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20010710 sync with JSBSim.

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curt 2001-07-10 15:56:38 +00:00
parent 968b9fcb9c
commit 96eff71a13
20 changed files with 105 additions and 101 deletions
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2
src/FDM/JSBSim/FGAerodynamics.cpp
View file

@ -131,7 +131,7 @@ bool FGAerodynamics::Run(void)
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGAerodynamics::LoadAerodynamics(FGConfigFile* AC_cfg)
bool FGAerodynamics::Load(FGConfigFile* AC_cfg)
{
string token, axis;

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

@ -105,7 +105,7 @@ public:
/** Loads the Aerodynamics model
@return true if successful */
bool LoadAerodynamics(FGConfigFile* AC_cfg);
bool Load(FGConfigFile* AC_cfg);
/** Outputs coefficient information.
Non-dimensionalizing parameter descriptions are output

45
src/FDM/JSBSim/FGAircraft.cpp
View file

@ -28,8 +28,7 @@
FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
Models the aircraft reactions and forces. This class is instantiated by the
FGFDMExec class and scheduled as an FDM entry. LoadAircraft() is supplied with a
name of a valid, registered aircraft, and the data file is parsed.
FGFDMExec class and scheduled as an FDM entry.
HISTORY
--------------------------------------------------------------------------------
@ -190,46 +189,32 @@ FGAircraft::~FGAircraft()
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGAircraft::LoadAircraft(string aircraft_path, string engine_path, string fname) {
string path;
string filename;
string aircraftCfgFileName;
bool FGAircraft::Load(FGConfigFile* AC_cfg)
{
string token;
AircraftPath = aircraft_path;
EnginePath = engine_path;
ReadPrologue(AC_cfg);
# ifndef macintosh
aircraftCfgFileName = AircraftPath + "/" + fname + "/" + fname + ".xml";
# else
aircraftCfgFileName = AircraftPath + ";" + fname + ";" + fname + ".xml";
# endif
FGConfigFile AC_cfg(aircraftCfgFileName);
if (!AC_cfg.IsOpen()) return false;
ReadPrologue(&AC_cfg);
while ((AC_cfg.GetNextConfigLine() != "EOF") &&
(token = AC_cfg.GetValue()) != "/FDM_CONFIG") {
while ((AC_cfg->GetNextConfigLine() != "EOF") &&
(token = AC_cfg->GetValue()) != "/FDM_CONFIG") {
if (token == "METRICS") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Metrics" << fgdef << endl;
ReadMetrics(&AC_cfg);
ReadMetrics(AC_cfg);
} else if (token == "AERODYNAMICS") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Aerodynamics" << fgdef << endl;
ReadAerodynamics(&AC_cfg);
ReadAerodynamics(AC_cfg);
} else if (token == "UNDERCARRIAGE") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Landing Gear" << fgdef << endl;
ReadUndercarriage(&AC_cfg);
ReadUndercarriage(AC_cfg);
} else if (token == "PROPULSION") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Propulsion" << fgdef << endl;
ReadPropulsion(&AC_cfg);
ReadPropulsion(AC_cfg);
} else if (token == "FLIGHT_CONTROL") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Flight Control" << fgdef << endl;
ReadFlightControls(&AC_cfg);
ReadFlightControls(AC_cfg);
} else if (token == "OUTPUT") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Output directives" << fgdef << endl;
ReadOutput(&AC_cfg);
ReadOutput(AC_cfg);
}
}
@ -375,7 +360,7 @@ void FGAircraft::ReadMetrics(FGConfigFile* AC_cfg)
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGAircraft::ReadPropulsion(FGConfigFile* AC_cfg) {
if (!Propulsion->LoadPropulsion(AC_cfg)) {
if (!Propulsion->Load(AC_cfg)) {
cerr << "Propulsion not successfully loaded" << endl;
}
}
@ -383,7 +368,7 @@ void FGAircraft::ReadPropulsion(FGConfigFile* AC_cfg) {
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGAircraft::ReadFlightControls(FGConfigFile* AC_cfg) {
if (!FCS->LoadFCS(AC_cfg)) {
if (!FCS->Load(AC_cfg)) {
cerr << "Flight Controls not successfully loaded" << endl;
}
}
@ -392,7 +377,7 @@ void FGAircraft::ReadFlightControls(FGConfigFile* AC_cfg) {
void FGAircraft::ReadAerodynamics(FGConfigFile* AC_cfg)
{
if (!Aerodynamics->LoadAerodynamics(AC_cfg)) {
if (!Aerodynamics->Load(AC_cfg)) {
cerr << "Aerodynamics not successfully loaded" << endl;
}

13
src/FDM/JSBSim/FGAircraft.h
View file

@ -43,16 +43,13 @@ INCLUDES
# ifdef SG_HAVE_STD_INCLUDES
# include <vector>
# include <iterator>
# include <map>
# else
# include <vector.h>
# include <iterator.h>
# include <map.h>
# endif
#else
# include <vector>
# include <iterator>
# include <map>
#endif
#include "FGModel.h"
@ -130,11 +127,9 @@ public:
/** Loads the aircraft.
The executive calls this method to load the aircraft into JSBSim.
@param apath path to the aircraft files (e.g. "aircraft/X15/")
@param epath path to engine files (e.g. "engine/")
@param acname name of aircraft (e.g. "X15")
@return true if succesful */
bool LoadAircraft(string apath, string epath, string acname);
@param AC_cfg a pointer to the config file instance
@return true if successful */
bool Load(FGConfigFile* AC_cfg);
/** Gets the aircraft name
@return the name of the aircraft as a string type */
@ -217,8 +212,6 @@ private:
vector <FGLGear> lGear;
string AircraftPath;
string EnginePath;
void ReadMetrics(FGConfigFile*);
void ReadPropulsion(FGConfigFile*);
void ReadFlightControls(FGConfigFile*);

27
src/FDM/JSBSim/FGCoefficient.h
View file

@ -97,7 +97,18 @@ CLASS DECLARATION
class FGCoefficient
{
public:
FGCoefficient(FGFDMExec*, FGConfigFile*);
~FGCoefficient();
typedef vector <eParam> MultVec;
float TotalValue(void);
inline string Getname(void) {return name;}
inline float GetSD(void) {return SD;}
inline MultVec Getmultipliers(void) {return multipliers;}
void DumpSD(void);
private:
enum Type {UNKNOWN, VALUE, VECTOR, TABLE, EQUATION};
int numInstances;
@ -105,6 +116,9 @@ class FGCoefficient
string description;
string name;
string method;
float Value(float, float);
float Value(float);
float Value(void);
float StaticValue;
eParam LookupR, LookupC;
MultVec multipliers;
@ -124,19 +138,6 @@ class FGCoefficient
FGAuxiliary* Auxiliary;
FGOutput* Output;
public:
FGCoefficient(FGFDMExec*, FGConfigFile*);
~FGCoefficient();
float Value(float, float);
float Value(float);
float Value(void);
float TotalValue(void);
inline string Getname(void) {return name;}
inline float GetSD(void) {return SD;}
inline MultVec Getmultipliers(void) {return multipliers;}
void DumpSD(void);
private:
void Debug(void);
};

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

@ -134,12 +134,12 @@ void FGFCS::SetThrottlePos(int engineNum, float setting)
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGFCS::LoadFCS(FGConfigFile* AC_cfg)
bool FGFCS::Load(FGConfigFile* AC_cfg)
{
string token;
FCSName = AC_cfg->GetValue("NAME");
if (debug_lvl > 0) cout << " Control System Name: " << FCSName << endl;
Name = AC_cfg->GetValue("NAME");
if (debug_lvl > 0) cout << " Control System Name: " << Name << endl;
AC_cfg->GetNextConfigLine();
while ((token = AC_cfg->GetValue()) != "/FLIGHT_CONTROL") {
if (token == "COMPONENT") {

6
src/FDM/JSBSim/FGFCS.h
View file

@ -350,11 +350,7 @@ public:
the config file instance pointer. LoadFCS() is called from FGAircraft.
@param AC_cfg pointer to the config file instance
@return true if succesful */
bool LoadFCS(FGConfigFile* AC_cfg);
/** The name of the flight control laws for this aircraft.
This is given in the config file, and is not used for anything currently.*/
string FCSName;
bool Load(FGConfigFile* AC_cfg);
void AddThrottle(void);

18
src/FDM/JSBSim/FGFDMExec.cpp
View file

@ -364,14 +364,26 @@ bool FGFDMExec::LoadModel(string APath, string EPath, string model)
{
bool result = false;
string aircraftCfgFileName;
AircraftPath = APath;
EnginePath = EPath;
# ifndef macintosh
aircraftCfgFileName = AircraftPath + "/" + model + "/" + model + ".xml";
# else
aircraftCfgFileName = AircraftPath + ";" + model + ";" + model + ".xml";
# endif
FGConfigFile AC_cfg(aircraftCfgFileName);
if (!AC_cfg.IsOpen()) return false;
if (modelLoaded) {
DeAllocate();
Allocate();
}
AircraftPath = APath;
EnginePath = EPath;
result = Aircraft->LoadAircraft(AircraftPath, EnginePath, model);
result = Aircraft->Load(&AC_cfg);
if (result) {
modelLoaded = true;

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

@ -66,9 +66,8 @@ bool FGGroundReactions:: Run(void) {
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGGroundReactions::LoadGroundReactions(FGConfigFile* AC_cfg)
bool FGGroundReactions::Load(FGConfigFile* AC_cfg)
{
//
return true;
}

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

@ -69,7 +69,7 @@ public:
~FGGroundReactions();
bool Run(void);
bool LoadGroundReactions(FGConfigFile* AC_cfg);
bool Load(FGConfigFile* AC_cfg);
private:
void Debug(void);

8
src/FDM/JSBSim/FGModel.h
View file

@ -79,6 +79,7 @@ class FGRotation;
class FGPosition;
class FGAuxiliary;
class FGOutput;
class FGConfigFile;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
@ -105,10 +106,15 @@ public:
/// Destructor
virtual ~FGModel();
/** Loads this model.
@param Config a pointer to the config file instance
@return true if model is successfully loaded*/
virtual bool Load(FGConfigFile* Config) {}
FGModel* NextModel;
string Name;
/** Runs the model; called by the Executive
/** Runs the model; called by the Executive
@see JSBSim.cpp documentation
@return false if no error */
virtual bool Run(void);

26
src/FDM/JSBSim/FGOutput.cpp
View file

@ -158,7 +158,8 @@ void FGOutput::DelimitedOutput(void)
cout << ", ";
cout << "QBar, ";
cout << "Vtotal, ";
cout << "U, V, W, ";
cout << "UBody, VBody, WBody, ";
cout << "UAero, VAero, WAero, ";
cout << "Vn, Ve, Vd";
}
if (SubSystems & FGAircraft::ssForces) {
@ -233,6 +234,7 @@ void FGOutput::DelimitedOutput(void)
cout << Translation->Getqbar() << ", ";
cout << Translation->GetVt() << ", ";
cout << Translation->GetUVW() << ", ";
cout << Translation->GetvAero() << ", ";
cout << Position->GetVel();
}
if (SubSystems & FGAircraft::ssForces) {
@ -312,7 +314,8 @@ void FGOutput::DelimitedOutput(string fname)
datafile << ", ";
datafile << "QBar, ";
datafile << "Vtotal, ";
datafile << "U, V, W, ";
datafile << "UBody, VBody, WBody, ";
datafile << "UAero, VAero, WAero, ";
datafile << "Vn, Ve, Vd";
}
if (SubSystems & FGAircraft::ssForces) {
@ -390,6 +393,7 @@ void FGOutput::DelimitedOutput(string fname)
datafile << Translation->Getqbar() << ", ";
datafile << Translation->GetVt() << ", ";
datafile << Translation->GetUVW() << ", ";
datafile << Translation->GetvAero() << ", ";
datafile << Position->GetVel();
}
if (SubSystems & FGAircraft::ssForces) {
@ -463,9 +467,12 @@ void FGOutput::SocketOutput(void)
socket->Append("Psi");
socket->Append("Rho");
socket->Append("Vtotal");
socket->Append("U");
socket->Append("V");
socket->Append("W");
socket->Append("UBody");
socket->Append("VBody");
socket->Append("WBody");
socket->Append("UAero");
socket->Append("VAero");
socket->Append("WAero");
socket->Append("Vn");
socket->Append("Ve");
socket->Append("Vd");
@ -504,9 +511,12 @@ void FGOutput::SocketOutput(void)
socket->Append(Rotation->Getpsi());
socket->Append(Atmosphere->GetDensity());
socket->Append(Translation->GetVt());
socket->Append(Translation->GetU());
socket->Append(Translation->GetV());
socket->Append(Translation->GetW());
socket->Append(Translation->GetUVW(eU));
socket->Append(Translation->GetUVW(eV));
socket->Append(Translation->GetUVW(eW));
socket->Append(Translation->GetvAero(eU));
socket->Append(Translation->GetvAero(eV));
socket->Append(Translation->GetvAero(eW));
socket->Append(Position->GetVn());
socket->Append(Position->GetVe());
socket->Append(Position->GetVd());

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

@ -93,7 +93,6 @@ extern double globalSceneryAltitude;
extern double globalSeaLevelRadius;
FGPosition::FGPosition(FGFDMExec* fdmex) : FGModel(fdmex),
vUVW(3),
vVel(3),
vVelDot(3),
vRunwayNormal(3)
@ -184,9 +183,8 @@ bool FGPosition:: Run(void) {
void FGPosition::GetState(void) {
dt = State->Getdt();
vUVW = Translation->GetUVW();
Vt = Translation->GetVt();
vVel = State->GetTb2l()*vUVW + Atmosphere->GetWindNED();
vVel = State->GetTb2l() * Translation->GetUVW();
vVelDot = State->GetTb2l() * Translation->GetUVWdot();
b = Aircraft->GetWingSpan();

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

@ -83,7 +83,6 @@ public:
inline FGColumnVector GetVel(void) { return vVel; }
inline FGColumnVector GetVelDot(void) { return vVelDot; }
inline FGColumnVector GetUVW(void) { return vUVW; }
inline double GetVn(void) { return vVel(eX); }
inline double GetVe(void) { return vVel(eY); }
inline double GetVd(void) { return vVel(eZ); }
@ -115,7 +114,6 @@ public:
}
private:
FGColumnVector vUVW;
FGColumnVector vVel;
FGColumnVector vVelDot;
FGColumnVector vRunwayNormal;

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

@ -140,7 +140,7 @@ FGPropeller::~FGPropeller()
float FGPropeller::Calculate(float PowerAvailable)
{
float J, C_Thrust, omega;
float Vel = (fdmex->GetTranslation()->GetUVW())(1);
float Vel = (fdmex->GetTranslation()->GetvAero())(1);
float rho = fdmex->GetAtmosphere()->GetDensity();
float RPS = RPM/60.0;
@ -175,7 +175,7 @@ float FGPropeller::GetPowerRequired(void)
float cPReq, RPS = RPM / 60.0;
float J = (fdmex->GetTranslation()->GetUVW())(1) / (Diameter * RPS);
float J = (fdmex->GetTranslation()->GetvAero())(1) / (Diameter * RPS);
float rho = fdmex->GetAtmosphere()->GetDensity();
if (MaxPitch == MinPitch) { // Fixed pitch prop

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

@ -143,7 +143,7 @@ bool FGPropulsion::GetSteadyState(void) {
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGPropulsion::LoadPropulsion(FGConfigFile* AC_cfg)
bool FGPropulsion::Load(FGConfigFile* AC_cfg)
{
string token, fullpath;
string engineFileName, engType;

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

@ -123,7 +123,7 @@ public:
@param AC_cfg pointer to the config file instance that describes the
aircraft being modeled.
@return true if successfully loaded, otherwise false */
bool LoadPropulsion(FGConfigFile* AC_cfg);
bool Load(FGConfigFile* AC_cfg);
/// Retrieves the number of engines defined for the aircraft.
inline unsigned int GetNumEngines(void) {return Engines.size();}

28
src/FDM/JSBSim/FGTranslation.cpp
View file

@ -87,7 +87,8 @@ FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex),
vForces(3),
vEuler(3),
vlastUVWdot(3),
mVel(3,3)
mVel(3,3),
vAero(3)
{
Name = "FGTranslation";
qbar = 0;
@ -130,28 +131,29 @@ bool FGTranslation::Run(void) {
vNcg = vUVWdot*INVGRAVITY;
vUVW += 0.5*dt*rate*(vlastUVWdot + vUVWdot);
vAero = vUVW + State->GetTl2b()*Atmosphere->GetWindNED();
Vt = vUVW.Magnitude();
Vt = vAero.Magnitude();
if (vUVW(eW) != 0.0)
alpha = vUVW(eU)*vUVW(eU) > 0.0 ? atan2(vUVW(eW), vUVW(eU)) : 0.0;
if (vUVW(eV) != 0.0)
beta = vUVW(eU)*vUVW(eU)+vUVW(eW)*vUVW(eW) > 0.0 ? atan2(vUVW(eV),
sqrt(vUVW(eU)*vUVW(eU) + vUVW(eW)*vUVW(eW))) : 0.0;
if (vAero(eW) != 0.0)
alpha = vAero(eU)*vAero(eU) > 0.0 ? atan2(vAero(eW), vAero(eU)) : 0.0;
if (vAero(eV) != 0.0)
beta = vAero(eU)*vAero(eU)+vAero(eW)*vAero(eW) > 0.0 ? atan2(vAero(eV),
sqrt(vAero(eU)*vAero(eU) + vAero(eW)*vAero(eW))) : 0.0;
// stolen, quite shamelessly, from LaRCsim
float mUW = (vUVW(eU)*vUVW(eU) + vUVW(eW)*vUVW(eW));
float mUW = (vAero(eU)*vAero(eU) + vAero(eW)*vAero(eW));
float signU=1;
if (vUVW(eU) != 0.0)
signU = vUVW(eU)/fabs(vUVW(eU));
if (vAero(eU) != 0.0)
signU = vAero(eU)/fabs(vAero(eU));
if ( (mUW == 0.0) || (Vt == 0.0) ) {
adot = 0.0;
bdot = 0.0;
} else {
adot = (vUVW(eU)*vUVWdot(eW) - vUVW(eW)*vUVWdot(eU))/mUW;
bdot = (signU*mUW*vUVWdot(eV) - vUVW(eV)*(vUVW(eU)*vUVWdot(eU)
+ vUVW(eW)*vUVWdot(eW)))/(Vt*Vt*sqrt(mUW));
adot = (vAero(eU)*vAero(eW) - vAero(eW)*vUVWdot(eU))/mUW;
bdot = (signU*mUW*vUVWdot(eV) - vAero(eV)*(vAero(eU)*vUVWdot(eU)
+ vAero(eW)*vUVWdot(eW)))/(Vt*Vt*sqrt(mUW));
}
qbar = 0.5*rho*Vt*Vt;

3
src/FDM/JSBSim/FGTranslation.h
View file

@ -87,6 +87,8 @@ public:
inline float GetUVWdot(int idx) { return vUVWdot(idx); }
inline FGColumnVector GetNcg (void) { return vNcg; }
inline float GetNcg (int idx) { return vNcg(idx); }
inline FGColumnVector GetvAero (void) { return vAero; }
inline float GetvAero (int idx) { return vAero(idx); }
inline float Getalpha(void) { return alpha; }
inline float Getbeta (void) { return beta; }
@ -121,6 +123,7 @@ private:
FGColumnVector vEuler;
FGColumnVector vlastUVWdot;
FGMatrix mVel;
FGColumnVector vAero;
float Vt, qbar, Mach;
float Mass, dt;

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

@ -88,7 +88,7 @@ USEUNIT("FGNozzle.cpp");
USEUNIT("FGOutput.cpp");
USEUNIT("FGPiston.cpp");
USEUNIT("FGPosition.cpp");
USEUNIT("FGPropeller.cpp");
USEUNIT("FGJSBBase.cpp");
USEUNIT("FGPropulsion.cpp");
USEUNIT("FGRocket.cpp");
USEUNIT("FGRotation.cpp");
@ -112,6 +112,7 @@ USEUNIT("filtersjb\FGGain.cpp");
USEUNIT("filtersjb\FGGradient.cpp");
USEUNIT("filtersjb\FGSummer.cpp");
USEUNIT("filtersjb\FGDeadBand.cpp");
USEUNIT("FGPropeller.cpp");
//---------------------------------------------------------------------------
#endif