directives</h4>
This describes to any interested entity the debug level
requested by setting the JSBSIM_DEBUG environment variable.
The bitmasked value choices are as follows:<ol>
<li><b>unset</b>: In this case (the default) JSBSim would only print
out the normally expected messages, essentially echoing
the config files as they are read. If the environment
variable is not set, debug_lvl is set to 1 internally</li>
<li><b>0</b>: This requests JSBSim not to output any messages
whatsoever.</li>
<li><b>1</b>: This value explicity requests the normal JSBSim
startup messages</li>
<li><b>2</b>: This value asks for a message to be printed out when
a class is instantiated</li>
<li><b>4</b>: When this value is set, a message is displayed when a
FGModel object executes its Run() method</li>
<li><b>8</b>: When this value is set, various runtime state variables
are printed out periodically</li>
</ol>
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGFDMExec
{
public:
/// Default constructor
FGFDMExec(void);
/// Default destructor
~FGFDMExec();
/** This routine places a model into the runlist at the specified rate. The
"rate" is not really a clock rate. It represents how many calls to the
FGFDMExec::Run() method must be made before the model is executed. A
value of 1 means that the model will be executed for each call to the
exec's Run() method. A value of 5 means that the model will only be
executed every 5th call to the exec's Run() method.
@param model A pointer to the model being scheduled.
@param rate The rate at which to execute the model as described above.
@return Currently returns 0 always. */
int Schedule(FGModel* model, int rate);
/** This executes each scheduled model in succession, as well as running any
scripts which are loaded.
@return true if successful, false if sim should be ended */
bool Run(void);
/** Initializes the sim with a set of initial conditions.
@param fgic A pointer to a filled out initial conditions class which
describes the desired initial conditions.
@return true if successful
*/
bool RunIC(FGInitialCondition *fgic);
/// Freezes the sim
void Freeze(void) {frozen = true;}
/// Resumes the sim
void Resume(void) {frozen = false;}
/** Loads an aircraft model.
@param AircraftPath path to the aircraft directory. For instance:
"aircraft". Under aircraft, then, would be directories for various
modeled aircraft such as C172/, x15/, etc.
@param EnginePath path to the directory under which engine config
files are kept, for instance "engine"
@param model the name of the aircraft model itself. This file will
be looked for in the directory specified in the AircraftPath variable,
and in turn under the directory with the same name as the model. For
instance: "aircraft/x15/x15.xml"
@return true if successful*/
bool LoadModel(string AircraftPath, string EnginePath, string model);
/** Loads a script to drive JSBSim (usually in standalone mode).
The language is the Simple Script Directives for JSBSim (SSDJ).
@param script the filename (including path name, if any) for the script.
@return true if successful */
bool LoadScript(string script);
/** This function is called each pass through the executive Run() method IF
scripting is enabled. */
void RunScript(void);
bool SetEnginePath(string path) {EnginePath = path; return true;}
bool SetAircraftPath(string path) {AircraftPath = path; return true;}
bool SetScriptPath(string path) {ScriptPath = path; return true;}
/// @name Top-level executive State and Model retrieval mechanism
//@{
/// Returns the FGState pointer.
inline FGState* GetState(void) {return State;}
/// Returns the FGAtmosphere pointer.
inline FGAtmosphere* GetAtmosphere(void) {return Atmosphere;}
/// Returns the FGFCS pointer.
inline FGFCS* GetFCS(void) {return FCS;}
/// Returns the FGPropulsion pointer.
inline FGPropulsion* GetPropulsion(void) {return Propulsion;}
/// Returns the FGAircraft pointer.
inline FGAircraft* GetAircraft(void) {return Aircraft;}
/// Returns the FGTranslation pointer.
inline FGTranslation* GetTranslation(void) {return Translation;}
/// Returns the FGRotation pointer.
inline FGRotation* GetRotation(void) {return Rotation;}
/// Returns the FGPosition pointer.
inline FGPosition* GetPosition(void) {return Position;}
/// Returns the FGAuxiliary pointer.
inline FGAuxiliary* GetAuxiliary(void) {return Auxiliary;}
/// Returns the FGOutput pointer.
inline FGOutput* GetOutput(void) {return Output;}
//@}
/// Retrieves the engine path.
inline string GetEnginePath(void) {return EnginePath;}
/// Retrieves the aircraft path.
inline string GetAircraftPath(void) {return AircraftPath;}
private:
FGModel* FirstModel;
bool frozen;
bool terminate;
int Error;
int Frame;
bool modelLoaded;
bool Scripted;
string AircraftPath;
string EnginePath;
string ScriptPath;
string ScriptName;
float StartTime;
float EndTime;
vector <struct condition> Conditions;
FGState* State;
FGAtmosphere* Atmosphere;
FGFCS* FCS;
FGPropulsion* Propulsion;
FGAircraft* Aircraft;
FGTranslation* Translation;
FGRotation* Rotation;
FGPosition* Position;
FGAuxiliary* Auxiliary;
FGOutput* Output;
bool Allocate(void);
bool DeAllocate(void);
void Debug(void);
};
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif

9
src/FDM/JSBSim/FGLGear.cpp
View file

@ -186,7 +186,7 @@ FGColumnVector FGLGear::Force(void)
FGColumnVector vLocalForce(3);
//FGColumnVector vLocalGear(3); // Vector: CG to this wheel (Local)
FGColumnVector vWhlVelVec(3); // Velocity of this wheel (Local)
vWhlBodyVec = (vXYZ - Aircraft->GetXYZcg()) / 12.0;
vWhlBodyVec(eX) = -vWhlBodyVec(eX);
vWhlBodyVec(eZ) = -vWhlBodyVec(eZ);
@ -259,7 +259,7 @@ FGColumnVector FGLGear::Force(void)
switch (eSteerType) {
case stSteer:
SteerAngle = SteerGain*RudderPedal;
SteerAngle = SteerGain*FCS->GetDrCmd();
break;
case stFixed:
SteerAngle = 0.0;
@ -322,7 +322,10 @@ FGColumnVector FGLGear::Force(void)
// Compute the forces in the wheel ground plane.
RollingForce = vLocalForce(eZ) * BrakeFCoeff * fabs(RollingWhlVel)/RollingWhlVel;
RollingForce = 0;
if(fabs(RollingWhlVel) > 1E-3) {
RollingForce = vLocalForce(eZ) * BrakeFCoeff * fabs(RollingWhlVel)/RollingWhlVel;
}
SideForce = vLocalForce(eZ) * FCoeff;
// Transform these forces back to the local reference frame.

54
src/FDM/JSBSim/FGMatrix.h
View file

@ -23,6 +23,12 @@ INCLUDES
#include <stdlib.h>
#ifdef FGFS
# include <simgear/compiler.h>
# include STL_STRING
SG_USING_STD(string);
SG_USING_STD(ostream);
SG_USING_STD(istream);
SG_USING_STD(cerr);
SG_USING_STD(endl);
# ifdef FG_HAVE_STD_INCLUDES
# include <fstream>
# include <cmath>
@ -36,9 +42,14 @@ INCLUDES
# include <fstream>
# include <cmath>
# include <iostream>
# include <string>
using std::string;
using std::ostream;
using std::istream;
using std::cerr;
using std::endl;
#endif
#include <string>
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
@ -46,12 +57,6 @@ DEFINITIONS
#define ID_MATRIX "$Id$"
using std::string;
using std::ostream;
using std::istream;
using std::cerr;
using std::endl;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@ -148,45 +153,12 @@ public:
friend FGColumnVector operator*(const FGMatrix& M, const FGColumnVector& V);
double& operator()(int m) const;
FGColumnVector& multElementWise(const FGColumnVector& V);
private:
void Debug(void);
};
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DECLARATION: FGMatrix3x3
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGMatrix3x3 : public FGMatrix
{
public:
FGMatrix3x3(void) {FGMatrix(3,3);}
// ~FGMatrix3x3(void) {~FGMatrix();}
};
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DECLARATION: FGColumnVector4
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGColumnVector4 : public FGColumnVector
{
public:
FGColumnVector4(void) {FGColumnVector(4);}
// ~FGColumnVector4(void) {~FGColumnVector();}
};
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DECLARATION: FGColumnVector3
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGColumnVector3 : public FGColumnVector
{
public:
FGColumnVector3(void) {FGColumnVector(3);}
// ~FGColumnVector3(void) {~FGColumnVector();}
};
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif

3
src/FDM/JSBSim/FGNozzle.cpp
View file

@ -73,6 +73,8 @@ FGNozzle::FGNozzle(FGFDMExec* FDMExec, FGConfigFile* Nzl_cfg) : FGThruster(FDMEx
}
}
Thrust = 0;
if (debug_lvl & 2) cout << "Instantiated: FGNozzle" << endl;
}
@ -87,7 +89,6 @@ FGNozzle::~FGNozzle()
float FGNozzle::Calculate(float CfPc)
{
float Thrust;
float pAtm = fdmex->GetAtmosphere()->GetPressure();
Thrust = (CfPc + (PE - pAtm)*ExpR) * (Diameter / ExpR) * nzlEff;

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

@ -52,8 +52,8 @@ FGPropeller::FGPropeller(FGFDMExec* exec, FGConfigFile* Prop_cfg) : FGThruster(e
string token;
int rows, cols;
PropName = Prop_cfg->GetValue("NAME");
cout << "\n Propeller Name: " << PropName << endl;
Name = Prop_cfg->GetValue("NAME");
cout << "\n Propeller Name: " << Name << endl;
Prop_cfg->GetNextConfigLine();
while (Prop_cfg->GetValue() != "/FG_PROPELLER") {
*Prop_cfg >> token;

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

@ -124,9 +124,6 @@ public:
/// Retrieves the propeller moment of inertia
float GetIxx(void) { return Ixx; }
/// Retrieves the Thrust in pounds
float GetThrust(void) { return Thrust; }
/// Retrieves the Torque in foot-pounds (Don't you love the English system?)
float GetTorque(void) { return Torque; }
@ -147,7 +144,6 @@ public:
float Calculate(float PowerAvailable);
private:
string PropName;
int numBlades;
float RPM;
float Ixx;
@ -155,7 +151,6 @@ private:
float MaxPitch;
float MinPitch;
float Pitch;
float Thrust;
float Torque;
FGTable *Efficiency;
FGTable *cThrust;

87
src/FDM/JSBSim/FGPropulsion.cpp
View file

@ -206,12 +206,12 @@ bool FGPropulsion::LoadPropulsion(FGConfigFile* AC_cfg)
} else cerr << "Unknown identifier: " << token << " in engine file: "
<< engineFileName << endl;
}
Engines[numEngines]->SetPlacement(xLoc, yLoc, zLoc, Pitch, Yaw);
numEngines++;
} else {
cerr << "Could not read engine config file: " << fullpath
+ engineFileName + ".xml" << endl;
return false;
@ -231,7 +231,7 @@ bool FGPropulsion::LoadPropulsion(FGConfigFile* AC_cfg)
numOxiTanks++;
break;
}
numTanks++;
} else if (token == "AC_THRUSTER") { // ========== READING THRUSTERS
@ -285,6 +285,87 @@ bool FGPropulsion::LoadPropulsion(FGConfigFile* AC_cfg)
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
string FGPropulsion::GetPropulsionStrings(void)
{
string PropulsionStrings = "";
bool firstime = true;
for (unsigned int i=0;i<Engines.size();i++) {
if (!firstime) {
PropulsionStrings += ", ";
firstime = false;
}
/*
switch(Engines[i].GetType()) {
case etPiston:
PropulsionStrings += (Engines[i].GetName() + "_PwrAvail, ");
break;
case etRocket:
break;
case etTurboJet:
case etTurboProp:
case etTurboShaft:
break;
}
switch(Thrusters[i].GetType()) {
case ttNozzle:
PropulsionStrings += (Thrusters[i].GetName() + "_Thrust, ");
break;
case ttRotor:
break;
case ttPropeller:
break;
}
*/
}
return PropulsionStrings;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
string FGPropulsion::GetPropulsionValues(void)
{
char buff[20];
string PropulsionValues = "";
bool firstime = true;
for (unsigned int i=0;i<Engines.size();i++) {
if (!firstime) {
PropulsionValues += ", ";
firstime = false;
}
/*
switch(Engines[i].GetType()) {
case etPiston:
PropulsionValues += (string(gcvt(Thrusters[i].GetPowerAvailable(), 10, buff)) + ", ");
break;
case etRocket:
break;
case etTurboJet:
case etTurboProp:
case etTurboShaft:
break;
}
switch(Thrusters[i].GetType()) {
case ttNozzle:
PropulsionValues += (string(gcvt(Thrusters[i].GetThrust(), 10, buff)) + ", ");
break;
case ttRotor:
break;
case ttPropeller:
break;
}
*/
}
return PropulsionValues;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGPropulsion::Debug(void)
{
//TODO: Add your source code here

2
src/FDM/JSBSim/FGPropulsion.h
View file

@ -157,6 +157,8 @@ public:
bool GetSteadyState(void);
string GetPropulsionStrings(void);
string GetPropulsionValues(void);
inline FGColumnVector& GetForces(void) {return *Forces; }
inline FGColumnVector& GetMoments(void) {return *Moments;}

1
src/FDM/JSBSim/FGThruster.h
View file

@ -63,6 +63,7 @@ public:
void SetName(string name) {Name = name;}
virtual float GetPowerRequired(void) {return 0.0;}
virtual void SetdeltaT(float dt) {deltaT = dt;}
float GetThrust(void) {return Thrust;}
protected:
string Name;

10
src/FDM/JSBSim/FGfdmSocket.h
View file

@ -46,6 +46,9 @@ INCLUDES
#ifdef FGFS
# include <simgear/compiler.h>
# include STL_STRING
SG_USING_STD(cout);
SG_USING_STD(endl);
# ifdef FG_HAVE_STD_INCLUDES
# include <iostream>
# include <fstream>
@ -56,9 +59,11 @@ INCLUDES
#else
# include <iostream>
# include <fstream>
# include <string>
using std::cout;
using std::endl;
#endif
#include <string>
#include <sys/types.h>
#if defined(__BORLANDC__) || defined(_MSC_VER)
@ -76,9 +81,6 @@ DEFINITIONS
#define ID_FDMSOCKET "$Id$"
using std::cout;
using std::endl;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/