LaRCsim FDM - detabbing of all files.
All '\t' have been replaced with 8 spaces, as most of the code is indented with spaces.
This commit is contained in:
Edward d'Auvergne
parent
dc04fc2294
commit
9b7db929f2
42 changed files with 3976 additions and 3976 deletions
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@ -1,42 +1,42 @@
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I will explain assumptions I have made:
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I will explain assumptions I have made:
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All global vars, such as Alpha, Alpha_dot, Density, Altitude, so on,
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All global vars, such as Alpha, Alpha_dot, Density, Altitude, so on,
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have correct values in the moment cherokee functions are called.
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have correct values in the moment cherokee functions are called.
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Body coord system is defined as follows:
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Body coord system is defined as follows:
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X_body -> from cg to nose
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X_body -> from cg to nose
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Y_body -> along right wing
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Y_body -> along right wing
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Z_body -> "down" (to make right coord system)
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Z_body -> "down" (to make right coord system)
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All forces and moments act in CG.
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All forces and moments act in CG.
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If strange behaviour is experienced, (like impossibility of level
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If strange behaviour is experienced, (like impossibility of level
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flight), it is probably misused coord system. Let me know and fix
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flight), it is probably misused coord system. Let me know and fix
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the error.
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the error.
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All controls are in the range [-1.0, 1.0] If it is not so, values in
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All controls are in the range [-1.0, 1.0] If it is not so, values in
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cherokee_aero.c on lines 119-121 should be changed acordingly. If
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cherokee_aero.c on lines 119-121 should be changed acordingly. If
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commands appear to be oposite, this is the place to change sign
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commands appear to be oposite, this is the place to change sign
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convention.
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convention.
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Engine controls are in range [0.0, 1.0] (I found out later that lower
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Engine controls are in range [0.0, 1.0] (I found out later that lower
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bound is -0.2, so I added fabs(). I know, it is dirty and phisiclly
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bound is -0.2, so I added fabs(). I know, it is dirty and phisiclly
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wrong, but it was simply the fastest way to deal with it).
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wrong, but it was simply the fastest way to deal with it).
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All initialization files are *.ic:
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All initialization files are *.ic:
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mass = 74.53 slugs
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mass = 74.53 slugs
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Ixx = 1070 slugs
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Ixx = 1070 slugs
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Iyy = 1249 slugs
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Iyy = 1249 slugs
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Izz = 2312 slugs
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Izz = 2312 slugs
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Ixz = 0.0 slugs
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Ixz = 0.0 slugs
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above changes are writen in *.ic included in cherokee.zip. However,
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above changes are writen in *.ic included in cherokee.zip. However,
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other data in *.ic files are not changed in any way.
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other data in *.ic files are not changed in any way.
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aditional properties: (if needed)
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aditional properties: (if needed)
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S = 157.5 ft^2 -> wing area
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S = 157.5 ft^2 -> wing area
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b = 30.0 ft -> wing span
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b = 30.0 ft -> wing span
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Ar = 5.71 -> aspect ratio
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Ar = 5.71 -> aspect ratio
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c = 5.25 ft -> midspan chord
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c = 5.25 ft -> midspan chord
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Once more: Source are TOTALY UNCHECKED. I hope it will work, but I do not
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Once more: Source are TOTALY UNCHECKED. I hope it will work, but I do not
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@ -50,11 +50,11 @@ gsikic@public.srce.hr
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PS
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PS
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Work to be done (for myself):
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Work to be done (for myself):
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Landing gear (it is just navion_gear.c copied for now, these are similar
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Landing gear (it is just navion_gear.c copied for now, these are similar
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class of aircraft, so it should work),
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class of aircraft, so it should work),
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Alpha_max is still undone,
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Alpha_max is still undone,
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Spin (if I find any references concerning simulating spin),
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Spin (if I find any references concerning simulating spin),
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Efect of ground,
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Efect of ground,
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Flaps,
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Flaps,
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.......
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.......
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@ -45,14 +45,14 @@ void FGNewEngine::init(double dt) {
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CONVERT_HP_TO_WATTS = 745.6999;
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CONVERT_HP_TO_WATTS = 745.6999;
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// Properties of working fluids
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// Properties of working fluids
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Cp_air = 1005; // J/KgK
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Cp_air = 1005; // J/KgK
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Cp_fuel = 1700; // J/KgK
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Cp_fuel = 1700; // J/KgK
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calorific_value_fuel = 47.3e6; // W/Kg Note that this is only an approximate value
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calorific_value_fuel = 47.3e6; // W/Kg Note that this is only an approximate value
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rho_fuel = 800; // kg/m^3 - an estimate for now
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rho_fuel = 800; // kg/m^3 - an estimate for now
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R_air = 287.3;
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R_air = 287.3;
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// environment inputs
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// environment inputs
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p_amb_sea_level = 101325; // Pascals
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p_amb_sea_level = 101325; // Pascals
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// Control inputs - ARE THESE NEEDED HERE???
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// Control inputs - ARE THESE NEEDED HERE???
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Throttle_Lever_Pos = 75;
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Throttle_Lever_Pos = 75;
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@ -67,7 +67,7 @@ void FGNewEngine::init(double dt) {
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MaxHP = 200; //Lycoming IO360 -A-C-D series
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MaxHP = 200; //Lycoming IO360 -A-C-D series
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// MaxHP = 180; //Current Lycoming IO360 ?
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// MaxHP = 180; //Current Lycoming IO360 ?
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// displacement = 520; //Continental IO520-M
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// displacement = 520; //Continental IO520-M
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displacement = 360; //Lycoming IO360
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displacement = 360; //Lycoming IO360
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displacement_SI = displacement * CONVERT_CUBIC_INCHES_TO_METERS_CUBED;
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displacement_SI = displacement * CONVERT_CUBIC_INCHES_TO_METERS_CUBED;
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engine_inertia = 0.2; //kgm^2 - value taken from a popular family saloon car engine - need to find an aeroengine value !!!!!
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engine_inertia = 0.2; //kgm^2 - value taken from a popular family saloon car engine - need to find an aeroengine value !!!!!
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prop_inertia = 0.05; //kgm^2 - this value is a total guess - dcl
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prop_inertia = 0.05; //kgm^2 - this value is a total guess - dcl
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@ -77,7 +77,7 @@ void FGNewEngine::init(double dt) {
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Max_Manifold_Pressure = 28.50; //Inches Hg. An approximation - should be able to find it in the engine performance data
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Max_Manifold_Pressure = 28.50; //Inches Hg. An approximation - should be able to find it in the engine performance data
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Min_Manifold_Pressure = 6.5; //Inches Hg. This is a guess corresponding to approx 0.24 bar MAP (7 in Hg) - need to find some proper data for this
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Min_Manifold_Pressure = 6.5; //Inches Hg. This is a guess corresponding to approx 0.24 bar MAP (7 in Hg) - need to find some proper data for this
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Max_RPM = 2700;
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Max_RPM = 2700;
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Min_RPM = 600; //Recommended idle from Continental data sheet
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Min_RPM = 600; //Recommended idle from Continental data sheet
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Mag_Derate_Percent = 5;
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Mag_Derate_Percent = 5;
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Gear_Ratio = 1;
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Gear_Ratio = 1;
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n_R = 2; // Number of crank revolutions per power cycle - 2 for a 4 stroke engine.
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n_R = 2; // Number of crank revolutions per power cycle - 2 for a 4 stroke engine.
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@ -90,20 +90,20 @@ void FGNewEngine::init(double dt) {
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// Initialise Engine Variables used by this instance
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// Initialise Engine Variables used by this instance
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if(running)
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if(running)
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RPM = 600;
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RPM = 600;
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else
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else
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RPM = 0;
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RPM = 0;
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Percentage_Power = 0;
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Percentage_Power = 0;
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Manifold_Pressure = 29.96; // Inches
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Manifold_Pressure = 29.96; // Inches
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Fuel_Flow_gals_hr = 0;
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Fuel_Flow_gals_hr = 0;
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// Torque = 0;
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// Torque = 0;
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Torque_SI = 0;
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Torque_SI = 0;
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CHT = 298.0; //deg Kelvin
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CHT = 298.0; //deg Kelvin
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CHT_degF = (CHT * 1.8) - 459.67; //deg Fahrenheit
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CHT_degF = (CHT * 1.8) - 459.67; //deg Fahrenheit
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Mixture = 14;
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Mixture = 14;
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Oil_Pressure = 0; // PSI
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Oil_Pressure = 0; // PSI
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Oil_Temp = 85; // Deg C
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Oil_Temp = 85; // Deg C
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current_oil_temp = 298.0; //deg Kelvin
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current_oil_temp = 298.0; //deg Kelvin
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/**** one of these is superfluous !!!!***/
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/**** one of these is superfluous !!!!***/
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HP = 0;
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HP = 0;
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RPS = 0;
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RPS = 0;
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@ -124,24 +124,24 @@ void FGNewEngine::update() {
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// Hack for testing - should output every 5 seconds
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// Hack for testing - should output every 5 seconds
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static int count1 = 0;
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static int count1 = 0;
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if(count1 == 0) {
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if(count1 == 0) {
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// cout << "P_atmos = " << p_amb << " T_atmos = " << T_amb << '\n';
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// cout << "P_atmos = " << p_amb << " T_atmos = " << T_amb << '\n';
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// cout << "Manifold pressure = " << Manifold_Pressure << " True_Manifold_Pressure = " << True_Manifold_Pressure << '\n';
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// cout << "Manifold pressure = " << Manifold_Pressure << " True_Manifold_Pressure = " << True_Manifold_Pressure << '\n';
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// cout << "p_amb_sea_level = " << p_amb_sea_level << '\n';
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// cout << "p_amb_sea_level = " << p_amb_sea_level << '\n';
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// cout << "equivalence_ratio = " << equivalence_ratio << '\n';
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// cout << "equivalence_ratio = " << equivalence_ratio << '\n';
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// cout << "combustion_efficiency = " << combustion_efficiency << '\n';
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// cout << "combustion_efficiency = " << combustion_efficiency << '\n';
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// cout << "AFR = " << 14.7 / equivalence_ratio << '\n';
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// cout << "AFR = " << 14.7 / equivalence_ratio << '\n';
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// cout << "Mixture lever = " << Mixture_Lever_Pos << '\n';
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// cout << "Mixture lever = " << Mixture_Lever_Pos << '\n';
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// cout << "n = " << RPM << " rpm\n";
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// cout << "n = " << RPM << " rpm\n";
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// cout << "T_amb = " << T_amb << '\n';
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// cout << "T_amb = " << T_amb << '\n';
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// cout << "running = " << running << '\n';
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// cout << "running = " << running << '\n';
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// cout << "fuel = " << fgGetFloat("/consumables/fuel/tank[0]/level-gal_us") << '\n';
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// cout << "fuel = " << fgGetFloat("/consumables/fuel/tank[0]/level-gal_us") << '\n';
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// cout << "Percentage_Power = " << Percentage_Power << '\n';
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// cout << "Percentage_Power = " << Percentage_Power << '\n';
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// cout << "current_oil_temp = " << current_oil_temp << '\n';
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// cout << "current_oil_temp = " << current_oil_temp << '\n';
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// cout << "EGT = " << EGT << '\n';
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// cout << "EGT = " << EGT << '\n';
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}
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}
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count1++;
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count1++;
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if(count1 == 100)
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if(count1 == 100)
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count1 = 0;
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count1 = 0;
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*/
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*/
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// Check parameters that may alter the operating state of the engine.
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// Check parameters that may alter the operating state of the engine.
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@ -156,59 +156,59 @@ void FGNewEngine::update() {
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// 2 -> right only
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// 2 -> right only
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// 3 -> both
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// 3 -> both
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if(mag_pos != 0) {
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if(mag_pos != 0) {
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spark = true;
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spark = true;
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} else {
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} else {
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spark = false;
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spark = false;
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} // neglects battery voltage, master on switch, etc for now.
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} // neglects battery voltage, master on switch, etc for now.
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if((mag_pos == 1) || (mag_pos > 2))
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if((mag_pos == 1) || (mag_pos > 2))
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Magneto_Left = true;
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Magneto_Left = true;
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if(mag_pos > 1)
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if(mag_pos > 1)
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Magneto_Right = true;
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Magneto_Right = true;
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// crude check for fuel
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// crude check for fuel
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if((fgGetFloat("/consumables/fuel/tank[0]/level-gal_us") > 0) || (fgGetFloat("/consumables/fuel/tank[1]/level-gal_us") > 0)) {
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if((fgGetFloat("/consumables/fuel/tank[0]/level-gal_us") > 0) || (fgGetFloat("/consumables/fuel/tank[1]/level-gal_us") > 0)) {
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fuel = true;
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fuel = true;
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} else {
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} else {
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fuel = false;
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fuel = false;
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} // Need to make this better, eg position of fuel selector switch.
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} // Need to make this better, eg position of fuel selector switch.
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// Check if we are turning the starter motor
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// Check if we are turning the starter motor
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if(cranking != starter) {
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if(cranking != starter) {
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// This check saves .../cranking from getting updated every loop - they only update when changed.
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// This check saves .../cranking from getting updated every loop - they only update when changed.
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cranking = starter;
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cranking = starter;
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crank_counter = 0;
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crank_counter = 0;
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}
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}
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// Note that although /engines/engine[0]/starter and /engines/engine[0]/cranking might appear to be duplication it is
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// Note that although /engines/engine[0]/starter and /engines/engine[0]/cranking might appear to be duplication it is
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// not since the starter may be engaged with the battery voltage too low for cranking to occur (or perhaps the master
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// not since the starter may be engaged with the battery voltage too low for cranking to occur (or perhaps the master
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// switch just left off) and the sound manager will read .../cranking to determine wether to play a cranking sound.
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// switch just left off) and the sound manager will read .../cranking to determine wether to play a cranking sound.
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// For now though none of that is implemented so cranking can be set equal to .../starter without further checks.
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// For now though none of that is implemented so cranking can be set equal to .../starter without further checks.
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// int Alternate_Air_Pos =0; // Off = 0. Reduces power by 3 % for same throttle setting
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// int Alternate_Air_Pos =0; // Off = 0. Reduces power by 3 % for same throttle setting
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// DCL - don't know what this Alternate_Air_Pos is - this is a leftover from the Schubert code.
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// DCL - don't know what this Alternate_Air_Pos is - this is a leftover from the Schubert code.
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//Check mode of engine operation
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//Check mode of engine operation
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if(cranking) {
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if(cranking) {
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crank_counter++;
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crank_counter++;
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if(RPM <= 480) {
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if(RPM <= 480) {
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RPM += 100;
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RPM += 100;
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if(RPM > 480)
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if(RPM > 480)
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RPM = 480;
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RPM = 480;
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} else {
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} else {
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// consider making a horrible noise if the starter is engaged with the engine running
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// consider making a horrible noise if the starter is engaged with the engine running
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}
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}
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}
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}
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if((!running) && (spark) && (fuel) && (crank_counter > 120)) {
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if((!running) && (spark) && (fuel) && (crank_counter > 120)) {
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// start the engine if revs high enough
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// start the engine if revs high enough
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if(RPM > 450) {
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if(RPM > 450) {
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// For now just instantaneously start but later we should maybe crank for a bit
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// For now just instantaneously start but later we should maybe crank for a bit
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running = true;
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running = true;
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// RPM = 600;
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// RPM = 600;
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}
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}
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}
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}
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if( (running) && ((!spark)||(!fuel)) ) {
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if( (running) && ((!spark)||(!fuel)) ) {
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// Cut the engine
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// Cut the engine
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// note that we only cut the power - the engine may continue to spin if the prop is in a moving airstream
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// note that we only cut the power - the engine may continue to spin if the prop is in a moving airstream
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running = false;
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running = false;
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}
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}
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// Now we've ascertained whether the engine is running or not we can start to do the engine calculations 'proper'
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// Now we've ascertained whether the engine is running or not we can start to do the engine calculations 'proper'
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@ -250,14 +250,14 @@ void FGNewEngine::update() {
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}
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}
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else {
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else {
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Torque_SI = ((Power_SI * 60.0) / (2.0 * LS_PI * RPM)) - Torque_FMEP; //Torque = power / angular velocity
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Torque_SI = ((Power_SI * 60.0) / (2.0 * LS_PI * RPM)) - Torque_FMEP; //Torque = power / angular velocity
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// cout << Torque << " Nm\n";
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// cout << Torque << " Nm\n";
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}
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}
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//Calculate Exhaust gas temperature
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//Calculate Exhaust gas temperature
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if(running)
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if(running)
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Calc_EGT();
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Calc_EGT();
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else
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else
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EGT = 298.0;
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EGT = 298.0;
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// Calculate Cylinder Head Temperature
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// Calculate Cylinder Head Temperature
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Calc_CHT();
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Calc_CHT();
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// And finally a last check on the engine state after doing the torque balance with the prop - have we stalled?
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// And finally a last check on the engine state after doing the torque balance with the prop - have we stalled?
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if(running) {
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if(running) {
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//Check if we have stalled the engine
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//Check if we have stalled the engine
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if (RPM == 0) {
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if (RPM == 0) {
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running = false;
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running = false;
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} else if((RPM <= 480) && (cranking)) {
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} else if((RPM <= 480) && (cranking)) {
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//Make sure the engine noise dosn't play if the engine won't start due to eg mixture lever pulled out.
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//Make sure the engine noise dosn't play if the engine won't start due to eg mixture lever pulled out.
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running = false;
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running = false;
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EGT = 298.0;
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EGT = 298.0;
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}
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}
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}
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}
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// And finally, do any unit conversions from internal units to output units
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// And finally, do any unit conversions from internal units to output units
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@ -324,22 +324,22 @@ float FGNewEngine::Lookup_Combustion_Efficiency(float thi_actual)
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for(i=0;i<j;i++)
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for(i=0;i<j;i++)
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{
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{
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if(i == (j-1)) {
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if(i == (j-1)) {
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// Assume linear extrapolation of the slope between the last two points beyond the last point
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// Assume linear extrapolation of the slope between the last two points beyond the last point
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float dydx = (neta_comb[i] - neta_comb[i-1]) / (thi[i] - thi[i-1]);
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float dydx = (neta_comb[i] - neta_comb[i-1]) / (thi[i] - thi[i-1]);
|
||||||
neta_comb_actual = neta_comb[i] + dydx * (thi_actual - thi[i]);
|
neta_comb_actual = neta_comb[i] + dydx * (thi_actual - thi[i]);
|
||||||
return neta_comb_actual;
|
return neta_comb_actual;
|
||||||
}
|
}
|
||||||
if(thi_actual == thi[i]) {
|
if(thi_actual == thi[i]) {
|
||||||
neta_comb_actual = neta_comb[i];
|
neta_comb_actual = neta_comb[i];
|
||||||
return neta_comb_actual;
|
return neta_comb_actual;
|
||||||
}
|
}
|
||||||
if((thi_actual > thi[i]) && (thi_actual < thi[i + 1])) {
|
if((thi_actual > thi[i]) && (thi_actual < thi[i + 1])) {
|
||||||
//do linear interpolation between the two points
|
//do linear interpolation between the two points
|
||||||
factor = (thi_actual - thi[i]) / (thi[i+1] - thi[i]);
|
factor = (thi_actual - thi[i]) / (thi[i+1] - thi[i]);
|
||||||
neta_comb_actual = (factor * (neta_comb[i+1] - neta_comb[i])) + neta_comb[i];
|
neta_comb_actual = (factor * (neta_comb[i+1] - neta_comb[i])) + neta_comb[i];
|
||||||
return neta_comb_actual;
|
return neta_comb_actual;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
//if we get here something has gone badly wrong
|
//if we get here something has gone badly wrong
|
||||||
|
|
@ -372,28 +372,28 @@ float FGNewEngine::Power_Mixture_Correlation(float thi_actual)
|
||||||
|
|
||||||
for(i=0;i<j;i++)
|
for(i=0;i<j;i++)
|
||||||
{
|
{
|
||||||
if(i == (j-1)) {
|
if(i == (j-1)) {
|
||||||
// Assume linear extrapolation of the slope between the last two points beyond the last point
|
// Assume linear extrapolation of the slope between the last two points beyond the last point
|
||||||
dydx = (mixPerPow[i] - mixPerPow[i-1]) / (AFR[i] - AFR[i-1]);
|
dydx = (mixPerPow[i] - mixPerPow[i-1]) / (AFR[i] - AFR[i-1]);
|
||||||
mixPerPow_actual = mixPerPow[i] + dydx * (AFR_actual - AFR[i]);
|
mixPerPow_actual = mixPerPow[i] + dydx * (AFR_actual - AFR[i]);
|
||||||
return mixPerPow_actual;
|
return mixPerPow_actual;
|
||||||
}
|
}
|
||||||
if((i == 0) && (AFR_actual < AFR[i])) {
|
if((i == 0) && (AFR_actual < AFR[i])) {
|
||||||
// Assume linear extrapolation of the slope between the first two points for points before the first point
|
// Assume linear extrapolation of the slope between the first two points for points before the first point
|
||||||
dydx = (mixPerPow[1] - mixPerPow[0]) / (AFR[1] - AFR[0]);
|
dydx = (mixPerPow[1] - mixPerPow[0]) / (AFR[1] - AFR[0]);
|
||||||
mixPerPow_actual = mixPerPow[0] + dydx * (AFR_actual - AFR[0]);
|
mixPerPow_actual = mixPerPow[0] + dydx * (AFR_actual - AFR[0]);
|
||||||
return mixPerPow_actual;
|
return mixPerPow_actual;
|
||||||
}
|
}
|
||||||
if(AFR_actual == AFR[i]) {
|
if(AFR_actual == AFR[i]) {
|
||||||
mixPerPow_actual = mixPerPow[i];
|
mixPerPow_actual = mixPerPow[i];
|
||||||
return mixPerPow_actual;
|
return mixPerPow_actual;
|
||||||
}
|
}
|
||||||
if((AFR_actual > AFR[i]) && (AFR_actual < AFR[i + 1])) {
|
if((AFR_actual > AFR[i]) && (AFR_actual < AFR[i + 1])) {
|
||||||
//do linear interpolation between the two points
|
//do linear interpolation between the two points
|
||||||
factor = (AFR_actual - AFR[i]) / (AFR[i+1] - AFR[i]);
|
factor = (AFR_actual - AFR[i]) / (AFR[i+1] - AFR[i]);
|
||||||
mixPerPow_actual = (factor * (mixPerPow[i+1] - mixPerPow[i])) + mixPerPow[i];
|
mixPerPow_actual = (factor * (mixPerPow[i+1] - mixPerPow[i])) + mixPerPow[i];
|
||||||
return mixPerPow_actual;
|
return mixPerPow_actual;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
//if we get here something has gone badly wrong
|
//if we get here something has gone badly wrong
|
||||||
|
|
@ -408,16 +408,16 @@ void FGNewEngine::Calc_CHT()
|
||||||
{
|
{
|
||||||
float h1 = -95.0; //co-efficient for free convection
|
float h1 = -95.0; //co-efficient for free convection
|
||||||
float h2 = -3.95; //co-efficient for forced convection
|
float h2 = -3.95; //co-efficient for forced convection
|
||||||
float h3 = -0.05; //co-efficient for forced convection due to prop backwash
|
float h3 = -0.05; //co-efficient for forced convection due to prop backwash
|
||||||
float v_apparent; //air velocity over cylinder head in m/s
|
float v_apparent; //air velocity over cylinder head in m/s
|
||||||
float v_dot_cooling_air;
|
float v_dot_cooling_air;
|
||||||
float m_dot_cooling_air;
|
float m_dot_cooling_air;
|
||||||
float temperature_difference;
|
float temperature_difference;
|
||||||
float arbitary_area = 1.0;
|
float arbitary_area = 1.0;
|
||||||
float dqdt_from_combustion;
|
float dqdt_from_combustion;
|
||||||
float dqdt_forced; //Rate of energy transfer to/from cylinder head due to forced convection (Joules) (sign convention: to cylinder head is +ve)
|
float dqdt_forced; //Rate of energy transfer to/from cylinder head due to forced convection (Joules) (sign convention: to cylinder head is +ve)
|
||||||
float dqdt_free; //Rate of energy transfer to/from cylinder head due to free convection (Joules) (sign convention: to cylinder head is +ve)
|
float dqdt_free; //Rate of energy transfer to/from cylinder head due to free convection (Joules) (sign convention: to cylinder head is +ve)
|
||||||
float dqdt_cylinder_head; //Overall energy change in cylinder head
|
float dqdt_cylinder_head; //Overall energy change in cylinder head
|
||||||
float CpCylinderHead = 800.0; //FIXME - this is a guess - I need to look up the correct value
|
float CpCylinderHead = 800.0; //FIXME - this is a guess - I need to look up the correct value
|
||||||
float MassCylinderHead = 8.0; //Kg - this is a guess - it dosn't have to be absolutely accurate but can be varied to alter the warm-up rate
|
float MassCylinderHead = 8.0; //Kg - this is a guess - it dosn't have to be absolutely accurate but can be varied to alter the warm-up rate
|
||||||
float HeatCapacityCylinderHead;
|
float HeatCapacityCylinderHead;
|
||||||
|
|
@ -484,11 +484,11 @@ float FGNewEngine::Calc_Manifold_Pressure ( float LeverPosn, float MaxMan, float
|
||||||
|
|
||||||
//allow for idle bypass valve or slightly open throttle stop
|
//allow for idle bypass valve or slightly open throttle stop
|
||||||
if(Inches < MinMan)
|
if(Inches < MinMan)
|
||||||
Inches = MinMan;
|
Inches = MinMan;
|
||||||
|
|
||||||
//Check for stopped engine (crudest way of compensating for engine speed)
|
//Check for stopped engine (crudest way of compensating for engine speed)
|
||||||
if(RPM == 0)
|
if(RPM == 0)
|
||||||
Inches = 29.92;
|
Inches = 29.92;
|
||||||
|
|
||||||
return Inches;
|
return Inches;
|
||||||
}
|
}
|
||||||
|
|
@ -566,14 +566,14 @@ void FGNewEngine::Calc_Percentage_Power(bool mag_left, bool mag_right)
|
||||||
// Now Derate engine for the effects of Bad/Switched off magnetos
|
// Now Derate engine for the effects of Bad/Switched off magnetos
|
||||||
//if (Magneto_Left == 0 && Magneto_Right == 0) {
|
//if (Magneto_Left == 0 && Magneto_Right == 0) {
|
||||||
if(!running) {
|
if(!running) {
|
||||||
// cout << "Both OFF\n";
|
// cout << "Both OFF\n";
|
||||||
Percentage_Power = 0;
|
Percentage_Power = 0;
|
||||||
} else if (mag_left && mag_right) {
|
} else if (mag_left && mag_right) {
|
||||||
// cout << "Both On ";
|
// cout << "Both On ";
|
||||||
} else if (mag_left == 0 || mag_right== 0) {
|
} else if (mag_left == 0 || mag_right== 0) {
|
||||||
// cout << "1 Magneto Failed ";
|
// cout << "1 Magneto Failed ";
|
||||||
Percentage_Power = Percentage_Power * ((100.0 - Mag_Derate_Percent)/100.0);
|
Percentage_Power = Percentage_Power * ((100.0 - Mag_Derate_Percent)/100.0);
|
||||||
// cout << FGEng1_Percentage_Power << "%" << "\t";
|
// cout << FGEng1_Percentage_Power << "%" << "\t";
|
||||||
}
|
}
|
||||||
/*
|
/*
|
||||||
//DCL - stall the engine if RPM drops below 450 - this is possible if mixture lever is pulled right out
|
//DCL - stall the engine if RPM drops below 450 - this is possible if mixture lever is pulled right out
|
||||||
|
|
@ -582,24 +582,24 @@ void FGNewEngine::Calc_Percentage_Power(bool mag_left, bool mag_right)
|
||||||
Percentage_Power = 0;
|
Percentage_Power = 0;
|
||||||
*/
|
*/
|
||||||
if(Percentage_Power < 0)
|
if(Percentage_Power < 0)
|
||||||
Percentage_Power = 0;
|
Percentage_Power = 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
// Calculate Oil Temperature in degrees Kelvin
|
// Calculate Oil Temperature in degrees Kelvin
|
||||||
float FGNewEngine::Calc_Oil_Temp (float oil_temp)
|
float FGNewEngine::Calc_Oil_Temp (float oil_temp)
|
||||||
{
|
{
|
||||||
float idle_percentage_power = 2.3; // approximately
|
float idle_percentage_power = 2.3; // approximately
|
||||||
float target_oil_temp; // Steady state oil temp at the current engine conditions
|
float target_oil_temp; // Steady state oil temp at the current engine conditions
|
||||||
float time_constant; // The time constant for the differential equation
|
float time_constant; // The time constant for the differential equation
|
||||||
if(running) {
|
if(running) {
|
||||||
target_oil_temp = 363;
|
target_oil_temp = 363;
|
||||||
time_constant = 500; // Time constant for engine-on idling.
|
time_constant = 500; // Time constant for engine-on idling.
|
||||||
if(Percentage_Power > idle_percentage_power) {
|
if(Percentage_Power > idle_percentage_power) {
|
||||||
time_constant /= ((Percentage_Power / idle_percentage_power) / 10.0); // adjust for power
|
time_constant /= ((Percentage_Power / idle_percentage_power) / 10.0); // adjust for power
|
||||||
}
|
}
|
||||||
} else {
|
} else {
|
||||||
target_oil_temp = 298;
|
target_oil_temp = 298;
|
||||||
time_constant = 1000; // Time constant for engine-off; reflects the fact that oil is no longer getting circulated
|
time_constant = 1000; // Time constant for engine-off; reflects the fact that oil is no longer getting circulated
|
||||||
}
|
}
|
||||||
|
|
||||||
float dOilTempdt = (target_oil_temp - oil_temp) / time_constant;
|
float dOilTempdt = (target_oil_temp - oil_temp) / time_constant;
|
||||||
|
|
@ -612,18 +612,18 @@ float FGNewEngine::Calc_Oil_Temp (float oil_temp)
|
||||||
// Calculate Oil Pressure
|
// Calculate Oil Pressure
|
||||||
float FGNewEngine::Calc_Oil_Press (float Oil_Temp, float Engine_RPM)
|
float FGNewEngine::Calc_Oil_Press (float Oil_Temp, float Engine_RPM)
|
||||||
{
|
{
|
||||||
float Oil_Pressure = 0; //PSI
|
float Oil_Pressure = 0; //PSI
|
||||||
float Oil_Press_Relief_Valve = 60; //PSI
|
float Oil_Press_Relief_Valve = 60; //PSI
|
||||||
float Oil_Press_RPM_Max = 1800;
|
float Oil_Press_RPM_Max = 1800;
|
||||||
float Design_Oil_Temp = 85; //Celsius
|
float Design_Oil_Temp = 85; //Celsius
|
||||||
float Oil_Viscosity_Index = 0.25; // PSI/Deg C
|
float Oil_Viscosity_Index = 0.25; // PSI/Deg C
|
||||||
// float Temp_Deviation = 0; // Deg C
|
// float Temp_Deviation = 0; // Deg C
|
||||||
|
|
||||||
Oil_Pressure = (Oil_Press_Relief_Valve / Oil_Press_RPM_Max) * Engine_RPM;
|
Oil_Pressure = (Oil_Press_Relief_Valve / Oil_Press_RPM_Max) * Engine_RPM;
|
||||||
|
|
||||||
// Pressure relief valve opens at Oil_Press_Relief_Valve PSI setting
|
// Pressure relief valve opens at Oil_Press_Relief_Valve PSI setting
|
||||||
if (Oil_Pressure >= Oil_Press_Relief_Valve) {
|
if (Oil_Pressure >= Oil_Press_Relief_Valve) {
|
||||||
Oil_Pressure = Oil_Press_Relief_Valve;
|
Oil_Pressure = Oil_Press_Relief_Valve;
|
||||||
}
|
}
|
||||||
|
|
||||||
// Now adjust pressure according to Temp which affects the viscosity
|
// Now adjust pressure according to Temp which affects the viscosity
|
||||||
|
|
@ -640,7 +640,7 @@ void FGNewEngine::Do_Prop_Calcs()
|
||||||
float Gear_Ratio = 1.0;
|
float Gear_Ratio = 1.0;
|
||||||
float forward_velocity; // m/s
|
float forward_velocity; // m/s
|
||||||
float prop_power_consumed_SI; // Watts
|
float prop_power_consumed_SI; // Watts
|
||||||
double J; // advance ratio - dimensionless
|
double J; // advance ratio - dimensionless
|
||||||
double Cp_20; // coefficient of power for 20 degree blade angle
|
double Cp_20; // coefficient of power for 20 degree blade angle
|
||||||
double Cp_25; // coefficient of power for 25 degree blade angle
|
double Cp_25; // coefficient of power for 25 degree blade angle
|
||||||
double Cp; // Our actual coefficient of power
|
double Cp; // Our actual coefficient of power
|
||||||
|
|
@ -675,8 +675,8 @@ void FGNewEngine::Do_Prop_Calcs()
|
||||||
//cout << "prop HP consumed = " << prop_power_consumed_SI / 745.699 << '\n';
|
//cout << "prop HP consumed = " << prop_power_consumed_SI / 745.699 << '\n';
|
||||||
if(angular_velocity_SI == 0)
|
if(angular_velocity_SI == 0)
|
||||||
prop_torque = 0;
|
prop_torque = 0;
|
||||||
// However this can give problems - if rpm == 0 but forward velocity increases the prop should be able to generate a torque to start the engine spinning
|
// However this can give problems - if rpm == 0 but forward velocity increases the prop should be able to generate a torque to start the engine spinning
|
||||||
// Unlikely to happen in practice - but I suppose someone could move the lever of a stopped large piston engine from feathered to windmilling.
|
// Unlikely to happen in practice - but I suppose someone could move the lever of a stopped large piston engine from feathered to windmilling.
|
||||||
// This *does* give problems - if the plane is put into a steep climb whilst windmilling the engine friction will eventually stop it spinning.
|
// This *does* give problems - if the plane is put into a steep climb whilst windmilling the engine friction will eventually stop it spinning.
|
||||||
// When put back into a dive it never starts re-spinning again. Although it is unlikely that anyone would do this in real life, they might well do it in a sim!!!
|
// When put back into a dive it never starts re-spinning again. Although it is unlikely that anyone would do this in real life, they might well do it in a sim!!!
|
||||||
else
|
else
|
||||||
|
|
@ -690,11 +690,11 @@ void FGNewEngine::Do_Prop_Calcs()
|
||||||
// Check for zero forward velocity to avoid divide by zero
|
// Check for zero forward velocity to avoid divide by zero
|
||||||
if(forward_velocity < 0.0001)
|
if(forward_velocity < 0.0001)
|
||||||
prop_thrust = 0.0;
|
prop_thrust = 0.0;
|
||||||
// I don't see how this works - how can the plane possibly start from rest ???
|
// I don't see how this works - how can the plane possibly start from rest ???
|
||||||
// Hmmmm - it works because the forward_velocity at present never drops below about 0.03 even at rest
|
// Hmmmm - it works because the forward_velocity at present never drops below about 0.03 even at rest
|
||||||
// We can't really rely on this in the future - needs fixing !!!!
|
// We can't really rely on this in the future - needs fixing !!!!
|
||||||
// The problem is that we're doing this calculation backwards - we're working out the thrust from the power consumed and the velocity, which becomes invalid as velocity goes to zero.
|
// The problem is that we're doing this calculation backwards - we're working out the thrust from the power consumed and the velocity, which becomes invalid as velocity goes to zero.
|
||||||
// It would be far more natural to work out the power consumed from the thrust - FIXME!!!!!.
|
// It would be far more natural to work out the power consumed from the thrust - FIXME!!!!!.
|
||||||
else
|
else
|
||||||
prop_thrust = neta_prop * prop_power_consumed_SI / forward_velocity; //TODO - rename forward_velocity to IAS_SI
|
prop_thrust = neta_prop * prop_power_consumed_SI / forward_velocity; //TODO - rename forward_velocity to IAS_SI
|
||||||
//cout << "prop_thrust = " << prop_thrust << '\n';
|
//cout << "prop_thrust = " << prop_thrust << '\n';
|
||||||
|
|
|
||||||
|
|
@ -36,22 +36,22 @@ private:
|
||||||
float CONVERT_HP_TO_WATTS;
|
float CONVERT_HP_TO_WATTS;
|
||||||
|
|
||||||
// Properties of working fluids
|
// Properties of working fluids
|
||||||
float Cp_air; // J/KgK
|
float Cp_air; // J/KgK
|
||||||
float Cp_fuel; // J/KgK
|
float Cp_fuel; // J/KgK
|
||||||
float calorific_value_fuel; // W/Kg
|
float calorific_value_fuel; // W/Kg
|
||||||
float rho_fuel; // kg/m^3
|
float rho_fuel; // kg/m^3
|
||||||
float rho_air; // kg/m^3
|
float rho_air; // kg/m^3
|
||||||
|
|
||||||
// environment inputs
|
// environment inputs
|
||||||
float p_amb_sea_level; // Sea level ambient pressure in Pascals
|
float p_amb_sea_level; // Sea level ambient pressure in Pascals
|
||||||
float p_amb; // Ambient pressure at current altitude in Pascals
|
float p_amb; // Ambient pressure at current altitude in Pascals
|
||||||
float T_amb; // ditto deg Kelvin
|
float T_amb; // ditto deg Kelvin
|
||||||
|
|
||||||
// Control inputs
|
// Control inputs
|
||||||
float Throttle_Lever_Pos; // 0 = Closed, 100 = Fully Open
|
float Throttle_Lever_Pos; // 0 = Closed, 100 = Fully Open
|
||||||
float Propeller_Lever_Pos; // 0 = Full Course 100 = Full Fine
|
float Propeller_Lever_Pos; // 0 = Full Course 100 = Full Fine
|
||||||
float Mixture_Lever_Pos; // 0 = Idle Cut Off 100 = Full Rich
|
float Mixture_Lever_Pos; // 0 = Idle Cut Off 100 = Full Rich
|
||||||
int mag_pos; // 0=off, 1=left, 2=right, 3=both.
|
int mag_pos; // 0=off, 1=left, 2=right, 3=both.
|
||||||
bool starter;
|
bool starter;
|
||||||
|
|
||||||
//misc
|
//misc
|
||||||
|
|
@ -59,75 +59,75 @@ private:
|
||||||
double time_step;
|
double time_step;
|
||||||
|
|
||||||
// Engine Specific Variables that should be read in from a config file
|
// Engine Specific Variables that should be read in from a config file
|
||||||
float MaxHP; // Horsepower
|
float MaxHP; // Horsepower
|
||||||
float displacement; // Cubic inches
|
float displacement; // Cubic inches
|
||||||
float displacement_SI; //m^3 (derived from above rather than read in)
|
float displacement_SI; //m^3 (derived from above rather than read in)
|
||||||
float engine_inertia; //kg.m^2
|
float engine_inertia; //kg.m^2
|
||||||
float prop_inertia; //kg.m^2
|
float prop_inertia; //kg.m^2
|
||||||
float Max_Fuel_Flow; // Units??? Do we need this variable any more??
|
float Max_Fuel_Flow; // Units??? Do we need this variable any more??
|
||||||
|
|
||||||
// Engine specific variables that maybe should be read in from config but are pretty generic and won't vary much for a naturally aspirated piston engine.
|
// Engine specific variables that maybe should be read in from config but are pretty generic and won't vary much for a naturally aspirated piston engine.
|
||||||
float Max_Manifold_Pressure; // inches Hg - typical manifold pressure at full throttle and typical max rpm
|
float Max_Manifold_Pressure; // inches Hg - typical manifold pressure at full throttle and typical max rpm
|
||||||
float Min_Manifold_Pressure; // inches Hg - typical manifold pressure at idle (closed throttle)
|
float Min_Manifold_Pressure; // inches Hg - typical manifold pressure at idle (closed throttle)
|
||||||
float Max_RPM; // rpm - this is really a bit of a hack and could be make redundant if the prop model works properly and takes tips at speed of sound into account.
|
float Max_RPM; // rpm - this is really a bit of a hack and could be make redundant if the prop model works properly and takes tips at speed of sound into account.
|
||||||
float Min_RPM; // rpm - possibly redundant ???
|
float Min_RPM; // rpm - possibly redundant ???
|
||||||
float Mag_Derate_Percent; // Percentage reduction in power when mags are switched from 'both' to either 'L' or 'R'
|
float Mag_Derate_Percent; // Percentage reduction in power when mags are switched from 'both' to either 'L' or 'R'
|
||||||
float Gear_Ratio; // Gearing between engine and propellor
|
float Gear_Ratio; // Gearing between engine and propellor
|
||||||
float n_R; // Number of cycles per power stroke - 2 for a 4 stroke engine.
|
float n_R; // Number of cycles per power stroke - 2 for a 4 stroke engine.
|
||||||
|
|
||||||
// Engine Variables not read in from config file
|
// Engine Variables not read in from config file
|
||||||
float RPM; // rpm
|
float RPM; // rpm
|
||||||
float Percentage_Power; // Power output as percentage of maximum power output
|
float Percentage_Power; // Power output as percentage of maximum power output
|
||||||
float Manifold_Pressure; // Inches Hg
|
float Manifold_Pressure; // Inches Hg
|
||||||
float Fuel_Flow_gals_hr; // USgals/hour
|
float Fuel_Flow_gals_hr; // USgals/hour
|
||||||
float Torque_lbft; // lb-ft
|
float Torque_lbft; // lb-ft
|
||||||
float Torque_SI; // Nm
|
float Torque_SI; // Nm
|
||||||
float CHT; // Cylinder head temperature deg K
|
float CHT; // Cylinder head temperature deg K
|
||||||
float CHT_degF; // Ditto in deg Fahrenheit
|
float CHT_degF; // Ditto in deg Fahrenheit
|
||||||
float Mixture;
|
float Mixture;
|
||||||
float Oil_Pressure; // PSI
|
float Oil_Pressure; // PSI
|
||||||
float Oil_Temp; // Deg C
|
float Oil_Temp; // Deg C
|
||||||
float current_oil_temp; // deg K
|
float current_oil_temp; // deg K
|
||||||
/**** one of these is superfluous !!!!***/
|
/**** one of these is superfluous !!!!***/
|
||||||
float HP; // Current power output in HP
|
float HP; // Current power output in HP
|
||||||
float Power_SI; // Current power output in Watts
|
float Power_SI; // Current power output in Watts
|
||||||
float RPS;
|
float RPS;
|
||||||
float angular_velocity_SI; // rad/s
|
float angular_velocity_SI; // rad/s
|
||||||
float Torque_FMEP; // The component of Engine torque due to FMEP (Nm)
|
float Torque_FMEP; // The component of Engine torque due to FMEP (Nm)
|
||||||
float Torque_Imbalance; // difference between engine and prop torque
|
float Torque_Imbalance; // difference between engine and prop torque
|
||||||
float EGT; // Exhaust gas temperature deg K
|
float EGT; // Exhaust gas temperature deg K
|
||||||
float EGT_degF; // Exhaust gas temperature deg Fahrenheit
|
float EGT_degF; // Exhaust gas temperature deg Fahrenheit
|
||||||
float volumetric_efficiency;
|
float volumetric_efficiency;
|
||||||
float combustion_efficiency;
|
float combustion_efficiency;
|
||||||
float equivalence_ratio; // ratio of stoichiometric AFR over actual AFR
|
float equivalence_ratio; // ratio of stoichiometric AFR over actual AFR
|
||||||
float thi_sea_level; // the equivalence ratio we would be running at assuming sea level air denisity in the manifold
|
float thi_sea_level; // the equivalence ratio we would be running at assuming sea level air denisity in the manifold
|
||||||
float v_dot_air; // volume flow rate of air into engine - m^3/s
|
float v_dot_air; // volume flow rate of air into engine - m^3/s
|
||||||
float m_dot_air; // mass flow rate of air into engine - kg/s
|
float m_dot_air; // mass flow rate of air into engine - kg/s
|
||||||
float m_dot_fuel; // mass flow rate of fuel into engine - kg/s
|
float m_dot_fuel; // mass flow rate of fuel into engine - kg/s
|
||||||
float swept_volume; // total engine swept volume - m^3
|
float swept_volume; // total engine swept volume - m^3
|
||||||
/********* swept volume or the geometry used to calculate it should be in the config read section surely ??? ******/
|
/********* swept volume or the geometry used to calculate it should be in the config read section surely ??? ******/
|
||||||
float True_Manifold_Pressure; //in Hg - actual manifold gauge pressure
|
float True_Manifold_Pressure; //in Hg - actual manifold gauge pressure
|
||||||
float rho_air_manifold; // denisty of air in the manifold - kg/m^3
|
float rho_air_manifold; // denisty of air in the manifold - kg/m^3
|
||||||
float R_air; // Gas constant of air (287) UNITS???
|
float R_air; // Gas constant of air (287) UNITS???
|
||||||
float delta_T_exhaust; // Temperature change of exhaust this time step - degK
|
float delta_T_exhaust; // Temperature change of exhaust this time step - degK
|
||||||
float heat_capacity_exhaust; // exhaust gas specific heat capacity - J/kgK
|
float heat_capacity_exhaust; // exhaust gas specific heat capacity - J/kgK
|
||||||
float enthalpy_exhaust; // Enthalpy at current exhaust gas conditions - UNITS???
|
float enthalpy_exhaust; // Enthalpy at current exhaust gas conditions - UNITS???
|
||||||
float Percentage_of_best_power_mixture_power; // Current power as a percentage of what power we would have at the same conditions but at best power mixture
|
float Percentage_of_best_power_mixture_power; // Current power as a percentage of what power we would have at the same conditions but at best power mixture
|
||||||
float abstract_mixture; //temporary hack
|
float abstract_mixture; //temporary hack
|
||||||
float angular_acceleration; //rad/s^2
|
float angular_acceleration; //rad/s^2
|
||||||
float FMEP; //Friction Mean Effective Pressure (Pa)
|
float FMEP; //Friction Mean Effective Pressure (Pa)
|
||||||
|
|
||||||
// Various bits of housekeeping describing the engines state.
|
// Various bits of housekeeping describing the engines state.
|
||||||
bool running; // flag to indicate the engine is running self sustaining
|
bool running; // flag to indicate the engine is running self sustaining
|
||||||
bool cranking; // flag to indicate the engine is being cranked
|
bool cranking; // flag to indicate the engine is being cranked
|
||||||
int crank_counter; // Number of iterations that the engine has been cranked non-stop
|
int crank_counter; // Number of iterations that the engine has been cranked non-stop
|
||||||
bool spark; // flag to indicate a spark is available
|
bool spark; // flag to indicate a spark is available
|
||||||
bool fuel; // flag to indicate fuel is available
|
bool fuel; // flag to indicate fuel is available
|
||||||
|
|
||||||
// Propellor Variables
|
// Propellor Variables
|
||||||
float FGProp1_RPS; // rps
|
float FGProp1_RPS; // rps
|
||||||
float prop_torque; // Nm
|
float prop_torque; // Nm
|
||||||
float prop_thrust; // Newtons
|
float prop_thrust; // Newtons
|
||||||
double prop_diameter; // meters
|
double prop_diameter; // meters
|
||||||
double blade_angle; // degrees
|
double blade_angle; // degrees
|
||||||
|
|
||||||
|
|
@ -177,12 +177,12 @@ public:
|
||||||
|
|
||||||
//constructor
|
//constructor
|
||||||
FGNewEngine() {
|
FGNewEngine() {
|
||||||
// outfile.open("FGNewEngine.dat", ios::out|ios::trunc);
|
// outfile.open("FGNewEngine.dat", ios::out|ios::trunc);
|
||||||
}
|
}
|
||||||
|
|
||||||
//destructor
|
//destructor
|
||||||
~FGNewEngine() {
|
~FGNewEngine() {
|
||||||
// outfile.close();
|
// outfile.close();
|
||||||
}
|
}
|
||||||
|
|
||||||
// set initial default values
|
// set initial default values
|
||||||
|
|
@ -193,30 +193,30 @@ public:
|
||||||
|
|
||||||
inline void set_IAS( float value ) { IAS = value; }
|
inline void set_IAS( float value ) { IAS = value; }
|
||||||
inline void set_Throttle_Lever_Pos( float value ) {
|
inline void set_Throttle_Lever_Pos( float value ) {
|
||||||
Throttle_Lever_Pos = value;
|
Throttle_Lever_Pos = value;
|
||||||
}
|
}
|
||||||
inline void set_Propeller_Lever_Pos( float value ) {
|
inline void set_Propeller_Lever_Pos( float value ) {
|
||||||
Propeller_Lever_Pos = value;
|
Propeller_Lever_Pos = value;
|
||||||
}
|
}
|
||||||
inline void set_Mixture_Lever_Pos( float value ) {
|
inline void set_Mixture_Lever_Pos( float value ) {
|
||||||
Mixture_Lever_Pos = value;
|
Mixture_Lever_Pos = value;
|
||||||
}
|
}
|
||||||
// set the magneto switch position
|
// set the magneto switch position
|
||||||
inline void set_Magneto_Switch_Pos( int value ) {
|
inline void set_Magneto_Switch_Pos( int value ) {
|
||||||
mag_pos = value;
|
mag_pos = value;
|
||||||
}
|
}
|
||||||
inline void setStarterFlag( bool flag ) {
|
inline void setStarterFlag( bool flag ) {
|
||||||
starter = flag;
|
starter = flag;
|
||||||
}
|
}
|
||||||
// set ambient pressure - takes pounds per square foot
|
// set ambient pressure - takes pounds per square foot
|
||||||
inline void set_p_amb( float value ) {
|
inline void set_p_amb( float value ) {
|
||||||
p_amb = value * 47.88026;
|
p_amb = value * 47.88026;
|
||||||
// Convert to Pascals
|
// Convert to Pascals
|
||||||
}
|
}
|
||||||
// set ambient temperature - takes degrees Rankine
|
// set ambient temperature - takes degrees Rankine
|
||||||
inline void set_T_amb( float value ) {
|
inline void set_T_amb( float value ) {
|
||||||
T_amb = value * 0.555555555556;
|
T_amb = value * 0.555555555556;
|
||||||
// Convert to degrees Kelvin
|
// Convert to degrees Kelvin
|
||||||
}
|
}
|
||||||
|
|
||||||
// accessors
|
// accessors
|
||||||
|
|
@ -225,7 +225,7 @@ public:
|
||||||
// inline float get_Rho() const { return Rho; }
|
// inline float get_Rho() const { return Rho; }
|
||||||
inline float get_MaxHP() const { return MaxHP; }
|
inline float get_MaxHP() const { return MaxHP; }
|
||||||
inline float get_Percentage_Power() const { return Percentage_Power; }
|
inline float get_Percentage_Power() const { return Percentage_Power; }
|
||||||
inline float get_EGT() const { return EGT_degF; } // Returns EGT in Fahrenheit
|
inline float get_EGT() const { return EGT_degF; } // Returns EGT in Fahrenheit
|
||||||
inline float get_CHT() const { return CHT_degF; } // Note this returns CHT in Fahrenheit
|
inline float get_CHT() const { return CHT_degF; } // Note this returns CHT in Fahrenheit
|
||||||
inline float get_prop_thrust_SI() const { return prop_thrust; }
|
inline float get_prop_thrust_SI() const { return prop_thrust; }
|
||||||
inline float get_prop_thrust_lbs() const { return (prop_thrust * 0.2248); }
|
inline float get_prop_thrust_lbs() const { return (prop_thrust * 0.2248); }
|
||||||
|
|
|
||||||
|
|
@ -25,7 +25,7 @@
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
#include <math.h>
|
#include <math.h>
|
||||||
#include <string.h> // strcmp()
|
#include <string.h> // strcmp()
|
||||||
|
|
||||||
#include <simgear/constants.h>
|
#include <simgear/constants.h>
|
||||||
#include <simgear/debug/logstream.hxx>
|
#include <simgear/debug/logstream.hxx>
|
||||||
|
|
@ -74,16 +74,16 @@ FGLaRCsim::FGLaRCsim( double dt ) {
|
||||||
copy_to_LaRCsim(); // initialize all of LaRCsim's vars
|
copy_to_LaRCsim(); // initialize all of LaRCsim's vars
|
||||||
|
|
||||||
//this should go away someday -- formerly done in fg_init.cxx
|
//this should go away someday -- formerly done in fg_init.cxx
|
||||||
Mass = 2./32.174;
|
Mass = 2./32.174;
|
||||||
I_xx = 0.0454;
|
I_xx = 0.0454;
|
||||||
I_yy = 0.0191;
|
I_yy = 0.0191;
|
||||||
I_zz = 0.0721;
|
I_zz = 0.0721;
|
||||||
I_xz = 0;
|
I_xz = 0;
|
||||||
// Mass = 8.547270E+01;
|
// Mass = 8.547270E+01;
|
||||||
// I_xx = 1.048000E+03;
|
// I_xx = 1.048000E+03;
|
||||||
// I_yy = 3.000000E+03;
|
// I_yy = 3.000000E+03;
|
||||||
// I_zz = 3.530000E+03;
|
// I_zz = 3.530000E+03;
|
||||||
// I_xz = 0.000000E+00;
|
// I_xz = 0.000000E+00;
|
||||||
}
|
}
|
||||||
|
|
||||||
ls_set_model_dt(dt);
|
ls_set_model_dt(dt);
|
||||||
|
|
@ -121,142 +121,142 @@ void FGLaRCsim::update( double dt ) {
|
||||||
if ( !strcmp(aero->getStringValue(), "c172") ) {
|
if ( !strcmp(aero->getStringValue(), "c172") ) {
|
||||||
// set control inputs
|
// set control inputs
|
||||||
// cout << "V_calibrated_kts = " << V_calibrated_kts << '\n';
|
// cout << "V_calibrated_kts = " << V_calibrated_kts << '\n';
|
||||||
eng.set_IAS( V_calibrated_kts );
|
eng.set_IAS( V_calibrated_kts );
|
||||||
eng.set_Throttle_Lever_Pos( globals->get_controls()->get_throttle( 0 )
|
eng.set_Throttle_Lever_Pos( globals->get_controls()->get_throttle( 0 )
|
||||||
* 100.0 );
|
* 100.0 );
|
||||||
eng.set_Propeller_Lever_Pos( 100 );
|
eng.set_Propeller_Lever_Pos( 100 );
|
||||||
eng.set_Mixture_Lever_Pos( globals->get_controls()->get_mixture( 0 )
|
eng.set_Mixture_Lever_Pos( globals->get_controls()->get_mixture( 0 )
|
||||||
* 100.0 );
|
* 100.0 );
|
||||||
eng.set_Magneto_Switch_Pos( globals->get_controls()->get_magnetos(0) );
|
eng.set_Magneto_Switch_Pos( globals->get_controls()->get_magnetos(0) );
|
||||||
eng.setStarterFlag( globals->get_controls()->get_starter(0) );
|
eng.setStarterFlag( globals->get_controls()->get_starter(0) );
|
||||||
eng.set_p_amb( Static_pressure );
|
eng.set_p_amb( Static_pressure );
|
||||||
eng.set_T_amb( Static_temperature );
|
eng.set_T_amb( Static_temperature );
|
||||||
|
|
||||||
// update engine model
|
// update engine model
|
||||||
eng.update();
|
eng.update();
|
||||||
|
|
||||||
// Fake control-surface positions
|
// Fake control-surface positions
|
||||||
fgSetDouble("/surface-positions/flap-pos-norm",
|
fgSetDouble("/surface-positions/flap-pos-norm",
|
||||||
fgGetDouble("/controls/flight/flaps"));
|
fgGetDouble("/controls/flight/flaps"));
|
||||||
// FIXME: ignoring trim
|
// FIXME: ignoring trim
|
||||||
fgSetDouble("/surface-positions/elevator-pos-norm",
|
fgSetDouble("/surface-positions/elevator-pos-norm",
|
||||||
fgGetDouble("/controls/flight/elevator"));
|
fgGetDouble("/controls/flight/elevator"));
|
||||||
// FIXME: ignoring trim
|
// FIXME: ignoring trim
|
||||||
fgSetDouble("/surface-positions/left-aileron-pos-norm",
|
fgSetDouble("/surface-positions/left-aileron-pos-norm",
|
||||||
fgGetDouble("/controls/flight/aileron"));
|
fgGetDouble("/controls/flight/aileron"));
|
||||||
// FIXME: ignoring trim
|
// FIXME: ignoring trim
|
||||||
fgSetDouble("/surface-positions/right-aileron-pos-norm",
|
fgSetDouble("/surface-positions/right-aileron-pos-norm",
|
||||||
-1 * fgGetDouble("/controls/flight/aileron"));
|
-1 * fgGetDouble("/controls/flight/aileron"));
|
||||||
// FIXME: ignoring trim
|
// FIXME: ignoring trim
|
||||||
fgSetDouble("/surface-positions/rudder-pos-norm",
|
fgSetDouble("/surface-positions/rudder-pos-norm",
|
||||||
fgGetDouble("/controls/flight/rudder"));
|
fgGetDouble("/controls/flight/rudder"));
|
||||||
|
|
||||||
// copy engine state values onto "bus"
|
// copy engine state values onto "bus"
|
||||||
fgSetDouble("/engines/engine/rpm", eng.get_RPM());
|
fgSetDouble("/engines/engine/rpm", eng.get_RPM());
|
||||||
fgSetDouble("/engines/engine/mp-osi", eng.get_Manifold_Pressure());
|
fgSetDouble("/engines/engine/mp-osi", eng.get_Manifold_Pressure());
|
||||||
fgSetDouble("/engines/engine/max-hp", eng.get_MaxHP());
|
fgSetDouble("/engines/engine/max-hp", eng.get_MaxHP());
|
||||||
fgSetDouble("/engines/engine/power-pct", eng.get_Percentage_Power());
|
fgSetDouble("/engines/engine/power-pct", eng.get_Percentage_Power());
|
||||||
fgSetDouble("/engines/engine/egt-degf", eng.get_EGT());
|
fgSetDouble("/engines/engine/egt-degf", eng.get_EGT());
|
||||||
fgSetDouble("/engines/engine/cht-degf", eng.get_CHT());
|
fgSetDouble("/engines/engine/cht-degf", eng.get_CHT());
|
||||||
fgSetDouble("/engines/engine/prop-thrust", eng.get_prop_thrust_SI());
|
fgSetDouble("/engines/engine/prop-thrust", eng.get_prop_thrust_SI());
|
||||||
fgSetDouble("/engines/engine/fuel-flow-gph",
|
fgSetDouble("/engines/engine/fuel-flow-gph",
|
||||||
eng.get_fuel_flow_gals_hr());
|
eng.get_fuel_flow_gals_hr());
|
||||||
fgSetDouble("/engines/engine/oil-temperature-degf",
|
fgSetDouble("/engines/engine/oil-temperature-degf",
|
||||||
eng.get_oil_temp());
|
eng.get_oil_temp());
|
||||||
fgSetDouble("/engines/engine/running", eng.getRunningFlag());
|
fgSetDouble("/engines/engine/running", eng.getRunningFlag());
|
||||||
fgSetDouble("/engines/engine/cranking", eng.getCrankingFlag());
|
fgSetDouble("/engines/engine/cranking", eng.getCrankingFlag());
|
||||||
|
|
||||||
const SGPropertyNode *fuel_freeze
|
const SGPropertyNode *fuel_freeze
|
||||||
= fgGetNode("/sim/freeze/fuel");
|
= fgGetNode("/sim/freeze/fuel");
|
||||||
|
|
||||||
if ( ! fuel_freeze->getBoolValue() ) {
|
if ( ! fuel_freeze->getBoolValue() ) {
|
||||||
//Assume we are using both tanks equally for now
|
//Assume we are using both tanks equally for now
|
||||||
fgSetDouble("/consumables/fuel/tank[0]/level-gal_us",
|
fgSetDouble("/consumables/fuel/tank[0]/level-gal_us",
|
||||||
fgGetDouble("/consumables/fuel/tank[0]/level-gal_us")
|
fgGetDouble("/consumables/fuel/tank[0]/level-gal_us")
|
||||||
- (eng.get_fuel_flow_gals_hr() / (2 * 3600))
|
- (eng.get_fuel_flow_gals_hr() / (2 * 3600))
|
||||||
* dt);
|
* dt);
|
||||||
fgSetDouble("/consumables/fuel/tank[1]/level-gal_us",
|
fgSetDouble("/consumables/fuel/tank[1]/level-gal_us",
|
||||||
fgGetDouble("/consumables/fuel/tank[1]/level-gal_us")
|
fgGetDouble("/consumables/fuel/tank[1]/level-gal_us")
|
||||||
- (eng.get_fuel_flow_gals_hr() / (2 * 3600))
|
- (eng.get_fuel_flow_gals_hr() / (2 * 3600))
|
||||||
* dt);
|
* dt);
|
||||||
}
|
}
|
||||||
|
|
||||||
// Apparently the IO360 thrust model is not working.
|
// Apparently the IO360 thrust model is not working.
|
||||||
// F_X_engine is zero here.
|
// F_X_engine is zero here.
|
||||||
F_X_engine = eng.get_prop_thrust_lbs();
|
F_X_engine = eng.get_prop_thrust_lbs();
|
||||||
|
|
||||||
Flap_handle = 30.0 * globals->get_controls()->get_flaps();
|
Flap_handle = 30.0 * globals->get_controls()->get_flaps();
|
||||||
}
|
}
|
||||||
// done with c172-larcsim if-block
|
// done with c172-larcsim if-block
|
||||||
|
|
||||||
if ( !strcmp(aero->getStringValue(), "basic") ) {
|
if ( !strcmp(aero->getStringValue(), "basic") ) {
|
||||||
// set control inputs
|
// set control inputs
|
||||||
// cout << "V_calibrated_kts = " << V_calibrated_kts << '\n';
|
// cout << "V_calibrated_kts = " << V_calibrated_kts << '\n';
|
||||||
eng.set_IAS( V_calibrated_kts );
|
eng.set_IAS( V_calibrated_kts );
|
||||||
eng.set_Throttle_Lever_Pos( globals->get_controls()->get_throttle( 0 )
|
eng.set_Throttle_Lever_Pos( globals->get_controls()->get_throttle( 0 )
|
||||||
* 100.0 );
|
* 100.0 );
|
||||||
eng.set_Propeller_Lever_Pos( 100 );
|
eng.set_Propeller_Lever_Pos( 100 );
|
||||||
eng.set_Mixture_Lever_Pos( globals->get_controls()->get_mixture( 0 )
|
eng.set_Mixture_Lever_Pos( globals->get_controls()->get_mixture( 0 )
|
||||||
* 100.0 );
|
* 100.0 );
|
||||||
eng.set_Magneto_Switch_Pos( globals->get_controls()->get_magnetos(0) );
|
eng.set_Magneto_Switch_Pos( globals->get_controls()->get_magnetos(0) );
|
||||||
eng.setStarterFlag( globals->get_controls()->get_starter(0) );
|
eng.setStarterFlag( globals->get_controls()->get_starter(0) );
|
||||||
eng.set_p_amb( Static_pressure );
|
eng.set_p_amb( Static_pressure );
|
||||||
eng.set_T_amb( Static_temperature );
|
eng.set_T_amb( Static_temperature );
|
||||||
|
|
||||||
// update engine model
|
// update engine model
|
||||||
eng.update();
|
eng.update();
|
||||||
|
|
||||||
// Fake control-surface positions
|
// Fake control-surface positions
|
||||||
fgSetDouble("/surface-positions/flap-pos-norm",
|
fgSetDouble("/surface-positions/flap-pos-norm",
|
||||||
fgGetDouble("/controls/flight/flaps"));
|
fgGetDouble("/controls/flight/flaps"));
|
||||||
// FIXME: ignoring trim
|
// FIXME: ignoring trim
|
||||||
fgSetDouble("/surface-positions/elevator-pos-norm",
|
fgSetDouble("/surface-positions/elevator-pos-norm",
|
||||||
fgGetDouble("/controls/flight/elevator"));
|
fgGetDouble("/controls/flight/elevator"));
|
||||||
// FIXME: ignoring trim
|
// FIXME: ignoring trim
|
||||||
fgSetDouble("/surface-positions/left-aileron-pos-norm",
|
fgSetDouble("/surface-positions/left-aileron-pos-norm",
|
||||||
fgGetDouble("/controls/flight/aileron"));
|
fgGetDouble("/controls/flight/aileron"));
|
||||||
// FIXME: ignoring trim
|
// FIXME: ignoring trim
|
||||||
fgSetDouble("/surface-positions/right-aileron-pos-norm",
|
fgSetDouble("/surface-positions/right-aileron-pos-norm",
|
||||||
-1 * fgGetDouble("/controls/flight/aileron"));
|
-1 * fgGetDouble("/controls/flight/aileron"));
|
||||||
// FIXME: ignoring trim
|
// FIXME: ignoring trim
|
||||||
fgSetDouble("/surface-positions/rudder-pos-norm",
|
fgSetDouble("/surface-positions/rudder-pos-norm",
|
||||||
fgGetDouble("/controls/flight/rudder"));
|
fgGetDouble("/controls/flight/rudder"));
|
||||||
|
|
||||||
// copy engine state values onto "bus"
|
// copy engine state values onto "bus"
|
||||||
fgSetDouble("/engines/engine/rpm", eng.get_RPM());
|
fgSetDouble("/engines/engine/rpm", eng.get_RPM());
|
||||||
fgSetDouble("/engines/engine/mp-osi", eng.get_Manifold_Pressure());
|
fgSetDouble("/engines/engine/mp-osi", eng.get_Manifold_Pressure());
|
||||||
fgSetDouble("/engines/engine/max-hp", eng.get_MaxHP());
|
fgSetDouble("/engines/engine/max-hp", eng.get_MaxHP());
|
||||||
fgSetDouble("/engines/engine/power-pct", eng.get_Percentage_Power());
|
fgSetDouble("/engines/engine/power-pct", eng.get_Percentage_Power());
|
||||||
fgSetDouble("/engines/engine/egt-degf", eng.get_EGT());
|
fgSetDouble("/engines/engine/egt-degf", eng.get_EGT());
|
||||||
fgSetDouble("/engines/engine/cht-degf", eng.get_CHT());
|
fgSetDouble("/engines/engine/cht-degf", eng.get_CHT());
|
||||||
fgSetDouble("/engines/engine/prop-thrust", eng.get_prop_thrust_SI());
|
fgSetDouble("/engines/engine/prop-thrust", eng.get_prop_thrust_SI());
|
||||||
fgSetDouble("/engines/engine/fuel-flow-gph",
|
fgSetDouble("/engines/engine/fuel-flow-gph",
|
||||||
eng.get_fuel_flow_gals_hr());
|
eng.get_fuel_flow_gals_hr());
|
||||||
fgSetDouble("/engines/engine/oil-temperature-degf",
|
fgSetDouble("/engines/engine/oil-temperature-degf",
|
||||||
eng.get_oil_temp());
|
eng.get_oil_temp());
|
||||||
fgSetDouble("/engines/engine/running", eng.getRunningFlag());
|
fgSetDouble("/engines/engine/running", eng.getRunningFlag());
|
||||||
fgSetDouble("/engines/engine/cranking", eng.getCrankingFlag());
|
fgSetDouble("/engines/engine/cranking", eng.getCrankingFlag());
|
||||||
|
|
||||||
const SGPropertyNode *fuel_freeze
|
const SGPropertyNode *fuel_freeze
|
||||||
= fgGetNode("/sim/freeze/fuel");
|
= fgGetNode("/sim/freeze/fuel");
|
||||||
|
|
||||||
if ( ! fuel_freeze->getBoolValue() ) {
|
if ( ! fuel_freeze->getBoolValue() ) {
|
||||||
//Assume we are using both tanks equally for now
|
//Assume we are using both tanks equally for now
|
||||||
fgSetDouble("/consumables/fuel/tank[0]/level-gal_us",
|
fgSetDouble("/consumables/fuel/tank[0]/level-gal_us",
|
||||||
fgGetDouble("/consumables/fuel/tank[0]/level-gal_us")
|
fgGetDouble("/consumables/fuel/tank[0]/level-gal_us")
|
||||||
- (eng.get_fuel_flow_gals_hr() / (2 * 3600))
|
- (eng.get_fuel_flow_gals_hr() / (2 * 3600))
|
||||||
* dt);
|
* dt);
|
||||||
fgSetDouble("/consumables/fuel/tank[1]/level-gal_us",
|
fgSetDouble("/consumables/fuel/tank[1]/level-gal_us",
|
||||||
fgGetDouble("/consumables/fuel/tank[1]/level-gal_us")
|
fgGetDouble("/consumables/fuel/tank[1]/level-gal_us")
|
||||||
- (eng.get_fuel_flow_gals_hr() / (2 * 3600))
|
- (eng.get_fuel_flow_gals_hr() / (2 * 3600))
|
||||||
* dt);
|
* dt);
|
||||||
}
|
}
|
||||||
|
|
||||||
// Apparently the IO360 thrust model is not working.
|
// Apparently the IO360 thrust model is not working.
|
||||||
// F_X_engine is zero here.
|
// F_X_engine is zero here.
|
||||||
F_X_engine = eng.get_prop_thrust_lbs();
|
F_X_engine = eng.get_prop_thrust_lbs();
|
||||||
|
|
||||||
Flap_handle = 30.0 * globals->get_controls()->get_flaps();
|
Flap_handle = 30.0 * globals->get_controls()->get_flaps();
|
||||||
}
|
}
|
||||||
// done with basic-larcsim if-block
|
// done with basic-larcsim if-block
|
||||||
|
|
||||||
|
|
@ -264,8 +264,8 @@ void FGLaRCsim::update( double dt ) {
|
||||||
|
|
||||||
// lets try to avoid really screwing up the LaRCsim model
|
// lets try to avoid really screwing up the LaRCsim model
|
||||||
if ( get_Altitude() < -9000.0 ) {
|
if ( get_Altitude() < -9000.0 ) {
|
||||||
save_alt = get_Altitude();
|
save_alt = get_Altitude();
|
||||||
set_Altitude( 0.0 );
|
set_Altitude( 0.0 );
|
||||||
}
|
}
|
||||||
|
|
||||||
// copy control positions into the LaRCsim structure
|
// copy control positions into the LaRCsim structure
|
||||||
|
|
@ -336,34 +336,34 @@ void FGLaRCsim::update( double dt ) {
|
||||||
|
|
||||||
// spoilers with transition occurring in uiuc_aerodeflections.cpp
|
// spoilers with transition occurring in uiuc_aerodeflections.cpp
|
||||||
if(use_spoilers) {
|
if(use_spoilers) {
|
||||||
Spoiler_handle = spoiler_max * fgGetDouble("/controls/flight/spoilers");
|
Spoiler_handle = spoiler_max * fgGetDouble("/controls/flight/spoilers");
|
||||||
}
|
}
|
||||||
// gear with transition occurring here in LaRCsim.cxx
|
// gear with transition occurring here in LaRCsim.cxx
|
||||||
if (use_gear) {
|
if (use_gear) {
|
||||||
if(fgGetBool("/controls/gear/gear-down")) {
|
if(fgGetBool("/controls/gear/gear-down")) {
|
||||||
Gear_handle = 1.0;
|
Gear_handle = 1.0;
|
||||||
}
|
}
|
||||||
else {
|
else {
|
||||||
Gear_handle = 0.;
|
Gear_handle = 0.;
|
||||||
}
|
}
|
||||||
// commanded gear is 0 or 1
|
// commanded gear is 0 or 1
|
||||||
gear_cmd_norm = Gear_handle;
|
gear_cmd_norm = Gear_handle;
|
||||||
// amount gear moves per time step [relative to 1]
|
// amount gear moves per time step [relative to 1]
|
||||||
gear_increment_per_timestep = gear_rate * dt;
|
gear_increment_per_timestep = gear_rate * dt;
|
||||||
// determine gear position with respect to gear command
|
// determine gear position with respect to gear command
|
||||||
if (gear_pos_norm < gear_cmd_norm) {
|
if (gear_pos_norm < gear_cmd_norm) {
|
||||||
gear_pos_norm += gear_increment_per_timestep;
|
gear_pos_norm += gear_increment_per_timestep;
|
||||||
if (gear_pos_norm > gear_cmd_norm)
|
if (gear_pos_norm > gear_cmd_norm)
|
||||||
gear_pos_norm = gear_cmd_norm;
|
gear_pos_norm = gear_cmd_norm;
|
||||||
} else if (gear_pos_norm > gear_cmd_norm) {
|
} else if (gear_pos_norm > gear_cmd_norm) {
|
||||||
gear_pos_norm -= gear_increment_per_timestep;
|
gear_pos_norm -= gear_increment_per_timestep;
|
||||||
if (gear_pos_norm < gear_cmd_norm)
|
if (gear_pos_norm < gear_cmd_norm)
|
||||||
gear_pos_norm = gear_cmd_norm;
|
gear_pos_norm = gear_cmd_norm;
|
||||||
}
|
}
|
||||||
// set the gear position
|
// set the gear position
|
||||||
fgSetDouble("/gear/gear[0]/position-norm", gear_pos_norm);
|
fgSetDouble("/gear/gear[0]/position-norm", gear_pos_norm);
|
||||||
fgSetDouble("/gear/gear[1]/position-norm", gear_pos_norm);
|
fgSetDouble("/gear/gear[1]/position-norm", gear_pos_norm);
|
||||||
fgSetDouble("/gear/gear[2]/position-norm", gear_pos_norm);
|
fgSetDouble("/gear/gear[2]/position-norm", gear_pos_norm);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -376,34 +376,34 @@ void FGLaRCsim::update( double dt ) {
|
||||||
fgSetDouble("/engines/engine/cranking", 1);
|
fgSetDouble("/engines/engine/cranking", 1);
|
||||||
fgSetDouble("/engines/engine/running", 1);
|
fgSetDouble("/engines/engine/running", 1);
|
||||||
if ( !strcmp(uiuc_type->getStringValue(), "uiuc-prop")) {
|
if ( !strcmp(uiuc_type->getStringValue(), "uiuc-prop")) {
|
||||||
// uiuc prop driven airplane, e.g. Wright Flyer
|
// uiuc prop driven airplane, e.g. Wright Flyer
|
||||||
}
|
}
|
||||||
else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-jet")) {
|
else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-jet")) {
|
||||||
// uiuc jet aircraft, e.g. a4d
|
// uiuc jet aircraft, e.g. a4d
|
||||||
// used for setting the sound
|
// used for setting the sound
|
||||||
fgSetDouble("/engines/engine/n1", (75 + (globals->get_controls()->get_throttle( 0 ) * 100.0 )/400));
|
fgSetDouble("/engines/engine/n1", (75 + (globals->get_controls()->get_throttle( 0 ) * 100.0 )/400));
|
||||||
fgSetDouble("/engines/engine/prop-thrust", (4000 + F_X_engine/2));
|
fgSetDouble("/engines/engine/prop-thrust", (4000 + F_X_engine/2));
|
||||||
// used for setting the instruments
|
// used for setting the instruments
|
||||||
fgSetDouble("/engines/engine[0]/n1", (50 + (globals->get_controls()->get_throttle( 0 ) * 50)));
|
fgSetDouble("/engines/engine[0]/n1", (50 + (globals->get_controls()->get_throttle( 0 ) * 50)));
|
||||||
}
|
}
|
||||||
else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-sailplane")) {
|
else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-sailplane")) {
|
||||||
// uiuc sailplane, e.g. asw20
|
// uiuc sailplane, e.g. asw20
|
||||||
fgSetDouble("/engines/engine/cranking", 0);
|
fgSetDouble("/engines/engine/cranking", 0);
|
||||||
}
|
}
|
||||||
else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-hangglider")) {
|
else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-hangglider")) {
|
||||||
// uiuc hang glider, e.g. airwave
|
// uiuc hang glider, e.g. airwave
|
||||||
fgSetDouble("/engines/engine/cranking", 0);
|
fgSetDouble("/engines/engine/cranking", 0);
|
||||||
}
|
}
|
||||||
else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-ornithopter")) {
|
else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-ornithopter")) {
|
||||||
// flapping wings
|
// flapping wings
|
||||||
fgSetDouble("/canopy/position-norm", 0);
|
fgSetDouble("/canopy/position-norm", 0);
|
||||||
fgSetDouble("/wing-phase/position-norm", sin(flapper_phi - 3 * LS_PI / 2));
|
fgSetDouble("/wing-phase/position-norm", sin(flapper_phi - 3 * LS_PI / 2));
|
||||||
fgSetDouble("/wing-phase/position-deg", flapper_phi*RAD_TO_DEG);
|
fgSetDouble("/wing-phase/position-deg", flapper_phi*RAD_TO_DEG);
|
||||||
fgSetDouble("/wing-phase/position-one", 1);
|
fgSetDouble("/wing-phase/position-one", 1);
|
||||||
fgSetDouble("/thorax/volume", 0);
|
fgSetDouble("/thorax/volume", 0);
|
||||||
fgSetDouble("/thorax/rpm", 0);
|
fgSetDouble("/thorax/rpm", 0);
|
||||||
// fgSetDouble("/thorax/volume", ((1+sin(2*(flapper_phi+LS_PI)))/2));
|
// fgSetDouble("/thorax/volume", ((1+sin(2*(flapper_phi+LS_PI)))/2));
|
||||||
// fgSetDouble("/thorax/rpm", ((1+sin(2*(flapper_phi+LS_PI)))/2));
|
// fgSetDouble("/thorax/rpm", ((1+sin(2*(flapper_phi+LS_PI)))/2));
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
@ -411,10 +411,10 @@ void FGLaRCsim::update( double dt ) {
|
||||||
// add Gamma_horiz_deg to properties, mss 021213
|
// add Gamma_horiz_deg to properties, mss 021213
|
||||||
if (use_gamma_horiz_on_speed) {
|
if (use_gamma_horiz_on_speed) {
|
||||||
if (V_rel_wind > gamma_horiz_on_speed) {
|
if (V_rel_wind > gamma_horiz_on_speed) {
|
||||||
fgSetDouble("/orientation/gamma-horiz-deg", (Gamma_horiz_rad * RAD_TO_DEG));
|
fgSetDouble("/orientation/gamma-horiz-deg", (Gamma_horiz_rad * RAD_TO_DEG));
|
||||||
}
|
}
|
||||||
else {
|
else {
|
||||||
fgSetDouble("/orientation/gamma-horiz-deg", fgGetDouble("/orientation/heading-deg"));
|
fgSetDouble("/orientation/gamma-horiz-deg", fgGetDouble("/orientation/heading-deg"));
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
else {
|
else {
|
||||||
|
|
@ -432,7 +432,7 @@ void FGLaRCsim::update( double dt ) {
|
||||||
|
|
||||||
// but lets restore our original bogus altitude when we are done
|
// but lets restore our original bogus altitude when we are done
|
||||||
if ( save_alt < -9000.0 ) {
|
if ( save_alt < -9000.0 ) {
|
||||||
set_Altitude( save_alt );
|
set_Altitude( save_alt );
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
@ -647,9 +647,9 @@ bool FGLaRCsim::copy_from_LaRCsim() {
|
||||||
// Velocities
|
// Velocities
|
||||||
_set_Velocities_Local( V_north, V_east, V_down );
|
_set_Velocities_Local( V_north, V_east, V_down );
|
||||||
// set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
|
// set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
|
||||||
// V_down_rel_ground );
|
// V_down_rel_ground );
|
||||||
_set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
|
_set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
|
||||||
V_down_airmass );
|
V_down_airmass );
|
||||||
// set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
|
// set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
|
||||||
// V_east_rel_airmass, V_down_rel_airmass );
|
// V_east_rel_airmass, V_down_rel_airmass );
|
||||||
// set_Velocities_Gust( U_gust, V_gust, W_gust );
|
// set_Velocities_Gust( U_gust, V_gust, W_gust );
|
||||||
|
|
@ -675,9 +675,9 @@ bool FGLaRCsim::copy_from_LaRCsim() {
|
||||||
_set_Mach_number( Mach_number );
|
_set_Mach_number( Mach_number );
|
||||||
|
|
||||||
SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << Longitude
|
SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << Longitude
|
||||||
<< " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
|
<< " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
|
||||||
<< " alt = " << Altitude << " sl_radius = " << Sea_level_radius
|
<< " alt = " << Altitude << " sl_radius = " << Sea_level_radius
|
||||||
<< " radius_to_vehicle = " << Radius_to_vehicle );
|
<< " radius_to_vehicle = " << Radius_to_vehicle );
|
||||||
|
|
||||||
double tmp_lon_geoc = Lon_geocentric;
|
double tmp_lon_geoc = Lon_geocentric;
|
||||||
while ( tmp_lon_geoc < -SGD_PI ) { tmp_lon_geoc += SGD_2PI; }
|
while ( tmp_lon_geoc < -SGD_PI ) { tmp_lon_geoc += SGD_2PI; }
|
||||||
|
|
@ -689,7 +689,7 @@ bool FGLaRCsim::copy_from_LaRCsim() {
|
||||||
|
|
||||||
// Positions
|
// Positions
|
||||||
_set_Geocentric_Position( Lat_geocentric, tmp_lon_geoc,
|
_set_Geocentric_Position( Lat_geocentric, tmp_lon_geoc,
|
||||||
Radius_to_vehicle );
|
Radius_to_vehicle );
|
||||||
_set_Geodetic_Position( Latitude, tmp_lon, Altitude );
|
_set_Geodetic_Position( Latitude, tmp_lon, Altitude );
|
||||||
_set_Euler_Angles( Phi, Theta, Psi );
|
_set_Euler_Angles( Phi, Theta, Psi );
|
||||||
|
|
||||||
|
|
@ -757,23 +757,23 @@ bool FGLaRCsim::copy_from_LaRCsim() {
|
||||||
// cout << "climb rate = " << -V_down * 60 << endl;
|
// cout << "climb rate = " << -V_down * 60 << endl;
|
||||||
|
|
||||||
if ( !strcmp(aero->getStringValue(), "uiuc") ) {
|
if ( !strcmp(aero->getStringValue(), "uiuc") ) {
|
||||||
if (pilot_elev_no) {
|
if (pilot_elev_no) {
|
||||||
globals->get_controls()->set_elevator(Long_control);
|
globals->get_controls()->set_elevator(Long_control);
|
||||||
globals->get_controls()->set_elevator_trim(Long_trim);
|
globals->get_controls()->set_elevator_trim(Long_trim);
|
||||||
// controls.set_elevator(Long_control);
|
// controls.set_elevator(Long_control);
|
||||||
// controls.set_elevator_trim(Long_trim);
|
// controls.set_elevator_trim(Long_trim);
|
||||||
}
|
}
|
||||||
if (pilot_ail_no) {
|
if (pilot_ail_no) {
|
||||||
globals->get_controls()->set_aileron(Lat_control);
|
globals->get_controls()->set_aileron(Lat_control);
|
||||||
// controls.set_aileron(Lat_control);
|
// controls.set_aileron(Lat_control);
|
||||||
}
|
}
|
||||||
if (pilot_rud_no) {
|
if (pilot_rud_no) {
|
||||||
globals->get_controls()->set_rudder(Rudder_pedal);
|
globals->get_controls()->set_rudder(Rudder_pedal);
|
||||||
// controls.set_rudder(Rudder_pedal);
|
// controls.set_rudder(Rudder_pedal);
|
||||||
}
|
}
|
||||||
if (pilot_throttle_no) {
|
if (pilot_throttle_no) {
|
||||||
globals->get_controls()->set_throttle(0,Throttle_pct);
|
globals->get_controls()->set_throttle(0,Throttle_pct);
|
||||||
// controls.set_throttle(0,Throttle_pct);
|
// controls.set_throttle(0,Throttle_pct);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
@ -810,9 +810,9 @@ void FGLaRCsim::snap_shot(void) {
|
||||||
lsic->SetHeadingRadIC( get_Psi() );
|
lsic->SetHeadingRadIC( get_Psi() );
|
||||||
lsic->SetClimbRateFpsIC( get_Climb_Rate() );
|
lsic->SetClimbRateFpsIC( get_Climb_Rate() );
|
||||||
lsic->SetVNEDAirmassFpsIC( get_V_north_airmass(),
|
lsic->SetVNEDAirmassFpsIC( get_V_north_airmass(),
|
||||||
get_V_east_airmass(),
|
get_V_east_airmass(),
|
||||||
get_V_down_airmass() );
|
get_V_down_airmass() );
|
||||||
}
|
}
|
||||||
|
|
||||||
//Positions
|
//Positions
|
||||||
void FGLaRCsim::set_Latitude(double lat) {
|
void FGLaRCsim::set_Latitude(double lat) {
|
||||||
|
|
@ -841,7 +841,7 @@ void FGLaRCsim::set_Altitude(double alt) {
|
||||||
|
|
||||||
void FGLaRCsim::set_V_calibrated_kts(double vc) {
|
void FGLaRCsim::set_V_calibrated_kts(double vc) {
|
||||||
SG_LOG( SG_FLIGHT, SG_INFO,
|
SG_LOG( SG_FLIGHT, SG_INFO,
|
||||||
"FGLaRCsim::set_V_calibrated_kts: " << vc );
|
"FGLaRCsim::set_V_calibrated_kts: " << vc );
|
||||||
snap_shot();
|
snap_shot();
|
||||||
lsic->SetVcalibratedKtsIC(vc);
|
lsic->SetVcalibratedKtsIC(vc);
|
||||||
set_ls();
|
set_ls();
|
||||||
|
|
@ -858,7 +858,7 @@ void FGLaRCsim::set_Mach_number(double mach) {
|
||||||
|
|
||||||
void FGLaRCsim::set_Velocities_Local( double north, double east, double down ){
|
void FGLaRCsim::set_Velocities_Local( double north, double east, double down ){
|
||||||
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_local: "
|
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_local: "
|
||||||
<< north << " " << east << " " << down );
|
<< north << " " << east << " " << down );
|
||||||
snap_shot();
|
snap_shot();
|
||||||
lsic->SetVNEDFpsIC(north, east, down);
|
lsic->SetVNEDFpsIC(north, east, down);
|
||||||
set_ls();
|
set_ls();
|
||||||
|
|
@ -867,7 +867,7 @@ void FGLaRCsim::set_Velocities_Local( double north, double east, double down ){
|
||||||
|
|
||||||
void FGLaRCsim::set_Velocities_Body( double u, double v, double w){
|
void FGLaRCsim::set_Velocities_Body( double u, double v, double w){
|
||||||
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Body: "
|
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Body: "
|
||||||
<< u << " " << v << " " << w );
|
<< u << " " << v << " " << w );
|
||||||
snap_shot();
|
snap_shot();
|
||||||
lsic->SetUVWFpsIC(u,v,w);
|
lsic->SetUVWFpsIC(u,v,w);
|
||||||
set_ls();
|
set_ls();
|
||||||
|
|
@ -877,7 +877,7 @@ void FGLaRCsim::set_Velocities_Body( double u, double v, double w){
|
||||||
//Euler angles
|
//Euler angles
|
||||||
void FGLaRCsim::set_Euler_Angles( double phi, double theta, double psi ) {
|
void FGLaRCsim::set_Euler_Angles( double phi, double theta, double psi ) {
|
||||||
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Euler_angles: "
|
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Euler_angles: "
|
||||||
<< phi << " " << theta << " " << psi );
|
<< phi << " " << theta << " " << psi );
|
||||||
|
|
||||||
snap_shot();
|
snap_shot();
|
||||||
lsic->SetPitchAngleRadIC(theta);
|
lsic->SetPitchAngleRadIC(theta);
|
||||||
|
|
@ -914,10 +914,10 @@ void FGLaRCsim::set_AltitudeAGL(double altagl) {
|
||||||
|
|
||||||
/* getting a namespace conflict...
|
/* getting a namespace conflict...
|
||||||
void FGLaRCsim::set_Velocities_Local_Airmass (double wnorth,
|
void FGLaRCsim::set_Velocities_Local_Airmass (double wnorth,
|
||||||
double weast,
|
double weast,
|
||||||
double wdown ) {
|
double wdown ) {
|
||||||
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Local_Airmass: "
|
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Local_Airmass: "
|
||||||
<< wnorth << " " << weast << " " << wdown );
|
<< wnorth << " " << weast << " " << wdown );
|
||||||
snap_shot();
|
snap_shot();
|
||||||
lsic->SetVNEDAirmassFpsIC( wnorth, weast, wdown );
|
lsic->SetVNEDAirmassFpsIC( wnorth, weast, wdown );
|
||||||
set_ls();
|
set_ls();
|
||||||
|
|
@ -927,23 +927,23 @@ void FGLaRCsim::set_Velocities_Local_Airmass (double wnorth,
|
||||||
|
|
||||||
void FGLaRCsim::set_Static_pressure(double p) {
|
void FGLaRCsim::set_Static_pressure(double p) {
|
||||||
SG_LOG( SG_FLIGHT, SG_INFO,
|
SG_LOG( SG_FLIGHT, SG_INFO,
|
||||||
"FGLaRCsim::set_Static_pressure: " << p );
|
"FGLaRCsim::set_Static_pressure: " << p );
|
||||||
SG_LOG( SG_FLIGHT, SG_INFO,
|
SG_LOG( SG_FLIGHT, SG_INFO,
|
||||||
"LaRCsim does not support externally supplied atmospheric data" );
|
"LaRCsim does not support externally supplied atmospheric data" );
|
||||||
}
|
}
|
||||||
|
|
||||||
void FGLaRCsim::set_Static_temperature(double T) {
|
void FGLaRCsim::set_Static_temperature(double T) {
|
||||||
SG_LOG( SG_FLIGHT, SG_INFO,
|
SG_LOG( SG_FLIGHT, SG_INFO,
|
||||||
"FGLaRCsim::set_Static_temperature: " << T );
|
"FGLaRCsim::set_Static_temperature: " << T );
|
||||||
SG_LOG( SG_FLIGHT, SG_INFO,
|
SG_LOG( SG_FLIGHT, SG_INFO,
|
||||||
"LaRCsim does not support externally supplied atmospheric data" );
|
"LaRCsim does not support externally supplied atmospheric data" );
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
void FGLaRCsim::set_Density(double rho) {
|
void FGLaRCsim::set_Density(double rho) {
|
||||||
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Density: " << rho );
|
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Density: " << rho );
|
||||||
SG_LOG( SG_FLIGHT, SG_INFO,
|
SG_LOG( SG_FLIGHT, SG_INFO,
|
||||||
"LaRCsim does not support externally supplied atmospheric data" );
|
"LaRCsim does not support externally supplied atmospheric data" );
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -96,11 +96,11 @@ public:
|
||||||
|
|
||||||
void _set_Inertias( double m, double xx, double yy, double zz, double xz)
|
void _set_Inertias( double m, double xx, double yy, double zz, double xz)
|
||||||
{
|
{
|
||||||
mass = m;
|
mass = m;
|
||||||
i_xx = xx;
|
i_xx = xx;
|
||||||
i_yy = yy;
|
i_yy = yy;
|
||||||
i_zz = zz;
|
i_zz = zz;
|
||||||
i_xz = xz;
|
i_xz = xz;
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -1,43 +1,43 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: atmos_62
|
TITLE: atmos_62
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: 1962 atmosphere table interpolation routine
|
FUNCTION: 1962 atmosphere table interpolation routine
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Created 920827 by Bruce Jackson as part of the C-castle
|
GENEALOGY: Created 920827 by Bruce Jackson as part of the C-castle
|
||||||
development effort.
|
development effort.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: B. Jackson
|
DESIGNED BY: B. Jackson
|
||||||
|
|
||||||
CODED BY: B. Jackson
|
CODED BY: B. Jackson
|
||||||
|
|
||||||
MAINTAINED BY: B. Jackson
|
MAINTAINED BY: B. Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
931220 Added ambient pressure and temperature as outputs. EBJ
|
931220 Added ambient pressure and temperature as outputs. EBJ
|
||||||
940111 Changed includes from "ls_eom.h" to "ls_types.h" and
|
940111 Changed includes from "ls_eom.h" to "ls_types.h" and
|
||||||
"ls_constants.h"; changed DATA to SCALAR types. EBJ
|
"ls_constants.h"; changed DATA to SCALAR types. EBJ
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
[ 1] Hornbeck, Robert W.: "Numerical Methods", Prentice-Hall,
|
[ 1] Hornbeck, Robert W.: "Numerical Methods", Prentice-Hall,
|
||||||
1975. ISBN 0-13-626614-2
|
1975. ISBN 0-13-626614-2
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
|
|
@ -64,16 +64,16 @@
|
||||||
|
|
||||||
#include <math.h>
|
#include <math.h>
|
||||||
|
|
||||||
#define alt_0 d_a_table[index ][0]
|
#define alt_0 d_a_table[index ][0]
|
||||||
#define alt_1 d_a_table[index+1][0]
|
#define alt_1 d_a_table[index+1][0]
|
||||||
#define den_0 d_a_table[index ][1]
|
#define den_0 d_a_table[index ][1]
|
||||||
#define den_1 d_a_table[index+1][1]
|
#define den_1 d_a_table[index+1][1]
|
||||||
#define sps_0 d_a_table[index ][2]
|
#define sps_0 d_a_table[index ][2]
|
||||||
#define sps_1 d_a_table[index+1][2]
|
#define sps_1 d_a_table[index+1][2]
|
||||||
#define gden_0 d_a_table[index ][3]
|
#define gden_0 d_a_table[index ][3]
|
||||||
#define gden_1 d_a_table[index+1][3]
|
#define gden_1 d_a_table[index+1][3]
|
||||||
#define gsps_0 d_a_table[index ][4]
|
#define gsps_0 d_a_table[index ][4]
|
||||||
#define gsps_1 d_a_table[index+1][4]
|
#define gsps_1 d_a_table[index+1][4]
|
||||||
|
|
||||||
#define MAX_ALT_INDEX 121
|
#define MAX_ALT_INDEX 121
|
||||||
#define DELT_ALT 2000.
|
#define DELT_ALT 2000.
|
||||||
|
|
@ -83,137 +83,137 @@
|
||||||
#define MAX_ALTITUDE 240000.
|
#define MAX_ALTITUDE 240000.
|
||||||
|
|
||||||
void ls_atmos( SCALAR altitude, SCALAR * sigma, SCALAR * v_sound,
|
void ls_atmos( SCALAR altitude, SCALAR * sigma, SCALAR * v_sound,
|
||||||
SCALAR * t_amb, SCALAR * p_amb )
|
SCALAR * t_amb, SCALAR * p_amb )
|
||||||
{
|
{
|
||||||
|
|
||||||
int index;
|
int index;
|
||||||
SCALAR daltp, daltn, daltp3, daltn3, density;
|
SCALAR daltp, daltn, daltp3, daltn3, density;
|
||||||
SCALAR t_amb_r, p_amb_r;
|
SCALAR t_amb_r, p_amb_r;
|
||||||
SCALAR tmp;
|
SCALAR tmp;
|
||||||
|
|
||||||
static SCALAR d_a_table[MAX_ALT_INDEX][5] =
|
static SCALAR d_a_table[MAX_ALT_INDEX][5] =
|
||||||
{
|
{
|
||||||
{ 0., 2.37701E-03, 1.11642E+03, 0.00000E+00, 0.00000E+00 },
|
{ 0., 2.37701E-03, 1.11642E+03, 0.00000E+00, 0.00000E+00 },
|
||||||
{ 2000., 2.24098E-03, 1.10872E+03, 1.92857E-12, -1.75815E-08 },
|
{ 2000., 2.24098E-03, 1.10872E+03, 1.92857E-12, -1.75815E-08 },
|
||||||
{ 4000., 2.11099E-03, 1.10097E+03, 1.34570E-12, -1.21740E-08 },
|
{ 4000., 2.11099E-03, 1.10097E+03, 1.34570E-12, -1.21740E-08 },
|
||||||
{ 6000., 1.98684E-03, 1.09315E+03, 1.44862E-12, -1.47225E-08 },
|
{ 6000., 1.98684E-03, 1.09315E+03, 1.44862E-12, -1.47225E-08 },
|
||||||
{ 8000., 1.86836E-03, 1.08529E+03, 1.36481E-12, -1.44359E-08 },
|
{ 8000., 1.86836E-03, 1.08529E+03, 1.36481E-12, -1.44359E-08 },
|
||||||
{ 10000., 1.75537E-03, 1.07736E+03, 1.32716E-12, -1.45340E-08 },
|
{ 10000., 1.75537E-03, 1.07736E+03, 1.32716E-12, -1.45340E-08 },
|
||||||
{ 12000., 1.64768E-03, 1.06938E+03, 1.27657E-12, -1.44280E-08 },
|
{ 12000., 1.64768E-03, 1.06938E+03, 1.27657E-12, -1.44280E-08 },
|
||||||
{ 14000., 1.54511E-03, 1.06133E+03, 1.24656E-12, -1.62540E-08 },
|
{ 14000., 1.54511E-03, 1.06133E+03, 1.24656E-12, -1.62540E-08 },
|
||||||
{ 16000., 1.44751E-03, 1.05323E+03, 1.19220E-12, -1.50560E-08 },
|
{ 16000., 1.44751E-03, 1.05323E+03, 1.19220E-12, -1.50560E-08 },
|
||||||
{ 18000., 1.35469E-03, 1.04506E+03, 1.15463E-12, -1.65220E-08 },
|
{ 18000., 1.35469E-03, 1.04506E+03, 1.15463E-12, -1.65220E-08 },
|
||||||
{ 20000., 1.26649E-03, 1.03683E+03, 1.11926E-12, -1.63562E-08 },
|
{ 20000., 1.26649E-03, 1.03683E+03, 1.11926E-12, -1.63562E-08 },
|
||||||
{ 22000., 1.18276E-03, 1.02853E+03, 1.07333E-12, -1.70533E-08 },
|
{ 22000., 1.18276E-03, 1.02853E+03, 1.07333E-12, -1.70533E-08 },
|
||||||
{ 24000., 1.10333E-03, 1.02016E+03, 1.03743E-12, -1.59305E-08 },
|
{ 24000., 1.10333E-03, 1.02016E+03, 1.03743E-12, -1.59305E-08 },
|
||||||
{ 26000., 1.02805E-03, 1.01173E+03, 1.00195E-12, -2.27248E-08 },
|
{ 26000., 1.02805E-03, 1.01173E+03, 1.00195E-12, -2.27248E-08 },
|
||||||
{ 28000., 9.56760E-04, 1.00322E+03, 9.39764E-13, 3.29851E-10 },
|
{ 28000., 9.56760E-04, 1.00322E+03, 9.39764E-13, 3.29851E-10 },
|
||||||
{ 30000., 8.89320E-04, 9.94641E+02, 1.01399E-12, -8.80946E-08 },
|
{ 30000., 8.89320E-04, 9.94641E+02, 1.01399E-12, -8.80946E-08 },
|
||||||
{ 32000., 8.25570E-04, 9.85988E+02, 5.39268E-13, 2.41048E-07 },
|
{ 32000., 8.25570E-04, 9.85988E+02, 5.39268E-13, 2.41048E-07 },
|
||||||
{ 34000., 7.65380E-04, 9.77258E+02, 2.16894E-12, -9.91599E-07 },
|
{ 34000., 7.65380E-04, 9.77258E+02, 2.16894E-12, -9.91599E-07 },
|
||||||
{ 36000., 7.08600E-04, 9.68448E+02, -4.10001E-12, 3.60535E-06 },
|
{ 36000., 7.08600E-04, 9.68448E+02, -4.10001E-12, 3.60535E-06 },
|
||||||
{ 38000., 6.44190E-04, 9.68053E+02, 2.78612E-12, -8.07290E-07 },
|
{ 38000., 6.44190E-04, 9.68053E+02, 2.78612E-12, -8.07290E-07 },
|
||||||
{ 40000., 5.85146E-04, 9.68053E+02, 1.00455E-12, 2.16313E-07 },
|
{ 40000., 5.85146E-04, 9.68053E+02, 1.00455E-12, 2.16313E-07 },
|
||||||
{ 42000., 5.31517E-04, 9.68053E+02, 1.31819E-12, -5.79609E-08 },
|
{ 42000., 5.31517E-04, 9.68053E+02, 1.31819E-12, -5.79609E-08 },
|
||||||
{ 44000., 4.82801E-04, 9.68053E+02, 1.09217E-12, 1.55309E-08 },
|
{ 44000., 4.82801E-04, 9.68053E+02, 1.09217E-12, 1.55309E-08 },
|
||||||
{ 46000., 4.38554E-04, 9.68053E+02, 1.01661E-12, -4.16262E-09 },
|
{ 46000., 4.38554E-04, 9.68053E+02, 1.01661E-12, -4.16262E-09 },
|
||||||
{ 48000., 3.98359E-04, 9.68053E+02, 9.19375E-13, 1.11961E-09 },
|
{ 48000., 3.98359E-04, 9.68053E+02, 9.19375E-13, 1.11961E-09 },
|
||||||
{ 50000., 3.61850E-04, 9.68053E+02, 8.34886E-13, -3.15801E-10 },
|
{ 50000., 3.61850E-04, 9.68053E+02, 8.34886E-13, -3.15801E-10 },
|
||||||
{ 52000., 3.28686E-04, 9.68053E+02, 7.58579E-13, 1.43600E-10 },
|
{ 52000., 3.28686E-04, 9.68053E+02, 7.58579E-13, 1.43600E-10 },
|
||||||
{ 54000., 2.98561E-04, 9.68053E+02, 6.89297E-13, -2.58597E-10 },
|
{ 54000., 2.98561E-04, 9.68053E+02, 6.89297E-13, -2.58597E-10 },
|
||||||
{ 56000., 2.71197E-04, 9.68053E+02, 6.25735E-13, 8.90788E-10 },
|
{ 56000., 2.71197E-04, 9.68053E+02, 6.25735E-13, 8.90788E-10 },
|
||||||
{ 58000., 2.46341E-04, 9.68053E+02, 5.69765E-13, -3.30456E-09 },
|
{ 58000., 2.46341E-04, 9.68053E+02, 5.69765E-13, -3.30456E-09 },
|
||||||
{ 60000., 2.23765E-04, 9.68053E+02, 5.15206E-13, 1.23274E-08 },
|
{ 60000., 2.23765E-04, 9.68053E+02, 5.15206E-13, 1.23274E-08 },
|
||||||
{ 62000., 2.03256E-04, 9.68053E+02, 4.69912E-13, -4.60052E-08 },
|
{ 62000., 2.03256E-04, 9.68053E+02, 4.69912E-13, -4.60052E-08 },
|
||||||
{ 64000., 1.84627E-04, 9.68053E+02, 4.25146E-13, 1.71693E-07 },
|
{ 64000., 1.84627E-04, 9.68053E+02, 4.25146E-13, 1.71693E-07 },
|
||||||
{ 66000., 1.67616E-04, 9.68314E+02, 2.56502E-13, -2.49268E-07 },
|
{ 66000., 1.67616E-04, 9.68314E+02, 2.56502E-13, -2.49268E-07 },
|
||||||
{ 68000., 1.51855E-04, 9.68676E+02, 4.23844E-13, 9.76878E-07 },
|
{ 68000., 1.51855E-04, 9.68676E+02, 4.23844E-13, 9.76878E-07 },
|
||||||
{ 70000., 1.37615E-04, 9.71034E+02, 3.29621E-13, -6.64245E-07 },
|
{ 70000., 1.37615E-04, 9.71034E+02, 3.29621E-13, -6.64245E-07 },
|
||||||
{ 72000., 1.24744E-04, 9.72390E+02, 3.11170E-13, 1.77102E-07 },
|
{ 72000., 1.24744E-04, 9.72390E+02, 3.11170E-13, 1.77102E-07 },
|
||||||
{ 74000., 1.13107E-04, 9.73745E+02, 2.76697E-13, -4.56627E-08 },
|
{ 74000., 1.13107E-04, 9.73745E+02, 2.76697E-13, -4.56627E-08 },
|
||||||
{ 76000., 1.02584E-04, 9.75099E+02, 2.53043E-13, 4.04902E-09 },
|
{ 76000., 1.02584E-04, 9.75099E+02, 2.53043E-13, 4.04902E-09 },
|
||||||
{ 78000., 9.30660E-05, 9.76450E+02, 2.18633E-13, 2.49667E-08 },
|
{ 78000., 9.30660E-05, 9.76450E+02, 2.18633E-13, 2.49667E-08 },
|
||||||
{ 80000., 8.44530E-05, 9.77799E+02, 2.29927E-13, -1.06916E-07 },
|
{ 80000., 8.44530E-05, 9.77799E+02, 2.29927E-13, -1.06916E-07 },
|
||||||
{ 82000., 7.67140E-05, 9.78950E+02, 1.72660E-13, 1.05696E-07 },
|
{ 82000., 7.67140E-05, 9.78950E+02, 1.72660E-13, 1.05696E-07 },
|
||||||
{ 84000., 6.97010E-05, 9.80290E+02, 1.68432E-13, -3.23682E-08 },
|
{ 84000., 6.97010E-05, 9.80290E+02, 1.68432E-13, -3.23682E-08 },
|
||||||
{ 86000., 6.33490E-05, 9.81620E+02, 1.45113E-13, 8.77690E-09 },
|
{ 86000., 6.33490E-05, 9.81620E+02, 1.45113E-13, 8.77690E-09 },
|
||||||
{ 88000., 5.75880E-05, 9.82950E+02, 1.37617E-13, -2.73938E-09 },
|
{ 88000., 5.75880E-05, 9.82950E+02, 1.37617E-13, -2.73938E-09 },
|
||||||
{ 90000., 5.23700E-05, 9.84280E+02, 1.18918E-13, 2.18061E-09 },
|
{ 90000., 5.23700E-05, 9.84280E+02, 1.18918E-13, 2.18061E-09 },
|
||||||
{ 92000., 4.76350E-05, 9.85610E+02, 1.11210E-13, -5.98306E-09 },
|
{ 92000., 4.76350E-05, 9.85610E+02, 1.11210E-13, -5.98306E-09 },
|
||||||
{ 94000., 4.33410E-05, 9.86930E+02, 9.77408E-14, 6.75162E-09 },
|
{ 94000., 4.33410E-05, 9.86930E+02, 9.77408E-14, 6.75162E-09 },
|
||||||
{ 96000., 3.94430E-05, 9.88260E+02, 9.18264E-14, -6.02343E-09 },
|
{ 96000., 3.94430E-05, 9.88260E+02, 9.18264E-14, -6.02343E-09 },
|
||||||
{ 98000., 3.59080E-05, 9.89580E+02, 7.94534E-14, 2.34210E-09 },
|
{ 98000., 3.59080E-05, 9.89580E+02, 7.94534E-14, 2.34210E-09 },
|
||||||
{ 100000., 3.26960E-05, 9.90900E+02, 7.48600E-14, -3.34498E-09 },
|
{ 100000., 3.26960E-05, 9.90900E+02, 7.48600E-14, -3.34498E-09 },
|
||||||
{ 102000., 2.97810E-05, 9.92210E+02, 6.66067E-14, -3.96219E-09 },
|
{ 102000., 2.97810E-05, 9.92210E+02, 6.66067E-14, -3.96219E-09 },
|
||||||
{ 104000., 2.71320E-05, 9.93530E+02, 5.77131E-14, 3.41937E-08 },
|
{ 104000., 2.71320E-05, 9.93530E+02, 5.77131E-14, 3.41937E-08 },
|
||||||
{ 106000., 2.46980E-05, 9.95410E+02, 2.50410E-14, 7.07187E-07 },
|
{ 106000., 2.46980E-05, 9.95410E+02, 2.50410E-14, 7.07187E-07 },
|
||||||
{ 108000., 2.24140E-05, 9.99070E+02, 6.71229E-14, -1.92943E-07 },
|
{ 108000., 2.24140E-05, 9.99070E+02, 6.71229E-14, -1.92943E-07 },
|
||||||
{ 110000., 2.03570E-05, 1.00272E+03, 4.69675E-14, 4.95832E-08 },
|
{ 110000., 2.03570E-05, 1.00272E+03, 4.69675E-14, 4.95832E-08 },
|
||||||
{ 112000., 1.85010E-05, 1.00636E+03, 4.65069E-14, -2.03903E-08 },
|
{ 112000., 1.85010E-05, 1.00636E+03, 4.65069E-14, -2.03903E-08 },
|
||||||
{ 114000., 1.68270E-05, 1.00998E+03, 4.00047E-14, 1.97789E-09 },
|
{ 114000., 1.68270E-05, 1.00998E+03, 4.00047E-14, 1.97789E-09 },
|
||||||
{ 116000., 1.53150E-05, 1.01359E+03, 3.64744E-14, -2.52130E-09 },
|
{ 116000., 1.53150E-05, 1.01359E+03, 3.64744E-14, -2.52130E-09 },
|
||||||
{ 118000., 1.39480E-05, 1.01719E+03, 3.15976E-14, -6.89271E-09 },
|
{ 118000., 1.39480E-05, 1.01719E+03, 3.15976E-14, -6.89271E-09 },
|
||||||
{ 120000., 1.27100E-05, 1.02077E+03, 3.06351E-14, 9.21465E-11 },
|
{ 120000., 1.27100E-05, 1.02077E+03, 3.06351E-14, 9.21465E-11 },
|
||||||
{ 122000., 1.15920E-05, 1.02434E+03, 2.58618E-14, -8.47587E-09 },
|
{ 122000., 1.15920E-05, 1.02434E+03, 2.58618E-14, -8.47587E-09 },
|
||||||
{ 124000., 1.05790E-05, 1.02789E+03, 2.34176E-14, 3.81135E-09 },
|
{ 124000., 1.05790E-05, 1.02789E+03, 2.34176E-14, 3.81135E-09 },
|
||||||
{ 126000., 9.66010E-06, 1.03144E+03, 2.16178E-14, -6.76951E-09 },
|
{ 126000., 9.66010E-06, 1.03144E+03, 2.16178E-14, -6.76951E-09 },
|
||||||
{ 128000., 8.82710E-06, 1.03497E+03, 1.89611E-14, -6.73330E-09 },
|
{ 128000., 8.82710E-06, 1.03497E+03, 1.89611E-14, -6.73330E-09 },
|
||||||
{ 130000., 8.07070E-06, 1.03848E+03, 1.74377E-14, 3.70270E-09 },
|
{ 130000., 8.07070E-06, 1.03848E+03, 1.74377E-14, 3.70270E-09 },
|
||||||
{ 132000., 7.38380E-06, 1.04199E+03, 1.55382E-14, -8.07752E-09 },
|
{ 132000., 7.38380E-06, 1.04199E+03, 1.55382E-14, -8.07752E-09 },
|
||||||
{ 134000., 6.75940E-06, 1.04548E+03, 1.41595E-14, -1.39263E-09 },
|
{ 134000., 6.75940E-06, 1.04548E+03, 1.41595E-14, -1.39263E-09 },
|
||||||
{ 136000., 6.19160E-06, 1.04896E+03, 1.27239E-14, -1.35196E-09 },
|
{ 136000., 6.19160E-06, 1.04896E+03, 1.27239E-14, -1.35196E-09 },
|
||||||
{ 138000., 5.67490E-06, 1.05243E+03, 1.15951E-14, -8.19953E-09 },
|
{ 138000., 5.67490E-06, 1.05243E+03, 1.15951E-14, -8.19953E-09 },
|
||||||
{ 140000., 5.20450E-06, 1.05588E+03, 1.03459E-14, 4.15010E-09 },
|
{ 140000., 5.20450E-06, 1.05588E+03, 1.03459E-14, 4.15010E-09 },
|
||||||
{ 142000., 4.77570E-06, 1.05933E+03, 9.42149E-15, -8.40086E-09 },
|
{ 142000., 4.77570E-06, 1.05933E+03, 9.42149E-15, -8.40086E-09 },
|
||||||
{ 144000., 4.38470E-06, 1.06276E+03, 8.66820E-15, -5.46671E-10 },
|
{ 144000., 4.38470E-06, 1.06276E+03, 8.66820E-15, -5.46671E-10 },
|
||||||
{ 146000., 4.02820E-06, 1.06618E+03, 7.65573E-15, -4.41246E-09 },
|
{ 146000., 4.02820E-06, 1.06618E+03, 7.65573E-15, -4.41246E-09 },
|
||||||
{ 148000., 3.70260E-06, 1.06959E+03, 7.05890E-15, 3.19650E-09 },
|
{ 148000., 3.70260E-06, 1.06959E+03, 7.05890E-15, 3.19650E-09 },
|
||||||
{ 150000., 3.40520E-06, 1.07299E+03, 6.40867E-15, -2.33736E-08 },
|
{ 150000., 3.40520E-06, 1.07299E+03, 6.40867E-15, -2.33736E-08 },
|
||||||
{ 152000., 3.13330E-06, 1.07637E+03, 5.55641E-15, 6.02977E-08 },
|
{ 152000., 3.13330E-06, 1.07637E+03, 5.55641E-15, 6.02977E-08 },
|
||||||
{ 154000., 2.88480E-06, 1.07975E+03, 6.46568E-15, -2.17817E-07 },
|
{ 154000., 2.88480E-06, 1.07975E+03, 6.46568E-15, -2.17817E-07 },
|
||||||
{ 156000., 2.66270E-06, 1.08202E+03, 8.18087E-15, -8.54029E-07 },
|
{ 156000., 2.66270E-06, 1.08202E+03, 8.18087E-15, -8.54029E-07 },
|
||||||
{ 158000., 2.46830E-06, 1.08202E+03, 2.36086E-15, 2.28931E-07 },
|
{ 158000., 2.46830E-06, 1.08202E+03, 2.36086E-15, 2.28931E-07 },
|
||||||
{ 160000., 2.28810E-06, 1.08202E+03, 3.67571E-15, -6.16972E-08 },
|
{ 160000., 2.28810E-06, 1.08202E+03, 3.67571E-15, -6.16972E-08 },
|
||||||
{ 162000., 2.12120E-06, 1.08202E+03, 2.88632E-15, 1.78573E-08 },
|
{ 162000., 2.12120E-06, 1.08202E+03, 2.88632E-15, 1.78573E-08 },
|
||||||
{ 164000., 1.96640E-06, 1.08202E+03, 2.92903E-15, -9.73206E-09 },
|
{ 164000., 1.96640E-06, 1.08202E+03, 2.92903E-15, -9.73206E-09 },
|
||||||
{ 166000., 1.82300E-06, 1.08202E+03, 2.49757E-15, 2.10709E-08 },
|
{ 166000., 1.82300E-06, 1.08202E+03, 2.49757E-15, 2.10709E-08 },
|
||||||
{ 168000., 1.69000E-06, 1.08202E+03, 2.68069E-15, -7.45517E-08 },
|
{ 168000., 1.69000E-06, 1.08202E+03, 2.68069E-15, -7.45517E-08 },
|
||||||
{ 170000., 1.56680E-06, 1.08202E+03, 1.47966E-15, 2.77136E-07 },
|
{ 170000., 1.56680E-06, 1.08202E+03, 1.47966E-15, 2.77136E-07 },
|
||||||
{ 172000., 1.45250E-06, 1.08202E+03, 4.75068E-15, -1.03399E-06 },
|
{ 172000., 1.45250E-06, 1.08202E+03, 4.75068E-15, -1.03399E-06 },
|
||||||
{ 174000., 1.35240E-06, 1.07963E+03, 8.17622E-16, 2.73830E-07 },
|
{ 174000., 1.35240E-06, 1.07963E+03, 8.17622E-16, 2.73830E-07 },
|
||||||
{ 176000., 1.25880E-06, 1.07723E+03, 1.72883E-15, -7.63301E-08 },
|
{ 176000., 1.25880E-06, 1.07723E+03, 1.72883E-15, -7.63301E-08 },
|
||||||
{ 178000., 1.17130E-06, 1.07482E+03, 1.41704E-15, 1.64901E-08 },
|
{ 178000., 1.17130E-06, 1.07482E+03, 1.41704E-15, 1.64901E-08 },
|
||||||
{ 180000., 1.08960E-06, 1.07240E+03, 1.30299E-15, -4.63038E-09 },
|
{ 180000., 1.08960E-06, 1.07240E+03, 1.30299E-15, -4.63038E-09 },
|
||||||
{ 182000., 1.01320E-06, 1.06998E+03, 1.32100E-15, 2.03140E-09 },
|
{ 182000., 1.01320E-06, 1.06998E+03, 1.32100E-15, 2.03140E-09 },
|
||||||
{ 184000., 9.41950E-07, 1.06756E+03, 1.13799E-15, -3.49522E-09 },
|
{ 184000., 9.41950E-07, 1.06756E+03, 1.13799E-15, -3.49522E-09 },
|
||||||
{ 186000., 8.75370E-07, 1.06513E+03, 1.13202E-15, -3.05052E-09 },
|
{ 186000., 8.75370E-07, 1.06513E+03, 1.13202E-15, -3.05052E-09 },
|
||||||
{ 188000., 8.13260E-07, 1.06269E+03, 1.03892E-15, 6.97283E-10 },
|
{ 188000., 8.13260E-07, 1.06269E+03, 1.03892E-15, 6.97283E-10 },
|
||||||
{ 190000., 7.55320E-07, 1.06025E+03, 9.67290E-16, 2.61383E-10 },
|
{ 190000., 7.55320E-07, 1.06025E+03, 9.67290E-16, 2.61383E-10 },
|
||||||
{ 192000., 7.01260E-07, 1.05781E+03, 9.11920E-16, -1.74281E-09 },
|
{ 192000., 7.01260E-07, 1.05781E+03, 9.11920E-16, -1.74281E-09 },
|
||||||
{ 194000., 6.50850E-07, 1.05536E+03, 8.60032E-16, -8.29013E-09 },
|
{ 194000., 6.50850E-07, 1.05536E+03, 8.60032E-16, -8.29013E-09 },
|
||||||
{ 196000., 6.03870E-07, 1.05290E+03, 7.92951E-16, 1.99033E-08 },
|
{ 196000., 6.03870E-07, 1.05290E+03, 7.92951E-16, 1.99033E-08 },
|
||||||
{ 198000., 5.60110E-07, 1.05044E+03, 7.98164E-16, -7.13232E-08 },
|
{ 198000., 5.60110E-07, 1.05044E+03, 7.98164E-16, -7.13232E-08 },
|
||||||
{ 200000., 5.19320E-07, 1.04798E+03, 4.69394E-16, 2.65389E-07 },
|
{ 200000., 5.19320E-07, 1.04798E+03, 4.69394E-16, 2.65389E-07 },
|
||||||
{ 202000., 4.81340E-07, 1.04550E+03, 1.53926E-15, -1.02023E-06 },
|
{ 202000., 4.81340E-07, 1.04550E+03, 1.53926E-15, -1.02023E-06 },
|
||||||
{ 204000., 4.47960E-07, 1.04063E+03, 2.73571E-16, 2.30547E-07 },
|
{ 204000., 4.47960E-07, 1.04063E+03, 2.73571E-16, 2.30547E-07 },
|
||||||
{ 206000., 4.16690E-07, 1.03565E+03, 5.31456E-16, -6.69551E-08 },
|
{ 206000., 4.16690E-07, 1.03565E+03, 5.31456E-16, -6.69551E-08 },
|
||||||
{ 208000., 3.87320E-07, 1.03065E+03, 4.50605E-16, 7.27308E-09 },
|
{ 208000., 3.87320E-07, 1.03065E+03, 4.50605E-16, 7.27308E-09 },
|
||||||
{ 210000., 3.59790E-07, 1.02562E+03, 4.26126E-16, -7.13720E-09 },
|
{ 210000., 3.59790E-07, 1.02562E+03, 4.26126E-16, -7.13720E-09 },
|
||||||
{ 212000., 3.33970E-07, 1.02057E+03, 4.09893E-16, -8.72426E-09 },
|
{ 212000., 3.33970E-07, 1.02057E+03, 4.09893E-16, -8.72426E-09 },
|
||||||
{ 214000., 3.09780E-07, 1.01549E+03, 3.79301E-16, -2.96576E-09 },
|
{ 214000., 3.09780E-07, 1.01549E+03, 3.79301E-16, -2.96576E-09 },
|
||||||
{ 216000., 2.87120E-07, 1.01039E+03, 3.67902E-16, -9.41272E-09 },
|
{ 216000., 2.87120E-07, 1.01039E+03, 3.67902E-16, -9.41272E-09 },
|
||||||
{ 218000., 2.65920E-07, 1.00526E+03, 3.39092E-16, -4.38337E-09 },
|
{ 218000., 2.65920E-07, 1.00526E+03, 3.39092E-16, -4.38337E-09 },
|
||||||
{ 220000., 2.46090E-07, 1.00011E+03, 3.30732E-16, -3.05378E-09 },
|
{ 220000., 2.46090E-07, 1.00011E+03, 3.30732E-16, -3.05378E-09 },
|
||||||
{ 222000., 2.27570E-07, 9.94940E+02, 3.02981E-16, -1.34015E-08 },
|
{ 222000., 2.27570E-07, 9.94940E+02, 3.02981E-16, -1.34015E-08 },
|
||||||
{ 224000., 2.10270E-07, 9.89730E+02, 2.87343E-16, -3.34027E-09 },
|
{ 224000., 2.10270E-07, 9.89730E+02, 2.87343E-16, -3.34027E-09 },
|
||||||
{ 226000., 1.94120E-07, 9.84500E+02, 2.72646E-16, -3.23743E-09 },
|
{ 226000., 1.94120E-07, 9.84500E+02, 2.72646E-16, -3.23743E-09 },
|
||||||
{ 228000., 1.79060E-07, 9.79250E+02, 2.57074E-16, -1.37100E-08 },
|
{ 228000., 1.79060E-07, 9.79250E+02, 2.57074E-16, -1.37100E-08 },
|
||||||
{ 230000., 1.65030E-07, 9.73960E+02, 2.44060E-16, -1.92258E-09 },
|
{ 230000., 1.65030E-07, 9.73960E+02, 2.44060E-16, -1.92258E-09 },
|
||||||
{ 232000., 1.51970E-07, 9.68650E+02, 2.21687E-16, -8.59969E-09 },
|
{ 232000., 1.51970E-07, 9.68650E+02, 2.21687E-16, -8.59969E-09 },
|
||||||
{ 234000., 1.39810E-07, 9.63310E+02, 2.19191E-16, -8.67865E-09 },
|
{ 234000., 1.39810E-07, 9.63310E+02, 2.19191E-16, -8.67865E-09 },
|
||||||
{ 236000., 1.28510E-07, 9.57940E+02, 1.91549E-16, -1.68569E-09 },
|
{ 236000., 1.28510E-07, 9.57940E+02, 1.91549E-16, -1.68569E-09 },
|
||||||
{ 238000., 1.18020E-07, 9.52550E+02, 2.29613E-16, -1.45786E-08 },
|
{ 238000., 1.18020E-07, 9.52550E+02, 2.29613E-16, -1.45786E-08 },
|
||||||
{ 240000., 1.08270E-07, 9.47120E+02, 0.00000E+00, 0.00000E+00 }
|
{ 240000., 1.08270E-07, 9.47120E+02, 0.00000E+00, 0.00000E+00 }
|
||||||
};
|
};
|
||||||
|
|
||||||
/* for purposes of doing the table lookup, force the incoming
|
/* for purposes of doing the table lookup, force the incoming
|
||||||
|
|
@ -222,7 +222,7 @@ void ls_atmos( SCALAR altitude, SCALAR * sigma, SCALAR * v_sound,
|
||||||
// printf("altitude = %.2f\n", altitude);
|
// printf("altitude = %.2f\n", altitude);
|
||||||
|
|
||||||
if ( altitude < 0.0 ) {
|
if ( altitude < 0.0 ) {
|
||||||
altitude = 0.0;
|
altitude = 0.0;
|
||||||
}
|
}
|
||||||
|
|
||||||
// printf("altitude = %.2f\n", altitude);
|
// printf("altitude = %.2f\n", altitude);
|
||||||
|
|
@ -240,28 +240,28 @@ void ls_atmos( SCALAR altitude, SCALAR * sigma, SCALAR * v_sound,
|
||||||
daltn3 = daltn*daltn*daltn;
|
daltn3 = daltn*daltn*daltn;
|
||||||
|
|
||||||
density = (gden_0/6)*((daltp3/2000) - 2000*daltp)
|
density = (gden_0/6)*((daltp3/2000) - 2000*daltp)
|
||||||
+ (gden_1/6)*((daltn3/2000) - 2000*daltn)
|
+ (gden_1/6)*((daltn3/2000) - 2000*daltn)
|
||||||
+ den_0*daltp/2000 + den_1*daltn/2000;
|
+ den_0*daltp/2000 + den_1*daltn/2000;
|
||||||
|
|
||||||
*v_sound = (gsps_0/6)*((daltp3/2000) - 2000*daltp)
|
*v_sound = (gsps_0/6)*((daltp3/2000) - 2000*daltp)
|
||||||
+ (gsps_1/6)*((daltn3/2000) - 2000*daltn)
|
+ (gsps_1/6)*((daltn3/2000) - 2000*daltn)
|
||||||
+ sps_0*daltp/2000 + sps_1*daltn/2000;
|
+ sps_0*daltp/2000 + sps_1*daltn/2000;
|
||||||
|
|
||||||
*sigma = density/SEA_LEVEL_DENSITY;
|
*sigma = density/SEA_LEVEL_DENSITY;
|
||||||
|
|
||||||
if (altitude < HLEV) /* BUG - these curve fits are only good to about 75000 ft */
|
if (altitude < HLEV) /* BUG - these curve fits are only good to about 75000 ft */
|
||||||
{
|
{
|
||||||
t_amb_r = 1. - 6.875e-6*altitude;
|
t_amb_r = 1. - 6.875e-6*altitude;
|
||||||
// printf("index = %d t_amb_r = %.2f\n", index, t_amb_r);
|
// printf("index = %d t_amb_r = %.2f\n", index, t_amb_r);
|
||||||
// p_amb_r = pow( t_amb_r, 5.256 );
|
// p_amb_r = pow( t_amb_r, 5.256 );
|
||||||
tmp = 5.256; // avoid a segfault (?)
|
tmp = 5.256; // avoid a segfault (?)
|
||||||
p_amb_r = pow( t_amb_r, tmp );
|
p_amb_r = pow( t_amb_r, tmp );
|
||||||
// printf("p_amb_r = %.2f\n", p_amb_r);
|
// printf("p_amb_r = %.2f\n", p_amb_r);
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
t_amb_r = 0.751895;
|
t_amb_r = 0.751895;
|
||||||
p_amb_r = 0.2234*exp( -4.806e-5 * (altitude - HLEV));
|
p_amb_r = 0.2234*exp( -4.806e-5 * (altitude - HLEV));
|
||||||
}
|
}
|
||||||
|
|
||||||
*p_amb = p_amb_r * PAMB0;
|
*p_amb = p_amb_r * PAMB0;
|
||||||
|
|
|
||||||
|
|
@ -18,7 +18,7 @@ extern "C" {
|
||||||
|
|
||||||
|
|
||||||
void ls_atmos( SCALAR altitude, SCALAR * sigma, SCALAR * v_sound,
|
void ls_atmos( SCALAR altitude, SCALAR * sigma, SCALAR * v_sound,
|
||||||
SCALAR * t_amb, SCALAR * p_amb );
|
SCALAR * t_amb, SCALAR * p_amb );
|
||||||
|
|
||||||
#ifdef __cplusplus
|
#ifdef __cplusplus
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -1,37 +1,37 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: c172_aero
|
TITLE: c172_aero
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: aerodynamics model based on constant stability derivatives
|
FUNCTION: aerodynamics model based on constant stability derivatives
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Based on data from:
|
GENEALOGY: Based on data from:
|
||||||
Part 1 of Roskam's S&C text
|
Part 1 of Roskam's S&C text
|
||||||
The FAA type certificate data sheet for the 172
|
The FAA type certificate data sheet for the 172
|
||||||
Various sources on the net
|
Various sources on the net
|
||||||
John D. Anderson's Intro to Flight text (NACA 2412 data)
|
John D. Anderson's Intro to Flight text (NACA 2412 data)
|
||||||
UIUC's airfoil data web site
|
UIUC's airfoil data web site
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: Tony Peden
|
DESIGNED BY: Tony Peden
|
||||||
|
|
||||||
CODED BY: Tony Peden
|
CODED BY: Tony Peden
|
||||||
|
|
||||||
MAINTAINED BY: Tony Peden
|
MAINTAINED BY: Tony Peden
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
6/10/99 Initial test release
|
6/10/99 Initial test release
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -40,28 +40,28 @@
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
Aero Coeffs:
|
Aero Coeffs:
|
||||||
CL lift
|
CL lift
|
||||||
Cd drag
|
Cd drag
|
||||||
Cm pitching moment
|
Cm pitching moment
|
||||||
Cy sideforce
|
Cy sideforce
|
||||||
Cn yawing moment
|
Cn yawing moment
|
||||||
Croll,Cl rolling moment (yeah, I know. Shoot me.)
|
Croll,Cl rolling moment (yeah, I know. Shoot me.)
|
||||||
|
|
||||||
Subscripts
|
Subscripts
|
||||||
o constant i.e. not a function of alpha or beta
|
o constant i.e. not a function of alpha or beta
|
||||||
a alpha
|
a alpha
|
||||||
adot d(alpha)/dt
|
adot d(alpha)/dt
|
||||||
q pitch rate
|
q pitch rate
|
||||||
qdot d(q)/dt
|
qdot d(q)/dt
|
||||||
beta sideslip angle
|
beta sideslip angle
|
||||||
p roll rate
|
p roll rate
|
||||||
r yaw rate
|
r yaw rate
|
||||||
da aileron deflection
|
da aileron deflection
|
||||||
de elevator deflection
|
de elevator deflection
|
||||||
dr rudder deflection
|
dr rudder deflection
|
||||||
|
|
||||||
s stability axes
|
s stability axes
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
@ -74,7 +74,7 @@
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
|
|
@ -83,7 +83,7 @@
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
#include "ls_generic.h"
|
#include "ls_generic.h"
|
||||||
#include "ls_cockpit.h"
|
#include "ls_cockpit.h"
|
||||||
#include "ls_constants.h"
|
#include "ls_constants.h"
|
||||||
|
|
@ -100,10 +100,10 @@
|
||||||
|
|
||||||
|
|
||||||
#ifdef USENZ
|
#ifdef USENZ
|
||||||
#define NZ generic_.n_cg_body_v[2]
|
#define NZ generic_.n_cg_body_v[2]
|
||||||
#else
|
#else
|
||||||
#define NZ 1
|
#define NZ 1
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
|
||||||
extern COCKPIT cockpit_;
|
extern COCKPIT cockpit_;
|
||||||
|
|
@ -174,35 +174,35 @@ extern COCKPIT cockpit_;
|
||||||
|
|
||||||
static SCALAR interp(SCALAR *y_table, SCALAR *x_table, int Ntable, SCALAR x)
|
static SCALAR interp(SCALAR *y_table, SCALAR *x_table, int Ntable, SCALAR x)
|
||||||
{
|
{
|
||||||
SCALAR slope;
|
SCALAR slope;
|
||||||
int i=1;
|
int i=1;
|
||||||
float y;
|
float y;
|
||||||
|
|
||||||
|
|
||||||
/* if x is outside the table, return value at x[0] or x[Ntable-1]*/
|
/* if x is outside the table, return value at x[0] or x[Ntable-1]*/
|
||||||
if(x <= x_table[0])
|
if(x <= x_table[0])
|
||||||
{
|
{
|
||||||
y=y_table[0];
|
y=y_table[0];
|
||||||
/* printf("x smaller than x_table[0]: %g %g\n",x,x_table[0]); */
|
/* printf("x smaller than x_table[0]: %g %g\n",x,x_table[0]); */
|
||||||
}
|
}
|
||||||
else if(x >= x_table[Ntable-1])
|
else if(x >= x_table[Ntable-1])
|
||||||
{
|
{
|
||||||
slope=(y_table[Ntable-1]-y_table[Ntable-2])/(x_table[Ntable-1]-x_table[Ntable-2]);
|
slope=(y_table[Ntable-1]-y_table[Ntable-2])/(x_table[Ntable-1]-x_table[Ntable-2]);
|
||||||
y=slope*(x-x_table[Ntable-1]) +y_table[Ntable-1];
|
y=slope*(x-x_table[Ntable-1]) +y_table[Ntable-1];
|
||||||
|
|
||||||
/* printf("x larger than x_table[N]: %g %g %d\n",x,x_table[NCL-1],Ntable-1);
|
/* printf("x larger than x_table[N]: %g %g %d\n",x,x_table[NCL-1],Ntable-1);
|
||||||
*/ }
|
*/ }
|
||||||
else /*x is within the table, interpolate linearly to find y value*/
|
else /*x is within the table, interpolate linearly to find y value*/
|
||||||
{
|
{
|
||||||
|
|
||||||
while(x_table[i] <= x) {i++;}
|
while(x_table[i] <= x) {i++;}
|
||||||
slope=(y_table[i]-y_table[i-1])/(x_table[i]-x_table[i-1]);
|
slope=(y_table[i]-y_table[i-1])/(x_table[i]-x_table[i-1]);
|
||||||
/* printf("x: %g, i: %d, cl[i]: %g, cl[i-1]: %g, slope: %g\n",x,i,y_table[i],y_table[i-1],slope); */
|
/* printf("x: %g, i: %d, cl[i]: %g, cl[i-1]: %g, slope: %g\n",x,i,y_table[i],y_table[i-1],slope); */
|
||||||
y=slope*(x-x_table[i-1]) +y_table[i-1];
|
y=slope*(x-x_table[i-1]) +y_table[i-1];
|
||||||
}
|
}
|
||||||
return y;
|
return y;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
void c172_aero( SCALAR dt, int Initialize ) {
|
void c172_aero( SCALAR dt, int Initialize ) {
|
||||||
|
|
||||||
|
|
@ -214,7 +214,7 @@ void c172_aero( SCALAR dt, int Initialize ) {
|
||||||
|
|
||||||
static SCALAR trim_inc = 0.0002;
|
static SCALAR trim_inc = 0.0002;
|
||||||
|
|
||||||
static SCALAR alpha_ind[NCL]={-0.087,0,0.14,0.21,0.24,0.26,0.28,0.31,0.35};
|
static SCALAR alpha_ind[NCL]={-0.087,0,0.14,0.21,0.24,0.26,0.28,0.31,0.35};
|
||||||
static SCALAR CLtable[NCL]={-0.22,0.25,1.02,1.252,1.354,1.44,1.466,1.298,0.97};
|
static SCALAR CLtable[NCL]={-0.22,0.25,1.02,1.252,1.354,1.44,1.466,1.298,0.97};
|
||||||
|
|
||||||
static SCALAR flap_ind[Ndf]={0,10,20,30};
|
static SCALAR flap_ind[Ndf]={0,10,20,30};
|
||||||
|
|
@ -230,68 +230,68 @@ void c172_aero( SCALAR dt, int Initialize ) {
|
||||||
|
|
||||||
|
|
||||||
/* printf("Initialize= %d\n",Initialize); */
|
/* printf("Initialize= %d\n",Initialize); */
|
||||||
/* printf("Initializing aero model...Initialize= %d\n", Initialize);
|
/* printf("Initializing aero model...Initialize= %d\n", Initialize);
|
||||||
*/
|
*/
|
||||||
/*nondimensionalization quantities*/
|
/*nondimensionalization quantities*/
|
||||||
/*units here are ft and lbs */
|
/*units here are ft and lbs */
|
||||||
cbar=4.9; /*mean aero chord ft*/
|
cbar=4.9; /*mean aero chord ft*/
|
||||||
b=35.8; /*wing span ft */
|
b=35.8; /*wing span ft */
|
||||||
Sw=174; /*wing planform surface area ft^2*/
|
Sw=174; /*wing planform surface area ft^2*/
|
||||||
rPiARe=0.054; /*reciprocal of Pi*AR*e*/
|
rPiARe=0.054; /*reciprocal of Pi*AR*e*/
|
||||||
lbare=3.682; /*elevator moment arm / MAC*/
|
lbare=3.682; /*elevator moment arm / MAC*/
|
||||||
|
|
||||||
CLadot=1.7;
|
CLadot=1.7;
|
||||||
CLq=3.9;
|
CLq=3.9;
|
||||||
|
|
||||||
CLob=0;
|
CLob=0;
|
||||||
|
|
||||||
Ai=1.24;
|
Ai=1.24;
|
||||||
Cdob=0.036;
|
Cdob=0.036;
|
||||||
Cda=0.13; /*Not used*/
|
Cda=0.13; /*Not used*/
|
||||||
Cdde=0.06;
|
Cdde=0.06;
|
||||||
|
|
||||||
Cma=-1.8;
|
Cma=-1.8;
|
||||||
Cmadot=-5.2;
|
Cmadot=-5.2;
|
||||||
Cmq=-12.4;
|
Cmq=-12.4;
|
||||||
Cmob=-0.02;
|
Cmob=-0.02;
|
||||||
Cmde=-1.28;
|
Cmde=-1.28;
|
||||||
|
|
||||||
CLde=-Cmde / lbare; /* kinda backwards, huh? */
|
CLde=-Cmde / lbare; /* kinda backwards, huh? */
|
||||||
|
|
||||||
Clbeta=-0.089;
|
Clbeta=-0.089;
|
||||||
Clp=-0.47;
|
Clp=-0.47;
|
||||||
Clr=0.096;
|
Clr=0.096;
|
||||||
Clda=-0.09;
|
Clda=-0.09;
|
||||||
Cldr=0.0147;
|
Cldr=0.0147;
|
||||||
|
|
||||||
Cnbeta=0.065;
|
Cnbeta=0.065;
|
||||||
Cnp=-0.03;
|
Cnp=-0.03;
|
||||||
Cnr=-0.099;
|
Cnr=-0.099;
|
||||||
Cnda=-0.0053;
|
Cnda=-0.0053;
|
||||||
Cndr=-0.0657;
|
Cndr=-0.0657;
|
||||||
|
|
||||||
Cybeta=-0.31;
|
Cybeta=-0.31;
|
||||||
Cyp=-0.037;
|
Cyp=-0.037;
|
||||||
Cyr=0.21;
|
Cyr=0.21;
|
||||||
Cyda=0.0;
|
Cyda=0.0;
|
||||||
Cydr=0.187;
|
Cydr=0.187;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
MaxTakeoffWeight=2550;
|
MaxTakeoffWeight=2550;
|
||||||
EmptyWeight=1500;
|
EmptyWeight=1500;
|
||||||
|
|
||||||
Zcg=0.51;
|
Zcg=0.51;
|
||||||
|
|
||||||
/*
|
/*
|
||||||
LaRCsim uses:
|
LaRCsim uses:
|
||||||
Cm > 0 => ANU
|
Cm > 0 => ANU
|
||||||
Cl > 0 => Right wing down
|
Cl > 0 => Right wing down
|
||||||
Cn > 0 => ANL
|
Cn > 0 => ANL
|
||||||
so:
|
so:
|
||||||
elevator > 0 => AND -- aircraft nose down
|
elevator > 0 => AND -- aircraft nose down
|
||||||
aileron > 0 => right wing up
|
aileron > 0 => right wing up
|
||||||
rudder > 0 => ANL
|
rudder > 0 => ANL
|
||||||
*/
|
*/
|
||||||
|
|
||||||
/*do weight & balance here since there is no better place*/
|
/*do weight & balance here since there is no better place*/
|
||||||
|
|
@ -316,58 +316,58 @@ void c172_aero( SCALAR dt, int Initialize ) {
|
||||||
|
|
||||||
if(Flap_handle < flap_ind[0])
|
if(Flap_handle < flap_ind[0])
|
||||||
{
|
{
|
||||||
fi=0;
|
fi=0;
|
||||||
Flap_handle=flap_ind[0];
|
Flap_handle=flap_ind[0];
|
||||||
lastFlapHandle=Flap_handle;
|
lastFlapHandle=Flap_handle;
|
||||||
Flap_Position=flap_ind[0];
|
Flap_Position=flap_ind[0];
|
||||||
}
|
}
|
||||||
else if(Flap_handle > flap_ind[Ndf-1])
|
else if(Flap_handle > flap_ind[Ndf-1])
|
||||||
{
|
{
|
||||||
fi=Ndf-1;
|
fi=Ndf-1;
|
||||||
Flap_handle=flap_ind[fi];
|
Flap_handle=flap_ind[fi];
|
||||||
lastFlapHandle=Flap_handle;
|
lastFlapHandle=Flap_handle;
|
||||||
Flap_Position=flap_ind[fi];
|
Flap_Position=flap_ind[fi];
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
|
|
||||||
if(dt <= 0)
|
if(dt <= 0)
|
||||||
Flap_Position=Flap_handle;
|
Flap_Position=Flap_handle;
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
if(Flap_handle != lastFlapHandle)
|
if(Flap_handle != lastFlapHandle)
|
||||||
{
|
{
|
||||||
Flaps_In_Transit=1;
|
Flaps_In_Transit=1;
|
||||||
}
|
}
|
||||||
if(Flaps_In_Transit)
|
if(Flaps_In_Transit)
|
||||||
{
|
{
|
||||||
fi=0;
|
fi=0;
|
||||||
while(flap_ind[fi] < Flap_handle) { fi++; }
|
while(flap_ind[fi] < Flap_handle) { fi++; }
|
||||||
if(Flap_Position < Flap_handle)
|
if(Flap_Position < Flap_handle)
|
||||||
{
|
{
|
||||||
if(flap_times[fi] > 0)
|
if(flap_times[fi] > 0)
|
||||||
flap_transit_rate=(flap_ind[fi] - flap_ind[fi-1])/flap_times[fi];
|
flap_transit_rate=(flap_ind[fi] - flap_ind[fi-1])/flap_times[fi];
|
||||||
else
|
else
|
||||||
flap_transit_rate=(flap_ind[fi] - flap_ind[fi-1])/5;
|
flap_transit_rate=(flap_ind[fi] - flap_ind[fi-1])/5;
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
if(flap_times[fi+1] > 0)
|
if(flap_times[fi+1] > 0)
|
||||||
flap_transit_rate=(flap_ind[fi] - flap_ind[fi+1])/flap_times[fi+1];
|
flap_transit_rate=(flap_ind[fi] - flap_ind[fi+1])/flap_times[fi+1];
|
||||||
else
|
else
|
||||||
flap_transit_rate=(flap_ind[fi] - flap_ind[fi+1])/5;
|
flap_transit_rate=(flap_ind[fi] - flap_ind[fi+1])/5;
|
||||||
}
|
}
|
||||||
if(fabs(Flap_Position - Flap_handle) > dt*flap_transit_rate)
|
if(fabs(Flap_Position - Flap_handle) > dt*flap_transit_rate)
|
||||||
Flap_Position+=flap_transit_rate*dt;
|
Flap_Position+=flap_transit_rate*dt;
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
Flaps_In_Transit=0;
|
Flaps_In_Transit=0;
|
||||||
Flap_Position=Flap_handle;
|
Flap_Position=Flap_handle;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
lastFlapHandle=Flap_handle;
|
lastFlapHandle=Flap_handle;
|
||||||
}
|
}
|
||||||
|
|
||||||
if(Aft_trim) long_trim = long_trim - trim_inc;
|
if(Aft_trim) long_trim = long_trim - trim_inc;
|
||||||
if(Fwd_trim) long_trim = long_trim + trim_inc;
|
if(Fwd_trim) long_trim = long_trim + trim_inc;
|
||||||
|
|
@ -375,17 +375,17 @@ void c172_aero( SCALAR dt, int Initialize ) {
|
||||||
/* printf("Long_control: %7.4f, long_trim: %7.4f,DEG_TO_RAD: %7.4f, RAD_TO_DEG: %7.4f\n",Long_control,long_trim,DEG_TO_RAD,RAD_TO_DEG);
|
/* printf("Long_control: %7.4f, long_trim: %7.4f,DEG_TO_RAD: %7.4f, RAD_TO_DEG: %7.4f\n",Long_control,long_trim,DEG_TO_RAD,RAD_TO_DEG);
|
||||||
*/ /*scale pct control to degrees deflection*/
|
*/ /*scale pct control to degrees deflection*/
|
||||||
if ((Long_control+Long_trim) <= 0)
|
if ((Long_control+Long_trim) <= 0)
|
||||||
elevator=(Long_control+Long_trim)*28*DEG_TO_RAD;
|
elevator=(Long_control+Long_trim)*28*DEG_TO_RAD;
|
||||||
else
|
else
|
||||||
elevator=(Long_control+Long_trim)*23*DEG_TO_RAD;
|
elevator=(Long_control+Long_trim)*23*DEG_TO_RAD;
|
||||||
|
|
||||||
aileron = -1*Lat_control*17.5*DEG_TO_RAD;
|
aileron = -1*Lat_control*17.5*DEG_TO_RAD;
|
||||||
rudder = -1*Rudder_pedal*16*DEG_TO_RAD;
|
rudder = -1*Rudder_pedal*16*DEG_TO_RAD;
|
||||||
/*
|
/*
|
||||||
The aileron travel limits are 20 deg. TEU and 15 deg TED
|
The aileron travel limits are 20 deg. TEU and 15 deg TED
|
||||||
but since we don't distinguish between left and right we'll
|
but since we don't distinguish between left and right we'll
|
||||||
use the average here (17.5 deg)
|
use the average here (17.5 deg)
|
||||||
*/
|
*/
|
||||||
|
|
||||||
|
|
||||||
/*calculate rate derivative nondimensionalization (is that a word?) factors */
|
/*calculate rate derivative nondimensionalization (is that a word?) factors */
|
||||||
|
|
@ -396,14 +396,14 @@ void c172_aero( SCALAR dt, int Initialize ) {
|
||||||
*/
|
*/
|
||||||
if(V_rel_wind > DYN_ON_SPEED)
|
if(V_rel_wind > DYN_ON_SPEED)
|
||||||
{
|
{
|
||||||
cbar_2V=cbar/(2*V_rel_wind);
|
cbar_2V=cbar/(2*V_rel_wind);
|
||||||
b_2V=b/(2*V_rel_wind);
|
b_2V=b/(2*V_rel_wind);
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
cbar_2V=0;
|
cbar_2V=0;
|
||||||
b_2V=0;
|
b_2V=0;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
/*calcuate the qS nondimensionalization factors*/
|
/*calcuate the qS nondimensionalization factors*/
|
||||||
|
|
@ -430,7 +430,7 @@ void c172_aero( SCALAR dt, int Initialize ) {
|
||||||
/* printf("FP: %g\n",Flap_Position);
|
/* printf("FP: %g\n",Flap_Position);
|
||||||
printf("CLo: %g\n",CLo);
|
printf("CLo: %g\n",CLo);
|
||||||
printf("Cdo: %g\n",Cdo);
|
printf("Cdo: %g\n",Cdo);
|
||||||
printf("Cmo: %g\n",Cmo); */
|
printf("Cmo: %g\n",Cmo); */
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -1,36 +1,36 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: engine.c
|
TITLE: engine.c
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: dummy engine routine
|
FUNCTION: dummy engine routine
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: incomplete
|
MODULE STATUS: incomplete
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: This is a renamed navion_engine.c originall written by E. Bruce
|
GENEALOGY: This is a renamed navion_engine.c originall written by E. Bruce
|
||||||
Jackson
|
Jackson
|
||||||
|
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: designer
|
DESIGNED BY: designer
|
||||||
|
|
||||||
CODED BY: programmer
|
CODED BY: programmer
|
||||||
|
|
||||||
MAINTAINED BY: maintainer
|
MAINTAINED BY: maintainer
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
CURRENT RCS HEADER INFO:
|
CURRENT RCS HEADER INFO:
|
||||||
|
|
||||||
$Header$
|
$Header$
|
||||||
|
|
||||||
|
|
@ -40,23 +40,23 @@ $Header$
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLED BY: ls_model();
|
CALLED BY: ls_model();
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLS TO: none
|
CALLS TO: none
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS:
|
OUTPUTS:
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
#include <math.h>
|
#include <math.h>
|
||||||
|
|
@ -67,31 +67,31 @@ $Header$
|
||||||
#include "ls_cockpit.h"
|
#include "ls_cockpit.h"
|
||||||
#include "c172_aero.h"
|
#include "c172_aero.h"
|
||||||
|
|
||||||
extern SIM_CONTROL sim_control_;
|
extern SIM_CONTROL sim_control_;
|
||||||
|
|
||||||
void c172_engine( SCALAR dt, int init ) {
|
void c172_engine( SCALAR dt, int init ) {
|
||||||
|
|
||||||
float v,h,pa;
|
float v,h,pa;
|
||||||
float bhp=160;
|
float bhp=160;
|
||||||
|
|
||||||
Throttle[3] = Throttle_pct;
|
Throttle[3] = Throttle_pct;
|
||||||
|
|
||||||
|
|
||||||
if ( ! Use_External_Engine ) {
|
if ( ! Use_External_Engine ) {
|
||||||
/* do a crude engine power calc based on throttle position */
|
/* do a crude engine power calc based on throttle position */
|
||||||
v=V_rel_wind;
|
v=V_rel_wind;
|
||||||
h=Altitude;
|
h=Altitude;
|
||||||
if(V_rel_wind < 10)
|
if(V_rel_wind < 10)
|
||||||
v=10;
|
v=10;
|
||||||
if(Altitude < 0)
|
if(Altitude < 0)
|
||||||
h=0;
|
h=0;
|
||||||
pa=(0.00144*v + 0.546)*(1 - 1.6E-5*h)*bhp;
|
pa=(0.00144*v + 0.546)*(1 - 1.6E-5*h)*bhp;
|
||||||
if(pa < 0)
|
if(pa < 0)
|
||||||
pa=0;
|
pa=0;
|
||||||
|
|
||||||
F_X_engine = Throttle[3]*(pa*550)/v;
|
F_X_engine = Throttle[3]*(pa*550)/v;
|
||||||
} else {
|
} else {
|
||||||
/* accept external settings */
|
/* accept external settings */
|
||||||
}
|
}
|
||||||
|
|
||||||
/* printf("F_X_engine = %.3f\n", F_X_engine); */
|
/* printf("F_X_engine = %.3f\n", F_X_engine); */
|
||||||
|
|
|
||||||
|
|
@ -1,38 +1,38 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: gear
|
TITLE: gear
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: Landing gear model for example simulation
|
FUNCTION: Landing gear model for example simulation
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Created 931012 by E. B. Jackson
|
GENEALOGY: Created 931012 by E. B. Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: E. B. Jackson
|
DESIGNED BY: E. B. Jackson
|
||||||
|
|
||||||
CODED BY: E. B. Jackson
|
CODED BY: E. B. Jackson
|
||||||
|
|
||||||
MAINTAINED BY: E. B. Jackson
|
MAINTAINED BY: E. B. Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
931218 Added navion.h header to allow connection with
|
931218 Added navion.h header to allow connection with
|
||||||
aileron displacement for nosewheel steering. EBJ
|
aileron displacement for nosewheel steering. EBJ
|
||||||
940511 Connected nosewheel to rudder pedal; adjusted gain.
|
940511 Connected nosewheel to rudder pedal; adjusted gain.
|
||||||
|
|
||||||
CURRENT RCS HEADER:
|
CURRENT RCS HEADER:
|
||||||
|
|
||||||
$Header$
|
$Header$
|
||||||
$Log$
|
$Log$
|
||||||
|
|
@ -79,23 +79,23 @@ Updates from Tony.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLED BY:
|
CALLED BY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLS TO:
|
CALLS TO:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS:
|
OUTPUTS:
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
#include <math.h>
|
#include <math.h>
|
||||||
|
|
@ -157,24 +157,24 @@ void c172_gear()
|
||||||
*/
|
*/
|
||||||
|
|
||||||
|
|
||||||
static int num_wheels = NUM_WHEELS; /* number of wheels */
|
static int num_wheels = NUM_WHEELS; /* number of wheels */
|
||||||
static DATA d_wheel_rp_body_v[NUM_WHEELS][3] = /* X, Y, Z locations,full extension */
|
static DATA d_wheel_rp_body_v[NUM_WHEELS][3] = /* X, Y, Z locations,full extension */
|
||||||
{
|
{
|
||||||
{ 3.91, 0., 6.67 }, /*nose*/ /* in feet */
|
{ 3.91, 0., 6.67 }, /*nose*/ /* in feet */
|
||||||
{ -1.47, 3.58, 6.71 }, /*right main*/
|
{ -1.47, 3.58, 6.71 }, /*right main*/
|
||||||
{ -1.47, -3.58, 6.71 }, /*left main*/
|
{ -1.47, -3.58, 6.71 }, /*left main*/
|
||||||
{ -15.67, 0, 2.42 } /*tail skid */
|
{ -15.67, 0, 2.42 } /*tail skid */
|
||||||
};
|
};
|
||||||
// static DATA gear_travel[NUM_WHEELS] = /*in Z-axis*/
|
// static DATA gear_travel[NUM_WHEELS] = /*in Z-axis*/
|
||||||
// { -0.5, 2.5, 2.5, 0};
|
// { -0.5, 2.5, 2.5, 0};
|
||||||
static DATA spring_constant[NUM_WHEELS] = /* springiness, lbs/ft */
|
static DATA spring_constant[NUM_WHEELS] = /* springiness, lbs/ft */
|
||||||
{ 1200., 900., 900., 10000. };
|
{ 1200., 900., 900., 10000. };
|
||||||
static DATA spring_damping[NUM_WHEELS] = /* damping, lbs/ft/sec */
|
static DATA spring_damping[NUM_WHEELS] = /* damping, lbs/ft/sec */
|
||||||
{ 200., 300., 300., 400. };
|
{ 200., 300., 300., 400. };
|
||||||
static DATA percent_brake[NUM_WHEELS] = /* percent applied braking */
|
static DATA percent_brake[NUM_WHEELS] = /* percent applied braking */
|
||||||
{ 0., 0., 0., 0. }; /* 0 = none, 1 = full */
|
{ 0., 0., 0., 0. }; /* 0 = none, 1 = full */
|
||||||
static DATA caster_angle_rad[NUM_WHEELS] = /* steerable tires - in */
|
static DATA caster_angle_rad[NUM_WHEELS] = /* steerable tires - in */
|
||||||
{ 0., 0., 0., 0}; /* radians, +CW */
|
{ 0., 0., 0., 0}; /* radians, +CW */
|
||||||
/*
|
/*
|
||||||
* End of aircraft specific code
|
* End of aircraft specific code
|
||||||
*/
|
*/
|
||||||
|
|
@ -187,58 +187,58 @@ void c172_gear()
|
||||||
*
|
*
|
||||||
* mu ^
|
* mu ^
|
||||||
* |
|
* |
|
||||||
* max_mu | +
|
* max_mu | +
|
||||||
* | /|
|
* | /|
|
||||||
* sliding_mu | / +------
|
* sliding_mu | / +------
|
||||||
* | /
|
* | /
|
||||||
* | /
|
* | /
|
||||||
* +--+------------------------>
|
* +--+------------------------>
|
||||||
* | | | sideward V
|
* | | | sideward V
|
||||||
* 0 bkout skid
|
* 0 bkout skid
|
||||||
* V V
|
* V V
|
||||||
*/
|
*/
|
||||||
|
|
||||||
|
|
||||||
static int it_rolls[NUM_WHEELS] = { 1,1,1,0};
|
static int it_rolls[NUM_WHEELS] = { 1,1,1,0};
|
||||||
static DATA sliding_mu[NUM_WHEELS] = { 0.5, 0.5, 0.5, 0.3};
|
static DATA sliding_mu[NUM_WHEELS] = { 0.5, 0.5, 0.5, 0.3};
|
||||||
static DATA rolling_mu[NUM_WHEELS] = { 0.01, 0.01, 0.01, 0.0};
|
static DATA rolling_mu[NUM_WHEELS] = { 0.01, 0.01, 0.01, 0.0};
|
||||||
static DATA max_brake_mu[NUM_WHEELS] ={ 0.0, 0.6, 0.6, 0.0};
|
static DATA max_brake_mu[NUM_WHEELS] ={ 0.0, 0.6, 0.6, 0.0};
|
||||||
static DATA max_mu = 0.8;
|
static DATA max_mu = 0.8;
|
||||||
static DATA bkout_v = 0.1;
|
static DATA bkout_v = 0.1;
|
||||||
static DATA skid_v = 1.0;
|
static DATA skid_v = 1.0;
|
||||||
/*
|
/*
|
||||||
* Local data variables
|
* Local data variables
|
||||||
*/
|
*/
|
||||||
|
|
||||||
DATA d_wheel_cg_body_v[3]; /* wheel offset from cg, X-Y-Z */
|
DATA d_wheel_cg_body_v[3]; /* wheel offset from cg, X-Y-Z */
|
||||||
DATA d_wheel_cg_local_v[3]; /* wheel offset from cg, N-E-D */
|
DATA d_wheel_cg_local_v[3]; /* wheel offset from cg, N-E-D */
|
||||||
DATA d_wheel_rwy_local_v[3]; /* wheel offset from rwy, N-E-U */
|
DATA d_wheel_rwy_local_v[3]; /* wheel offset from rwy, N-E-U */
|
||||||
DATA v_wheel_cg_local_v[3]; /*wheel velocity rel to cg N-E-D*/
|
DATA v_wheel_cg_local_v[3]; /*wheel velocity rel to cg N-E-D*/
|
||||||
// DATA v_wheel_body_v[3]; /* wheel velocity, X-Y-Z */
|
// DATA v_wheel_body_v[3]; /* wheel velocity, X-Y-Z */
|
||||||
DATA v_wheel_local_v[3]; /* wheel velocity, N-E-D */
|
DATA v_wheel_local_v[3]; /* wheel velocity, N-E-D */
|
||||||
DATA f_wheel_local_v[3]; /* wheel reaction force, N-E-D */
|
DATA f_wheel_local_v[3]; /* wheel reaction force, N-E-D */
|
||||||
// DATA altitude_local_v[3]; /*altitude vector in local (N-E-D) i.e. (0,0,h)*/
|
// DATA altitude_local_v[3]; /*altitude vector in local (N-E-D) i.e. (0,0,h)*/
|
||||||
// DATA altitude_body_v[3]; /*altitude vector in body (X,Y,Z)*/
|
// DATA altitude_body_v[3]; /*altitude vector in body (X,Y,Z)*/
|
||||||
DATA temp3a[3];
|
DATA temp3a[3];
|
||||||
// DATA temp3b[3];
|
// DATA temp3b[3];
|
||||||
DATA tempF[3];
|
DATA tempF[3];
|
||||||
DATA tempM[3];
|
DATA tempM[3];
|
||||||
DATA reaction_normal_force; /* wheel normal (to rwy) force */
|
DATA reaction_normal_force; /* wheel normal (to rwy) force */
|
||||||
DATA cos_wheel_hdg_angle, sin_wheel_hdg_angle; /* temp storage */
|
DATA cos_wheel_hdg_angle, sin_wheel_hdg_angle; /* temp storage */
|
||||||
DATA v_wheel_forward, v_wheel_sideward, abs_v_wheel_sideward;
|
DATA v_wheel_forward, v_wheel_sideward, abs_v_wheel_sideward;
|
||||||
DATA forward_mu, sideward_mu; /* friction coefficients */
|
DATA forward_mu, sideward_mu; /* friction coefficients */
|
||||||
DATA beta_mu; /* breakout friction slope */
|
DATA beta_mu; /* breakout friction slope */
|
||||||
DATA forward_wheel_force, sideward_wheel_force;
|
DATA forward_wheel_force, sideward_wheel_force;
|
||||||
|
|
||||||
int i; /* per wheel loop counter */
|
int i; /* per wheel loop counter */
|
||||||
|
|
||||||
/*
|
/*
|
||||||
* Execution starts here
|
* Execution starts here
|
||||||
*/
|
*/
|
||||||
|
|
||||||
beta_mu = max_mu/(skid_v-bkout_v);
|
beta_mu = max_mu/(skid_v-bkout_v);
|
||||||
clear3( F_gear_v ); /* Initialize sum of forces... */
|
clear3( F_gear_v ); /* Initialize sum of forces... */
|
||||||
clear3( M_gear_v ); /* ...and moments */
|
clear3( M_gear_v ); /* ...and moments */
|
||||||
|
|
||||||
/*
|
/*
|
||||||
* Put aircraft specific executable code here
|
* Put aircraft specific executable code here
|
||||||
|
|
@ -248,152 +248,152 @@ void c172_gear()
|
||||||
percent_brake[2] = Brake_pct[1];
|
percent_brake[2] = Brake_pct[1];
|
||||||
|
|
||||||
caster_angle_rad[0] =
|
caster_angle_rad[0] =
|
||||||
(0.01 + 0.04 * (1 - V_calibrated_kts / 130)) * Rudder_pedal;
|
(0.01 + 0.04 * (1 - V_calibrated_kts / 130)) * Rudder_pedal;
|
||||||
|
|
||||||
|
|
||||||
for (i=0;i<num_wheels;i++) /* Loop for each wheel */
|
for (i=0;i<num_wheels;i++) /* Loop for each wheel */
|
||||||
{
|
{
|
||||||
/* printf("%s:\n",gear_strings[i]); */
|
/* printf("%s:\n",gear_strings[i]); */
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
/*========================================*/
|
/*========================================*/
|
||||||
/* Calculate wheel position w.r.t. runway */
|
/* Calculate wheel position w.r.t. runway */
|
||||||
/*========================================*/
|
/*========================================*/
|
||||||
|
|
||||||
|
|
||||||
/* printf("\thgcg: %g, theta: %g,phi: %g\n",D_cg_above_rwy,Theta*RAD_TO_DEG,Phi*RAD_TO_DEG); */
|
/* printf("\thgcg: %g, theta: %g,phi: %g\n",D_cg_above_rwy,Theta*RAD_TO_DEG,Phi*RAD_TO_DEG); */
|
||||||
|
|
||||||
|
|
||||||
/* First calculate wheel location w.r.t. cg in body (X-Y-Z) axes... */
|
/* First calculate wheel location w.r.t. cg in body (X-Y-Z) axes... */
|
||||||
|
|
||||||
sub3( d_wheel_rp_body_v[i], D_cg_rp_body_v, d_wheel_cg_body_v );
|
sub3( d_wheel_rp_body_v[i], D_cg_rp_body_v, d_wheel_cg_body_v );
|
||||||
|
|
||||||
/* then converting to local (North-East-Down) axes... */
|
/* then converting to local (North-East-Down) axes... */
|
||||||
|
|
||||||
multtrans3x3by3( T_local_to_body_m, d_wheel_cg_body_v, d_wheel_cg_local_v );
|
multtrans3x3by3( T_local_to_body_m, d_wheel_cg_body_v, d_wheel_cg_local_v );
|
||||||
|
|
||||||
|
|
||||||
/* Runway axes correction - third element is Altitude, not (-)Z... */
|
/* Runway axes correction - third element is Altitude, not (-)Z... */
|
||||||
|
|
||||||
d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* since altitude = -Z */
|
d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* since altitude = -Z */
|
||||||
|
|
||||||
/* Add wheel offset to cg location in local axes */
|
/* Add wheel offset to cg location in local axes */
|
||||||
|
|
||||||
add3( d_wheel_cg_local_v, D_cg_rwy_local_v, d_wheel_rwy_local_v );
|
add3( d_wheel_cg_local_v, D_cg_rwy_local_v, d_wheel_rwy_local_v );
|
||||||
|
|
||||||
/* remove Runway axes correction so right hand rule applies */
|
/* remove Runway axes correction so right hand rule applies */
|
||||||
|
|
||||||
d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* now Z positive down */
|
d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* now Z positive down */
|
||||||
|
|
||||||
/*============================*/
|
/*============================*/
|
||||||
/* Calculate wheel velocities */
|
/* Calculate wheel velocities */
|
||||||
/*============================*/
|
/*============================*/
|
||||||
|
|
||||||
/* contribution due to angular rates */
|
/* contribution due to angular rates */
|
||||||
|
|
||||||
cross3( Omega_body_v, d_wheel_cg_body_v, temp3a );
|
cross3( Omega_body_v, d_wheel_cg_body_v, temp3a );
|
||||||
|
|
||||||
/* transform into local axes */
|
/* transform into local axes */
|
||||||
|
|
||||||
multtrans3x3by3( T_local_to_body_m, temp3a,v_wheel_cg_local_v );
|
multtrans3x3by3( T_local_to_body_m, temp3a,v_wheel_cg_local_v );
|
||||||
|
|
||||||
/* plus contribution due to cg velocities */
|
/* plus contribution due to cg velocities */
|
||||||
|
|
||||||
add3( v_wheel_cg_local_v, V_local_rel_ground_v, v_wheel_local_v );
|
add3( v_wheel_cg_local_v, V_local_rel_ground_v, v_wheel_local_v );
|
||||||
|
|
||||||
clear3(f_wheel_local_v);
|
clear3(f_wheel_local_v);
|
||||||
reaction_normal_force=0;
|
reaction_normal_force=0;
|
||||||
if( HEIGHT_AGL_WHEEL < 0. )
|
if( HEIGHT_AGL_WHEEL < 0. )
|
||||||
/*the wheel is underground -- which implies ground contact
|
/*the wheel is underground -- which implies ground contact
|
||||||
so calculate reaction forces */
|
so calculate reaction forces */
|
||||||
{
|
{
|
||||||
/*===========================================*/
|
/*===========================================*/
|
||||||
/* Calculate forces & moments for this wheel */
|
/* Calculate forces & moments for this wheel */
|
||||||
/*===========================================*/
|
/*===========================================*/
|
||||||
|
|
||||||
/* Add any anticipation, or frame lead/prediction, here... */
|
/* Add any anticipation, or frame lead/prediction, here... */
|
||||||
|
|
||||||
/* no lead used at present */
|
/* no lead used at present */
|
||||||
|
|
||||||
/* Calculate sideward and forward velocities of the wheel
|
/* Calculate sideward and forward velocities of the wheel
|
||||||
in the runway plane */
|
in the runway plane */
|
||||||
|
|
||||||
cos_wheel_hdg_angle = cos(caster_angle_rad[i] + Psi);
|
cos_wheel_hdg_angle = cos(caster_angle_rad[i] + Psi);
|
||||||
sin_wheel_hdg_angle = sin(caster_angle_rad[i] + Psi);
|
sin_wheel_hdg_angle = sin(caster_angle_rad[i] + Psi);
|
||||||
|
|
||||||
v_wheel_forward = v_wheel_local_v[0]*cos_wheel_hdg_angle
|
v_wheel_forward = v_wheel_local_v[0]*cos_wheel_hdg_angle
|
||||||
+ v_wheel_local_v[1]*sin_wheel_hdg_angle;
|
+ v_wheel_local_v[1]*sin_wheel_hdg_angle;
|
||||||
v_wheel_sideward = v_wheel_local_v[1]*cos_wheel_hdg_angle
|
v_wheel_sideward = v_wheel_local_v[1]*cos_wheel_hdg_angle
|
||||||
- v_wheel_local_v[0]*sin_wheel_hdg_angle;
|
- v_wheel_local_v[0]*sin_wheel_hdg_angle;
|
||||||
|
|
||||||
|
|
||||||
/* Calculate normal load force (simple spring constant) */
|
/* Calculate normal load force (simple spring constant) */
|
||||||
|
|
||||||
reaction_normal_force = 0.;
|
reaction_normal_force = 0.;
|
||||||
|
|
||||||
reaction_normal_force = spring_constant[i]*d_wheel_rwy_local_v[2]
|
reaction_normal_force = spring_constant[i]*d_wheel_rwy_local_v[2]
|
||||||
- v_wheel_local_v[2]*spring_damping[i];
|
- v_wheel_local_v[2]*spring_damping[i];
|
||||||
/* printf("\treaction_normal_force: %g\n",reaction_normal_force); */
|
/* printf("\treaction_normal_force: %g\n",reaction_normal_force); */
|
||||||
|
|
||||||
if (reaction_normal_force > 0.) reaction_normal_force = 0.;
|
if (reaction_normal_force > 0.) reaction_normal_force = 0.;
|
||||||
/* to prevent damping component from swamping spring component */
|
/* to prevent damping component from swamping spring component */
|
||||||
|
|
||||||
|
|
||||||
/* Calculate friction coefficients */
|
/* Calculate friction coefficients */
|
||||||
|
|
||||||
if(it_rolls[i])
|
if(it_rolls[i])
|
||||||
{
|
{
|
||||||
forward_mu = (max_brake_mu[i] - rolling_mu[i])*percent_brake[i] + rolling_mu[i];
|
forward_mu = (max_brake_mu[i] - rolling_mu[i])*percent_brake[i] + rolling_mu[i];
|
||||||
abs_v_wheel_sideward = sqrt(v_wheel_sideward*v_wheel_sideward);
|
abs_v_wheel_sideward = sqrt(v_wheel_sideward*v_wheel_sideward);
|
||||||
sideward_mu = sliding_mu[i];
|
sideward_mu = sliding_mu[i];
|
||||||
if (abs_v_wheel_sideward < skid_v)
|
if (abs_v_wheel_sideward < skid_v)
|
||||||
sideward_mu = (abs_v_wheel_sideward - bkout_v)*beta_mu;
|
sideward_mu = (abs_v_wheel_sideward - bkout_v)*beta_mu;
|
||||||
if (abs_v_wheel_sideward < bkout_v) sideward_mu = 0.;
|
if (abs_v_wheel_sideward < bkout_v) sideward_mu = 0.;
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
forward_mu=sliding_mu[i];
|
forward_mu=sliding_mu[i];
|
||||||
sideward_mu=sliding_mu[i];
|
sideward_mu=sliding_mu[i];
|
||||||
}
|
}
|
||||||
|
|
||||||
/* Calculate foreward and sideward reaction forces */
|
/* Calculate foreward and sideward reaction forces */
|
||||||
|
|
||||||
forward_wheel_force = forward_mu*reaction_normal_force;
|
forward_wheel_force = forward_mu*reaction_normal_force;
|
||||||
sideward_wheel_force = sideward_mu*reaction_normal_force;
|
sideward_wheel_force = sideward_mu*reaction_normal_force;
|
||||||
if(v_wheel_forward < 0.) forward_wheel_force = -forward_wheel_force;
|
if(v_wheel_forward < 0.) forward_wheel_force = -forward_wheel_force;
|
||||||
if(v_wheel_sideward < 0.) sideward_wheel_force = -sideward_wheel_force;
|
if(v_wheel_sideward < 0.) sideward_wheel_force = -sideward_wheel_force;
|
||||||
/* printf("\tFfwdgear: %g Fsidegear: %g\n",forward_wheel_force,sideward_wheel_force);
|
/* printf("\tFfwdgear: %g Fsidegear: %g\n",forward_wheel_force,sideward_wheel_force);
|
||||||
*/
|
*/
|
||||||
/* Rotate into local (N-E-D) axes */
|
/* Rotate into local (N-E-D) axes */
|
||||||
|
|
||||||
f_wheel_local_v[0] = forward_wheel_force*cos_wheel_hdg_angle
|
f_wheel_local_v[0] = forward_wheel_force*cos_wheel_hdg_angle
|
||||||
- sideward_wheel_force*sin_wheel_hdg_angle;
|
- sideward_wheel_force*sin_wheel_hdg_angle;
|
||||||
f_wheel_local_v[1] = forward_wheel_force*sin_wheel_hdg_angle
|
f_wheel_local_v[1] = forward_wheel_force*sin_wheel_hdg_angle
|
||||||
+ sideward_wheel_force*cos_wheel_hdg_angle;
|
+ sideward_wheel_force*cos_wheel_hdg_angle;
|
||||||
f_wheel_local_v[2] = reaction_normal_force;
|
f_wheel_local_v[2] = reaction_normal_force;
|
||||||
|
|
||||||
/* Convert reaction force from local (N-E-D) axes to body (X-Y-Z) */
|
/* Convert reaction force from local (N-E-D) axes to body (X-Y-Z) */
|
||||||
mult3x3by3( T_local_to_body_m, f_wheel_local_v, tempF );
|
mult3x3by3( T_local_to_body_m, f_wheel_local_v, tempF );
|
||||||
|
|
||||||
/* Calculate moments from force and offsets in body axes */
|
/* Calculate moments from force and offsets in body axes */
|
||||||
|
|
||||||
cross3( d_wheel_cg_body_v, tempF, tempM );
|
cross3( d_wheel_cg_body_v, tempF, tempM );
|
||||||
|
|
||||||
/* Sum forces and moments across all wheels */
|
/* Sum forces and moments across all wheels */
|
||||||
|
|
||||||
add3( tempF, F_gear_v, F_gear_v );
|
add3( tempF, F_gear_v, F_gear_v );
|
||||||
add3( tempM, M_gear_v, M_gear_v );
|
add3( tempM, M_gear_v, M_gear_v );
|
||||||
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
/* printf("\tN: %g,dZrwy: %g dZdotrwy: %g\n",reaction_normal_force,HEIGHT_AGL_WHEEL,v_wheel_cg_local_v[2]); */
|
/* printf("\tN: %g,dZrwy: %g dZdotrwy: %g\n",reaction_normal_force,HEIGHT_AGL_WHEEL,v_wheel_cg_local_v[2]); */
|
||||||
|
|
||||||
/*printf("\tFxgear: %g Fygear: %g, Fzgear: %g\n",F_X_gear,F_Y_gear,F_Z_gear);
|
/*printf("\tFxgear: %g Fygear: %g, Fzgear: %g\n",F_X_gear,F_Y_gear,F_Z_gear);
|
||||||
printf("\tMgear: %g, Lgear: %g, Ngear: %g\n\n",M_m_gear,M_l_gear,M_n_gear); */
|
printf("\tMgear: %g, Lgear: %g, Ngear: %g\n\n",M_m_gear,M_l_gear,M_n_gear); */
|
||||||
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -1,59 +1,59 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: navion_init.c
|
TITLE: navion_init.c
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: Initializes navion math model
|
FUNCTION: Initializes navion math model
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Renamed navion_init.c originally created on 930111 by Bruce Jackson
|
GENEALOGY: Renamed navion_init.c originally created on 930111 by Bruce Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: EBJ
|
DESIGNED BY: EBJ
|
||||||
|
|
||||||
CODED BY: EBJ
|
CODED BY: EBJ
|
||||||
|
|
||||||
MAINTAINED BY: EBJ
|
MAINTAINED BY: EBJ
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
950314 Removed initialization of state variables, since this is
|
950314 Removed initialization of state variables, since this is
|
||||||
now done (version 1.4b1) in ls_init. EBJ
|
now done (version 1.4b1) in ls_init. EBJ
|
||||||
950406 Removed #include of "shmdefs.h"; shmdefs.h is a duplicate
|
950406 Removed #include of "shmdefs.h"; shmdefs.h is a duplicate
|
||||||
of "navion.h". EBJ
|
of "navion.h". EBJ
|
||||||
|
|
||||||
CURRENT RCS HEADER:
|
CURRENT RCS HEADER:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLED BY:
|
CALLED BY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLS TO:
|
CALLS TO:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS:
|
OUTPUTS:
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
#include "ls_types.h"
|
#include "ls_types.h"
|
||||||
|
|
|
||||||
File diff suppressed because it is too large
Load diff
|
|
@ -1,14 +1,14 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: Cherokee_aero
|
TITLE: Cherokee_aero
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: Linear aerodynamics model
|
FUNCTION: Linear aerodynamics model
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
|
|
@ -17,20 +17,20 @@
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
Based upon book:
|
Based upon book:
|
||||||
Barnes W. McCormick,
|
Barnes W. McCormick,
|
||||||
"Aerodynamics, Aeronautics and Flight Mechanics",
|
"Aerodynamics, Aeronautics and Flight Mechanics",
|
||||||
John Wiley & Sons,1995, ISBN 0-471-11087-6
|
John Wiley & Sons,1995, ISBN 0-471-11087-6
|
||||||
|
|
||||||
any suggestions, corrections, aditional data, flames, everything to
|
any suggestions, corrections, aditional data, flames, everything to
|
||||||
Gordan Sikic
|
Gordan Sikic
|
||||||
gsikic@public.srce.hr
|
gsikic@public.srce.hr
|
||||||
|
|
||||||
This source is not checked in this configuration in any way.
|
This source is not checked in this configuration in any way.
|
||||||
|
|
||||||
|
|
@ -70,101 +70,101 @@ This source is not checked in this configuration in any way.
|
||||||
void cherokee_aero()
|
void cherokee_aero()
|
||||||
/*float ** Cherokee (float t, VectorStanja &X, float *U)*/
|
/*float ** Cherokee (float t, VectorStanja &X, float *U)*/
|
||||||
{
|
{
|
||||||
static float
|
static float
|
||||||
Cza = -19149.0/(146.69*146.69*157.5/2.0*0.00238),
|
Cza = -19149.0/(146.69*146.69*157.5/2.0*0.00238),
|
||||||
Czat = -73.4*4*146.69/0.00238/157.5/5.25,
|
Czat = -73.4*4*146.69/0.00238/157.5/5.25,
|
||||||
Czq = -2.655*4*2400.0/32.2/0.00238/157.5/146.69/5.25,
|
Czq = -2.655*4*2400.0/32.2/0.00238/157.5/146.69/5.25,
|
||||||
Cma = -21662.0 *2/146.69/0.00238/157.5/146.69/5.25,
|
Cma = -21662.0 *2/146.69/0.00238/157.5/146.69/5.25,
|
||||||
Cmat = -892.4 *4/146.69/0.00238/157.5/146.69/5.25,
|
Cmat = -892.4 *4/146.69/0.00238/157.5/146.69/5.25,
|
||||||
Cmq = -2405.1 *4/0.00238/157.5/146.69/5.25/5.25,
|
Cmq = -2405.1 *4/0.00238/157.5/146.69/5.25/5.25,
|
||||||
Czde = -1050.49 *2/0.00238/157.5/146.69/146.69,
|
Czde = -1050.49 *2/0.00238/157.5/146.69/146.69,
|
||||||
Cmde = -12771.9 *2/0.00238/157.5/146.69/146.69/5.25,
|
Cmde = -12771.9 *2/0.00238/157.5/146.69/146.69/5.25,
|
||||||
Clb = -12891.0/(146.69*146.69*157.5/2.0*0.00238)/30.0,
|
Clb = -12891.0/(146.69*146.69*157.5/2.0*0.00238)/30.0,
|
||||||
Clp = -0.4704,
|
Clp = -0.4704,
|
||||||
Clr = 0.1665,
|
Clr = 0.1665,
|
||||||
Cyb = -1169.8/(146.69*146.69*157.5/2.0*0.00238),
|
Cyb = -1169.8/(146.69*146.69*157.5/2.0*0.00238),
|
||||||
// Cyp = -0.0342, (unused)
|
// Cyp = -0.0342, (unused)
|
||||||
Cnb = 11127.2/(146.69*146.69*157.5/2.0*0.00238)/30.0,
|
Cnb = 11127.2/(146.69*146.69*157.5/2.0*0.00238)/30.0,
|
||||||
Cnp = -0.0691,
|
Cnp = -0.0691,
|
||||||
Cnr = -0.0930,
|
Cnr = -0.0930,
|
||||||
// Cyf = -14.072/(146.69*146.69*157.5/2.0*0.00238), (unused)
|
// Cyf = -14.072/(146.69*146.69*157.5/2.0*0.00238), (unused)
|
||||||
// Cyps = 89.229/(146.69*146.69*157.5/2.0*0.00238), (unused)
|
// Cyps = 89.229/(146.69*146.69*157.5/2.0*0.00238), (unused)
|
||||||
// Clf = -5812.4/(146.69*146.69*157.5/2.0*0.00238)/30.0, //%Clda ? (unused)
|
// Clf = -5812.4/(146.69*146.69*157.5/2.0*0.00238)/30.0, //%Clda ? (unused)
|
||||||
// Cnf = -853.93/(146.69*146.69*157.5/2.0*0.00238)/30.0, //%Cnda ? (unused)
|
// Cnf = -853.93/(146.69*146.69*157.5/2.0*0.00238)/30.0, //%Cnda ? (unused)
|
||||||
// Cnps = -1149.0/(146.69*146.69*157.5/2.0*0.00238)/30.0, //%Cndr ? (unused)
|
// Cnps = -1149.0/(146.69*146.69*157.5/2.0*0.00238)/30.0, //%Cndr ? (unused)
|
||||||
Cyr = 1.923/(146.69*146.69*157.5/2.0*0.00238),
|
Cyr = 1.923/(146.69*146.69*157.5/2.0*0.00238),
|
||||||
|
|
||||||
Cx0 = -0.4645/(157.5*0.3048*0.3048),
|
Cx0 = -0.4645/(157.5*0.3048*0.3048),
|
||||||
|
|
||||||
Cz0 = -0.11875,
|
Cz0 = -0.11875,
|
||||||
Cm0 = 0.0959,
|
Cm0 = 0.0959,
|
||||||
|
|
||||||
Clda = -5812.4/(146.69*146.69*157.5/2.0*0.00238)/30.0, // Clf
|
Clda = -5812.4/(146.69*146.69*157.5/2.0*0.00238)/30.0, // Clf
|
||||||
// Cnda = -853.93/(146.69*146.69*157.5/2.0*0.00238)/30.0, // Cnf (unused)
|
// Cnda = -853.93/(146.69*146.69*157.5/2.0*0.00238)/30.0, // Cnf (unused)
|
||||||
Cndr = -1149.0/(146.69*146.69*157.5/2.0*0.00238)/30.0, // Cnps
|
Cndr = -1149.0/(146.69*146.69*157.5/2.0*0.00238)/30.0, // Cnps
|
||||||
|
|
||||||
/*
|
/*
|
||||||
Possible problems: convention about positive control surfaces offset
|
Possible problems: convention about positive control surfaces offset
|
||||||
*/
|
*/
|
||||||
elevator = 0.0, // 20.0 * 180.0/57.3 * Long_control
|
elevator = 0.0, // 20.0 * 180.0/57.3 * Long_control
|
||||||
aileron = 0.0, // 30.0 * 180.0/57.3 * Lat_control
|
aileron = 0.0, // 30.0 * 180.0/57.3 * Lat_control
|
||||||
rudder = 0.0, // 30.0 * 180.0/57.3 * Rudder_pedal,
|
rudder = 0.0, // 30.0 * 180.0/57.3 * Rudder_pedal,
|
||||||
|
|
||||||
|
|
||||||
// m = 2400/32.2, // mass
|
// m = 2400/32.2, // mass
|
||||||
S = 157.5, // wing area
|
S = 157.5, // wing area
|
||||||
b = 30.0, // wing span
|
b = 30.0, // wing span
|
||||||
c = 5.25, // main aerodynamic chrod
|
c = 5.25, // main aerodynamic chrod
|
||||||
|
|
||||||
// Ixyz[3] = {1070.0*14.59*0.3048*0.3048, 1249.0*14.59*0.3048*0.3048, 2312.0*14.59*0.3048*0.3048},
|
// Ixyz[3] = {1070.0*14.59*0.3048*0.3048, 1249.0*14.59*0.3048*0.3048, 2312.0*14.59*0.3048*0.3048},
|
||||||
// Fa[3],
|
// Fa[3],
|
||||||
// Ma[3],
|
// Ma[3],
|
||||||
// *RetVal[4] = {&m, Ixyz, Fa, Ma};
|
// *RetVal[4] = {&m, Ixyz, Fa, Ma};
|
||||||
|
|
||||||
|
|
||||||
// float
|
// float
|
||||||
V = 0.0, // V_rel_wind
|
V = 0.0, // V_rel_wind
|
||||||
qd = 0.0, // Density*V*V/2.0, //dinamicki tlak
|
qd = 0.0, // Density*V*V/2.0, //dinamicki tlak
|
||||||
|
|
||||||
Cx,Cy,Cz,
|
Cx,Cy,Cz,
|
||||||
Cl,Cm,Cn,
|
Cl,Cm,Cn,
|
||||||
p,q,r;
|
p,q,r;
|
||||||
|
|
||||||
|
|
||||||
/* derivatives are defined in "wind" axes so... */
|
/* derivatives are defined in "wind" axes so... */
|
||||||
p = P_body*Cos_alpha + R_body*Sin_alpha;
|
p = P_body*Cos_alpha + R_body*Sin_alpha;
|
||||||
q = Q_body;
|
q = Q_body;
|
||||||
r = -P_body*Sin_alpha + R_body*Cos_alpha;
|
r = -P_body*Sin_alpha + R_body*Cos_alpha;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
Cz = Cz0 + Cza*Std_Alpha + Czat*(Std_Alpha_dot*c/2.0/V) + Czq*(q*c/2.0/V) + Czde * elevator;
|
Cz = Cz0 + Cza*Std_Alpha + Czat*(Std_Alpha_dot*c/2.0/V) + Czq*(q*c/2.0/V) + Czde * elevator;
|
||||||
Cm = Cm0 + Cma*Std_Alpha + Cmat*(Std_Alpha_dot*c/2.0/V) + Cmq*(q*c/2.0/V) + Cmde * elevator;
|
Cm = Cm0 + Cma*Std_Alpha + Cmat*(Std_Alpha_dot*c/2.0/V) + Cmq*(q*c/2.0/V) + Cmde * elevator;
|
||||||
|
|
||||||
Cx = Cx0 - (Cza*Std_Alpha)*(Cza*Std_Alpha)/(LS_PI*5.71*0.6);
|
Cx = Cx0 - (Cza*Std_Alpha)*(Cza*Std_Alpha)/(LS_PI*5.71*0.6);
|
||||||
Cl = Clb*Std_Beta + Clp*(p*b/2.0/V) + Clr*(r*b/2.0/V) + Clda * aileron;
|
Cl = Clb*Std_Beta + Clp*(p*b/2.0/V) + Clr*(r*b/2.0/V) + Clda * aileron;
|
||||||
|
|
||||||
Cy = Cyb*Std_Beta + Cyr*(r*b/2.0/V);
|
Cy = Cyb*Std_Beta + Cyr*(r*b/2.0/V);
|
||||||
Cn = Cnb*Std_Beta + Cnp*(p*b/2.0/V) + Cnr*(r*b/2.0/V) + Cndr * rudder;
|
Cn = Cnb*Std_Beta + Cnp*(p*b/2.0/V) + Cnr*(r*b/2.0/V) + Cndr * rudder;
|
||||||
|
|
||||||
/* back to body axes */
|
/* back to body axes */
|
||||||
{
|
{
|
||||||
float
|
float
|
||||||
CD = Cx,
|
CD = Cx,
|
||||||
CL = Cz;
|
CL = Cz;
|
||||||
|
|
||||||
Cx = CD - CL*Sin_alpha;
|
Cx = CD - CL*Sin_alpha;
|
||||||
Cz = CL;
|
Cz = CL;
|
||||||
}
|
}
|
||||||
|
|
||||||
/* AD forces and moments */
|
/* AD forces and moments */
|
||||||
F_X_aero = Cx*qd*S;
|
F_X_aero = Cx*qd*S;
|
||||||
F_Y_aero = Cy*qd*S;
|
F_Y_aero = Cy*qd*S;
|
||||||
F_Z_aero = Cz*qd*S;
|
F_Z_aero = Cz*qd*S;
|
||||||
|
|
||||||
M_l_aero = (Cl*Cos_alpha - Cn*Sin_alpha)*b*qd*S;
|
M_l_aero = (Cl*Cos_alpha - Cn*Sin_alpha)*b*qd*S;
|
||||||
M_m_aero = Cm*c*qd*S;
|
M_m_aero = Cm*c*qd*S;
|
||||||
M_n_aero = (Cl*Sin_alpha + Cn*Cos_alpha)*b*qd*S;
|
M_n_aero = (Cl*Sin_alpha + Cn*Cos_alpha)*b*qd*S;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -7,14 +7,14 @@ meaning that there is no time delay, engine acts as gain only.
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
Based upon book:
|
Based upon book:
|
||||||
Barnes W. McCormick,
|
Barnes W. McCormick,
|
||||||
"Aerodynamics, Aeronautics and Flight Mechanics",
|
"Aerodynamics, Aeronautics and Flight Mechanics",
|
||||||
John Wiley & Sons,1995, ISBN 0-471-11087-6
|
John Wiley & Sons,1995, ISBN 0-471-11087-6
|
||||||
|
|
||||||
any suggestions, corrections, aditional data, flames, everything to
|
any suggestions, corrections, aditional data, flames, everything to
|
||||||
Gordan Sikic
|
Gordan Sikic
|
||||||
gsikic@public.srce.hr
|
gsikic@public.srce.hr
|
||||||
|
|
||||||
|
|
||||||
This source is not checked in this configuration in any way.
|
This source is not checked in this configuration in any way.
|
||||||
|
|
@ -39,62 +39,62 @@ This source is not checked in this configuration in any way.
|
||||||
void cherokee_engine( SCALAR dt, int init )
|
void cherokee_engine( SCALAR dt, int init )
|
||||||
{
|
{
|
||||||
|
|
||||||
static float
|
static float
|
||||||
dP = (180.0-117.0)*745.7, // in Wats
|
dP = (180.0-117.0)*745.7, // in Wats
|
||||||
dn = (2700.0-2350.0)/60.0, // d_rpm (I mean d_rps, in seconds)
|
dn = (2700.0-2350.0)/60.0, // d_rpm (I mean d_rps, in seconds)
|
||||||
D = 6.17*0.3048, // propeller diameter
|
D = 6.17*0.3048, // propeller diameter
|
||||||
dPh = (58.0-180.0)*745.7, // change of power as f-cn of height
|
dPh = (58.0-180.0)*745.7, // change of power as f-cn of height
|
||||||
dH = 25000.0*0.3048;
|
dH = 25000.0*0.3048;
|
||||||
|
|
||||||
float n, // rps
|
float n, // rps
|
||||||
H,
|
H,
|
||||||
J, // advance ratio (ratio of horizontal speed to speed of propeller's tip)
|
J, // advance ratio (ratio of horizontal speed to speed of propeller's tip)
|
||||||
eta, // iskoristivost elise
|
eta, // iskoristivost elise
|
||||||
T,
|
T,
|
||||||
V,
|
V,
|
||||||
P;
|
P;
|
||||||
|
|
||||||
/* copied from navion_engine.c */
|
/* copied from navion_engine.c */
|
||||||
if (init || sim_control_.sim_type != cockpit)
|
if (init || sim_control_.sim_type != cockpit)
|
||||||
Throttle[3] = Throttle_pct;
|
Throttle[3] = Throttle_pct;
|
||||||
|
|
||||||
/*assumption -> 0.0 <= Throttle[3] <=1.0 */
|
/*assumption -> 0.0 <= Throttle[3] <=1.0 */
|
||||||
P = fabs(Throttle[3])*180.0*745.7; /*180.0*745.5 ->max avail power in W */
|
P = fabs(Throttle[3])*180.0*745.7; /*180.0*745.5 ->max avail power in W */
|
||||||
n = dn/dP*(P-117.0*745.7) + 2350.0/60.0;
|
n = dn/dP*(P-117.0*745.7) + 2350.0/60.0;
|
||||||
|
|
||||||
/* V [m/s] */
|
/* V [m/s] */
|
||||||
V = (V_rel_wind < 10.0*0.3048 ? 10.0 : V_rel_wind*0.3048);
|
V = (V_rel_wind < 10.0*0.3048 ? 10.0 : V_rel_wind*0.3048);
|
||||||
|
|
||||||
J = V/n/D;
|
J = V/n/D;
|
||||||
|
|
||||||
|
|
||||||
/*
|
/*
|
||||||
propeller efficiency
|
propeller efficiency
|
||||||
|
|
||||||
if J >0.7 & J < .85
|
if J >0.7 & J < .85
|
||||||
eta = 0.8;
|
eta = 0.8;
|
||||||
elseif J < 0.7
|
elseif J < 0.7
|
||||||
eta = (0.8-0.55)/(.7-.3)*(J-0.3) + 0.55;
|
eta = (0.8-0.55)/(.7-.3)*(J-0.3) + 0.55;
|
||||||
else
|
else
|
||||||
eta = (0.6-0.8)/(1.0-0.85)*(J-0.85) + 0.8;
|
eta = (0.6-0.8)/(1.0-0.85)*(J-0.85) + 0.8;
|
||||||
end
|
end
|
||||||
*/
|
*/
|
||||||
eta = (J < 0.7 ? ((0.8-0.55)/(.7-.3)*(J-0.3) + 0.55) :
|
eta = (J < 0.7 ? ((0.8-0.55)/(.7-.3)*(J-0.3) + 0.55) :
|
||||||
(J > 0.85 ? ((0.6-0.8)/(1.0-0.85)*(J-0.85) + 0.8) : 0.8));
|
(J > 0.85 ? ((0.6-0.8)/(1.0-0.85)*(J-0.85) + 0.8) : 0.8));
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
/* power on Altitude (I mean Altitude, not Attitude...)*/
|
/* power on Altitude (I mean Altitude, not Attitude...)*/
|
||||||
|
|
||||||
H = Altitude/0.3048; /* H == Altitude in [m] */
|
H = Altitude/0.3048; /* H == Altitude in [m] */
|
||||||
|
|
||||||
P *= (dPh/dH*H + 180.0*745.7)/(180.0*745.7);
|
P *= (dPh/dH*H + 180.0*745.7)/(180.0*745.7);
|
||||||
|
|
||||||
T = eta*P/V; /* T in N (Thrust in Newtons) */
|
T = eta*P/V; /* T in N (Thrust in Newtons) */
|
||||||
|
|
||||||
/*assumption: Engine's line of thrust passes through cg */
|
/*assumption: Engine's line of thrust passes through cg */
|
||||||
|
|
||||||
F_X_engine = T*0.2248; /* F_X_engine in lb */
|
F_X_engine = T*0.2248; /* F_X_engine in lb */
|
||||||
F_Y_engine = 0.0;
|
F_Y_engine = 0.0;
|
||||||
F_Z_engine = 0.0;
|
F_Z_engine = 0.0;
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -1,38 +1,38 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: gear
|
TITLE: gear
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: Landing gear model for example simulation
|
FUNCTION: Landing gear model for example simulation
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Created 931012 by E. B. Jackson
|
GENEALOGY: Created 931012 by E. B. Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: E. B. Jackson
|
DESIGNED BY: E. B. Jackson
|
||||||
|
|
||||||
CODED BY: E. B. Jackson
|
CODED BY: E. B. Jackson
|
||||||
|
|
||||||
MAINTAINED BY: E. B. Jackson
|
MAINTAINED BY: E. B. Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
931218 Added navion.h header to allow connection with
|
931218 Added navion.h header to allow connection with
|
||||||
aileron displacement for nosewheel steering. EBJ
|
aileron displacement for nosewheel steering. EBJ
|
||||||
940511 Connected nosewheel to rudder pedal; adjusted gain.
|
940511 Connected nosewheel to rudder pedal; adjusted gain.
|
||||||
|
|
||||||
CURRENT RCS HEADER:
|
CURRENT RCS HEADER:
|
||||||
|
|
||||||
$Header$
|
$Header$
|
||||||
$Log$
|
$Log$
|
||||||
|
|
@ -67,23 +67,23 @@ Start of 0.6.x branch.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLED BY:
|
CALLED BY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLS TO:
|
CALLS TO:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS:
|
OUTPUTS:
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
#include <math.h>
|
#include <math.h>
|
||||||
|
|
@ -143,21 +143,21 @@ void cherokee_gear()
|
||||||
|
|
||||||
#define NUM_WHEELS 3
|
#define NUM_WHEELS 3
|
||||||
|
|
||||||
static int num_wheels = NUM_WHEELS; /* number of wheels */
|
static int num_wheels = NUM_WHEELS; /* number of wheels */
|
||||||
static DATA d_wheel_rp_body_v[NUM_WHEELS][3] = /* X, Y, Z locations */
|
static DATA d_wheel_rp_body_v[NUM_WHEELS][3] = /* X, Y, Z locations */
|
||||||
{
|
{
|
||||||
{ 10., 0., 4. }, /* in feet */
|
{ 10., 0., 4. }, /* in feet */
|
||||||
{ -1., 3., 4. },
|
{ -1., 3., 4. },
|
||||||
{ -1., -3., 4. }
|
{ -1., -3., 4. }
|
||||||
};
|
};
|
||||||
static DATA spring_constant[NUM_WHEELS] = /* springiness, lbs/ft */
|
static DATA spring_constant[NUM_WHEELS] = /* springiness, lbs/ft */
|
||||||
{ 1500., 5000., 5000. };
|
{ 1500., 5000., 5000. };
|
||||||
static DATA spring_damping[NUM_WHEELS] = /* damping, lbs/ft/sec */
|
static DATA spring_damping[NUM_WHEELS] = /* damping, lbs/ft/sec */
|
||||||
{ 100., 150., 150. };
|
{ 100., 150., 150. };
|
||||||
static DATA percent_brake[NUM_WHEELS] = /* percent applied braking */
|
static DATA percent_brake[NUM_WHEELS] = /* percent applied braking */
|
||||||
{ 0., 0., 0. }; /* 0 = none, 1 = full */
|
{ 0., 0., 0. }; /* 0 = none, 1 = full */
|
||||||
static DATA caster_angle_rad[NUM_WHEELS] = /* steerable tires - in */
|
static DATA caster_angle_rad[NUM_WHEELS] = /* steerable tires - in */
|
||||||
{ 0., 0., 0.}; /* radians, +CW */
|
{ 0., 0., 0.}; /* radians, +CW */
|
||||||
/*
|
/*
|
||||||
* End of aircraft specific code
|
* End of aircraft specific code
|
||||||
*/
|
*/
|
||||||
|
|
@ -170,51 +170,51 @@ void cherokee_gear()
|
||||||
*
|
*
|
||||||
* mu ^
|
* mu ^
|
||||||
* |
|
* |
|
||||||
* max_mu | +
|
* max_mu | +
|
||||||
* | /|
|
* | /|
|
||||||
* sliding_mu | / +------
|
* sliding_mu | / +------
|
||||||
* | /
|
* | /
|
||||||
* | /
|
* | /
|
||||||
* +--+------------------------>
|
* +--+------------------------>
|
||||||
* | | | sideward V
|
* | | | sideward V
|
||||||
* 0 bkout skid
|
* 0 bkout skid
|
||||||
* V V
|
* V V
|
||||||
*/
|
*/
|
||||||
|
|
||||||
|
|
||||||
static DATA sliding_mu = 0.5;
|
static DATA sliding_mu = 0.5;
|
||||||
static DATA rolling_mu = 0.01;
|
static DATA rolling_mu = 0.01;
|
||||||
static DATA max_brake_mu = 0.6;
|
static DATA max_brake_mu = 0.6;
|
||||||
static DATA max_mu = 0.8;
|
static DATA max_mu = 0.8;
|
||||||
static DATA bkout_v = 0.1;
|
static DATA bkout_v = 0.1;
|
||||||
static DATA skid_v = 1.0;
|
static DATA skid_v = 1.0;
|
||||||
/*
|
/*
|
||||||
* Local data variables
|
* Local data variables
|
||||||
*/
|
*/
|
||||||
|
|
||||||
DATA d_wheel_cg_body_v[3]; /* wheel offset from cg, X-Y-Z */
|
DATA d_wheel_cg_body_v[3]; /* wheel offset from cg, X-Y-Z */
|
||||||
DATA d_wheel_cg_local_v[3]; /* wheel offset from cg, N-E-D */
|
DATA d_wheel_cg_local_v[3]; /* wheel offset from cg, N-E-D */
|
||||||
DATA d_wheel_rwy_local_v[3]; /* wheel offset from rwy, N-E-U */
|
DATA d_wheel_rwy_local_v[3]; /* wheel offset from rwy, N-E-U */
|
||||||
// DATA v_wheel_body_v[3]; /* wheel velocity, X-Y-Z */
|
// DATA v_wheel_body_v[3]; /* wheel velocity, X-Y-Z */
|
||||||
DATA v_wheel_local_v[3]; /* wheel velocity, N-E-D */
|
DATA v_wheel_local_v[3]; /* wheel velocity, N-E-D */
|
||||||
DATA f_wheel_local_v[3]; /* wheel reaction force, N-E-D */
|
DATA f_wheel_local_v[3]; /* wheel reaction force, N-E-D */
|
||||||
DATA temp3a[3], temp3b[3], tempF[3], tempM[3];
|
DATA temp3a[3], temp3b[3], tempF[3], tempM[3];
|
||||||
DATA reaction_normal_force; /* wheel normal (to rwy) force */
|
DATA reaction_normal_force; /* wheel normal (to rwy) force */
|
||||||
DATA cos_wheel_hdg_angle, sin_wheel_hdg_angle; /* temp storage */
|
DATA cos_wheel_hdg_angle, sin_wheel_hdg_angle; /* temp storage */
|
||||||
DATA v_wheel_forward, v_wheel_sideward, abs_v_wheel_sideward;
|
DATA v_wheel_forward, v_wheel_sideward, abs_v_wheel_sideward;
|
||||||
DATA forward_mu, sideward_mu; /* friction coefficients */
|
DATA forward_mu, sideward_mu; /* friction coefficients */
|
||||||
DATA beta_mu; /* breakout friction slope */
|
DATA beta_mu; /* breakout friction slope */
|
||||||
DATA forward_wheel_force, sideward_wheel_force;
|
DATA forward_wheel_force, sideward_wheel_force;
|
||||||
|
|
||||||
int i; /* per wheel loop counter */
|
int i; /* per wheel loop counter */
|
||||||
|
|
||||||
/*
|
/*
|
||||||
* Execution starts here
|
* Execution starts here
|
||||||
*/
|
*/
|
||||||
|
|
||||||
beta_mu = max_mu/(skid_v-bkout_v);
|
beta_mu = max_mu/(skid_v-bkout_v);
|
||||||
clear3( F_gear_v ); /* Initialize sum of forces... */
|
clear3( F_gear_v ); /* Initialize sum of forces... */
|
||||||
clear3( M_gear_v ); /* ...and moments */
|
clear3( M_gear_v ); /* ...and moments */
|
||||||
|
|
||||||
/*
|
/*
|
||||||
* Put aircraft specific executable code here
|
* Put aircraft specific executable code here
|
||||||
|
|
@ -225,115 +225,115 @@ void cherokee_gear()
|
||||||
|
|
||||||
caster_angle_rad[0] = 0.03*Rudder_pedal;
|
caster_angle_rad[0] = 0.03*Rudder_pedal;
|
||||||
|
|
||||||
for (i=0;i<num_wheels;i++) /* Loop for each wheel */
|
for (i=0;i<num_wheels;i++) /* Loop for each wheel */
|
||||||
{
|
{
|
||||||
/*========================================*/
|
/*========================================*/
|
||||||
/* Calculate wheel position w.r.t. runway */
|
/* Calculate wheel position w.r.t. runway */
|
||||||
/*========================================*/
|
/*========================================*/
|
||||||
|
|
||||||
/* First calculate wheel location w.r.t. cg in body (X-Y-Z) axes... */
|
/* First calculate wheel location w.r.t. cg in body (X-Y-Z) axes... */
|
||||||
|
|
||||||
sub3( d_wheel_rp_body_v[i], D_cg_rp_body_v, d_wheel_cg_body_v );
|
sub3( d_wheel_rp_body_v[i], D_cg_rp_body_v, d_wheel_cg_body_v );
|
||||||
|
|
||||||
/* then converting to local (North-East-Down) axes... */
|
/* then converting to local (North-East-Down) axes... */
|
||||||
|
|
||||||
multtrans3x3by3( T_local_to_body_m, d_wheel_cg_body_v, d_wheel_cg_local_v );
|
multtrans3x3by3( T_local_to_body_m, d_wheel_cg_body_v, d_wheel_cg_local_v );
|
||||||
|
|
||||||
/* Runway axes correction - third element is Altitude, not (-)Z... */
|
/* Runway axes correction - third element is Altitude, not (-)Z... */
|
||||||
|
|
||||||
d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* since altitude = -Z */
|
d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* since altitude = -Z */
|
||||||
|
|
||||||
/* Add wheel offset to cg location in local axes */
|
/* Add wheel offset to cg location in local axes */
|
||||||
|
|
||||||
add3( d_wheel_cg_local_v, D_cg_rwy_local_v, d_wheel_rwy_local_v );
|
add3( d_wheel_cg_local_v, D_cg_rwy_local_v, d_wheel_rwy_local_v );
|
||||||
|
|
||||||
/* remove Runway axes correction so right hand rule applies */
|
/* remove Runway axes correction so right hand rule applies */
|
||||||
|
|
||||||
d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* now Z positive down */
|
d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* now Z positive down */
|
||||||
|
|
||||||
/*============================*/
|
/*============================*/
|
||||||
/* Calculate wheel velocities */
|
/* Calculate wheel velocities */
|
||||||
/*============================*/
|
/*============================*/
|
||||||
|
|
||||||
/* contribution due to angular rates */
|
/* contribution due to angular rates */
|
||||||
|
|
||||||
cross3( Omega_body_v, d_wheel_cg_body_v, temp3a );
|
cross3( Omega_body_v, d_wheel_cg_body_v, temp3a );
|
||||||
|
|
||||||
/* transform into local axes */
|
/* transform into local axes */
|
||||||
|
|
||||||
multtrans3x3by3( T_local_to_body_m, temp3a, temp3b );
|
multtrans3x3by3( T_local_to_body_m, temp3a, temp3b );
|
||||||
|
|
||||||
/* plus contribution due to cg velocities */
|
/* plus contribution due to cg velocities */
|
||||||
|
|
||||||
add3( temp3b, V_local_rel_ground_v, v_wheel_local_v );
|
add3( temp3b, V_local_rel_ground_v, v_wheel_local_v );
|
||||||
|
|
||||||
|
|
||||||
/*===========================================*/
|
/*===========================================*/
|
||||||
/* Calculate forces & moments for this wheel */
|
/* Calculate forces & moments for this wheel */
|
||||||
/*===========================================*/
|
/*===========================================*/
|
||||||
|
|
||||||
/* Add any anticipation, or frame lead/prediction, here... */
|
/* Add any anticipation, or frame lead/prediction, here... */
|
||||||
|
|
||||||
/* no lead used at present */
|
/* no lead used at present */
|
||||||
|
|
||||||
/* Calculate sideward and forward velocities of the wheel
|
/* Calculate sideward and forward velocities of the wheel
|
||||||
in the runway plane */
|
in the runway plane */
|
||||||
|
|
||||||
cos_wheel_hdg_angle = cos(caster_angle_rad[i] + Psi);
|
cos_wheel_hdg_angle = cos(caster_angle_rad[i] + Psi);
|
||||||
sin_wheel_hdg_angle = sin(caster_angle_rad[i] + Psi);
|
sin_wheel_hdg_angle = sin(caster_angle_rad[i] + Psi);
|
||||||
|
|
||||||
v_wheel_forward = v_wheel_local_v[0]*cos_wheel_hdg_angle
|
v_wheel_forward = v_wheel_local_v[0]*cos_wheel_hdg_angle
|
||||||
+ v_wheel_local_v[1]*sin_wheel_hdg_angle;
|
+ v_wheel_local_v[1]*sin_wheel_hdg_angle;
|
||||||
v_wheel_sideward = v_wheel_local_v[1]*cos_wheel_hdg_angle
|
v_wheel_sideward = v_wheel_local_v[1]*cos_wheel_hdg_angle
|
||||||
- v_wheel_local_v[0]*sin_wheel_hdg_angle;
|
- v_wheel_local_v[0]*sin_wheel_hdg_angle;
|
||||||
|
|
||||||
/* Calculate normal load force (simple spring constant) */
|
/* Calculate normal load force (simple spring constant) */
|
||||||
|
|
||||||
reaction_normal_force = 0.;
|
reaction_normal_force = 0.;
|
||||||
if( d_wheel_rwy_local_v[2] < 0. )
|
if( d_wheel_rwy_local_v[2] < 0. )
|
||||||
{
|
{
|
||||||
reaction_normal_force = spring_constant[i]*d_wheel_rwy_local_v[2]
|
reaction_normal_force = spring_constant[i]*d_wheel_rwy_local_v[2]
|
||||||
- v_wheel_local_v[2]*spring_damping[i];
|
- v_wheel_local_v[2]*spring_damping[i];
|
||||||
if (reaction_normal_force > 0.) reaction_normal_force = 0.;
|
if (reaction_normal_force > 0.) reaction_normal_force = 0.;
|
||||||
/* to prevent damping component from swamping spring component */
|
/* to prevent damping component from swamping spring component */
|
||||||
}
|
}
|
||||||
|
|
||||||
/* Calculate friction coefficients */
|
/* Calculate friction coefficients */
|
||||||
|
|
||||||
forward_mu = (max_brake_mu - rolling_mu)*percent_brake[i] + rolling_mu;
|
forward_mu = (max_brake_mu - rolling_mu)*percent_brake[i] + rolling_mu;
|
||||||
abs_v_wheel_sideward = sqrt(v_wheel_sideward*v_wheel_sideward);
|
abs_v_wheel_sideward = sqrt(v_wheel_sideward*v_wheel_sideward);
|
||||||
sideward_mu = sliding_mu;
|
sideward_mu = sliding_mu;
|
||||||
if (abs_v_wheel_sideward < skid_v)
|
if (abs_v_wheel_sideward < skid_v)
|
||||||
sideward_mu = (abs_v_wheel_sideward - bkout_v)*beta_mu;
|
sideward_mu = (abs_v_wheel_sideward - bkout_v)*beta_mu;
|
||||||
if (abs_v_wheel_sideward < bkout_v) sideward_mu = 0.;
|
if (abs_v_wheel_sideward < bkout_v) sideward_mu = 0.;
|
||||||
|
|
||||||
/* Calculate foreward and sideward reaction forces */
|
/* Calculate foreward and sideward reaction forces */
|
||||||
|
|
||||||
forward_wheel_force = forward_mu*reaction_normal_force;
|
forward_wheel_force = forward_mu*reaction_normal_force;
|
||||||
sideward_wheel_force = sideward_mu*reaction_normal_force;
|
sideward_wheel_force = sideward_mu*reaction_normal_force;
|
||||||
if(v_wheel_forward < 0.) forward_wheel_force = -forward_wheel_force;
|
if(v_wheel_forward < 0.) forward_wheel_force = -forward_wheel_force;
|
||||||
if(v_wheel_sideward < 0.) sideward_wheel_force = -sideward_wheel_force;
|
if(v_wheel_sideward < 0.) sideward_wheel_force = -sideward_wheel_force;
|
||||||
|
|
||||||
/* Rotate into local (N-E-D) axes */
|
/* Rotate into local (N-E-D) axes */
|
||||||
|
|
||||||
f_wheel_local_v[0] = forward_wheel_force*cos_wheel_hdg_angle
|
f_wheel_local_v[0] = forward_wheel_force*cos_wheel_hdg_angle
|
||||||
- sideward_wheel_force*sin_wheel_hdg_angle;
|
- sideward_wheel_force*sin_wheel_hdg_angle;
|
||||||
f_wheel_local_v[1] = forward_wheel_force*sin_wheel_hdg_angle
|
f_wheel_local_v[1] = forward_wheel_force*sin_wheel_hdg_angle
|
||||||
+ sideward_wheel_force*cos_wheel_hdg_angle;
|
+ sideward_wheel_force*cos_wheel_hdg_angle;
|
||||||
f_wheel_local_v[2] = reaction_normal_force;
|
f_wheel_local_v[2] = reaction_normal_force;
|
||||||
|
|
||||||
/* Convert reaction force from local (N-E-D) axes to body (X-Y-Z) */
|
/* Convert reaction force from local (N-E-D) axes to body (X-Y-Z) */
|
||||||
|
|
||||||
mult3x3by3( T_local_to_body_m, f_wheel_local_v, tempF );
|
mult3x3by3( T_local_to_body_m, f_wheel_local_v, tempF );
|
||||||
|
|
||||||
/* Calculate moments from force and offsets in body axes */
|
/* Calculate moments from force and offsets in body axes */
|
||||||
|
|
||||||
cross3( d_wheel_cg_body_v, tempF, tempM );
|
cross3( d_wheel_cg_body_v, tempF, tempM );
|
||||||
|
|
||||||
/* Sum forces and moments across all wheels */
|
/* Sum forces and moments across all wheels */
|
||||||
|
|
||||||
add3( tempF, F_gear_v, F_gear_v );
|
add3( tempF, F_gear_v, F_gear_v );
|
||||||
add3( tempM, M_gear_v, M_gear_v );
|
add3( tempM, M_gear_v, M_gear_v );
|
||||||
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -1,47 +1,47 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: cherokee_init.c
|
TITLE: cherokee_init.c
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: Initializes cherokee math model
|
FUNCTION: Initializes cherokee math model
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY:
|
GENEALOGY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CURRENT RCS HEADER:
|
CURRENT RCS HEADER:
|
||||||
|
|
||||||
Well,
|
Well,
|
||||||
I do not have vorking RCS here (Sorry)
|
I do not have vorking RCS here (Sorry)
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLED BY:
|
CALLED BY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLS TO:
|
CALLS TO:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS:
|
OUTPUTS:
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
#include "ls_types.h"
|
#include "ls_types.h"
|
||||||
|
|
|
||||||
|
|
@ -1,34 +1,34 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: engine.c
|
TITLE: engine.c
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: dummy engine routine
|
FUNCTION: dummy engine routine
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: incomplete
|
MODULE STATUS: incomplete
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Created 15 OCT 92 as dummy routine for checkout. EBJ
|
GENEALOGY: Created 15 OCT 92 as dummy routine for checkout. EBJ
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: designer
|
DESIGNED BY: designer
|
||||||
|
|
||||||
CODED BY: programmer
|
CODED BY: programmer
|
||||||
|
|
||||||
MAINTAINED BY: maintainer
|
MAINTAINED BY: maintainer
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
CURRENT RCS HEADER INFO:
|
CURRENT RCS HEADER INFO:
|
||||||
|
|
||||||
$Header$
|
$Header$
|
||||||
|
|
||||||
|
|
@ -67,23 +67,23 @@ Initial Flight Gear revision.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLED BY: ls_model();
|
CALLED BY: ls_model();
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLS TO: none
|
CALLS TO: none
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS:
|
OUTPUTS:
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
|
|
||||||
|
|
@ -91,10 +91,10 @@ Initial Flight Gear revision.
|
||||||
#include "ls_types.h"
|
#include "ls_types.h"
|
||||||
#include "default_model_routines.h"
|
#include "default_model_routines.h"
|
||||||
|
|
||||||
void inertias( SCALAR dt, int Initialize ) {}
|
void inertias( SCALAR dt, int Initialize ) {}
|
||||||
void subsystems( SCALAR dt, int Initialize ) {}
|
void subsystems( SCALAR dt, int Initialize ) {}
|
||||||
/* void engine() {} */
|
/* void engine() {} */
|
||||||
/* void gear() {} */
|
/* void gear() {} */
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -1,41 +1,41 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: ls_Accel
|
TITLE: ls_Accel
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: Sums forces and moments and calculates accelerations
|
FUNCTION: Sums forces and moments and calculates accelerations
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Written 920731 by Bruce Jackson. Based upon equations
|
GENEALOGY: Written 920731 by Bruce Jackson. Based upon equations
|
||||||
given in reference [1] and a Matrix-X/System Build block
|
given in reference [1] and a Matrix-X/System Build block
|
||||||
diagram model of equations of motion coded by David Raney
|
diagram model of equations of motion coded by David Raney
|
||||||
at NASA-Langley in June of 1992.
|
at NASA-Langley in June of 1992.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: Bruce Jackson
|
DESIGNED BY: Bruce Jackson
|
||||||
|
|
||||||
CODED BY: Bruce Jackson
|
CODED BY: Bruce Jackson
|
||||||
|
|
||||||
MAINTAINED BY:
|
MAINTAINED BY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE
|
DATE PURPOSE
|
||||||
|
|
||||||
931007 Moved calculations of auxiliary accelerations here from ls_aux.c BY
|
931007 Moved calculations of auxiliary accelerations here from ls_aux.c BY
|
||||||
and corrected minus sign in front of A_Y_Pilot
|
and corrected minus sign in front of A_Y_Pilot
|
||||||
contribution from Q_body*P_body*D_X_pilot term.
|
contribution from Q_body*P_body*D_X_pilot term.
|
||||||
940111 Changed DATA to SCALAR; updated header files
|
940111 Changed DATA to SCALAR; updated header files
|
||||||
|
|
||||||
$Header$
|
$Header$
|
||||||
$Log$
|
$Log$
|
||||||
Revision 1.1 2002/09/10 01:14:01 curt
|
Revision 1.1 2002/09/10 01:14:01 curt
|
||||||
|
|
@ -82,7 +82,7 @@ Initial Flight Gear revision.
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
[ 1] McFarland, Richard E.: "A Standard Kinematic Model
|
[ 1] McFarland, Richard E.: "A Standard Kinematic Model
|
||||||
for Flight Simulation at NASA-Ames", NASA CR-2497,
|
for Flight Simulation at NASA-Ames", NASA CR-2497,
|
||||||
January 1975
|
January 1975
|
||||||
|
|
||||||
|
|
@ -100,7 +100,7 @@ Initial Flight Gear revision.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS: State derivatives
|
OUTPUTS: State derivatives
|
||||||
|
|
||||||
-------------------------------------------------------------------------*/
|
-------------------------------------------------------------------------*/
|
||||||
#include "ls_types.h"
|
#include "ls_types.h"
|
||||||
|
|
@ -111,10 +111,10 @@ Initial Flight Gear revision.
|
||||||
|
|
||||||
void ls_accel( void ) {
|
void ls_accel( void ) {
|
||||||
|
|
||||||
SCALAR inv_Mass, inv_Radius;
|
SCALAR inv_Mass, inv_Radius;
|
||||||
SCALAR ixz2, c0, c1, c2, c3, c4, c5, c6, c7, c8, c9, c10;
|
SCALAR ixz2, c0, c1, c2, c3, c4, c5, c6, c7, c8, c9, c10;
|
||||||
SCALAR dx_pilot_from_cg, dy_pilot_from_cg, dz_pilot_from_cg;
|
SCALAR dx_pilot_from_cg, dy_pilot_from_cg, dz_pilot_from_cg;
|
||||||
SCALAR tan_Lat_geocentric;
|
SCALAR tan_Lat_geocentric;
|
||||||
|
|
||||||
|
|
||||||
/* Sum forces and moments at reference point */
|
/* Sum forces and moments at reference point */
|
||||||
|
|
@ -178,7 +178,7 @@ void ls_accel( void ) {
|
||||||
Q_dot_body = c5*R_body*P_body + c6*(R_body*R_body - P_body*P_body) + c7*M_m_cg;
|
Q_dot_body = c5*R_body*P_body + c6*(R_body*R_body - P_body*P_body) + c7*M_m_cg;
|
||||||
R_dot_body = (c8*P_body + c9*R_body)*Q_body + c4*M_l_cg + c10*M_n_cg;
|
R_dot_body = (c8*P_body + c9*R_body)*Q_body + c4*M_l_cg + c10*M_n_cg;
|
||||||
|
|
||||||
/* Calculate body axis accelerations (move to ls_accel?) */
|
/* Calculate body axis accelerations (move to ls_accel?) */
|
||||||
|
|
||||||
inv_Mass = 1/Mass;
|
inv_Mass = 1/Mass;
|
||||||
|
|
||||||
|
|
@ -190,16 +190,16 @@ void ls_accel( void ) {
|
||||||
dy_pilot_from_cg = Dy_pilot - Dy_cg;
|
dy_pilot_from_cg = Dy_pilot - Dy_cg;
|
||||||
dz_pilot_from_cg = Dz_pilot - Dz_cg;
|
dz_pilot_from_cg = Dz_pilot - Dz_cg;
|
||||||
|
|
||||||
A_X_pilot = A_X_cg + (-R_body*R_body - Q_body*Q_body)*dx_pilot_from_cg
|
A_X_pilot = A_X_cg + (-R_body*R_body - Q_body*Q_body)*dx_pilot_from_cg
|
||||||
+ ( P_body*Q_body - R_dot_body )*dy_pilot_from_cg
|
+ ( P_body*Q_body - R_dot_body )*dy_pilot_from_cg
|
||||||
+ ( P_body*R_body + Q_dot_body )*dz_pilot_from_cg;
|
+ ( P_body*R_body + Q_dot_body )*dz_pilot_from_cg;
|
||||||
A_Y_pilot = A_Y_cg + ( P_body*Q_body + R_dot_body )*dx_pilot_from_cg
|
A_Y_pilot = A_Y_cg + ( P_body*Q_body + R_dot_body )*dx_pilot_from_cg
|
||||||
+ (-P_body*P_body - R_body*R_body)*dy_pilot_from_cg
|
+ (-P_body*P_body - R_body*R_body)*dy_pilot_from_cg
|
||||||
+ ( Q_body*R_body - P_dot_body )*dz_pilot_from_cg;
|
+ ( Q_body*R_body - P_dot_body )*dz_pilot_from_cg;
|
||||||
A_Z_pilot = A_Z_cg + ( P_body*R_body - Q_dot_body )*dx_pilot_from_cg
|
A_Z_pilot = A_Z_cg + ( P_body*R_body - Q_dot_body )*dx_pilot_from_cg
|
||||||
+ ( Q_body*R_body + P_dot_body )*dy_pilot_from_cg
|
+ ( Q_body*R_body + P_dot_body )*dy_pilot_from_cg
|
||||||
+ (-Q_body*Q_body - P_body*P_body)*dz_pilot_from_cg;
|
+ (-Q_body*Q_body - P_body*P_body)*dz_pilot_from_cg;
|
||||||
|
|
||||||
N_X_cg = INVG*A_X_cg;
|
N_X_cg = INVG*A_X_cg;
|
||||||
N_Y_cg = INVG*A_Y_cg;
|
N_Y_cg = INVG*A_Y_cg;
|
||||||
N_Z_cg = INVG*A_Z_cg;
|
N_Z_cg = INVG*A_Z_cg;
|
||||||
|
|
@ -210,11 +210,11 @@ void ls_accel( void ) {
|
||||||
|
|
||||||
|
|
||||||
U_dot_body = T_local_to_body_11*V_dot_north + T_local_to_body_12*V_dot_east
|
U_dot_body = T_local_to_body_11*V_dot_north + T_local_to_body_12*V_dot_east
|
||||||
+ T_local_to_body_13*V_dot_down - Q_total*W_body + R_total*V_body;
|
+ T_local_to_body_13*V_dot_down - Q_total*W_body + R_total*V_body;
|
||||||
V_dot_body = T_local_to_body_21*V_dot_north + T_local_to_body_22*V_dot_east
|
V_dot_body = T_local_to_body_21*V_dot_north + T_local_to_body_22*V_dot_east
|
||||||
+ T_local_to_body_23*V_dot_down - R_total*U_body + P_total*W_body;
|
+ T_local_to_body_23*V_dot_down - R_total*U_body + P_total*W_body;
|
||||||
W_dot_body = T_local_to_body_31*V_dot_north + T_local_to_body_32*V_dot_east
|
W_dot_body = T_local_to_body_31*V_dot_north + T_local_to_body_32*V_dot_east
|
||||||
+ T_local_to_body_33*V_dot_down - P_total*V_body + Q_total*U_body;
|
+ T_local_to_body_33*V_dot_down - P_total*V_body + Q_total*U_body;
|
||||||
/* End of ls_accel */
|
/* End of ls_accel */
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -1,47 +1,47 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: ls_aux
|
TITLE: ls_aux
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: Atmospheric and auxilary relationships for LaRCSim EOM
|
FUNCTION: Atmospheric and auxilary relationships for LaRCSim EOM
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Created 9208026 as part of C-castle simulation project.
|
GENEALOGY: Created 9208026 as part of C-castle simulation project.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: B. Jackson
|
DESIGNED BY: B. Jackson
|
||||||
|
|
||||||
CODED BY: B. Jackson
|
CODED BY: B. Jackson
|
||||||
|
|
||||||
MAINTAINED BY: B. Jackson
|
MAINTAINED BY: B. Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE
|
DATE PURPOSE
|
||||||
|
|
||||||
931006 Moved calculations of auxiliary accelerations from here
|
931006 Moved calculations of auxiliary accelerations from here
|
||||||
to ls_accel.c and corrected minus sign in front of A_Y_Pilot
|
to ls_accel.c and corrected minus sign in front of A_Y_Pilot
|
||||||
contribution from Q_body*P_body*D_X_pilot term. EBJ
|
contribution from Q_body*P_body*D_X_pilot term. EBJ
|
||||||
931014 Changed calculation of Alpha from atan to atan2 so sign is correct.
|
931014 Changed calculation of Alpha from atan to atan2 so sign is correct.
|
||||||
EBJ
|
EBJ
|
||||||
931220 Added calculations for static and total temperatures & pressures,
|
931220 Added calculations for static and total temperatures & pressures,
|
||||||
as well as dynamic and impact pressures and calibrated airspeed.
|
as well as dynamic and impact pressures and calibrated airspeed.
|
||||||
EBJ
|
EBJ
|
||||||
940111 Changed #included header files from old "ls_eom.h" to newer
|
940111 Changed #included header files from old "ls_eom.h" to newer
|
||||||
"ls_types.h", "ls_constants.h" and "ls_generic.h". EBJ
|
"ls_types.h", "ls_constants.h" and "ls_generic.h". EBJ
|
||||||
|
|
||||||
950207 Changed use of "abs" to "fabs" in calculation of signU. EBJ
|
950207 Changed use of "abs" to "fabs" in calculation of signU. EBJ
|
||||||
|
|
||||||
950228 Fixed bug in calculation of beta_dot. EBJ
|
950228 Fixed bug in calculation of beta_dot. EBJ
|
||||||
|
|
||||||
CURRENT RCS HEADER INFO:
|
CURRENT RCS HEADER INFO:
|
||||||
|
|
||||||
|
|
@ -260,7 +260,7 @@ Initial Flight Gear revision.
|
||||||
*
|
*
|
||||||
* Revision 1.7 1993/10/14 11:25:38 bjax
|
* Revision 1.7 1993/10/14 11:25:38 bjax
|
||||||
* Changed calculation of Alpha to use 'atan2' instead of 'atan' so alphas
|
* Changed calculation of Alpha to use 'atan2' instead of 'atan' so alphas
|
||||||
* larger than +/- 90 degrees are calculated correctly. EBJ
|
* larger than +/- 90 degrees are calculated correctly. EBJ
|
||||||
*
|
*
|
||||||
* Revision 1.6 1993/10/07 18:45:56 bjax
|
* Revision 1.6 1993/10/07 18:45:56 bjax
|
||||||
* A little cleanup; no significant changes. EBJ
|
* A little cleanup; no significant changes. EBJ
|
||||||
|
|
@ -282,25 +282,25 @@ Initial Flight Gear revision.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES: [ 1] Shapiro, Ascher H.: "The Dynamics and Thermodynamics
|
REFERENCES: [ 1] Shapiro, Ascher H.: "The Dynamics and Thermodynamics
|
||||||
of Compressible Fluid Flow", Volume I, The Ronald
|
of Compressible Fluid Flow", Volume I, The Ronald
|
||||||
Press, 1953.
|
Press, 1953.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLED BY:
|
CALLED BY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLS TO:
|
CALLS TO:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS:
|
OUTPUTS:
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
#include "ls_types.h"
|
#include "ls_types.h"
|
||||||
|
|
@ -317,210 +317,210 @@ Initial Flight Gear revision.
|
||||||
|
|
||||||
void ls_aux( void ) {
|
void ls_aux( void ) {
|
||||||
|
|
||||||
SCALAR dx_pilot_from_cg, dy_pilot_from_cg, dz_pilot_from_cg;
|
SCALAR dx_pilot_from_cg, dy_pilot_from_cg, dz_pilot_from_cg;
|
||||||
/* SCALAR inv_Mass; */
|
/* SCALAR inv_Mass; */
|
||||||
SCALAR v_XZ_plane_2, signU, v_tangential;
|
SCALAR v_XZ_plane_2, signU, v_tangential;
|
||||||
/* SCALAR inv_radius_ratio; */
|
/* SCALAR inv_radius_ratio; */
|
||||||
SCALAR cos_rwy_hdg, sin_rwy_hdg;
|
SCALAR cos_rwy_hdg, sin_rwy_hdg;
|
||||||
SCALAR mach2, temp_ratio, pres_ratio;
|
SCALAR mach2, temp_ratio, pres_ratio;
|
||||||
SCALAR tmp;
|
SCALAR tmp;
|
||||||
|
|
||||||
/* update geodetic position */
|
/* update geodetic position */
|
||||||
|
|
||||||
ls_geoc_to_geod( Lat_geocentric, Radius_to_vehicle,
|
ls_geoc_to_geod( Lat_geocentric, Radius_to_vehicle,
|
||||||
&Latitude, &Altitude, &Sea_level_radius );
|
&Latitude, &Altitude, &Sea_level_radius );
|
||||||
Longitude = Lon_geocentric - Earth_position_angle;
|
Longitude = Lon_geocentric - Earth_position_angle;
|
||||||
|
|
||||||
/* Calculate body axis velocities */
|
/* Calculate body axis velocities */
|
||||||
|
|
||||||
/* Form relative velocity vector */
|
/* Form relative velocity vector */
|
||||||
|
|
||||||
V_north_rel_ground = V_north;
|
V_north_rel_ground = V_north;
|
||||||
V_east_rel_ground = V_east
|
V_east_rel_ground = V_east
|
||||||
- OMEGA_EARTH*Sea_level_radius*cos( Lat_geocentric );
|
- OMEGA_EARTH*Sea_level_radius*cos( Lat_geocentric );
|
||||||
V_down_rel_ground = V_down;
|
V_down_rel_ground = V_down;
|
||||||
|
|
||||||
V_north_rel_airmass = V_north_rel_ground - V_north_airmass;
|
V_north_rel_airmass = V_north_rel_ground - V_north_airmass;
|
||||||
V_east_rel_airmass = V_east_rel_ground - V_east_airmass;
|
V_east_rel_airmass = V_east_rel_ground - V_east_airmass;
|
||||||
V_down_rel_airmass = V_down_rel_ground - V_down_airmass;
|
V_down_rel_airmass = V_down_rel_ground - V_down_airmass;
|
||||||
|
|
||||||
U_body = T_local_to_body_11*V_north_rel_airmass
|
U_body = T_local_to_body_11*V_north_rel_airmass
|
||||||
+ T_local_to_body_12*V_east_rel_airmass
|
+ T_local_to_body_12*V_east_rel_airmass
|
||||||
+ T_local_to_body_13*V_down_rel_airmass + U_gust;
|
+ T_local_to_body_13*V_down_rel_airmass + U_gust;
|
||||||
V_body = T_local_to_body_21*V_north_rel_airmass
|
V_body = T_local_to_body_21*V_north_rel_airmass
|
||||||
+ T_local_to_body_22*V_east_rel_airmass
|
+ T_local_to_body_22*V_east_rel_airmass
|
||||||
+ T_local_to_body_23*V_down_rel_airmass + V_gust;
|
+ T_local_to_body_23*V_down_rel_airmass + V_gust;
|
||||||
W_body = T_local_to_body_31*V_north_rel_airmass
|
W_body = T_local_to_body_31*V_north_rel_airmass
|
||||||
+ T_local_to_body_32*V_east_rel_airmass
|
+ T_local_to_body_32*V_east_rel_airmass
|
||||||
+ T_local_to_body_33*V_down_rel_airmass + W_gust;
|
+ T_local_to_body_33*V_down_rel_airmass + W_gust;
|
||||||
|
|
||||||
V_rel_wind = sqrt(U_body*U_body + V_body*V_body + W_body*W_body);
|
V_rel_wind = sqrt(U_body*U_body + V_body*V_body + W_body*W_body);
|
||||||
|
|
||||||
|
|
||||||
/* Calculate alpha and beta rates */
|
/* Calculate alpha and beta rates */
|
||||||
|
|
||||||
v_XZ_plane_2 = (U_body*U_body + W_body*W_body);
|
v_XZ_plane_2 = (U_body*U_body + W_body*W_body);
|
||||||
|
|
||||||
if (U_body == 0)
|
if (U_body == 0)
|
||||||
signU = 1;
|
signU = 1;
|
||||||
else
|
else
|
||||||
signU = U_body/fabs(U_body);
|
signU = U_body/fabs(U_body);
|
||||||
|
|
||||||
if( (v_XZ_plane_2 == 0) || (V_rel_wind == 0) )
|
if( (v_XZ_plane_2 == 0) || (V_rel_wind == 0) )
|
||||||
{
|
{
|
||||||
Std_Alpha_dot = 0;
|
Std_Alpha_dot = 0;
|
||||||
Std_Beta_dot = 0;
|
Std_Beta_dot = 0;
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
Std_Alpha_dot = (U_body*W_dot_body - W_body*U_dot_body)/
|
Std_Alpha_dot = (U_body*W_dot_body - W_body*U_dot_body)/
|
||||||
v_XZ_plane_2;
|
v_XZ_plane_2;
|
||||||
Std_Beta_dot = (signU*v_XZ_plane_2*V_dot_body
|
Std_Beta_dot = (signU*v_XZ_plane_2*V_dot_body
|
||||||
- V_body*(U_body*U_dot_body + W_body*W_dot_body))
|
- V_body*(U_body*U_dot_body + W_body*W_dot_body))
|
||||||
/(V_rel_wind*V_rel_wind*sqrt(v_XZ_plane_2));
|
/(V_rel_wind*V_rel_wind*sqrt(v_XZ_plane_2));
|
||||||
}
|
}
|
||||||
|
|
||||||
/* Calculate flight path and other flight condition values */
|
/* Calculate flight path and other flight condition values */
|
||||||
|
|
||||||
if (U_body == 0)
|
if (U_body == 0)
|
||||||
Std_Alpha = 0;
|
Std_Alpha = 0;
|
||||||
else
|
else
|
||||||
Std_Alpha = atan2( W_body, U_body );
|
Std_Alpha = atan2( W_body, U_body );
|
||||||
|
|
||||||
Cos_alpha = cos(Std_Alpha);
|
Cos_alpha = cos(Std_Alpha);
|
||||||
Sin_alpha = sin(Std_Alpha);
|
Sin_alpha = sin(Std_Alpha);
|
||||||
|
|
||||||
if (V_rel_wind == 0)
|
if (V_rel_wind == 0)
|
||||||
Std_Beta = 0;
|
Std_Beta = 0;
|
||||||
else
|
else
|
||||||
Std_Beta = asin( V_body/ V_rel_wind );
|
Std_Beta = asin( V_body/ V_rel_wind );
|
||||||
|
|
||||||
Cos_beta = cos(Std_Beta);
|
Cos_beta = cos(Std_Beta);
|
||||||
Sin_beta = sin(Std_Beta);
|
Sin_beta = sin(Std_Beta);
|
||||||
|
|
||||||
V_true_kts = V_rel_wind * V_TO_KNOTS;
|
V_true_kts = V_rel_wind * V_TO_KNOTS;
|
||||||
|
|
||||||
V_ground_speed = sqrt(V_north_rel_ground*V_north_rel_ground
|
V_ground_speed = sqrt(V_north_rel_ground*V_north_rel_ground
|
||||||
+ V_east_rel_ground*V_east_rel_ground );
|
+ V_east_rel_ground*V_east_rel_ground );
|
||||||
|
|
||||||
V_rel_ground = sqrt(V_ground_speed*V_ground_speed
|
V_rel_ground = sqrt(V_ground_speed*V_ground_speed
|
||||||
+ V_down_rel_ground*V_down_rel_ground );
|
+ V_down_rel_ground*V_down_rel_ground );
|
||||||
|
|
||||||
v_tangential = sqrt(V_north*V_north + V_east*V_east);
|
v_tangential = sqrt(V_north*V_north + V_east*V_east);
|
||||||
|
|
||||||
V_inertial = sqrt(v_tangential*v_tangential + V_down*V_down);
|
V_inertial = sqrt(v_tangential*v_tangential + V_down*V_down);
|
||||||
|
|
||||||
if( (V_ground_speed == 0) && (V_down == 0) )
|
if( (V_ground_speed == 0) && (V_down == 0) )
|
||||||
Gamma_vert_rad = 0;
|
Gamma_vert_rad = 0;
|
||||||
else
|
else
|
||||||
Gamma_vert_rad = atan2( -V_down, V_ground_speed );
|
Gamma_vert_rad = atan2( -V_down, V_ground_speed );
|
||||||
|
|
||||||
if( (V_north_rel_ground == 0) && (V_east_rel_ground == 0) )
|
if( (V_north_rel_ground == 0) && (V_east_rel_ground == 0) )
|
||||||
Gamma_horiz_rad = 0;
|
Gamma_horiz_rad = 0;
|
||||||
else
|
else
|
||||||
Gamma_horiz_rad = atan2( V_east_rel_ground, V_north_rel_ground );
|
Gamma_horiz_rad = atan2( V_east_rel_ground, V_north_rel_ground );
|
||||||
|
|
||||||
if (Gamma_horiz_rad < 0)
|
if (Gamma_horiz_rad < 0)
|
||||||
Gamma_horiz_rad = Gamma_horiz_rad + 2*LS_PI;
|
Gamma_horiz_rad = Gamma_horiz_rad + 2*LS_PI;
|
||||||
|
|
||||||
/* Calculate local gravity */
|
/* Calculate local gravity */
|
||||||
|
|
||||||
ls_gravity( Radius_to_vehicle, Lat_geocentric, &Gravity );
|
ls_gravity( Radius_to_vehicle, Lat_geocentric, &Gravity );
|
||||||
|
|
||||||
/* call function for (smoothed) density ratio, sonic velocity, and
|
/* call function for (smoothed) density ratio, sonic velocity, and
|
||||||
ambient pressure */
|
ambient pressure */
|
||||||
|
|
||||||
ls_atmos(Altitude, &Sigma, &V_sound,
|
ls_atmos(Altitude, &Sigma, &V_sound,
|
||||||
&Static_temperature, &Static_pressure);
|
&Static_temperature, &Static_pressure);
|
||||||
|
|
||||||
Density = Sigma*SEA_LEVEL_DENSITY;
|
Density = Sigma*SEA_LEVEL_DENSITY;
|
||||||
|
|
||||||
Mach_number = V_rel_wind / V_sound;
|
Mach_number = V_rel_wind / V_sound;
|
||||||
|
|
||||||
V_equiv = V_rel_wind*sqrt(Sigma);
|
V_equiv = V_rel_wind*sqrt(Sigma);
|
||||||
|
|
||||||
V_equiv_kts = V_equiv*V_TO_KNOTS;
|
V_equiv_kts = V_equiv*V_TO_KNOTS;
|
||||||
|
|
||||||
/* calculate temperature and pressure ratios (from [1]) */
|
/* calculate temperature and pressure ratios (from [1]) */
|
||||||
|
|
||||||
mach2 = Mach_number*Mach_number;
|
mach2 = Mach_number*Mach_number;
|
||||||
temp_ratio = 1.0 + 0.2*mach2;
|
temp_ratio = 1.0 + 0.2*mach2;
|
||||||
tmp = 3.5;
|
tmp = 3.5;
|
||||||
pres_ratio = pow( temp_ratio, tmp );
|
pres_ratio = pow( temp_ratio, tmp );
|
||||||
|
|
||||||
Total_temperature = temp_ratio*Static_temperature;
|
Total_temperature = temp_ratio*Static_temperature;
|
||||||
Total_pressure = pres_ratio*Static_pressure;
|
Total_pressure = pres_ratio*Static_pressure;
|
||||||
|
|
||||||
/* calculate impact and dynamic pressures */
|
/* calculate impact and dynamic pressures */
|
||||||
|
|
||||||
Impact_pressure = Total_pressure - Static_pressure;
|
Impact_pressure = Total_pressure - Static_pressure;
|
||||||
|
|
||||||
Dynamic_pressure = 0.5*Density*V_rel_wind*V_rel_wind;
|
Dynamic_pressure = 0.5*Density*V_rel_wind*V_rel_wind;
|
||||||
|
|
||||||
/* calculate calibrated airspeed indication */
|
/* calculate calibrated airspeed indication */
|
||||||
|
|
||||||
V_calibrated = sqrt( 2.0*Dynamic_pressure / SEA_LEVEL_DENSITY );
|
V_calibrated = sqrt( 2.0*Dynamic_pressure / SEA_LEVEL_DENSITY );
|
||||||
V_calibrated_kts = V_calibrated*V_TO_KNOTS;
|
V_calibrated_kts = V_calibrated*V_TO_KNOTS;
|
||||||
|
|
||||||
Centrifugal_relief = 1 - v_tangential/(Radius_to_vehicle*Gravity);
|
Centrifugal_relief = 1 - v_tangential/(Radius_to_vehicle*Gravity);
|
||||||
|
|
||||||
/* Determine location in runway coordinates */
|
/* Determine location in runway coordinates */
|
||||||
|
|
||||||
Radius_to_rwy = Sea_level_radius + Runway_altitude;
|
Radius_to_rwy = Sea_level_radius + Runway_altitude;
|
||||||
cos_rwy_hdg = cos(Runway_heading*DEG_TO_RAD);
|
cos_rwy_hdg = cos(Runway_heading*DEG_TO_RAD);
|
||||||
sin_rwy_hdg = sin(Runway_heading*DEG_TO_RAD);
|
sin_rwy_hdg = sin(Runway_heading*DEG_TO_RAD);
|
||||||
|
|
||||||
D_cg_north_of_rwy = Radius_to_rwy*(Latitude - Runway_latitude);
|
D_cg_north_of_rwy = Radius_to_rwy*(Latitude - Runway_latitude);
|
||||||
D_cg_east_of_rwy = Radius_to_rwy*cos(Runway_latitude)
|
D_cg_east_of_rwy = Radius_to_rwy*cos(Runway_latitude)
|
||||||
*(Longitude - Runway_longitude);
|
*(Longitude - Runway_longitude);
|
||||||
D_cg_above_rwy = Radius_to_vehicle - Radius_to_rwy;
|
D_cg_above_rwy = Radius_to_vehicle - Radius_to_rwy;
|
||||||
|
|
||||||
X_cg_rwy = D_cg_north_of_rwy*cos_rwy_hdg
|
X_cg_rwy = D_cg_north_of_rwy*cos_rwy_hdg
|
||||||
+ D_cg_east_of_rwy*sin_rwy_hdg;
|
+ D_cg_east_of_rwy*sin_rwy_hdg;
|
||||||
Y_cg_rwy =-D_cg_north_of_rwy*sin_rwy_hdg
|
Y_cg_rwy =-D_cg_north_of_rwy*sin_rwy_hdg
|
||||||
+ D_cg_east_of_rwy*cos_rwy_hdg;
|
+ D_cg_east_of_rwy*cos_rwy_hdg;
|
||||||
H_cg_rwy = D_cg_above_rwy;
|
H_cg_rwy = D_cg_above_rwy;
|
||||||
|
|
||||||
dx_pilot_from_cg = Dx_pilot - Dx_cg;
|
dx_pilot_from_cg = Dx_pilot - Dx_cg;
|
||||||
dy_pilot_from_cg = Dy_pilot - Dy_cg;
|
dy_pilot_from_cg = Dy_pilot - Dy_cg;
|
||||||
dz_pilot_from_cg = Dz_pilot - Dz_cg;
|
dz_pilot_from_cg = Dz_pilot - Dz_cg;
|
||||||
|
|
||||||
D_pilot_north_of_rwy = D_cg_north_of_rwy
|
D_pilot_north_of_rwy = D_cg_north_of_rwy
|
||||||
+ T_local_to_body_11*dx_pilot_from_cg
|
+ T_local_to_body_11*dx_pilot_from_cg
|
||||||
+ T_local_to_body_21*dy_pilot_from_cg
|
+ T_local_to_body_21*dy_pilot_from_cg
|
||||||
+ T_local_to_body_31*dz_pilot_from_cg;
|
+ T_local_to_body_31*dz_pilot_from_cg;
|
||||||
D_pilot_east_of_rwy = D_cg_east_of_rwy
|
D_pilot_east_of_rwy = D_cg_east_of_rwy
|
||||||
+ T_local_to_body_12*dx_pilot_from_cg
|
+ T_local_to_body_12*dx_pilot_from_cg
|
||||||
+ T_local_to_body_22*dy_pilot_from_cg
|
+ T_local_to_body_22*dy_pilot_from_cg
|
||||||
+ T_local_to_body_32*dz_pilot_from_cg;
|
+ T_local_to_body_32*dz_pilot_from_cg;
|
||||||
D_pilot_above_rwy = D_cg_above_rwy
|
D_pilot_above_rwy = D_cg_above_rwy
|
||||||
- T_local_to_body_13*dx_pilot_from_cg
|
- T_local_to_body_13*dx_pilot_from_cg
|
||||||
- T_local_to_body_23*dy_pilot_from_cg
|
- T_local_to_body_23*dy_pilot_from_cg
|
||||||
- T_local_to_body_33*dz_pilot_from_cg;
|
- T_local_to_body_33*dz_pilot_from_cg;
|
||||||
|
|
||||||
X_pilot_rwy = D_pilot_north_of_rwy*cos_rwy_hdg
|
X_pilot_rwy = D_pilot_north_of_rwy*cos_rwy_hdg
|
||||||
+ D_pilot_east_of_rwy*sin_rwy_hdg;
|
+ D_pilot_east_of_rwy*sin_rwy_hdg;
|
||||||
Y_pilot_rwy = -D_pilot_north_of_rwy*sin_rwy_hdg
|
Y_pilot_rwy = -D_pilot_north_of_rwy*sin_rwy_hdg
|
||||||
+ D_pilot_east_of_rwy*cos_rwy_hdg;
|
+ D_pilot_east_of_rwy*cos_rwy_hdg;
|
||||||
H_pilot_rwy = D_pilot_above_rwy;
|
H_pilot_rwy = D_pilot_above_rwy;
|
||||||
|
|
||||||
/* Calculate Euler rates */
|
/* Calculate Euler rates */
|
||||||
|
|
||||||
Sin_phi = sin(Phi);
|
Sin_phi = sin(Phi);
|
||||||
Cos_phi = cos(Phi);
|
Cos_phi = cos(Phi);
|
||||||
Sin_theta = sin(Theta);
|
Sin_theta = sin(Theta);
|
||||||
Cos_theta = cos(Theta);
|
Cos_theta = cos(Theta);
|
||||||
Sin_psi = sin(Psi);
|
Sin_psi = sin(Psi);
|
||||||
Cos_psi = cos(Psi);
|
Cos_psi = cos(Psi);
|
||||||
|
|
||||||
if( Cos_theta == 0 )
|
if( Cos_theta == 0 )
|
||||||
Psi_dot = 0;
|
Psi_dot = 0;
|
||||||
else
|
else
|
||||||
Psi_dot = (Q_total*Sin_phi + R_total*Cos_phi)/Cos_theta;
|
Psi_dot = (Q_total*Sin_phi + R_total*Cos_phi)/Cos_theta;
|
||||||
|
|
||||||
Theta_dot = Q_total*Cos_phi - R_total*Sin_phi;
|
Theta_dot = Q_total*Cos_phi - R_total*Sin_phi;
|
||||||
Phi_dot = P_total + Psi_dot*Sin_theta;
|
Phi_dot = P_total + Psi_dot*Sin_theta;
|
||||||
|
|
||||||
/* end of ls_aux */
|
/* end of ls_aux */
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -1,37 +1,37 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: ls_cockpit.h
|
TITLE: ls_cockpit.h
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: Header for cockpit IO
|
FUNCTION: Header for cockpit IO
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: Developmental
|
MODULE STATUS: Developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Created 20 DEC 93 by E. B. Jackson
|
GENEALOGY: Created 20 DEC 93 by E. B. Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: E. B. Jackson
|
DESIGNED BY: E. B. Jackson
|
||||||
|
|
||||||
CODED BY: E. B. Jackson
|
CODED BY: E. B. Jackson
|
||||||
|
|
||||||
MAINTAINED BY: E. B. Jackson
|
MAINTAINED BY: E. B. Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
950314 Added "throttle_pct" field to cockpit header for both
|
950314 Added "throttle_pct" field to cockpit header for both
|
||||||
display and trim purposes. EBJ
|
display and trim purposes. EBJ
|
||||||
|
|
||||||
CURRENT RCS HEADER:
|
CURRENT RCS HEADER:
|
||||||
|
|
||||||
$Header$
|
$Header$
|
||||||
$Log$
|
$Log$
|
||||||
|
|
@ -103,24 +103,24 @@ typedef struct {
|
||||||
|
|
||||||
extern COCKPIT cockpit_;
|
extern COCKPIT cockpit_;
|
||||||
|
|
||||||
#define Left_button cockpit_.left_pb_on_stick
|
#define Left_button cockpit_.left_pb_on_stick
|
||||||
#define Right_button cockpit_.right_pb_on_stick
|
#define Right_button cockpit_.right_pb_on_stick
|
||||||
#define Rudder_pedal cockpit_.rudder_pedal
|
#define Rudder_pedal cockpit_.rudder_pedal
|
||||||
#define Flap_handle cockpit_.flap_handle
|
#define Flap_handle cockpit_.flap_handle
|
||||||
#define Throttle cockpit_.throttle
|
#define Throttle cockpit_.throttle
|
||||||
#define Throttle_pct cockpit_.throttle_pct
|
#define Throttle_pct cockpit_.throttle_pct
|
||||||
#define First_trigger cockpit_.trig_pos_1
|
#define First_trigger cockpit_.trig_pos_1
|
||||||
#define Second_trigger cockpit_.trig_pos_2
|
#define Second_trigger cockpit_.trig_pos_2
|
||||||
#define Long_control cockpit_.long_stick
|
#define Long_control cockpit_.long_stick
|
||||||
#define Long_trim cockpit_.long_trim
|
#define Long_trim cockpit_.long_trim
|
||||||
#define Lat_control cockpit_.lat_stick
|
#define Lat_control cockpit_.lat_stick
|
||||||
#define Fwd_trim cockpit_.forward_trim
|
#define Fwd_trim cockpit_.forward_trim
|
||||||
#define Aft_trim cockpit_.aft_trim
|
#define Aft_trim cockpit_.aft_trim
|
||||||
#define Left_trim cockpit_.left_trim
|
#define Left_trim cockpit_.left_trim
|
||||||
#define Right_trim cockpit_.right_trim
|
#define Right_trim cockpit_.right_trim
|
||||||
#define SB_extend cockpit_.sb_extend
|
#define SB_extend cockpit_.sb_extend
|
||||||
#define SB_retract cockpit_.sb_retract
|
#define SB_retract cockpit_.sb_retract
|
||||||
#define Gear_sel_up cockpit_.gear_sel_up
|
#define Gear_sel_up cockpit_.gear_sel_up
|
||||||
#define Brake_pct cockpit_.brake_pct
|
#define Brake_pct cockpit_.brake_pct
|
||||||
|
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -1,67 +1,67 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: ls_constants.h
|
TITLE: ls_constants.h
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: LaRCSim constants definition header file
|
FUNCTION: LaRCSim constants definition header file
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Created 15 DEC 1993 by Bruce Jackson; was part of
|
GENEALOGY: Created 15 DEC 1993 by Bruce Jackson; was part of
|
||||||
old ls_eom.h header file
|
old ls_eom.h header file
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: B. Jackson
|
DESIGNED BY: B. Jackson
|
||||||
|
|
||||||
CODED BY: B. Jackson
|
CODED BY: B. Jackson
|
||||||
|
|
||||||
MAINTAINED BY: guess who
|
MAINTAINED BY: guess who
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
[ 1] McFarland, Richard E.: "A Standard Kinematic Model
|
[ 1] McFarland, Richard E.: "A Standard Kinematic Model
|
||||||
for Flight Simulation at NASA-Ames", NASA CR-2497,
|
for Flight Simulation at NASA-Ames", NASA CR-2497,
|
||||||
January 1975
|
January 1975
|
||||||
|
|
||||||
[ 2] ANSI/AIAA R-004-1992 "Recommended Practice: Atmos-
|
[ 2] ANSI/AIAA R-004-1992 "Recommended Practice: Atmos-
|
||||||
pheric and Space Flight Vehicle Coordinate Systems",
|
pheric and Space Flight Vehicle Coordinate Systems",
|
||||||
February 1992
|
February 1992
|
||||||
|
|
||||||
[ 3] Beyer, William H., editor: "CRC Standard Mathematical
|
[ 3] Beyer, William H., editor: "CRC Standard Mathematical
|
||||||
Tables, 28th edition", CRC Press, Boca Raton, FL, 1987,
|
Tables, 28th edition", CRC Press, Boca Raton, FL, 1987,
|
||||||
ISBN 0-8493-0628-0
|
ISBN 0-8493-0628-0
|
||||||
|
|
||||||
[ 4] Dowdy, M. C.; Jackson, E. B.; and Nichols, J. H.:
|
[ 4] Dowdy, M. C.; Jackson, E. B.; and Nichols, J. H.:
|
||||||
"Controls Analysis and Simulation Test Loop Environ-
|
"Controls Analysis and Simulation Test Loop Environ-
|
||||||
ment (CASTLE) Programmer's Guide, Version 1.3",
|
ment (CASTLE) Programmer's Guide, Version 1.3",
|
||||||
NATC TM 89-11, 30 March 1989.
|
NATC TM 89-11, 30 March 1989.
|
||||||
|
|
||||||
[ 5] Halliday, David; and Resnick, Robert: "Fundamentals
|
[ 5] Halliday, David; and Resnick, Robert: "Fundamentals
|
||||||
of Physics, Revised Printing", Wiley and Sons, 1974.
|
of Physics, Revised Printing", Wiley and Sons, 1974.
|
||||||
ISBN 0-471-34431-1
|
ISBN 0-471-34431-1
|
||||||
|
|
||||||
[ 6] Anon: "U. S. Standard Atmosphere, 1962"
|
[ 6] Anon: "U. S. Standard Atmosphere, 1962"
|
||||||
|
|
||||||
[ 7] Anon: "Aeronautical Vest Pocket Handbook, 17th edition",
|
[ 7] Anon: "Aeronautical Vest Pocket Handbook, 17th edition",
|
||||||
Pratt & Whitney Aircraft Group, Dec. 1977
|
Pratt & Whitney Aircraft Group, Dec. 1977
|
||||||
|
|
||||||
[ 8] Stevens, Brian L.; and Lewis, Frank L.: "Aircraft
|
[ 8] Stevens, Brian L.; and Lewis, Frank L.: "Aircraft
|
||||||
Control and Simulation", Wiley and Sons, 1992.
|
Control and Simulation", Wiley and Sons, 1992.
|
||||||
ISBN 0-471-61397-5
|
ISBN 0-471-61397-5
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
|
|
||||||
|
|
@ -81,22 +81,22 @@
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/* Define constants (note: many factors will need to change for other
|
/* Define constants (note: many factors will need to change for other
|
||||||
systems of measure) */
|
systems of measure) */
|
||||||
|
|
||||||
/* Value of Pi from ref [3] */
|
/* Value of Pi from ref [3] */
|
||||||
#define LS_PI 3.14159265358979323846264338327950288419716939967511
|
#define LS_PI 3.14159265358979323846264338327950288419716939967511
|
||||||
|
|
||||||
/* Value of earth radius from [8], ft */
|
/* Value of earth radius from [8], ft */
|
||||||
#define EQUATORIAL_RADIUS 20925650.
|
#define EQUATORIAL_RADIUS 20925650.
|
||||||
#define RESQ 437882827922500.
|
#define RESQ 437882827922500.
|
||||||
|
|
||||||
/* Value of earth flattening parameter from ref [8]
|
/* Value of earth flattening parameter from ref [8]
|
||||||
|
|
||||||
Note: FP = f
|
Note: FP = f
|
||||||
E = 1-f
|
E = 1-f
|
||||||
EPS = sqrt(1-(1-f)^2) */
|
EPS = sqrt(1-(1-f)^2) */
|
||||||
|
|
||||||
#define FP .003352813178
|
#define FP .003352813178
|
||||||
#define E .996647186
|
#define E .996647186
|
||||||
#define EPS .081819221
|
#define EPS .081819221
|
||||||
#define INVG .031080997
|
#define INVG .031080997
|
||||||
|
|
@ -105,21 +105,21 @@
|
||||||
#define OMEGA_EARTH .00007272205217
|
#define OMEGA_EARTH .00007272205217
|
||||||
|
|
||||||
/* miscellaneous units conversions (ref [7]) */
|
/* miscellaneous units conversions (ref [7]) */
|
||||||
#define V_TO_KNOTS 0.5921
|
#define V_TO_KNOTS 0.5921
|
||||||
#define DEG_TO_RAD 0.017453292
|
#define DEG_TO_RAD 0.017453292
|
||||||
#define RAD_TO_DEG 57.29577951
|
#define RAD_TO_DEG 57.29577951
|
||||||
#define FT_TO_METERS 0.3048
|
#define FT_TO_METERS 0.3048
|
||||||
#define METERS_TO_FT 3.2808
|
#define METERS_TO_FT 3.2808
|
||||||
#define K_TO_R 1.8
|
#define K_TO_R 1.8
|
||||||
#define R_TO_K 0.55555556
|
#define R_TO_K 0.55555556
|
||||||
#define NSM_TO_PSF 0.02088547
|
#define NSM_TO_PSF 0.02088547
|
||||||
#define PSF_TO_NSM 47.8801826
|
#define PSF_TO_NSM 47.8801826
|
||||||
#define KCM_TO_SCF 0.00194106
|
#define KCM_TO_SCF 0.00194106
|
||||||
#define SCF_TO_KCM 515.183616
|
#define SCF_TO_KCM 515.183616
|
||||||
|
|
||||||
|
|
||||||
/* ENGLISH Atmospheric reference properties [6] */
|
/* ENGLISH Atmospheric reference properties [6] */
|
||||||
#define SEA_LEVEL_DENSITY 0.002376888
|
#define SEA_LEVEL_DENSITY 0.002376888
|
||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -1,68 +1,68 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: ls_generic.h
|
TITLE: ls_generic.h
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: LaRCSim generic parameters header file
|
FUNCTION: LaRCSim generic parameters header file
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Created 15 DEC 1993 by Bruce Jackson;
|
GENEALOGY: Created 15 DEC 1993 by Bruce Jackson;
|
||||||
was part of old ls_eom.h header
|
was part of old ls_eom.h header
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: B. Jackson
|
DESIGNED BY: B. Jackson
|
||||||
|
|
||||||
CODED BY: B. Jackson
|
CODED BY: B. Jackson
|
||||||
|
|
||||||
MAINTAINED BY: guess who
|
MAINTAINED BY: guess who
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
[ 1] McFarland, Richard E.: "A Standard Kinematic Model
|
[ 1] McFarland, Richard E.: "A Standard Kinematic Model
|
||||||
for Flight Simulation at NASA-Ames", NASA CR-2497,
|
for Flight Simulation at NASA-Ames", NASA CR-2497,
|
||||||
January 1975
|
January 1975
|
||||||
|
|
||||||
[ 2] ANSI/AIAA R-004-1992 "Recommended Practice: Atmos-
|
[ 2] ANSI/AIAA R-004-1992 "Recommended Practice: Atmos-
|
||||||
pheric and Space Flight Vehicle Coordinate Systems",
|
pheric and Space Flight Vehicle Coordinate Systems",
|
||||||
February 1992
|
February 1992
|
||||||
|
|
||||||
[ 3] Beyer, William H., editor: "CRC Standard Mathematical
|
[ 3] Beyer, William H., editor: "CRC Standard Mathematical
|
||||||
Tables, 28th edition", CRC Press, Boca Raton, FL, 1987,
|
Tables, 28th edition", CRC Press, Boca Raton, FL, 1987,
|
||||||
ISBN 0-8493-0628-0
|
ISBN 0-8493-0628-0
|
||||||
|
|
||||||
[ 4] Dowdy, M. C.; Jackson, E. B.; and Nichols, J. H.:
|
[ 4] Dowdy, M. C.; Jackson, E. B.; and Nichols, J. H.:
|
||||||
"Controls Analysis and Simulation Test Loop Environ-
|
"Controls Analysis and Simulation Test Loop Environ-
|
||||||
ment (CASTLE) Programmer's Guide, Version 1.3",
|
ment (CASTLE) Programmer's Guide, Version 1.3",
|
||||||
NATC TM 89-11, 30 March 1989.
|
NATC TM 89-11, 30 March 1989.
|
||||||
|
|
||||||
[ 5] Halliday, David; and Resnick, Robert: "Fundamentals
|
[ 5] Halliday, David; and Resnick, Robert: "Fundamentals
|
||||||
of Physics, Revised Printing", Wiley and Sons, 1974.
|
of Physics, Revised Printing", Wiley and Sons, 1974.
|
||||||
ISBN 0-471-34431-1
|
ISBN 0-471-34431-1
|
||||||
|
|
||||||
[ 6] Anon: "U. S. Standard Atmosphere, 1962"
|
[ 6] Anon: "U. S. Standard Atmosphere, 1962"
|
||||||
|
|
||||||
[ 7] Anon: "Aeronautical Vest Pocket Handbook, 17th edition",
|
[ 7] Anon: "Aeronautical Vest Pocket Handbook, 17th edition",
|
||||||
Pratt & Whitney Aircraft Group, Dec. 1977
|
Pratt & Whitney Aircraft Group, Dec. 1977
|
||||||
|
|
||||||
[ 8] Stevens, Brian L.; and Lewis, Frank L.: "Aircraft
|
[ 8] Stevens, Brian L.; and Lewis, Frank L.: "Aircraft
|
||||||
Control and Simulation", Wiley and Sons, 1992.
|
Control and Simulation", Wiley and Sons, 1992.
|
||||||
ISBN 0-471-61397-5
|
ISBN 0-471-61397-5
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
|
|
||||||
|
|
@ -82,340 +82,340 @@ extern "C" {
|
||||||
typedef struct {
|
typedef struct {
|
||||||
|
|
||||||
/*================== Mass properties and geometry values ==================*/
|
/*================== Mass properties and geometry values ==================*/
|
||||||
|
|
||||||
DATA mass, i_xx, i_yy, i_zz, i_xz; /* Inertias */
|
DATA mass, i_xx, i_yy, i_zz, i_xz; /* Inertias */
|
||||||
#define Mass generic_.mass
|
#define Mass generic_.mass
|
||||||
#define I_xx generic_.i_xx
|
#define I_xx generic_.i_xx
|
||||||
#define I_yy generic_.i_yy
|
#define I_yy generic_.i_yy
|
||||||
#define I_zz generic_.i_zz
|
#define I_zz generic_.i_zz
|
||||||
#define I_xz generic_.i_xz
|
#define I_xz generic_.i_xz
|
||||||
|
|
||||||
VECTOR_3 d_pilot_rp_body_v; /* Pilot location rel to ref pt */
|
VECTOR_3 d_pilot_rp_body_v; /* Pilot location rel to ref pt */
|
||||||
#define D_pilot_rp_body_v generic_.d_pilot_rp_body_v
|
#define D_pilot_rp_body_v generic_.d_pilot_rp_body_v
|
||||||
#define Dx_pilot generic_.d_pilot_rp_body_v[0]
|
#define Dx_pilot generic_.d_pilot_rp_body_v[0]
|
||||||
#define Dy_pilot generic_.d_pilot_rp_body_v[1]
|
#define Dy_pilot generic_.d_pilot_rp_body_v[1]
|
||||||
#define Dz_pilot generic_.d_pilot_rp_body_v[2]
|
#define Dz_pilot generic_.d_pilot_rp_body_v[2]
|
||||||
|
|
||||||
VECTOR_3 d_cg_rp_body_v; /* CG position w.r.t. ref. point */
|
VECTOR_3 d_cg_rp_body_v; /* CG position w.r.t. ref. point */
|
||||||
#define D_cg_rp_body_v generic_.d_cg_rp_body_v
|
#define D_cg_rp_body_v generic_.d_cg_rp_body_v
|
||||||
#define Dx_cg generic_.d_cg_rp_body_v[0]
|
#define Dx_cg generic_.d_cg_rp_body_v[0]
|
||||||
#define Dy_cg generic_.d_cg_rp_body_v[1]
|
#define Dy_cg generic_.d_cg_rp_body_v[1]
|
||||||
#define Dz_cg generic_.d_cg_rp_body_v[2]
|
#define Dz_cg generic_.d_cg_rp_body_v[2]
|
||||||
|
|
||||||
/*================================ Forces =================================*/
|
/*================================ Forces =================================*/
|
||||||
|
|
||||||
VECTOR_3 f_body_total_v;
|
VECTOR_3 f_body_total_v;
|
||||||
#define F_body_total_v generic_.f_body_total_v
|
#define F_body_total_v generic_.f_body_total_v
|
||||||
#define F_X generic_.f_body_total_v[0]
|
#define F_X generic_.f_body_total_v[0]
|
||||||
#define F_Y generic_.f_body_total_v[1]
|
#define F_Y generic_.f_body_total_v[1]
|
||||||
#define F_Z generic_.f_body_total_v[2]
|
#define F_Z generic_.f_body_total_v[2]
|
||||||
|
|
||||||
VECTOR_3 f_local_total_v;
|
VECTOR_3 f_local_total_v;
|
||||||
#define F_local_total_v generic_.f_local_total_v
|
#define F_local_total_v generic_.f_local_total_v
|
||||||
#define F_north generic_.f_local_total_v[0]
|
#define F_north generic_.f_local_total_v[0]
|
||||||
#define F_east generic_.f_local_total_v[1]
|
#define F_east generic_.f_local_total_v[1]
|
||||||
#define F_down generic_.f_local_total_v[2]
|
#define F_down generic_.f_local_total_v[2]
|
||||||
|
|
||||||
VECTOR_3 f_aero_v;
|
VECTOR_3 f_aero_v;
|
||||||
#define F_aero_v generic_.f_aero_v
|
#define F_aero_v generic_.f_aero_v
|
||||||
#define F_X_aero generic_.f_aero_v[0]
|
#define F_X_aero generic_.f_aero_v[0]
|
||||||
#define F_Y_aero generic_.f_aero_v[1]
|
#define F_Y_aero generic_.f_aero_v[1]
|
||||||
#define F_Z_aero generic_.f_aero_v[2]
|
#define F_Z_aero generic_.f_aero_v[2]
|
||||||
|
|
||||||
VECTOR_3 f_engine_v;
|
VECTOR_3 f_engine_v;
|
||||||
#define F_engine_v generic_.f_engine_v
|
#define F_engine_v generic_.f_engine_v
|
||||||
#define F_X_engine generic_.f_engine_v[0]
|
#define F_X_engine generic_.f_engine_v[0]
|
||||||
#define F_Y_engine generic_.f_engine_v[1]
|
#define F_Y_engine generic_.f_engine_v[1]
|
||||||
#define F_Z_engine generic_.f_engine_v[2]
|
#define F_Z_engine generic_.f_engine_v[2]
|
||||||
|
|
||||||
int use_external_engine;
|
int use_external_engine;
|
||||||
#define Use_External_Engine generic_.use_external_engine
|
#define Use_External_Engine generic_.use_external_engine
|
||||||
|
|
||||||
VECTOR_3 f_gear_v;
|
VECTOR_3 f_gear_v;
|
||||||
#define F_gear_v generic_.f_gear_v
|
#define F_gear_v generic_.f_gear_v
|
||||||
#define F_X_gear generic_.f_gear_v[0]
|
#define F_X_gear generic_.f_gear_v[0]
|
||||||
#define F_Y_gear generic_.f_gear_v[1]
|
#define F_Y_gear generic_.f_gear_v[1]
|
||||||
#define F_Z_gear generic_.f_gear_v[2]
|
#define F_Z_gear generic_.f_gear_v[2]
|
||||||
|
|
||||||
/*================================ Moments ================================*/
|
/*================================ Moments ================================*/
|
||||||
|
|
||||||
VECTOR_3 m_total_rp_v;
|
VECTOR_3 m_total_rp_v;
|
||||||
#define M_total_rp_v generic_.m_total_rp_v
|
#define M_total_rp_v generic_.m_total_rp_v
|
||||||
#define M_l_rp generic_.m_total_rp_v[0]
|
#define M_l_rp generic_.m_total_rp_v[0]
|
||||||
#define M_m_rp generic_.m_total_rp_v[1]
|
#define M_m_rp generic_.m_total_rp_v[1]
|
||||||
#define M_n_rp generic_.m_total_rp_v[2]
|
#define M_n_rp generic_.m_total_rp_v[2]
|
||||||
|
|
||||||
VECTOR_3 m_total_cg_v;
|
VECTOR_3 m_total_cg_v;
|
||||||
#define M_total_cg_v generic_.m_total_cg_v
|
#define M_total_cg_v generic_.m_total_cg_v
|
||||||
#define M_l_cg generic_.m_total_cg_v[0]
|
#define M_l_cg generic_.m_total_cg_v[0]
|
||||||
#define M_m_cg generic_.m_total_cg_v[1]
|
#define M_m_cg generic_.m_total_cg_v[1]
|
||||||
#define M_n_cg generic_.m_total_cg_v[2]
|
#define M_n_cg generic_.m_total_cg_v[2]
|
||||||
|
|
||||||
VECTOR_3 m_aero_v;
|
VECTOR_3 m_aero_v;
|
||||||
#define M_aero_v generic_.m_aero_v
|
#define M_aero_v generic_.m_aero_v
|
||||||
#define M_l_aero generic_.m_aero_v[0]
|
#define M_l_aero generic_.m_aero_v[0]
|
||||||
#define M_m_aero generic_.m_aero_v[1]
|
#define M_m_aero generic_.m_aero_v[1]
|
||||||
#define M_n_aero generic_.m_aero_v[2]
|
#define M_n_aero generic_.m_aero_v[2]
|
||||||
|
|
||||||
VECTOR_3 m_engine_v;
|
VECTOR_3 m_engine_v;
|
||||||
#define M_engine_v generic_.m_engine_v
|
#define M_engine_v generic_.m_engine_v
|
||||||
#define M_l_engine generic_.m_engine_v[0]
|
#define M_l_engine generic_.m_engine_v[0]
|
||||||
#define M_m_engine generic_.m_engine_v[1]
|
#define M_m_engine generic_.m_engine_v[1]
|
||||||
#define M_n_engine generic_.m_engine_v[2]
|
#define M_n_engine generic_.m_engine_v[2]
|
||||||
|
|
||||||
VECTOR_3 m_gear_v;
|
VECTOR_3 m_gear_v;
|
||||||
#define M_gear_v generic_.m_gear_v
|
#define M_gear_v generic_.m_gear_v
|
||||||
#define M_l_gear generic_.m_gear_v[0]
|
#define M_l_gear generic_.m_gear_v[0]
|
||||||
#define M_m_gear generic_.m_gear_v[1]
|
#define M_m_gear generic_.m_gear_v[1]
|
||||||
#define M_n_gear generic_.m_gear_v[2]
|
#define M_n_gear generic_.m_gear_v[2]
|
||||||
|
|
||||||
/*============================== Accelerations ============================*/
|
/*============================== Accelerations ============================*/
|
||||||
|
|
||||||
VECTOR_3 v_dot_local_v;
|
VECTOR_3 v_dot_local_v;
|
||||||
#define V_dot_local_v generic_.v_dot_local_v
|
#define V_dot_local_v generic_.v_dot_local_v
|
||||||
#define V_dot_north generic_.v_dot_local_v[0]
|
#define V_dot_north generic_.v_dot_local_v[0]
|
||||||
#define V_dot_east generic_.v_dot_local_v[1]
|
#define V_dot_east generic_.v_dot_local_v[1]
|
||||||
#define V_dot_down generic_.v_dot_local_v[2]
|
#define V_dot_down generic_.v_dot_local_v[2]
|
||||||
|
|
||||||
VECTOR_3 v_dot_body_v;
|
VECTOR_3 v_dot_body_v;
|
||||||
#define V_dot_body_v generic_.v_dot_body_v
|
#define V_dot_body_v generic_.v_dot_body_v
|
||||||
#define U_dot_body generic_.v_dot_body_v[0]
|
#define U_dot_body generic_.v_dot_body_v[0]
|
||||||
#define V_dot_body generic_.v_dot_body_v[1]
|
#define V_dot_body generic_.v_dot_body_v[1]
|
||||||
#define W_dot_body generic_.v_dot_body_v[2]
|
#define W_dot_body generic_.v_dot_body_v[2]
|
||||||
|
|
||||||
VECTOR_3 a_cg_body_v;
|
VECTOR_3 a_cg_body_v;
|
||||||
#define A_cg_body_v generic_.a_cg_body_v
|
#define A_cg_body_v generic_.a_cg_body_v
|
||||||
#define A_X_cg generic_.a_cg_body_v[0]
|
#define A_X_cg generic_.a_cg_body_v[0]
|
||||||
#define A_Y_cg generic_.a_cg_body_v[1]
|
#define A_Y_cg generic_.a_cg_body_v[1]
|
||||||
#define A_Z_cg generic_.a_cg_body_v[2]
|
#define A_Z_cg generic_.a_cg_body_v[2]
|
||||||
|
|
||||||
VECTOR_3 a_pilot_body_v;
|
VECTOR_3 a_pilot_body_v;
|
||||||
#define A_pilot_body_v generic_.a_pilot_body_v
|
#define A_pilot_body_v generic_.a_pilot_body_v
|
||||||
#define A_X_pilot generic_.a_pilot_body_v[0]
|
#define A_X_pilot generic_.a_pilot_body_v[0]
|
||||||
#define A_Y_pilot generic_.a_pilot_body_v[1]
|
#define A_Y_pilot generic_.a_pilot_body_v[1]
|
||||||
#define A_Z_pilot generic_.a_pilot_body_v[2]
|
#define A_Z_pilot generic_.a_pilot_body_v[2]
|
||||||
|
|
||||||
VECTOR_3 n_cg_body_v;
|
VECTOR_3 n_cg_body_v;
|
||||||
#define N_cg_body_v generic_.n_cg_body_v
|
#define N_cg_body_v generic_.n_cg_body_v
|
||||||
#define N_X_cg generic_.n_cg_body_v[0]
|
#define N_X_cg generic_.n_cg_body_v[0]
|
||||||
#define N_Y_cg generic_.n_cg_body_v[1]
|
#define N_Y_cg generic_.n_cg_body_v[1]
|
||||||
#define N_Z_cg generic_.n_cg_body_v[2]
|
#define N_Z_cg generic_.n_cg_body_v[2]
|
||||||
|
|
||||||
VECTOR_3 n_pilot_body_v;
|
VECTOR_3 n_pilot_body_v;
|
||||||
#define N_pilot_body_v generic_.n_pilot_body_v
|
#define N_pilot_body_v generic_.n_pilot_body_v
|
||||||
#define N_X_pilot generic_.n_pilot_body_v[0]
|
#define N_X_pilot generic_.n_pilot_body_v[0]
|
||||||
#define N_Y_pilot generic_.n_pilot_body_v[1]
|
#define N_Y_pilot generic_.n_pilot_body_v[1]
|
||||||
#define N_Z_pilot generic_.n_pilot_body_v[2]
|
#define N_Z_pilot generic_.n_pilot_body_v[2]
|
||||||
|
|
||||||
VECTOR_3 omega_dot_body_v;
|
VECTOR_3 omega_dot_body_v;
|
||||||
#define Omega_dot_body_v generic_.omega_dot_body_v
|
#define Omega_dot_body_v generic_.omega_dot_body_v
|
||||||
#define P_dot_body generic_.omega_dot_body_v[0]
|
#define P_dot_body generic_.omega_dot_body_v[0]
|
||||||
#define Q_dot_body generic_.omega_dot_body_v[1]
|
#define Q_dot_body generic_.omega_dot_body_v[1]
|
||||||
#define R_dot_body generic_.omega_dot_body_v[2]
|
#define R_dot_body generic_.omega_dot_body_v[2]
|
||||||
|
|
||||||
|
|
||||||
/*============================== Velocities ===============================*/
|
/*============================== Velocities ===============================*/
|
||||||
|
|
||||||
VECTOR_3 v_local_v;
|
VECTOR_3 v_local_v;
|
||||||
#define V_local_v generic_.v_local_v
|
#define V_local_v generic_.v_local_v
|
||||||
#define V_north generic_.v_local_v[0]
|
#define V_north generic_.v_local_v[0]
|
||||||
#define V_east generic_.v_local_v[1]
|
#define V_east generic_.v_local_v[1]
|
||||||
#define V_down generic_.v_local_v[2]
|
#define V_down generic_.v_local_v[2]
|
||||||
|
|
||||||
VECTOR_3 v_local_rel_ground_v; /* V rel w.r.t. earth surface */
|
VECTOR_3 v_local_rel_ground_v; /* V rel w.r.t. earth surface */
|
||||||
#define V_local_rel_ground_v generic_.v_local_rel_ground_v
|
#define V_local_rel_ground_v generic_.v_local_rel_ground_v
|
||||||
#define V_north_rel_ground generic_.v_local_rel_ground_v[0]
|
#define V_north_rel_ground generic_.v_local_rel_ground_v[0]
|
||||||
#define V_east_rel_ground generic_.v_local_rel_ground_v[1]
|
#define V_east_rel_ground generic_.v_local_rel_ground_v[1]
|
||||||
#define V_down_rel_ground generic_.v_local_rel_ground_v[2]
|
#define V_down_rel_ground generic_.v_local_rel_ground_v[2]
|
||||||
|
|
||||||
VECTOR_3 v_local_airmass_v; /* velocity of airmass (steady winds) */
|
VECTOR_3 v_local_airmass_v; /* velocity of airmass (steady winds) */
|
||||||
#define V_local_airmass_v generic_.v_local_airmass_v
|
#define V_local_airmass_v generic_.v_local_airmass_v
|
||||||
#define V_north_airmass generic_.v_local_airmass_v[0]
|
#define V_north_airmass generic_.v_local_airmass_v[0]
|
||||||
#define V_east_airmass generic_.v_local_airmass_v[1]
|
#define V_east_airmass generic_.v_local_airmass_v[1]
|
||||||
#define V_down_airmass generic_.v_local_airmass_v[2]
|
#define V_down_airmass generic_.v_local_airmass_v[2]
|
||||||
|
|
||||||
VECTOR_3 v_local_rel_airmass_v; /* velocity of veh. relative to airmass */
|
VECTOR_3 v_local_rel_airmass_v; /* velocity of veh. relative to airmass */
|
||||||
#define V_local_rel_airmass_v generic_.v_local_rel_airmass_v
|
#define V_local_rel_airmass_v generic_.v_local_rel_airmass_v
|
||||||
#define V_north_rel_airmass generic_.v_local_rel_airmass_v[0]
|
#define V_north_rel_airmass generic_.v_local_rel_airmass_v[0]
|
||||||
#define V_east_rel_airmass generic_.v_local_rel_airmass_v[1]
|
#define V_east_rel_airmass generic_.v_local_rel_airmass_v[1]
|
||||||
#define V_down_rel_airmass generic_.v_local_rel_airmass_v[2]
|
#define V_down_rel_airmass generic_.v_local_rel_airmass_v[2]
|
||||||
|
|
||||||
VECTOR_3 v_local_gust_v; /* linear turbulence components, L frame */
|
VECTOR_3 v_local_gust_v; /* linear turbulence components, L frame */
|
||||||
#define V_local_gust_v generic_.v_local_gust_v
|
#define V_local_gust_v generic_.v_local_gust_v
|
||||||
#define U_gust generic_.v_local_gust_v[0]
|
#define U_gust generic_.v_local_gust_v[0]
|
||||||
#define V_gust generic_.v_local_gust_v[1]
|
#define V_gust generic_.v_local_gust_v[1]
|
||||||
#define W_gust generic_.v_local_gust_v[2]
|
#define W_gust generic_.v_local_gust_v[2]
|
||||||
|
|
||||||
VECTOR_3 v_wind_body_v; /* Wind-relative velocities in body axis */
|
VECTOR_3 v_wind_body_v; /* Wind-relative velocities in body axis */
|
||||||
#define V_wind_body_v generic_.v_wind_body_v
|
#define V_wind_body_v generic_.v_wind_body_v
|
||||||
#define U_body generic_.v_wind_body_v[0]
|
#define U_body generic_.v_wind_body_v[0]
|
||||||
#define V_body generic_.v_wind_body_v[1]
|
#define V_body generic_.v_wind_body_v[1]
|
||||||
#define W_body generic_.v_wind_body_v[2]
|
#define W_body generic_.v_wind_body_v[2]
|
||||||
|
|
||||||
DATA v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
|
DATA v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
|
||||||
DATA v_ground_speed, v_equiv, v_equiv_kts;
|
DATA v_ground_speed, v_equiv, v_equiv_kts;
|
||||||
DATA v_calibrated, v_calibrated_kts;
|
DATA v_calibrated, v_calibrated_kts;
|
||||||
#define V_rel_wind generic_.v_rel_wind
|
#define V_rel_wind generic_.v_rel_wind
|
||||||
#define V_true_kts generic_.v_true_kts
|
#define V_true_kts generic_.v_true_kts
|
||||||
#define V_rel_ground generic_.v_rel_ground
|
#define V_rel_ground generic_.v_rel_ground
|
||||||
#define V_inertial generic_.v_inertial
|
#define V_inertial generic_.v_inertial
|
||||||
#define V_ground_speed generic_.v_ground_speed
|
#define V_ground_speed generic_.v_ground_speed
|
||||||
#define V_equiv generic_.v_equiv
|
#define V_equiv generic_.v_equiv
|
||||||
#define V_equiv_kts generic_.v_equiv_kts
|
#define V_equiv_kts generic_.v_equiv_kts
|
||||||
#define V_calibrated generic_.v_calibrated
|
#define V_calibrated generic_.v_calibrated
|
||||||
#define V_calibrated_kts generic_.v_calibrated_kts
|
#define V_calibrated_kts generic_.v_calibrated_kts
|
||||||
|
|
||||||
VECTOR_3 omega_body_v; /* Angular B rates */
|
VECTOR_3 omega_body_v; /* Angular B rates */
|
||||||
#define Omega_body_v generic_.omega_body_v
|
#define Omega_body_v generic_.omega_body_v
|
||||||
#define P_body generic_.omega_body_v[0]
|
#define P_body generic_.omega_body_v[0]
|
||||||
#define Q_body generic_.omega_body_v[1]
|
#define Q_body generic_.omega_body_v[1]
|
||||||
#define R_body generic_.omega_body_v[2]
|
#define R_body generic_.omega_body_v[2]
|
||||||
|
|
||||||
VECTOR_3 omega_local_v; /* Angular L rates */
|
VECTOR_3 omega_local_v; /* Angular L rates */
|
||||||
#define Omega_local_v generic_.omega_local_v
|
#define Omega_local_v generic_.omega_local_v
|
||||||
#define P_local generic_.omega_local_v[0]
|
#define P_local generic_.omega_local_v[0]
|
||||||
#define Q_local generic_.omega_local_v[1]
|
#define Q_local generic_.omega_local_v[1]
|
||||||
#define R_local generic_.omega_local_v[2]
|
#define R_local generic_.omega_local_v[2]
|
||||||
|
|
||||||
VECTOR_3 omega_total_v; /* Diff btw B & L */
|
VECTOR_3 omega_total_v; /* Diff btw B & L */
|
||||||
#define Omega_total_v generic_.omega_total_v
|
#define Omega_total_v generic_.omega_total_v
|
||||||
#define P_total generic_.omega_total_v[0]
|
#define P_total generic_.omega_total_v[0]
|
||||||
#define Q_total generic_.omega_total_v[1]
|
#define Q_total generic_.omega_total_v[1]
|
||||||
#define R_total generic_.omega_total_v[2]
|
#define R_total generic_.omega_total_v[2]
|
||||||
|
|
||||||
VECTOR_3 euler_rates_v;
|
VECTOR_3 euler_rates_v;
|
||||||
#define Euler_rates_v generic_.euler_rates_v
|
#define Euler_rates_v generic_.euler_rates_v
|
||||||
#define Phi_dot generic_.euler_rates_v[0]
|
#define Phi_dot generic_.euler_rates_v[0]
|
||||||
#define Theta_dot generic_.euler_rates_v[1]
|
#define Theta_dot generic_.euler_rates_v[1]
|
||||||
#define Psi_dot generic_.euler_rates_v[2]
|
#define Psi_dot generic_.euler_rates_v[2]
|
||||||
|
|
||||||
VECTOR_3 geocentric_rates_v; /* Geocentric linear velocities */
|
VECTOR_3 geocentric_rates_v; /* Geocentric linear velocities */
|
||||||
#define Geocentric_rates_v generic_.geocentric_rates_v
|
#define Geocentric_rates_v generic_.geocentric_rates_v
|
||||||
#define Latitude_dot generic_.geocentric_rates_v[0]
|
#define Latitude_dot generic_.geocentric_rates_v[0]
|
||||||
#define Longitude_dot generic_.geocentric_rates_v[1]
|
#define Longitude_dot generic_.geocentric_rates_v[1]
|
||||||
#define Radius_dot generic_.geocentric_rates_v[2]
|
#define Radius_dot generic_.geocentric_rates_v[2]
|
||||||
|
|
||||||
/*=============================== Positions ===============================*/
|
/*=============================== Positions ===============================*/
|
||||||
|
|
||||||
VECTOR_3 geocentric_position_v;
|
VECTOR_3 geocentric_position_v;
|
||||||
#define Geocentric_position_v generic_.geocentric_position_v
|
#define Geocentric_position_v generic_.geocentric_position_v
|
||||||
#define Lat_geocentric generic_.geocentric_position_v[0]
|
#define Lat_geocentric generic_.geocentric_position_v[0]
|
||||||
#define Lon_geocentric generic_.geocentric_position_v[1]
|
#define Lon_geocentric generic_.geocentric_position_v[1]
|
||||||
#define Radius_to_vehicle generic_.geocentric_position_v[2]
|
#define Radius_to_vehicle generic_.geocentric_position_v[2]
|
||||||
|
|
||||||
VECTOR_3 geodetic_position_v;
|
VECTOR_3 geodetic_position_v;
|
||||||
#define Geodetic_position_v generic_.geodetic_position_v
|
#define Geodetic_position_v generic_.geodetic_position_v
|
||||||
#define Latitude generic_.geodetic_position_v[0]
|
#define Latitude generic_.geodetic_position_v[0]
|
||||||
#define Longitude generic_.geodetic_position_v[1]
|
#define Longitude generic_.geodetic_position_v[1]
|
||||||
#define Altitude generic_.geodetic_position_v[2]
|
#define Altitude generic_.geodetic_position_v[2]
|
||||||
|
|
||||||
VECTOR_3 euler_angles_v;
|
VECTOR_3 euler_angles_v;
|
||||||
#define Euler_angles_v generic_.euler_angles_v
|
#define Euler_angles_v generic_.euler_angles_v
|
||||||
#define Phi generic_.euler_angles_v[0]
|
#define Phi generic_.euler_angles_v[0]
|
||||||
#define Theta generic_.euler_angles_v[1]
|
#define Theta generic_.euler_angles_v[1]
|
||||||
#define Psi generic_.euler_angles_v[2]
|
#define Psi generic_.euler_angles_v[2]
|
||||||
|
|
||||||
/*======================= Miscellaneous quantities ========================*/
|
/*======================= Miscellaneous quantities ========================*/
|
||||||
|
|
||||||
DATA t_local_to_body_m[3][3]; /* Transformation matrix L to B */
|
DATA t_local_to_body_m[3][3]; /* Transformation matrix L to B */
|
||||||
#define T_local_to_body_m generic_.t_local_to_body_m
|
#define T_local_to_body_m generic_.t_local_to_body_m
|
||||||
#define T_local_to_body_11 generic_.t_local_to_body_m[0][0]
|
#define T_local_to_body_11 generic_.t_local_to_body_m[0][0]
|
||||||
#define T_local_to_body_12 generic_.t_local_to_body_m[0][1]
|
#define T_local_to_body_12 generic_.t_local_to_body_m[0][1]
|
||||||
#define T_local_to_body_13 generic_.t_local_to_body_m[0][2]
|
#define T_local_to_body_13 generic_.t_local_to_body_m[0][2]
|
||||||
#define T_local_to_body_21 generic_.t_local_to_body_m[1][0]
|
#define T_local_to_body_21 generic_.t_local_to_body_m[1][0]
|
||||||
#define T_local_to_body_22 generic_.t_local_to_body_m[1][1]
|
#define T_local_to_body_22 generic_.t_local_to_body_m[1][1]
|
||||||
#define T_local_to_body_23 generic_.t_local_to_body_m[1][2]
|
#define T_local_to_body_23 generic_.t_local_to_body_m[1][2]
|
||||||
#define T_local_to_body_31 generic_.t_local_to_body_m[2][0]
|
#define T_local_to_body_31 generic_.t_local_to_body_m[2][0]
|
||||||
#define T_local_to_body_32 generic_.t_local_to_body_m[2][1]
|
#define T_local_to_body_32 generic_.t_local_to_body_m[2][1]
|
||||||
#define T_local_to_body_33 generic_.t_local_to_body_m[2][2]
|
#define T_local_to_body_33 generic_.t_local_to_body_m[2][2]
|
||||||
|
|
||||||
DATA gravity; /* Local acceleration due to G */
|
DATA gravity; /* Local acceleration due to G */
|
||||||
#define Gravity generic_.gravity
|
#define Gravity generic_.gravity
|
||||||
|
|
||||||
DATA centrifugal_relief; /* load factor reduction due to speed */
|
DATA centrifugal_relief; /* load factor reduction due to speed */
|
||||||
#define Centrifugal_relief generic_.centrifugal_relief
|
#define Centrifugal_relief generic_.centrifugal_relief
|
||||||
|
|
||||||
DATA alpha, beta, alpha_dot, beta_dot; /* in radians */
|
DATA alpha, beta, alpha_dot, beta_dot; /* in radians */
|
||||||
#define Std_Alpha generic_.alpha
|
#define Std_Alpha generic_.alpha
|
||||||
#define Std_Beta generic_.beta
|
#define Std_Beta generic_.beta
|
||||||
#define Std_Alpha_dot generic_.alpha_dot
|
#define Std_Alpha_dot generic_.alpha_dot
|
||||||
#define Std_Beta_dot generic_.beta_dot
|
#define Std_Beta_dot generic_.beta_dot
|
||||||
|
|
||||||
DATA cos_alpha, sin_alpha, cos_beta, sin_beta;
|
DATA cos_alpha, sin_alpha, cos_beta, sin_beta;
|
||||||
#define Cos_alpha generic_.cos_alpha
|
#define Cos_alpha generic_.cos_alpha
|
||||||
#define Sin_alpha generic_.sin_alpha
|
#define Sin_alpha generic_.sin_alpha
|
||||||
#define Cos_beta generic_.cos_beta
|
#define Cos_beta generic_.cos_beta
|
||||||
#define Sin_beta generic_.sin_beta
|
#define Sin_beta generic_.sin_beta
|
||||||
|
|
||||||
DATA cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
|
DATA cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
|
||||||
#define Cos_phi generic_.cos_phi
|
#define Cos_phi generic_.cos_phi
|
||||||
#define Sin_phi generic_.sin_phi
|
#define Sin_phi generic_.sin_phi
|
||||||
#define Cos_theta generic_.cos_theta
|
#define Cos_theta generic_.cos_theta
|
||||||
#define Sin_theta generic_.sin_theta
|
#define Sin_theta generic_.sin_theta
|
||||||
#define Cos_psi generic_.cos_psi
|
#define Cos_psi generic_.cos_psi
|
||||||
#define Sin_psi generic_.sin_psi
|
#define Sin_psi generic_.sin_psi
|
||||||
|
|
||||||
DATA gamma_vert_rad, gamma_horiz_rad; /* Flight path angles */
|
DATA gamma_vert_rad, gamma_horiz_rad; /* Flight path angles */
|
||||||
#define Gamma_vert_rad generic_.gamma_vert_rad
|
#define Gamma_vert_rad generic_.gamma_vert_rad
|
||||||
#define Gamma_horiz_rad generic_.gamma_horiz_rad
|
#define Gamma_horiz_rad generic_.gamma_horiz_rad
|
||||||
|
|
||||||
DATA sigma, density, v_sound, mach_number;
|
DATA sigma, density, v_sound, mach_number;
|
||||||
#define Sigma generic_.sigma
|
#define Sigma generic_.sigma
|
||||||
#define Density generic_.density
|
#define Density generic_.density
|
||||||
#define V_sound generic_.v_sound
|
#define V_sound generic_.v_sound
|
||||||
#define Mach_number generic_.mach_number
|
#define Mach_number generic_.mach_number
|
||||||
|
|
||||||
DATA static_pressure, total_pressure, impact_pressure, dynamic_pressure;
|
DATA static_pressure, total_pressure, impact_pressure, dynamic_pressure;
|
||||||
#define Static_pressure generic_.static_pressure
|
#define Static_pressure generic_.static_pressure
|
||||||
#define Total_pressure generic_.total_pressure
|
#define Total_pressure generic_.total_pressure
|
||||||
#define Impact_pressure generic_.impact_pressure
|
#define Impact_pressure generic_.impact_pressure
|
||||||
#define Dynamic_pressure generic_.dynamic_pressure
|
#define Dynamic_pressure generic_.dynamic_pressure
|
||||||
|
|
||||||
DATA static_temperature, total_temperature;
|
DATA static_temperature, total_temperature;
|
||||||
#define Static_temperature generic_.static_temperature
|
#define Static_temperature generic_.static_temperature
|
||||||
#define Total_temperature generic_.total_temperature
|
#define Total_temperature generic_.total_temperature
|
||||||
|
|
||||||
DATA sea_level_radius, earth_position_angle;
|
DATA sea_level_radius, earth_position_angle;
|
||||||
#define Sea_level_radius generic_.sea_level_radius
|
#define Sea_level_radius generic_.sea_level_radius
|
||||||
#define Earth_position_angle generic_.earth_position_angle
|
#define Earth_position_angle generic_.earth_position_angle
|
||||||
|
|
||||||
DATA runway_altitude, runway_latitude, runway_longitude, runway_heading;
|
DATA runway_altitude, runway_latitude, runway_longitude, runway_heading;
|
||||||
#define Runway_altitude generic_.runway_altitude
|
#define Runway_altitude generic_.runway_altitude
|
||||||
#define Runway_latitude generic_.runway_latitude
|
#define Runway_latitude generic_.runway_latitude
|
||||||
#define Runway_longitude generic_.runway_longitude
|
#define Runway_longitude generic_.runway_longitude
|
||||||
#define Runway_heading generic_.runway_heading
|
#define Runway_heading generic_.runway_heading
|
||||||
|
|
||||||
DATA radius_to_rwy;
|
DATA radius_to_rwy;
|
||||||
#define Radius_to_rwy generic_.radius_to_rwy
|
#define Radius_to_rwy generic_.radius_to_rwy
|
||||||
|
|
||||||
VECTOR_3 d_cg_rwy_local_v; /* CG rel. to rwy in local coords */
|
VECTOR_3 d_cg_rwy_local_v; /* CG rel. to rwy in local coords */
|
||||||
#define D_cg_rwy_local_v generic_.d_cg_rwy_local_v
|
#define D_cg_rwy_local_v generic_.d_cg_rwy_local_v
|
||||||
#define D_cg_north_of_rwy generic_.d_cg_rwy_local_v[0]
|
#define D_cg_north_of_rwy generic_.d_cg_rwy_local_v[0]
|
||||||
#define D_cg_east_of_rwy generic_.d_cg_rwy_local_v[1]
|
#define D_cg_east_of_rwy generic_.d_cg_rwy_local_v[1]
|
||||||
#define D_cg_above_rwy generic_.d_cg_rwy_local_v[2]
|
#define D_cg_above_rwy generic_.d_cg_rwy_local_v[2]
|
||||||
|
|
||||||
VECTOR_3 d_cg_rwy_rwy_v; /* CG relative to runway, in rwy coordinates */
|
VECTOR_3 d_cg_rwy_rwy_v; /* CG relative to runway, in rwy coordinates */
|
||||||
#define D_cg_rwy_rwy_v generic_.d_cg_rwy_rwy_v
|
#define D_cg_rwy_rwy_v generic_.d_cg_rwy_rwy_v
|
||||||
#define X_cg_rwy generic_.d_cg_rwy_rwy_v[0]
|
#define X_cg_rwy generic_.d_cg_rwy_rwy_v[0]
|
||||||
#define Y_cg_rwy generic_.d_cg_rwy_rwy_v[1]
|
#define Y_cg_rwy generic_.d_cg_rwy_rwy_v[1]
|
||||||
#define H_cg_rwy generic_.d_cg_rwy_rwy_v[2]
|
#define H_cg_rwy generic_.d_cg_rwy_rwy_v[2]
|
||||||
|
|
||||||
VECTOR_3 d_pilot_rwy_local_v; /* pilot rel. to rwy in local coords */
|
VECTOR_3 d_pilot_rwy_local_v; /* pilot rel. to rwy in local coords */
|
||||||
#define D_pilot_rwy_local_v generic_.d_pilot_rwy_local_v
|
#define D_pilot_rwy_local_v generic_.d_pilot_rwy_local_v
|
||||||
#define D_pilot_north_of_rwy generic_.d_pilot_rwy_local_v[0]
|
#define D_pilot_north_of_rwy generic_.d_pilot_rwy_local_v[0]
|
||||||
#define D_pilot_east_of_rwy generic_.d_pilot_rwy_local_v[1]
|
#define D_pilot_east_of_rwy generic_.d_pilot_rwy_local_v[1]
|
||||||
#define D_pilot_above_rwy generic_.d_pilot_rwy_local_v[2]
|
#define D_pilot_above_rwy generic_.d_pilot_rwy_local_v[2]
|
||||||
|
|
||||||
VECTOR_3 d_pilot_rwy_rwy_v; /* pilot rel. to rwy, in rwy coords. */
|
VECTOR_3 d_pilot_rwy_rwy_v; /* pilot rel. to rwy, in rwy coords. */
|
||||||
#define D_pilot_rwy_rwy_v generic_.d_pilot_rwy_rwy_v
|
#define D_pilot_rwy_rwy_v generic_.d_pilot_rwy_rwy_v
|
||||||
#define X_pilot_rwy generic_.d_pilot_rwy_rwy_v[0]
|
#define X_pilot_rwy generic_.d_pilot_rwy_rwy_v[0]
|
||||||
#define Y_pilot_rwy generic_.d_pilot_rwy_rwy_v[1]
|
#define Y_pilot_rwy generic_.d_pilot_rwy_rwy_v[1]
|
||||||
#define H_pilot_rwy generic_.d_pilot_rwy_rwy_v[2]
|
#define H_pilot_rwy generic_.d_pilot_rwy_rwy_v[2]
|
||||||
|
|
||||||
|
|
||||||
} GENERIC;
|
} GENERIC;
|
||||||
|
|
||||||
extern GENERIC generic_; /* usually defined in ls_main.c */
|
extern GENERIC generic_; /* usually defined in ls_main.c */
|
||||||
|
|
||||||
|
|
||||||
#ifdef __cplusplus
|
#ifdef __cplusplus
|
||||||
|
|
|
||||||
|
|
@ -1,42 +1,42 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: ls_geodesy
|
TITLE: ls_geodesy
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: Converts geocentric coordinates to geodetic positions
|
FUNCTION: Converts geocentric coordinates to geodetic positions
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Written as part of LaRCSim project by E. B. Jackson
|
GENEALOGY: Written as part of LaRCSim project by E. B. Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: E. B. Jackson
|
DESIGNED BY: E. B. Jackson
|
||||||
|
|
||||||
CODED BY: E. B. Jackson
|
CODED BY: E. B. Jackson
|
||||||
|
|
||||||
MAINTAINED BY: E. B. Jackson
|
MAINTAINED BY: E. B. Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
930208 Modified to avoid singularity near polar region. EBJ
|
930208 Modified to avoid singularity near polar region. EBJ
|
||||||
930602 Moved backwards calcs here from ls_step. EBJ
|
930602 Moved backwards calcs here from ls_step. EBJ
|
||||||
931214 Changed erroneous Latitude and Altitude variables to
|
931214 Changed erroneous Latitude and Altitude variables to
|
||||||
*lat_geod and *alt in routine ls_geoc_to_geod. EBJ
|
*lat_geod and *alt in routine ls_geoc_to_geod. EBJ
|
||||||
940111 Changed header files from old ls_eom.h style to ls_types,
|
940111 Changed header files from old ls_eom.h style to ls_types,
|
||||||
and ls_constants. Also replaced old DATA type with new
|
and ls_constants. Also replaced old DATA type with new
|
||||||
SCALAR type. EBJ
|
SCALAR type. EBJ
|
||||||
|
|
||||||
CURRENT RCS HEADER:
|
CURRENT RCS HEADER:
|
||||||
|
|
||||||
$Header$
|
$Header$
|
||||||
$Log$
|
$Log$
|
||||||
|
|
@ -224,34 +224,34 @@ Initial Flight Gear revision.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
[ 1] Stevens, Brian L.; and Lewis, Frank L.: "Aircraft
|
[ 1] Stevens, Brian L.; and Lewis, Frank L.: "Aircraft
|
||||||
Control and Simulation", Wiley and Sons, 1992.
|
Control and Simulation", Wiley and Sons, 1992.
|
||||||
ISBN 0-471-61397-5
|
ISBN 0-471-61397-5
|
||||||
|
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLED BY: ls_aux
|
CALLED BY: ls_aux
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLS TO:
|
CALLS TO:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
lat_geoc Geocentric latitude, radians, + = North
|
lat_geoc Geocentric latitude, radians, + = North
|
||||||
radius C.G. radius to earth center, ft
|
radius C.G. radius to earth center, ft
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS:
|
OUTPUTS:
|
||||||
lat_geod Geodetic latitude, radians, + = North
|
lat_geod Geodetic latitude, radians, + = North
|
||||||
alt C.G. altitude above mean sea level, ft
|
alt C.G. altitude above mean sea level, ft
|
||||||
sea_level_r radius from earth center to sea level at
|
sea_level_r radius from earth center to sea level at
|
||||||
local vertical (surface normal) of C.G.
|
local vertical (surface normal) of C.G.
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
|
|
||||||
|
|
@ -266,54 +266,54 @@ Initial Flight Gear revision.
|
||||||
|
|
||||||
|
|
||||||
void ls_geoc_to_geod( SCALAR lat_geoc, SCALAR radius, SCALAR *lat_geod,
|
void ls_geoc_to_geod( SCALAR lat_geoc, SCALAR radius, SCALAR *lat_geod,
|
||||||
SCALAR *alt, SCALAR *sea_level_r )
|
SCALAR *alt, SCALAR *sea_level_r )
|
||||||
{
|
{
|
||||||
SCALAR t_lat, x_alpha, mu_alpha, delt_mu, r_alpha, l_point, rho_alpha;
|
SCALAR t_lat, x_alpha, mu_alpha, delt_mu, r_alpha, l_point, rho_alpha;
|
||||||
SCALAR sin_mu_a, denom,delt_lambda, lambda_sl, sin_lambda_sl;
|
SCALAR sin_mu_a, denom,delt_lambda, lambda_sl, sin_lambda_sl;
|
||||||
|
|
||||||
if( ( (HALF_PI - lat_geoc) < ONE_SECOND ) /* near North pole */
|
if( ( (HALF_PI - lat_geoc) < ONE_SECOND ) /* near North pole */
|
||||||
|| ( (HALF_PI + lat_geoc) < ONE_SECOND ) ) /* near South pole */
|
|| ( (HALF_PI + lat_geoc) < ONE_SECOND ) ) /* near South pole */
|
||||||
{
|
{
|
||||||
*lat_geod = lat_geoc;
|
*lat_geod = lat_geoc;
|
||||||
*sea_level_r = EQUATORIAL_RADIUS*E;
|
*sea_level_r = EQUATORIAL_RADIUS*E;
|
||||||
*alt = radius - *sea_level_r;
|
*alt = radius - *sea_level_r;
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
t_lat = tan(lat_geoc);
|
t_lat = tan(lat_geoc);
|
||||||
x_alpha = E*EQUATORIAL_RADIUS/sqrt(t_lat*t_lat + E*E);
|
x_alpha = E*EQUATORIAL_RADIUS/sqrt(t_lat*t_lat + E*E);
|
||||||
mu_alpha = atan2(sqrt(RESQ - x_alpha*x_alpha),E*x_alpha);
|
mu_alpha = atan2(sqrt(RESQ - x_alpha*x_alpha),E*x_alpha);
|
||||||
if (lat_geoc < 0) mu_alpha = - mu_alpha;
|
if (lat_geoc < 0) mu_alpha = - mu_alpha;
|
||||||
sin_mu_a = sin(mu_alpha);
|
sin_mu_a = sin(mu_alpha);
|
||||||
delt_lambda = mu_alpha - lat_geoc;
|
delt_lambda = mu_alpha - lat_geoc;
|
||||||
r_alpha = x_alpha/cos(lat_geoc);
|
r_alpha = x_alpha/cos(lat_geoc);
|
||||||
l_point = radius - r_alpha;
|
l_point = radius - r_alpha;
|
||||||
*alt = l_point*cos(delt_lambda);
|
*alt = l_point*cos(delt_lambda);
|
||||||
denom = sqrt(1-EPS*EPS*sin_mu_a*sin_mu_a);
|
denom = sqrt(1-EPS*EPS*sin_mu_a*sin_mu_a);
|
||||||
rho_alpha = EQUATORIAL_RADIUS*(1-EPS)/
|
rho_alpha = EQUATORIAL_RADIUS*(1-EPS)/
|
||||||
(denom*denom*denom);
|
(denom*denom*denom);
|
||||||
delt_mu = atan2(l_point*sin(delt_lambda),rho_alpha + *alt);
|
delt_mu = atan2(l_point*sin(delt_lambda),rho_alpha + *alt);
|
||||||
*lat_geod = mu_alpha - delt_mu;
|
*lat_geod = mu_alpha - delt_mu;
|
||||||
lambda_sl = atan( E*E * tan(*lat_geod) ); /* SL geoc. latitude */
|
lambda_sl = atan( E*E * tan(*lat_geod) ); /* SL geoc. latitude */
|
||||||
sin_lambda_sl = sin( lambda_sl );
|
sin_lambda_sl = sin( lambda_sl );
|
||||||
*sea_level_r = sqrt(RESQ
|
*sea_level_r = sqrt(RESQ
|
||||||
/(1 + ((1/(E*E))-1)*sin_lambda_sl*sin_lambda_sl));
|
/(1 + ((1/(E*E))-1)*sin_lambda_sl*sin_lambda_sl));
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
void ls_geod_to_geoc( SCALAR lat_geod, SCALAR alt,
|
void ls_geod_to_geoc( SCALAR lat_geod, SCALAR alt,
|
||||||
SCALAR *sl_radius, SCALAR *lat_geoc )
|
SCALAR *sl_radius, SCALAR *lat_geoc )
|
||||||
{
|
{
|
||||||
SCALAR lambda_sl, sin_lambda_sl, cos_lambda_sl, sin_mu, cos_mu, px, py;
|
SCALAR lambda_sl, sin_lambda_sl, cos_lambda_sl, sin_mu, cos_mu, px, py;
|
||||||
|
|
||||||
lambda_sl = atan( E*E * tan(lat_geod) ); /* sea level geocentric latitude */
|
lambda_sl = atan( E*E * tan(lat_geod) ); /* sea level geocentric latitude */
|
||||||
sin_lambda_sl = sin( lambda_sl );
|
sin_lambda_sl = sin( lambda_sl );
|
||||||
cos_lambda_sl = cos( lambda_sl );
|
cos_lambda_sl = cos( lambda_sl );
|
||||||
sin_mu = sin(lat_geod); /* Geodetic (map makers') latitude */
|
sin_mu = sin(lat_geod); /* Geodetic (map makers') latitude */
|
||||||
cos_mu = cos(lat_geod);
|
cos_mu = cos(lat_geod);
|
||||||
*sl_radius = sqrt(RESQ
|
*sl_radius = sqrt(RESQ
|
||||||
/(1 + ((1/(E*E))-1)*sin_lambda_sl*sin_lambda_sl));
|
/(1 + ((1/(E*E))-1)*sin_lambda_sl*sin_lambda_sl));
|
||||||
py = *sl_radius*sin_lambda_sl + alt*sin_mu;
|
py = *sl_radius*sin_lambda_sl + alt*sin_mu;
|
||||||
px = *sl_radius*cos_lambda_sl + alt*cos_mu;
|
px = *sl_radius*cos_lambda_sl + alt*cos_mu;
|
||||||
*lat_geoc = atan2( py, px );
|
*lat_geoc = atan2( py, px );
|
||||||
|
|
|
||||||
|
|
@ -9,10 +9,10 @@ extern "C" {
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
void ls_geoc_to_geod( SCALAR lat_geoc, SCALAR radius,
|
void ls_geoc_to_geod( SCALAR lat_geoc, SCALAR radius,
|
||||||
SCALAR *lat_geod, SCALAR *alt, SCALAR *sea_level_r );
|
SCALAR *lat_geod, SCALAR *alt, SCALAR *sea_level_r );
|
||||||
|
|
||||||
void ls_geod_to_geoc( SCALAR lat_geod, SCALAR alt, SCALAR *sl_radius,
|
void ls_geod_to_geoc( SCALAR lat_geod, SCALAR alt, SCALAR *sl_radius,
|
||||||
SCALAR *lat_geoc );
|
SCALAR *lat_geoc );
|
||||||
|
|
||||||
#ifdef __cplusplus
|
#ifdef __cplusplus
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -1,38 +1,38 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: ls_gravity
|
TITLE: ls_gravity
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: Gravity model for LaRCsim
|
FUNCTION: Gravity model for LaRCsim
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Created by Bruce Jackson on September 25, 1992.
|
GENEALOGY: Created by Bruce Jackson on September 25, 1992.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: Bruce Jackson
|
DESIGNED BY: Bruce Jackson
|
||||||
|
|
||||||
CODED BY: Bruce Jackson
|
CODED BY: Bruce Jackson
|
||||||
|
|
||||||
MAINTAINED BY: Bruce Jackson
|
MAINTAINED BY: Bruce Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
940111 Changed include files to "ls_types.h" and
|
940111 Changed include files to "ls_types.h" and
|
||||||
"ls_constants.h" from "ls_eom.h"; also changed DATA types
|
"ls_constants.h" from "ls_eom.h"; also changed DATA types
|
||||||
to SCALAR types. EBJ
|
to SCALAR types. EBJ
|
||||||
|
|
||||||
|
|
||||||
$Header$
|
$Header$
|
||||||
$Log$
|
$Log$
|
||||||
Revision 1.1 2002/09/10 01:14:02 curt
|
Revision 1.1 2002/09/10 01:14:02 curt
|
||||||
|
|
@ -60,29 +60,29 @@ Initial Flight Gear revision.
|
||||||
*
|
*
|
||||||
* Revision 1.1 1992/12/30 13:18:46 bjax
|
* Revision 1.1 1992/12/30 13:18:46 bjax
|
||||||
* Initial revision
|
* Initial revision
|
||||||
*
|
*
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES: Stevens, Brian L.; and Lewis, Frank L.: "Aircraft
|
REFERENCES: Stevens, Brian L.; and Lewis, Frank L.: "Aircraft
|
||||||
Control and Simulation", Wiley and Sons, 1992.
|
Control and Simulation", Wiley and Sons, 1992.
|
||||||
ISBN 0-471-
|
ISBN 0-471-
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLED BY:
|
CALLED BY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLS TO:
|
CALLS TO:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS:
|
OUTPUTS:
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
#include "ls_types.h"
|
#include "ls_types.h"
|
||||||
|
|
@ -90,19 +90,19 @@ Initial Flight Gear revision.
|
||||||
#include "ls_gravity.h"
|
#include "ls_gravity.h"
|
||||||
#include <math.h>
|
#include <math.h>
|
||||||
|
|
||||||
#define GM 1.4076431E16
|
#define GM 1.4076431E16
|
||||||
#define J2 1.08263E-3
|
#define J2 1.08263E-3
|
||||||
|
|
||||||
void ls_gravity( SCALAR radius, SCALAR lat, SCALAR *gravity )
|
void ls_gravity( SCALAR radius, SCALAR lat, SCALAR *gravity )
|
||||||
{
|
{
|
||||||
|
|
||||||
SCALAR radius_ratio, rrsq, sinsqlat;
|
SCALAR radius_ratio, rrsq, sinsqlat;
|
||||||
|
|
||||||
radius_ratio = radius/EQUATORIAL_RADIUS;
|
radius_ratio = radius/EQUATORIAL_RADIUS;
|
||||||
rrsq = radius_ratio*radius_ratio;
|
rrsq = radius_ratio*radius_ratio;
|
||||||
sinsqlat = sin(lat)*sin(lat);
|
sinsqlat = sin(lat)*sin(lat);
|
||||||
*gravity = (GM/(radius*radius))
|
*gravity = (GM/(radius*radius))
|
||||||
*sqrt(2.25*rrsq*rrsq*J2*J2*(5*sinsqlat*sinsqlat -2*sinsqlat + 1)
|
*sqrt(2.25*rrsq*rrsq*J2*J2*(5*sinsqlat*sinsqlat -2*sinsqlat + 1)
|
||||||
+ 3*rrsq*J2*(1 - 3*sinsqlat) + 1);
|
+ 3*rrsq*J2*(1 - 3*sinsqlat) + 1);
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -1,36 +1,36 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: ls_init.c
|
TITLE: ls_init.c
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: Initializes simulation
|
FUNCTION: Initializes simulation
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: incomplete
|
MODULE STATUS: incomplete
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Written 921230 by Bruce Jackson
|
GENEALOGY: Written 921230 by Bruce Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: EBJ
|
DESIGNED BY: EBJ
|
||||||
|
|
||||||
CODED BY: EBJ
|
CODED BY: EBJ
|
||||||
|
|
||||||
MAINTAINED BY: EBJ
|
MAINTAINED BY: EBJ
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
950314 Added get_set, put_set, and init routines. EBJ
|
950314 Added get_set, put_set, and init routines. EBJ
|
||||||
|
|
||||||
CURRENT RCS HEADER:
|
CURRENT RCS HEADER:
|
||||||
|
|
||||||
$Header$
|
$Header$
|
||||||
$Log$
|
$Log$
|
||||||
|
|
@ -109,23 +109,23 @@ Initial Flight Gear revision.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLED BY:
|
CALLED BY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLS TO:
|
CALLS TO:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS:
|
OUTPUTS:
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
// static char rcsid[] = "$Id$";
|
// static char rcsid[] = "$Id$";
|
||||||
|
|
@ -156,14 +156,14 @@ void basic_init( void );
|
||||||
|
|
||||||
typedef struct
|
typedef struct
|
||||||
{
|
{
|
||||||
symbol_rec Symbol;
|
symbol_rec Symbol;
|
||||||
double value;
|
double value;
|
||||||
} cont_state_rec;
|
} cont_state_rec;
|
||||||
|
|
||||||
typedef struct
|
typedef struct
|
||||||
{
|
{
|
||||||
symbol_rec Symbol;
|
symbol_rec Symbol;
|
||||||
long value;
|
long value;
|
||||||
} disc_state_rec;
|
} disc_state_rec;
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -172,8 +172,8 @@ extern SCALAR Simtime;
|
||||||
/* static int Symbols_loaded = 0; */
|
/* static int Symbols_loaded = 0; */
|
||||||
static int Number_of_Continuous_States = 0;
|
static int Number_of_Continuous_States = 0;
|
||||||
static int Number_of_Discrete_States = 0;
|
static int Number_of_Discrete_States = 0;
|
||||||
static cont_state_rec Continuous_States[ MAX_NUMBER_OF_CONTINUOUS_STATES ];
|
static cont_state_rec Continuous_States[ MAX_NUMBER_OF_CONTINUOUS_STATES ];
|
||||||
static disc_state_rec Discrete_States[ MAX_NUMBER_OF_DISCRETE_STATES ];
|
static disc_state_rec Discrete_States[ MAX_NUMBER_OF_DISCRETE_STATES ];
|
||||||
|
|
||||||
|
|
||||||
void ls_init_init( void ) {
|
void ls_init_init( void ) {
|
||||||
|
|
@ -181,52 +181,52 @@ void ls_init_init( void ) {
|
||||||
/* int error; */
|
/* int error; */
|
||||||
|
|
||||||
if (Number_of_Continuous_States == 0)
|
if (Number_of_Continuous_States == 0)
|
||||||
{
|
{
|
||||||
Number_of_Continuous_States = HARDWIRED;
|
Number_of_Continuous_States = HARDWIRED;
|
||||||
|
|
||||||
for (i=0;i<HARDWIRED;i++)
|
for (i=0;i<HARDWIRED;i++)
|
||||||
strcpy( Continuous_States[i].Symbol.Mod_Name, "*" );
|
strcpy( Continuous_States[i].Symbol.Mod_Name, "*" );
|
||||||
|
|
||||||
strcpy( Continuous_States[ 0].Symbol.Par_Name,
|
strcpy( Continuous_States[ 0].Symbol.Par_Name,
|
||||||
"generic_.geodetic_position_v[0]");
|
"generic_.geodetic_position_v[0]");
|
||||||
strcpy( Continuous_States[ 1].Symbol.Par_Name,
|
strcpy( Continuous_States[ 1].Symbol.Par_Name,
|
||||||
"generic_.geodetic_position_v[1]");
|
"generic_.geodetic_position_v[1]");
|
||||||
strcpy( Continuous_States[ 2].Symbol.Par_Name,
|
strcpy( Continuous_States[ 2].Symbol.Par_Name,
|
||||||
"generic_.geodetic_position_v[2]");
|
"generic_.geodetic_position_v[2]");
|
||||||
strcpy( Continuous_States[ 3].Symbol.Par_Name,
|
strcpy( Continuous_States[ 3].Symbol.Par_Name,
|
||||||
"generic_.v_local_v[0]");
|
"generic_.v_local_v[0]");
|
||||||
strcpy( Continuous_States[ 4].Symbol.Par_Name,
|
strcpy( Continuous_States[ 4].Symbol.Par_Name,
|
||||||
"generic_.v_local_v[1]");
|
"generic_.v_local_v[1]");
|
||||||
strcpy( Continuous_States[ 5].Symbol.Par_Name,
|
strcpy( Continuous_States[ 5].Symbol.Par_Name,
|
||||||
"generic_.v_local_v[2]");
|
"generic_.v_local_v[2]");
|
||||||
strcpy( Continuous_States[ 6].Symbol.Par_Name,
|
strcpy( Continuous_States[ 6].Symbol.Par_Name,
|
||||||
"generic_.euler_angles_v[0]");
|
"generic_.euler_angles_v[0]");
|
||||||
strcpy( Continuous_States[ 7].Symbol.Par_Name,
|
strcpy( Continuous_States[ 7].Symbol.Par_Name,
|
||||||
"generic_.euler_angles_v[1]");
|
"generic_.euler_angles_v[1]");
|
||||||
strcpy( Continuous_States[ 8].Symbol.Par_Name,
|
strcpy( Continuous_States[ 8].Symbol.Par_Name,
|
||||||
"generic_.euler_angles_v[2]");
|
"generic_.euler_angles_v[2]");
|
||||||
strcpy( Continuous_States[ 9].Symbol.Par_Name,
|
strcpy( Continuous_States[ 9].Symbol.Par_Name,
|
||||||
"generic_.omega_body_v[0]");
|
"generic_.omega_body_v[0]");
|
||||||
strcpy( Continuous_States[10].Symbol.Par_Name,
|
strcpy( Continuous_States[10].Symbol.Par_Name,
|
||||||
"generic_.omega_body_v[1]");
|
"generic_.omega_body_v[1]");
|
||||||
strcpy( Continuous_States[11].Symbol.Par_Name,
|
strcpy( Continuous_States[11].Symbol.Par_Name,
|
||||||
"generic_.omega_body_v[2]");
|
"generic_.omega_body_v[2]");
|
||||||
strcpy( Continuous_States[12].Symbol.Par_Name,
|
strcpy( Continuous_States[12].Symbol.Par_Name,
|
||||||
"generic_.earth_position_angle");
|
"generic_.earth_position_angle");
|
||||||
}
|
}
|
||||||
|
|
||||||
/* commented out by CLO
|
/* commented out by CLO
|
||||||
for (i=0;i<Number_of_Continuous_States;i++)
|
for (i=0;i<Number_of_Continuous_States;i++)
|
||||||
{
|
{
|
||||||
(void) ls_get_sym_val( &Continuous_States[i].Symbol, &error );
|
(void) ls_get_sym_val( &Continuous_States[i].Symbol, &error );
|
||||||
if (error) Continuous_States[i].Symbol.Addr = NIL_POINTER;
|
if (error) Continuous_States[i].Symbol.Addr = NIL_POINTER;
|
||||||
}
|
}
|
||||||
|
|
||||||
for (i=0;i<Number_of_Discrete_States;i++)
|
for (i=0;i<Number_of_Discrete_States;i++)
|
||||||
{
|
{
|
||||||
(void) ls_get_sym_val( &Discrete_States[i].Symbol, &error );
|
(void) ls_get_sym_val( &Discrete_States[i].Symbol, &error );
|
||||||
if (error) Discrete_States[i].Symbol.Addr = NIL_POINTER;
|
if (error) Discrete_States[i].Symbol.Addr = NIL_POINTER;
|
||||||
}
|
}
|
||||||
*/
|
*/
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
@ -270,14 +270,14 @@ void ls_init( char * aircraft ) {
|
||||||
|
|
||||||
/* commented out by CLO
|
/* commented out by CLO
|
||||||
for(i=0;i<Number_of_Continuous_States;i++)
|
for(i=0;i<Number_of_Continuous_States;i++)
|
||||||
if (Continuous_States[i].Symbol.Addr)
|
if (Continuous_States[i].Symbol.Addr)
|
||||||
ls_set_sym_val( &Continuous_States[i].Symbol,
|
ls_set_sym_val( &Continuous_States[i].Symbol,
|
||||||
Continuous_States[i].value );
|
Continuous_States[i].value );
|
||||||
|
|
||||||
for(i=0;i<Number_of_Discrete_States;i++)
|
for(i=0;i<Number_of_Discrete_States;i++)
|
||||||
if (Discrete_States[i].Symbol.Addr)
|
if (Discrete_States[i].Symbol.Addr)
|
||||||
ls_set_sym_val( &Discrete_States[i].Symbol,
|
ls_set_sym_val( &Discrete_States[i].Symbol,
|
||||||
(double) Discrete_States[i].value );
|
(double) Discrete_States[i].value );
|
||||||
*/
|
*/
|
||||||
|
|
||||||
switch (current_model) {
|
switch (current_model) {
|
||||||
|
|
@ -336,70 +336,70 @@ char *ls_init_get_set(char *buffer, char *eob)
|
||||||
|
|
||||||
while( !abrt && (eob > bufptr))
|
while( !abrt && (eob > bufptr))
|
||||||
{
|
{
|
||||||
bufptr = strtok( 0L, "\n");
|
bufptr = strtok( 0L, "\n");
|
||||||
if (bufptr == 0) return 0L;
|
if (bufptr == 0) return 0L;
|
||||||
if (strncasecmp( bufptr, "end", 3) == 0) break;
|
if (strncasecmp( bufptr, "end", 3) == 0) break;
|
||||||
|
|
||||||
sscanf( bufptr, "%s", line );
|
sscanf( bufptr, "%s", line );
|
||||||
if (line[0] != '#') /* ignore comments */
|
if (line[0] != '#') /* ignore comments */
|
||||||
{
|
{
|
||||||
switch (looking_for)
|
switch (looking_for)
|
||||||
{
|
{
|
||||||
case cont_states_header:
|
case cont_states_header:
|
||||||
{
|
{
|
||||||
if (strncasecmp( line, "continuous_states", 17) == 0)
|
if (strncasecmp( line, "continuous_states", 17) == 0)
|
||||||
{
|
{
|
||||||
n = sscanf( bufptr, "%s%d", line,
|
n = sscanf( bufptr, "%s%d", line,
|
||||||
&Number_of_Continuous_States );
|
&Number_of_Continuous_States );
|
||||||
if (n != 2) abrt = 1;
|
if (n != 2) abrt = 1;
|
||||||
looking_for = cont_states;
|
looking_for = cont_states;
|
||||||
i = 0;
|
i = 0;
|
||||||
}
|
}
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
case cont_states:
|
case cont_states:
|
||||||
{
|
{
|
||||||
n = sscanf( bufptr, "%s%s%le",
|
n = sscanf( bufptr, "%s%s%le",
|
||||||
Continuous_States[i].Symbol.Mod_Name,
|
Continuous_States[i].Symbol.Mod_Name,
|
||||||
Continuous_States[i].Symbol.Par_Name,
|
Continuous_States[i].Symbol.Par_Name,
|
||||||
&Continuous_States[i].value );
|
&Continuous_States[i].value );
|
||||||
if (n != 3) abrt = 1;
|
if (n != 3) abrt = 1;
|
||||||
Continuous_States[i].Symbol.Addr = NIL_POINTER;
|
Continuous_States[i].Symbol.Addr = NIL_POINTER;
|
||||||
i++;
|
i++;
|
||||||
if (i >= Number_of_Continuous_States)
|
if (i >= Number_of_Continuous_States)
|
||||||
looking_for = disc_states_header;
|
looking_for = disc_states_header;
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
case disc_states_header:
|
case disc_states_header:
|
||||||
{
|
{
|
||||||
if (strncasecmp( line, "discrete_states", 15) == 0)
|
if (strncasecmp( line, "discrete_states", 15) == 0)
|
||||||
{
|
{
|
||||||
n = sscanf( bufptr, "%s%d", line,
|
n = sscanf( bufptr, "%s%d", line,
|
||||||
&Number_of_Discrete_States );
|
&Number_of_Discrete_States );
|
||||||
if (n != 2) abrt = 1;
|
if (n != 2) abrt = 1;
|
||||||
looking_for = disc_states;
|
looking_for = disc_states;
|
||||||
i = 0;
|
i = 0;
|
||||||
}
|
}
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
case disc_states:
|
case disc_states:
|
||||||
{
|
{
|
||||||
n = sscanf( bufptr, "%s%s%ld",
|
n = sscanf( bufptr, "%s%s%ld",
|
||||||
Discrete_States[i].Symbol.Mod_Name,
|
Discrete_States[i].Symbol.Mod_Name,
|
||||||
Discrete_States[i].Symbol.Par_Name,
|
Discrete_States[i].Symbol.Par_Name,
|
||||||
&Discrete_States[i].value );
|
&Discrete_States[i].value );
|
||||||
if (n != 3) abrt = 1;
|
if (n != 3) abrt = 1;
|
||||||
Discrete_States[i].Symbol.Addr = NIL_POINTER;
|
Discrete_States[i].Symbol.Addr = NIL_POINTER;
|
||||||
i++;
|
i++;
|
||||||
if (i >= Number_of_Discrete_States) looking_for = done;
|
if (i >= Number_of_Discrete_States) looking_for = done;
|
||||||
}
|
}
|
||||||
case done:
|
case done:
|
||||||
{
|
{
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
Symbols_loaded = !abrt;
|
Symbols_loaded = !abrt;
|
||||||
|
|
@ -423,18 +423,18 @@ void ls_init_put_set( FILE *fp )
|
||||||
fprintf(fp, " continuous_states: %d\n", Number_of_Continuous_States);
|
fprintf(fp, " continuous_states: %d\n", Number_of_Continuous_States);
|
||||||
fprintf(fp, "# module parameter value\n");
|
fprintf(fp, "# module parameter value\n");
|
||||||
for (i=0; i<Number_of_Continuous_States; i++)
|
for (i=0; i<Number_of_Continuous_States; i++)
|
||||||
fprintf(fp, " %s\t%s\t%E\n",
|
fprintf(fp, " %s\t%s\t%E\n",
|
||||||
Continuous_States[i].Symbol.Mod_Name,
|
Continuous_States[i].Symbol.Mod_Name,
|
||||||
Continuous_States[i].Symbol.Par_Name,
|
Continuous_States[i].Symbol.Par_Name,
|
||||||
Continuous_States[i].value );
|
Continuous_States[i].value );
|
||||||
|
|
||||||
fprintf(fp, " discrete_states: %d\n", Number_of_Discrete_States);
|
fprintf(fp, " discrete_states: %d\n", Number_of_Discrete_States);
|
||||||
fprintf(fp, "# module parameter value\n");
|
fprintf(fp, "# module parameter value\n");
|
||||||
for (i=0;i<Number_of_Discrete_States;i++)
|
for (i=0;i<Number_of_Discrete_States;i++)
|
||||||
fprintf(fp, " %s\t%s\t%ld\n",
|
fprintf(fp, " %s\t%s\t%ld\n",
|
||||||
Discrete_States[i].Symbol.Mod_Name,
|
Discrete_States[i].Symbol.Mod_Name,
|
||||||
Discrete_States[i].Symbol.Par_Name,
|
Discrete_States[i].Symbol.Par_Name,
|
||||||
Discrete_States[i].value );
|
Discrete_States[i].value );
|
||||||
fprintf(fp, "end\n");
|
fprintf(fp, "end\n");
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
@ -446,13 +446,13 @@ void ls_save_current_as_ic( void ) {
|
||||||
|
|
||||||
/* commented out by CLO
|
/* commented out by CLO
|
||||||
for(i=0;i<Number_of_Continuous_States;i++)
|
for(i=0;i<Number_of_Continuous_States;i++)
|
||||||
if (Continuous_States[i].Symbol.Addr)
|
if (Continuous_States[i].Symbol.Addr)
|
||||||
Continuous_States[i].value =
|
Continuous_States[i].value =
|
||||||
ls_get_sym_val( &Continuous_States[i].Symbol, &error );
|
ls_get_sym_val( &Continuous_States[i].Symbol, &error );
|
||||||
|
|
||||||
for(i=0;i<Number_of_Discrete_States;i++)
|
for(i=0;i<Number_of_Discrete_States;i++)
|
||||||
if (Discrete_States[i].Symbol.Addr)
|
if (Discrete_States[i].Symbol.Addr)
|
||||||
Discrete_States[i].value = (long)
|
Discrete_States[i].value = (long)
|
||||||
ls_get_sym_val( &Discrete_States[i].Symbol, &error );
|
ls_get_sym_val( &Discrete_States[i].Symbol, &error );
|
||||||
*/
|
*/
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -28,66 +28,66 @@
|
||||||
|
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: LaRCsim.c
|
TITLE: LaRCsim.c
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: Top level routine for LaRCSIM. Includes
|
FUNCTION: Top level routine for LaRCSIM. Includes
|
||||||
global variable declarations.
|
global variable declarations.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: Developmental
|
MODULE STATUS: Developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Written 921230 by Bruce Jackson
|
GENEALOGY: Written 921230 by Bruce Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: EBJ
|
DESIGNED BY: EBJ
|
||||||
|
|
||||||
CODED BY: EBJ
|
CODED BY: EBJ
|
||||||
|
|
||||||
MAINTAINED BY: EBJ
|
MAINTAINED BY: EBJ
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
930111 Added "progname" variable to keep name of invoking command.
|
930111 Added "progname" variable to keep name of invoking command.
|
||||||
EBJ
|
EBJ
|
||||||
931012 Removed altitude < 0. test to support gear development. EBJ
|
931012 Removed altitude < 0. test to support gear development. EBJ
|
||||||
931214 Added various pressures (Impact, Dynamic, Static, etc.) EBJ
|
931214 Added various pressures (Impact, Dynamic, Static, etc.) EBJ
|
||||||
931215 Adopted new generic variable structure. EBJ
|
931215 Adopted new generic variable structure. EBJ
|
||||||
931218 Added command line options decoding. EBJ
|
931218 Added command line options decoding. EBJ
|
||||||
940110 Changed file type of matrix file to ".m" EBJ
|
940110 Changed file type of matrix file to ".m" EBJ
|
||||||
940513 Renamed this routine "LaRCsim.c" from "ls_main.c" EBJ
|
940513 Renamed this routine "LaRCsim.c" from "ls_main.c" EBJ
|
||||||
940513 Added time_stamp routine, t_stamp. EBJ
|
940513 Added time_stamp routine, t_stamp. EBJ
|
||||||
950225 Added options flag, 'i', to set I/O output rate. EBJ
|
950225 Added options flag, 'i', to set I/O output rate. EBJ
|
||||||
950306 Added calls to ls_get_settings() and ls_put_settings() EBJ
|
950306 Added calls to ls_get_settings() and ls_put_settings() EBJ
|
||||||
950314 Options flag 'i' now reads IC file; 'o' is output rate EBJ
|
950314 Options flag 'i' now reads IC file; 'o' is output rate EBJ
|
||||||
950406 Many changes: added definition of default value macros;
|
950406 Many changes: added definition of default value macros;
|
||||||
removed local variables term_update_hz, model_dt, endtime,
|
removed local variables term_update_hz, model_dt, endtime,
|
||||||
substituted sim_control_ globals for these; removed
|
substituted sim_control_ globals for these; removed
|
||||||
initialization of sim_control_.tape_channels; moved optarg
|
initialization of sim_control_.tape_channels; moved optarg
|
||||||
to generic extern; added mod_end_time & mod_buf_size flags
|
to generic extern; added mod_end_time & mod_buf_size flags
|
||||||
and temporary buffer_time and data_rate locals to
|
and temporary buffer_time and data_rate locals to
|
||||||
ls_checkopts(); added additional command line switches '-s'
|
ls_checkopts(); added additional command line switches '-s'
|
||||||
and '-b'; made psuedo-mandatory file names for data output
|
and '-b'; made psuedo-mandatory file names for data output
|
||||||
switches; considerable rewrite of logic for setting data
|
switches; considerable rewrite of logic for setting data
|
||||||
buffer length and interleave parameters; updated '-h' help
|
buffer length and interleave parameters; updated '-h' help
|
||||||
output message; added protection logic to calculations of
|
output message; added protection logic to calculations of
|
||||||
these parameters; added check of return value on first call
|
these parameters; added check of return value on first call
|
||||||
to ls_cockpit() so <esc> abort works from initial pause
|
to ls_cockpit() so <esc> abort works from initial pause
|
||||||
state; added call to ls_unsync() immediately following
|
state; added call to ls_unsync() immediately following
|
||||||
first ls_sync() call, if paused (to avoid alarm clock
|
first ls_sync() call, if paused (to avoid alarm clock
|
||||||
timeout); moved call to ls_record() into non-paused
|
timeout); moved call to ls_record() into non-paused
|
||||||
multiloop path (was filling buffer with identical data
|
multiloop path (was filling buffer with identical data
|
||||||
during pause); put check of paused flag before calling sync
|
during pause); put check of paused flag before calling sync
|
||||||
routine ls_pause(); and added call to exit() on termination.
|
routine ls_pause(); and added call to exit() on termination.
|
||||||
|
|
||||||
|
|
||||||
$Header$
|
$Header$
|
||||||
|
|
@ -202,23 +202,23 @@ $Original log: LaRCsim.c,v $
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLED BY:
|
CALLED BY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLS TO:
|
CALLS TO:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS:
|
OUTPUTS:
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
|
|
||||||
|
|
@ -249,12 +249,12 @@ $Original log: LaRCsim.c,v $
|
||||||
|
|
||||||
/* global variable declarations */
|
/* global variable declarations */
|
||||||
|
|
||||||
/* TAPE *Tape; */
|
/* TAPE *Tape; */
|
||||||
GENERIC generic_;
|
GENERIC generic_;
|
||||||
SIM_CONTROL sim_control_;
|
SIM_CONTROL sim_control_;
|
||||||
COCKPIT cockpit_;
|
COCKPIT cockpit_;
|
||||||
|
|
||||||
SCALAR Simtime;
|
SCALAR Simtime;
|
||||||
|
|
||||||
#define DEFAULT_TERM_UPDATE_HZ 20
|
#define DEFAULT_TERM_UPDATE_HZ 20
|
||||||
#define DEFAULT_MODEL_HZ 120
|
#define DEFAULT_MODEL_HZ 120
|
||||||
|
|
@ -266,7 +266,7 @@ SCALAR Simtime;
|
||||||
/* global variables */
|
/* global variables */
|
||||||
|
|
||||||
char *progname;
|
char *progname;
|
||||||
char *fullname;
|
char *fullname;
|
||||||
|
|
||||||
/* file variables - default simulation settings */
|
/* file variables - default simulation settings */
|
||||||
|
|
||||||
|
|
@ -289,13 +289,13 @@ void ls_stamp( void ) {
|
||||||
nowtime_t = time( 0 );
|
nowtime_t = time( 0 );
|
||||||
nowtime = localtime( &nowtime_t ); /* set fields to correct time values */
|
nowtime = localtime( &nowtime_t ); /* set fields to correct time values */
|
||||||
date = (nowtime->tm_year % 100)*10000
|
date = (nowtime->tm_year % 100)*10000
|
||||||
+ (nowtime->tm_mon + 1)*100
|
+ (nowtime->tm_mon + 1)*100
|
||||||
+ (nowtime->tm_mday);
|
+ (nowtime->tm_mday);
|
||||||
sprintf(sim_control_.date_string, "%06ld", date);
|
sprintf(sim_control_.date_string, "%06ld", date);
|
||||||
sprintf(sim_control_.time_stamp, "%02d:%02d:%02d",
|
sprintf(sim_control_.time_stamp, "%02d:%02d:%02d",
|
||||||
nowtime->tm_hour, nowtime->tm_min, nowtime->tm_sec);
|
nowtime->tm_hour, nowtime->tm_min, nowtime->tm_sec);
|
||||||
#ifdef COMPILE_THIS_CODE_THIS_USELESS_CODE
|
#ifdef COMPILE_THIS_CODE_THIS_USELESS_CODE
|
||||||
cuserid( sim_control_.userid ); /* set up user id */
|
cuserid( sim_control_.userid ); /* set up user id */
|
||||||
#endif /* COMPILE_THIS_CODE_THIS_USELESS_CODE */
|
#endif /* COMPILE_THIS_CODE_THIS_USELESS_CODE */
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
@ -303,21 +303,21 @@ void ls_stamp( void ) {
|
||||||
void ls_setdefopts( void ) {
|
void ls_setdefopts( void ) {
|
||||||
/* set default values for most options */
|
/* set default values for most options */
|
||||||
|
|
||||||
sim_control_.debug = 0; /* change to non-zero if in dbx! */
|
sim_control_.debug = 0; /* change to non-zero if in dbx! */
|
||||||
sim_control_.vision = 0;
|
sim_control_.vision = 0;
|
||||||
sim_control_.write_av = 0; /* write Agile-Vu '.flt' file */
|
sim_control_.write_av = 0; /* write Agile-Vu '.flt' file */
|
||||||
sim_control_.write_mat = 0; /* write matrix-x/matlab script */
|
sim_control_.write_mat = 0; /* write matrix-x/matlab script */
|
||||||
sim_control_.write_tab = 0; /* write tab delim. history file */
|
sim_control_.write_tab = 0; /* write tab delim. history file */
|
||||||
sim_control_.write_asc1 = 0; /* write GetData file */
|
sim_control_.write_asc1 = 0; /* write GetData file */
|
||||||
sim_control_.save_spacing = DEFAULT_SAVE_SPACING;
|
sim_control_.save_spacing = DEFAULT_SAVE_SPACING;
|
||||||
/* interpolation on recording */
|
/* interpolation on recording */
|
||||||
sim_control_.write_spacing = DEFAULT_WRITE_SPACING;
|
sim_control_.write_spacing = DEFAULT_WRITE_SPACING;
|
||||||
/* interpolation on output */
|
/* interpolation on output */
|
||||||
sim_control_.end_time = DEFAULT_END_TIME;
|
sim_control_.end_time = DEFAULT_END_TIME;
|
||||||
sim_control_.model_hz = DEFAULT_MODEL_HZ;
|
sim_control_.model_hz = DEFAULT_MODEL_HZ;
|
||||||
sim_control_.term_update_hz = DEFAULT_TERM_UPDATE_HZ;
|
sim_control_.term_update_hz = DEFAULT_TERM_UPDATE_HZ;
|
||||||
sim_control_.time_slices = (long int)(DEFAULT_END_TIME * DEFAULT_MODEL_HZ /
|
sim_control_.time_slices = (long int)(DEFAULT_END_TIME * DEFAULT_MODEL_HZ /
|
||||||
DEFAULT_SAVE_SPACING);
|
DEFAULT_SAVE_SPACING);
|
||||||
sim_control_.paused = 0;
|
sim_control_.paused = 0;
|
||||||
|
|
||||||
speedup = 1.0;
|
speedup = 1.0;
|
||||||
|
|
@ -334,7 +334,7 @@ void ls_setdefopts( void ) {
|
||||||
extern char *optarg;
|
extern char *optarg;
|
||||||
extern int optind;
|
extern int optind;
|
||||||
|
|
||||||
int ls_checkopts(argc, argv) /* check and set options flags */
|
int ls_checkopts(argc, argv) /* check and set options flags */
|
||||||
int argc;
|
int argc;
|
||||||
char *argv[];
|
char *argv[];
|
||||||
{
|
{
|
||||||
|
|
@ -351,126 +351,126 @@ int ls_checkopts(argc, argv) /* check and set options flags */
|
||||||
/* set default values */
|
/* set default values */
|
||||||
|
|
||||||
buffer_time = sim_control_.time_slices * sim_control_.save_spacing /
|
buffer_time = sim_control_.time_slices * sim_control_.save_spacing /
|
||||||
sim_control_.model_hz;
|
sim_control_.model_hz;
|
||||||
data_rate = sim_control_.model_hz / sim_control_.save_spacing;
|
data_rate = sim_control_.model_hz / sim_control_.save_spacing;
|
||||||
|
|
||||||
while ((c = getopt(argc, argv, "Aa:b:de:f:hi:kmo:r:s:t:x:")) != EOF)
|
while ((c = getopt(argc, argv, "Aa:b:de:f:hi:kmo:r:s:t:x:")) != EOF)
|
||||||
switch (c) {
|
switch (c) {
|
||||||
case 'A':
|
case 'A':
|
||||||
if (sim_control_.sim_type == GLmouse)
|
if (sim_control_.sim_type == GLmouse)
|
||||||
{
|
{
|
||||||
fprintf(stderr, "Cannot specify both keyboard (k) and ACES (A) cockpits option\n");
|
fprintf(stderr, "Cannot specify both keyboard (k) and ACES (A) cockpits option\n");
|
||||||
fprintf(stderr, "Keyboard operation assumed.\n");
|
fprintf(stderr, "Keyboard operation assumed.\n");
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
sim_control_.sim_type = cockpit;
|
sim_control_.sim_type = cockpit;
|
||||||
break;
|
break;
|
||||||
case 'a':
|
case 'a':
|
||||||
sim_control_.write_av = 1;
|
sim_control_.write_av = 1;
|
||||||
if (optarg != NULL)
|
if (optarg != NULL)
|
||||||
if (*optarg != '-')
|
if (*optarg != '-')
|
||||||
strncpy(fltname, optarg, MAX_FILE_NAME_LENGTH);
|
strncpy(fltname, optarg, MAX_FILE_NAME_LENGTH);
|
||||||
else
|
else
|
||||||
optind--;
|
optind--;
|
||||||
break;
|
break;
|
||||||
case 'b':
|
case 'b':
|
||||||
buffer_time = atof(optarg);
|
buffer_time = atof(optarg);
|
||||||
if (buffer_time <= 0.) opt_err = -1;
|
if (buffer_time <= 0.) opt_err = -1;
|
||||||
mod_buf_size++;
|
mod_buf_size++;
|
||||||
break;
|
break;
|
||||||
case 'd':
|
case 'd':
|
||||||
sim_control_.debug = 1;
|
sim_control_.debug = 1;
|
||||||
break;
|
break;
|
||||||
case 'e':
|
case 'e':
|
||||||
sim_control_.end_time = atof(optarg);
|
sim_control_.end_time = atof(optarg);
|
||||||
mod_end_time++;
|
mod_end_time++;
|
||||||
break;
|
break;
|
||||||
case 'f':
|
case 'f':
|
||||||
sim_control_.model_hz = atof(optarg);
|
sim_control_.model_hz = atof(optarg);
|
||||||
break;
|
break;
|
||||||
case 'h':
|
case 'h':
|
||||||
opt_err = 1;
|
opt_err = 1;
|
||||||
break;
|
break;
|
||||||
case 'i':
|
case 'i':
|
||||||
/* ls_get_settings( optarg ); */
|
/* ls_get_settings( optarg ); */
|
||||||
break;
|
break;
|
||||||
case 'k':
|
case 'k':
|
||||||
sim_control_.sim_type = GLmouse;
|
sim_control_.sim_type = GLmouse;
|
||||||
break;
|
break;
|
||||||
case 'm':
|
case 'm':
|
||||||
sim_control_.vision = 1;
|
sim_control_.vision = 1;
|
||||||
break;
|
break;
|
||||||
case 'o':
|
case 'o':
|
||||||
sim_control_.term_update_hz = atof(optarg);
|
sim_control_.term_update_hz = atof(optarg);
|
||||||
if (sim_control_.term_update_hz <= 0.) opt_err = 1;
|
if (sim_control_.term_update_hz <= 0.) opt_err = 1;
|
||||||
break;
|
break;
|
||||||
case 'r':
|
case 'r':
|
||||||
sim_control_.write_mat = 1;
|
sim_control_.write_mat = 1;
|
||||||
if (optarg != NULL)
|
if (optarg != NULL)
|
||||||
if (*optarg != '-')
|
if (*optarg != '-')
|
||||||
strncpy(matname, optarg, MAX_FILE_NAME_LENGTH);
|
strncpy(matname, optarg, MAX_FILE_NAME_LENGTH);
|
||||||
else
|
else
|
||||||
optind--;
|
optind--;
|
||||||
break;
|
break;
|
||||||
case 's':
|
case 's':
|
||||||
data_rate = atof(optarg);
|
data_rate = atof(optarg);
|
||||||
if (data_rate <= 0.) opt_err = -1;
|
if (data_rate <= 0.) opt_err = -1;
|
||||||
break;
|
break;
|
||||||
case 't':
|
case 't':
|
||||||
sim_control_.write_tab = 1;
|
sim_control_.write_tab = 1;
|
||||||
if (optarg != NULL)
|
if (optarg != NULL)
|
||||||
if (*optarg != '-')
|
if (*optarg != '-')
|
||||||
strncpy(tabname, optarg, MAX_FILE_NAME_LENGTH);
|
strncpy(tabname, optarg, MAX_FILE_NAME_LENGTH);
|
||||||
else
|
else
|
||||||
optind--;
|
optind--;
|
||||||
break;
|
break;
|
||||||
case 'x':
|
case 'x':
|
||||||
sim_control_.write_asc1 = 1;
|
sim_control_.write_asc1 = 1;
|
||||||
if (optarg != NULL)
|
if (optarg != NULL)
|
||||||
if (*optarg != '-')
|
if (*optarg != '-')
|
||||||
strncpy(asc1name, optarg, MAX_FILE_NAME_LENGTH);
|
strncpy(asc1name, optarg, MAX_FILE_NAME_LENGTH);
|
||||||
else
|
else
|
||||||
optind--;
|
optind--;
|
||||||
break;
|
break;
|
||||||
default:
|
default:
|
||||||
opt_err = 1;
|
opt_err = 1;
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
if (opt_err)
|
if (opt_err)
|
||||||
{
|
{
|
||||||
fprintf(stderr, "Usage: %s [-options]\n", progname);
|
fprintf(stderr, "Usage: %s [-options]\n", progname);
|
||||||
fprintf(stderr, "\n");
|
fprintf(stderr, "\n");
|
||||||
fprintf(stderr, " where [-options] is zero or more of the following:\n");
|
fprintf(stderr, " where [-options] is zero or more of the following:\n");
|
||||||
fprintf(stderr, "\n");
|
fprintf(stderr, "\n");
|
||||||
fprintf(stderr, " [A|k] Run mode: [A]CES cockpit [default]\n");
|
fprintf(stderr, " [A|k] Run mode: [A]CES cockpit [default]\n");
|
||||||
fprintf(stderr, " or [k]eyboard\n");
|
fprintf(stderr, " or [k]eyboard\n");
|
||||||
fprintf(stderr, "\n");
|
fprintf(stderr, "\n");
|
||||||
fprintf(stderr, " [i <filename>] [i]nitial conditions filename\n");
|
fprintf(stderr, " [i <filename>] [i]nitial conditions filename\n");
|
||||||
fprintf(stderr, "\n");
|
fprintf(stderr, "\n");
|
||||||
fprintf(stderr, " [f <value>] Iteration rate [f]requency, Hz (default is %5.2f Hz)\n",
|
fprintf(stderr, " [f <value>] Iteration rate [f]requency, Hz (default is %5.2f Hz)\n",
|
||||||
sim_control_.model_hz);
|
sim_control_.model_hz);
|
||||||
fprintf(stderr, "\n");
|
fprintf(stderr, "\n");
|
||||||
fprintf(stderr, " [o <value>] Display [o]utput frequency, Hz (default is %5.2f Hz)\n",
|
fprintf(stderr, " [o <value>] Display [o]utput frequency, Hz (default is %5.2f Hz)\n",
|
||||||
sim_control_.term_update_hz);
|
sim_control_.term_update_hz);
|
||||||
fprintf(stderr, "\n");
|
fprintf(stderr, "\n");
|
||||||
fprintf(stderr, " [s <value>] Data storage frequency, Hz (default is %5.2f Hz)\n",
|
fprintf(stderr, " [s <value>] Data storage frequency, Hz (default is %5.2f Hz)\n",
|
||||||
data_rate);
|
data_rate);
|
||||||
fprintf(stderr, "\n");
|
fprintf(stderr, "\n");
|
||||||
fprintf(stderr, " [e <value>] [e]nd time in seconds (default %5.1f seconds)\n",
|
fprintf(stderr, " [e <value>] [e]nd time in seconds (default %5.1f seconds)\n",
|
||||||
sim_control_.end_time);
|
sim_control_.end_time);
|
||||||
fprintf(stderr, "\n");
|
fprintf(stderr, "\n");
|
||||||
fprintf(stderr, " [b <value>] circular time history storage [b]uffer size, in seconds \n");
|
fprintf(stderr, " [b <value>] circular time history storage [b]uffer size, in seconds \n");
|
||||||
fprintf(stderr, " (default %5.1f seconds) (normally same as end time)\n",
|
fprintf(stderr, " (default %5.1f seconds) (normally same as end time)\n",
|
||||||
sim_control_.time_slices*sim_control_.save_spacing/
|
sim_control_.time_slices*sim_control_.save_spacing/
|
||||||
sim_control_.model_hz);
|
sim_control_.model_hz);
|
||||||
fprintf(stderr, "\n");
|
fprintf(stderr, "\n");
|
||||||
fprintf(stderr, " [atxr [<filename>]] Output: [a]gile-vu (default name: %s )\n", fltname);
|
fprintf(stderr, " [atxr [<filename>]] Output: [a]gile-vu (default name: %s )\n", fltname);
|
||||||
fprintf(stderr, " and/or [t]ab delimited ( '' name: %s )\n", tabname);
|
fprintf(stderr, " and/or [t]ab delimited ( '' name: %s )\n", tabname);
|
||||||
fprintf(stderr, " and/or [x]plot (default name: %s)\n", asc1name);
|
fprintf(stderr, " and/or [x]plot (default name: %s)\n", asc1name);
|
||||||
fprintf(stderr, " and/or mat[r]ix script ( '' name: %s )\n", matname);
|
fprintf(stderr, " and/or mat[r]ix script ( '' name: %s )\n", matname);
|
||||||
fprintf(stderr, "\n");
|
fprintf(stderr, "\n");
|
||||||
return OPT_ERR;
|
return OPT_ERR;
|
||||||
}
|
}
|
||||||
|
|
||||||
/* calculate additional controls */
|
/* calculate additional controls */
|
||||||
|
|
@ -479,9 +479,9 @@ int ls_checkopts(argc, argv) /* check and set options flags */
|
||||||
if (sim_control_.save_spacing < 1) sim_control_.save_spacing = 1;
|
if (sim_control_.save_spacing < 1) sim_control_.save_spacing = 1;
|
||||||
|
|
||||||
sim_control_.time_slices = buffer_time * sim_control_.model_hz /
|
sim_control_.time_slices = buffer_time * sim_control_.model_hz /
|
||||||
sim_control_.save_spacing;
|
sim_control_.save_spacing;
|
||||||
if (sim_control_.time_slices < 2) sim_control_.time_slices = 2;
|
if (sim_control_.time_slices < 2) sim_control_.time_slices = 2;
|
||||||
|
|
||||||
return OPT_OK;
|
return OPT_OK;
|
||||||
}
|
}
|
||||||
#endif /* COMPILE_THIS_CODE_THIS_USELESS_CODE */
|
#endif /* COMPILE_THIS_CODE_THIS_USELESS_CODE */
|
||||||
|
|
@ -527,13 +527,13 @@ int ls_cockpit( void ) {
|
||||||
int ls_toplevel_init(double dt, char * aircraft) {
|
int ls_toplevel_init(double dt, char * aircraft) {
|
||||||
model_dt = dt;
|
model_dt = dt;
|
||||||
|
|
||||||
ls_setdefopts(); /* set default options */
|
ls_setdefopts(); /* set default options */
|
||||||
|
|
||||||
ls_stamp(); /* ID stamp; record time and date of run */
|
ls_stamp(); /* ID stamp; record time and date of run */
|
||||||
|
|
||||||
if (speedup == 0.0) {
|
if (speedup == 0.0) {
|
||||||
fprintf(stderr, "%s: Cannot run with speedup of 0.\n", progname);
|
fprintf(stderr, "%s: Cannot run with speedup of 0.\n", progname);
|
||||||
return 1;
|
return 1;
|
||||||
}
|
}
|
||||||
|
|
||||||
/* printf("LS pre Init pos = %.2f\n", Latitude); */
|
/* printf("LS pre Init pos = %.2f\n", Latitude); */
|
||||||
|
|
@ -543,8 +543,8 @@ int ls_toplevel_init(double dt, char * aircraft) {
|
||||||
/* printf("LS post Init pos = %.2f\n", Latitude); */
|
/* printf("LS post Init pos = %.2f\n", Latitude); */
|
||||||
|
|
||||||
if (speedup > 0) {
|
if (speedup > 0) {
|
||||||
/* Initialize (get) cockpit (controls) settings */
|
/* Initialize (get) cockpit (controls) settings */
|
||||||
ls_cockpit();
|
ls_cockpit();
|
||||||
}
|
}
|
||||||
|
|
||||||
return(1);
|
return(1);
|
||||||
|
|
@ -553,14 +553,14 @@ int ls_toplevel_init(double dt, char * aircraft) {
|
||||||
|
|
||||||
/* Run an iteration of the EOM (equations of motion) */
|
/* Run an iteration of the EOM (equations of motion) */
|
||||||
int ls_update(int multiloop) {
|
int ls_update(int multiloop) {
|
||||||
int i;
|
int i;
|
||||||
|
|
||||||
if (speedup > 0) {
|
if (speedup > 0) {
|
||||||
ls_cockpit();
|
ls_cockpit();
|
||||||
}
|
}
|
||||||
|
|
||||||
for ( i = 0; i < multiloop; i++ ) {
|
for ( i = 0; i < multiloop; i++ ) {
|
||||||
ls_loop( model_dt, 0);
|
ls_loop( model_dt, 0);
|
||||||
}
|
}
|
||||||
|
|
||||||
return 1;
|
return 1;
|
||||||
|
|
|
||||||
|
|
@ -1,48 +1,48 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: ls_matrix.c
|
TITLE: ls_matrix.c
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: general real matrix routines; includes
|
FUNCTION: general real matrix routines; includes
|
||||||
gaussj() for matrix inversion using
|
gaussj() for matrix inversion using
|
||||||
Gauss-Jordan method with full pivoting.
|
Gauss-Jordan method with full pivoting.
|
||||||
|
|
||||||
The routines in this module have come more or less from ref [1].
|
The routines in this module have come more or less from ref [1].
|
||||||
Note that, probably due to the heritage of ref [1] (which has a
|
Note that, probably due to the heritage of ref [1] (which has a
|
||||||
FORTRAN version that was probably written first), the use of 1 as
|
FORTRAN version that was probably written first), the use of 1 as
|
||||||
the first element of an array (or vector) is used. This is accomplished
|
the first element of an array (or vector) is used. This is accomplished
|
||||||
in memory by allocating, but not using, the 0 elements in each dimension.
|
in memory by allocating, but not using, the 0 elements in each dimension.
|
||||||
While this wastes some memory, it allows the routines to be ported more
|
While this wastes some memory, it allows the routines to be ported more
|
||||||
easily from FORTRAN (I suspect) as well as adhering to conventional
|
easily from FORTRAN (I suspect) as well as adhering to conventional
|
||||||
matrix notation. As a result, however, traditional ANSI C convention
|
matrix notation. As a result, however, traditional ANSI C convention
|
||||||
(0-base indexing) is not followed; as the authors of ref [1] point out,
|
(0-base indexing) is not followed; as the authors of ref [1] point out,
|
||||||
there is some question of the portability of the resulting routines
|
there is some question of the portability of the resulting routines
|
||||||
which sometimes access negative indexes. See ref [1] for more details.
|
which sometimes access negative indexes. See ref [1] for more details.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Created 950222 E. B. Jackson
|
GENEALOGY: Created 950222 E. B. Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: from Numerical Recipes in C, by Press, et. al.
|
DESIGNED BY: from Numerical Recipes in C, by Press, et. al.
|
||||||
|
|
||||||
CODED BY: Bruce Jackson
|
CODED BY: Bruce Jackson
|
||||||
|
|
||||||
MAINTAINED BY:
|
MAINTAINED BY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
CURRENT RCS HEADER:
|
CURRENT RCS HEADER:
|
||||||
|
|
||||||
$Header$
|
$Header$
|
||||||
$Log$
|
$Log$
|
||||||
|
|
@ -68,24 +68,24 @@ Initial revision.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES: [1] Press, William H., et. al, Numerical Recipes in
|
REFERENCES: [1] Press, William H., et. al, Numerical Recipes in
|
||||||
C, 2nd edition, Cambridge University Press, 1992
|
C, 2nd edition, Cambridge University Press, 1992
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLED BY:
|
CALLED BY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLS TO:
|
CALLS TO:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS:
|
OUTPUTS:
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
|
|
||||||
|
|
@ -129,10 +129,10 @@ double **nr_matrix(long nrl, long nrh, long ncl, long nch)
|
||||||
m=(double **) malloc((size_t)((nrow+NR_END)*sizeof(double*)));
|
m=(double **) malloc((size_t)((nrow+NR_END)*sizeof(double*)));
|
||||||
|
|
||||||
if (!m)
|
if (!m)
|
||||||
{
|
{
|
||||||
fprintf(stderr, "Memory failure in routine 'nr_matrix'.\n");
|
fprintf(stderr, "Memory failure in routine 'nr_matrix'.\n");
|
||||||
exit(1);
|
exit(1);
|
||||||
}
|
}
|
||||||
|
|
||||||
m += NR_END;
|
m += NR_END;
|
||||||
m -= nrl;
|
m -= nrl;
|
||||||
|
|
@ -140,10 +140,10 @@ double **nr_matrix(long nrl, long nrh, long ncl, long nch)
|
||||||
/* allocate rows and set pointers to them */
|
/* allocate rows and set pointers to them */
|
||||||
m[nrl] = (double *) malloc((size_t)((nrow*ncol+NR_END)*sizeof(double)));
|
m[nrl] = (double *) malloc((size_t)((nrow*ncol+NR_END)*sizeof(double)));
|
||||||
if (!m[nrl])
|
if (!m[nrl])
|
||||||
{
|
{
|
||||||
fprintf(stderr, "Memory failure in routine 'matrix'\n");
|
fprintf(stderr, "Memory failure in routine 'matrix'\n");
|
||||||
exit(1);
|
exit(1);
|
||||||
}
|
}
|
||||||
|
|
||||||
m[nrl] += NR_END;
|
m[nrl] += NR_END;
|
||||||
m[nrl] -= ncl;
|
m[nrl] -= ncl;
|
||||||
|
|
@ -179,38 +179,38 @@ int nr_gaussj(double **a, int n, double **b, int m)
|
||||||
/* Note: this routine modified by EBJ to make b optional, if m == 0 */
|
/* Note: this routine modified by EBJ to make b optional, if m == 0 */
|
||||||
|
|
||||||
{
|
{
|
||||||
int *indxc, *indxr, *ipiv;
|
int *indxc, *indxr, *ipiv;
|
||||||
int i, icol = 0, irow = 0, j, k, l, ll;
|
int i, icol = 0, irow = 0, j, k, l, ll;
|
||||||
double big, dum, pivinv, temp;
|
double big, dum, pivinv, temp;
|
||||||
|
|
||||||
int bexists = ((m != 0) || (b == 0));
|
int bexists = ((m != 0) || (b == 0));
|
||||||
|
|
||||||
indxc = nr_ivector(1,n); /* The integer arrays ipiv, indxr, and */
|
indxc = nr_ivector(1,n); /* The integer arrays ipiv, indxr, and */
|
||||||
indxr = nr_ivector(1,n); /* indxc are used for pivot bookkeeping */
|
indxr = nr_ivector(1,n); /* indxc are used for pivot bookkeeping */
|
||||||
ipiv = nr_ivector(1,n);
|
ipiv = nr_ivector(1,n);
|
||||||
|
|
||||||
for (j=1;j<=n;j++) ipiv[j] = 0;
|
for (j=1;j<=n;j++) ipiv[j] = 0;
|
||||||
|
|
||||||
for (i=1;i<=n;i++) /* This is the main loop over columns */
|
for (i=1;i<=n;i++) /* This is the main loop over columns */
|
||||||
{
|
{
|
||||||
big = 0.0;
|
big = 0.0;
|
||||||
for (j=1;j<=n;j++) /* This is outer loop of pivot search */
|
for (j=1;j<=n;j++) /* This is outer loop of pivot search */
|
||||||
if (ipiv[j] != 1)
|
if (ipiv[j] != 1)
|
||||||
for (k=1;k<=n;k++)
|
for (k=1;k<=n;k++)
|
||||||
{
|
{
|
||||||
if (ipiv[k] == 0)
|
if (ipiv[k] == 0)
|
||||||
{
|
{
|
||||||
if (fabs(a[j][k]) >= big)
|
if (fabs(a[j][k]) >= big)
|
||||||
{
|
{
|
||||||
big = fabs(a[j][k]);
|
big = fabs(a[j][k]);
|
||||||
irow = j;
|
irow = j;
|
||||||
icol = k;
|
icol = k;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
if (ipiv[k] > 1) return -1;
|
if (ipiv[k] > 1) return -1;
|
||||||
}
|
}
|
||||||
++(ipiv[icol]);
|
++(ipiv[icol]);
|
||||||
|
|
||||||
/* We now have the pivot element, so we interchange rows, if needed, */
|
/* We now have the pivot element, so we interchange rows, if needed, */
|
||||||
/* to put the pivot element on the diagonal. The columns are not */
|
/* to put the pivot element on the diagonal. The columns are not */
|
||||||
|
|
@ -221,45 +221,45 @@ int nr_gaussj(double **a, int n, double **b, int m)
|
||||||
/* this form of bookkeeping, the solution b's will end up in the correct */
|
/* this form of bookkeeping, the solution b's will end up in the correct */
|
||||||
/* order, and the inverse matrix will be scrambed by columns. */
|
/* order, and the inverse matrix will be scrambed by columns. */
|
||||||
|
|
||||||
if (irow != icol)
|
if (irow != icol)
|
||||||
{
|
{
|
||||||
/* for (l=1;1<=n;l++) SWAP(a[irow][l],a[icol][l]) */
|
/* for (l=1;1<=n;l++) SWAP(a[irow][l],a[icol][l]) */
|
||||||
for (l=1;l<=n;l++)
|
for (l=1;l<=n;l++)
|
||||||
{
|
{
|
||||||
temp=a[irow][l];
|
temp=a[irow][l];
|
||||||
a[irow][l]=a[icol][l];
|
a[irow][l]=a[icol][l];
|
||||||
a[icol][l]=temp;
|
a[icol][l]=temp;
|
||||||
}
|
}
|
||||||
if (bexists) for (l=1;l<=m;l++) SWAP(b[irow][l],b[icol][l])
|
if (bexists) for (l=1;l<=m;l++) SWAP(b[irow][l],b[icol][l])
|
||||||
}
|
}
|
||||||
indxr[i] = irow; /* We are now ready to divide the pivot row */
|
indxr[i] = irow; /* We are now ready to divide the pivot row */
|
||||||
indxc[i] = icol; /* by the pivot element, a[irow][icol] */
|
indxc[i] = icol; /* by the pivot element, a[irow][icol] */
|
||||||
if (a[icol][icol] == 0.0) return -1;
|
if (a[icol][icol] == 0.0) return -1;
|
||||||
pivinv = 1.0/a[icol][icol];
|
pivinv = 1.0/a[icol][icol];
|
||||||
a[icol][icol] = 1.0;
|
a[icol][icol] = 1.0;
|
||||||
for (l=1;l<=n;l++) a[icol][l] *= pivinv;
|
for (l=1;l<=n;l++) a[icol][l] *= pivinv;
|
||||||
if (bexists) for (l=1;l<=m;l++) b[icol][l] *= pivinv;
|
if (bexists) for (l=1;l<=m;l++) b[icol][l] *= pivinv;
|
||||||
for (ll=1;ll<=n;ll++) /* Next, we reduce the rows... */
|
for (ll=1;ll<=n;ll++) /* Next, we reduce the rows... */
|
||||||
if (ll != icol ) /* .. except for the pivot one */
|
if (ll != icol ) /* .. except for the pivot one */
|
||||||
{
|
{
|
||||||
dum = a[ll][icol];
|
dum = a[ll][icol];
|
||||||
a[ll][icol] = 0.0;
|
a[ll][icol] = 0.0;
|
||||||
for (l=1;l<=n;l++) a[ll][l] -= a[icol][l]*dum;
|
for (l=1;l<=n;l++) a[ll][l] -= a[icol][l]*dum;
|
||||||
if (bexists) for (l=1;l<=m;l++) b[ll][i] -= b[icol][l]*dum;
|
if (bexists) for (l=1;l<=m;l++) b[ll][i] -= b[icol][l]*dum;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
/* This is the end of the mail loop over columns of the reduction. It
|
/* This is the end of the mail loop over columns of the reduction. It
|
||||||
only remains to unscrambled the solution in view of the column
|
only remains to unscrambled the solution in view of the column
|
||||||
interchanges. We do this by interchanging pairs of columns in
|
interchanges. We do this by interchanging pairs of columns in
|
||||||
the reverse order that the permutation was built up. */
|
the reverse order that the permutation was built up. */
|
||||||
|
|
||||||
for (l=n;l>=1;l--)
|
for (l=n;l>=1;l--)
|
||||||
{
|
{
|
||||||
if (indxr[l] != indxc[l])
|
if (indxr[l] != indxc[l])
|
||||||
for (k=1;k<=n;k++)
|
for (k=1;k<=n;k++)
|
||||||
SWAP(a[k][indxr[l]],a[k][indxc[l]])
|
SWAP(a[k][indxr[l]],a[k][indxc[l]])
|
||||||
}
|
}
|
||||||
|
|
||||||
/* and we are done */
|
/* and we are done */
|
||||||
|
|
||||||
|
|
@ -267,35 +267,35 @@ int nr_gaussj(double **a, int n, double **b, int m)
|
||||||
nr_free_ivector(indxr,1 /*,n*/ );
|
nr_free_ivector(indxr,1 /*,n*/ );
|
||||||
nr_free_ivector(indxc,1 /*,n*/ );
|
nr_free_ivector(indxc,1 /*,n*/ );
|
||||||
|
|
||||||
return 0; /* indicate success */
|
return 0; /* indicate success */
|
||||||
}
|
}
|
||||||
|
|
||||||
void nr_copymat(double **orig, int n, double **copy)
|
void nr_copymat(double **orig, int n, double **copy)
|
||||||
/* overwrites matrix 'copy' with copy of matrix 'orig' */
|
/* overwrites matrix 'copy' with copy of matrix 'orig' */
|
||||||
{
|
{
|
||||||
long i, j;
|
long i, j;
|
||||||
|
|
||||||
if ((orig==0)||(copy==0)||(n==0)) return;
|
if ((orig==0)||(copy==0)||(n==0)) return;
|
||||||
|
|
||||||
for (i=1;i<=n;i++)
|
for (i=1;i<=n;i++)
|
||||||
for (j=1;j<=n;j++)
|
for (j=1;j<=n;j++)
|
||||||
copy[i][j] = orig[i][j];
|
copy[i][j] = orig[i][j];
|
||||||
}
|
}
|
||||||
|
|
||||||
void nr_multmat(double **m1, int n, double **m2, double **prod)
|
void nr_multmat(double **m1, int n, double **m2, double **prod)
|
||||||
{
|
{
|
||||||
long i, j, k;
|
long i, j, k;
|
||||||
|
|
||||||
if ((m1==0)||(m2==0)||(prod==0)||(n==0)) return;
|
if ((m1==0)||(m2==0)||(prod==0)||(n==0)) return;
|
||||||
|
|
||||||
for (i=1;i<=n;i++)
|
for (i=1;i<=n;i++)
|
||||||
for (j=1;j<=n;j++)
|
for (j=1;j<=n;j++)
|
||||||
{
|
{
|
||||||
prod[i][j] = 0.0;
|
prod[i][j] = 0.0;
|
||||||
for(k=1;k<=n;k++) prod[i][j] += m1[i][k]*m2[k][j];
|
for(k=1;k<=n;k++) prod[i][j] += m1[i][k]*m2[k][j];
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
void nr_printmat(double **a, int n)
|
void nr_printmat(double **a, int n)
|
||||||
|
|
@ -305,9 +305,9 @@ void nr_printmat(double **a, int n)
|
||||||
printf("\n");
|
printf("\n");
|
||||||
for(i=1;i<=n;i++)
|
for(i=1;i<=n;i++)
|
||||||
{
|
{
|
||||||
for(j=1;j<=n;j++)
|
for(j=1;j<=n;j++)
|
||||||
printf("% 9.4f ", a[i][j]);
|
printf("% 9.4f ", a[i][j]);
|
||||||
printf("\n");
|
printf("\n");
|
||||||
}
|
}
|
||||||
printf("\n");
|
printf("\n");
|
||||||
|
|
||||||
|
|
@ -329,32 +329,32 @@ void testmat( void ) /* main() for test purposes */
|
||||||
|
|
||||||
/* for(i=1;i<=n;i++) mat1[i][i]= 5.0; */
|
/* for(i=1;i<=n;i++) mat1[i][i]= 5.0; */
|
||||||
|
|
||||||
for(loop=0;loop<maxloop;loop++)
|
for(loop=0;loop<maxloop;loop++)
|
||||||
{
|
{
|
||||||
if (loop != 0)
|
if (loop != 0)
|
||||||
for(i=1;i<=n;i++)
|
for(i=1;i<=n;i++)
|
||||||
for(j=1;j<=n;j++)
|
for(j=1;j<=n;j++)
|
||||||
mat1[i][j] = 2.0 - 4.0*invmaxlong*(double) rand();
|
mat1[i][j] = 2.0 - 4.0*invmaxlong*(double) rand();
|
||||||
|
|
||||||
printf("Original matrix:\n");
|
printf("Original matrix:\n");
|
||||||
nr_printmat( mat1, n );
|
nr_printmat( mat1, n );
|
||||||
|
|
||||||
nr_copymat( mat1, n, mat2 );
|
nr_copymat( mat1, n, mat2 );
|
||||||
|
|
||||||
i = nr_gaussj( mat2, n, 0, 0 );
|
i = nr_gaussj( mat2, n, 0, 0 );
|
||||||
|
|
||||||
if (i) printf("Singular matrix.\n");
|
if (i) printf("Singular matrix.\n");
|
||||||
|
|
||||||
printf("Inverted matrix:\n");
|
printf("Inverted matrix:\n");
|
||||||
nr_printmat( mat2, n );
|
nr_printmat( mat2, n );
|
||||||
|
|
||||||
nr_multmat( mat1, n, mat2, mat3 );
|
nr_multmat( mat1, n, mat2, mat3 );
|
||||||
|
|
||||||
printf("Original multiplied by inverse:\n");
|
printf("Original multiplied by inverse:\n");
|
||||||
nr_printmat( mat3, n );
|
nr_printmat( mat3, n );
|
||||||
|
|
||||||
if (loop < maxloop-1) /* sleep(1) */;
|
if (loop < maxloop-1) /* sleep(1) */;
|
||||||
}
|
}
|
||||||
|
|
||||||
nr_free_matrix( mat1, 1, n, 1, n );
|
nr_free_matrix( mat1, 1, n, 1, n );
|
||||||
nr_free_matrix( mat2, 1, n, 1, n );
|
nr_free_matrix( mat2, 1, n, 1, n );
|
||||||
|
|
|
||||||
|
|
@ -1,46 +1,46 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: ls_matrix.h
|
TITLE: ls_matrix.h
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: Header file for general real matrix routines.
|
FUNCTION: Header file for general real matrix routines.
|
||||||
|
|
||||||
The routines in this module have come more or less from ref [1].
|
The routines in this module have come more or less from ref [1].
|
||||||
Note that, probably due to the heritage of ref [1] (which has a
|
Note that, probably due to the heritage of ref [1] (which has a
|
||||||
FORTRAN version that was probably written first), the use of 1 as
|
FORTRAN version that was probably written first), the use of 1 as
|
||||||
the first element of an array (or vector) is used. This is accomplished
|
the first element of an array (or vector) is used. This is accomplished
|
||||||
in memory by allocating, but not using, the 0 elements in each dimension.
|
in memory by allocating, but not using, the 0 elements in each dimension.
|
||||||
While this wastes some memory, it allows the routines to be ported more
|
While this wastes some memory, it allows the routines to be ported more
|
||||||
easily from FORTRAN (I suspect) as well as adhering to conventional
|
easily from FORTRAN (I suspect) as well as adhering to conventional
|
||||||
matrix notation. As a result, however, traditional ANSI C convention
|
matrix notation. As a result, however, traditional ANSI C convention
|
||||||
(0-base indexing) is not followed; as the authors of ref [1] point out,
|
(0-base indexing) is not followed; as the authors of ref [1] point out,
|
||||||
there is some question of the portability of the resulting routines
|
there is some question of the portability of the resulting routines
|
||||||
which sometimes access negative indexes. See ref [1] for more details.
|
which sometimes access negative indexes. See ref [1] for more details.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Created 950222 E. B. Jackson
|
GENEALOGY: Created 950222 E. B. Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: from Numerical Recipes in C, by Press, et. al.
|
DESIGNED BY: from Numerical Recipes in C, by Press, et. al.
|
||||||
|
|
||||||
CODED BY: Bruce Jackson
|
CODED BY: Bruce Jackson
|
||||||
|
|
||||||
MAINTAINED BY:
|
MAINTAINED BY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
CURRENT RCS HEADER:
|
CURRENT RCS HEADER:
|
||||||
|
|
||||||
$Header$
|
$Header$
|
||||||
$Log$
|
$Log$
|
||||||
|
|
@ -62,24 +62,24 @@ Initial revision.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES: [1] Press, William H., et. al, Numerical Recipes in
|
REFERENCES: [1] Press, William H., et. al, Numerical Recipes in
|
||||||
C, 2nd edition, Cambridge University Press, 1992
|
C, 2nd edition, Cambridge University Press, 1992
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLED BY:
|
CALLED BY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLS TO:
|
CALLS TO:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS:
|
OUTPUTS:
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
#include <stdlib.h>
|
#include <stdlib.h>
|
||||||
|
|
|
||||||
|
|
@ -1,40 +1,40 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: ls_model()
|
TITLE: ls_model()
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: Model loop executive
|
FUNCTION: Model loop executive
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Created 15 October 1992 as part of LaRCSIM project
|
GENEALOGY: Created 15 October 1992 as part of LaRCSIM project
|
||||||
by Bruce Jackson.
|
by Bruce Jackson.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: Bruce Jackson
|
DESIGNED BY: Bruce Jackson
|
||||||
|
|
||||||
CODED BY: Bruce Jackson
|
CODED BY: Bruce Jackson
|
||||||
|
|
||||||
MAINTAINED BY: maintainer
|
MAINTAINED BY: maintainer
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
950306 Added parameters to call: dt, which is the step size
|
950306 Added parameters to call: dt, which is the step size
|
||||||
to be taken this loop (caution: may vary from call to call)
|
to be taken this loop (caution: may vary from call to call)
|
||||||
and Initialize, which if non-zero, implies an initialization
|
and Initialize, which if non-zero, implies an initialization
|
||||||
is requested. EBJ
|
is requested. EBJ
|
||||||
|
|
||||||
CURRENT RCS HEADER INFO:
|
CURRENT RCS HEADER INFO:
|
||||||
$Header$
|
$Header$
|
||||||
$Log$
|
$Log$
|
||||||
Revision 1.5 2005/12/19 12:53:21 ehofman
|
Revision 1.5 2005/12/19 12:53:21 ehofman
|
||||||
|
|
@ -140,23 +140,23 @@ Initial Flight Gear revision.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLED BY: ls_step (in initialization), ls_loop (planned)
|
CALLED BY: ls_step (in initialization), ls_loop (planned)
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLS TO: aero(), engine(), gear()
|
CALLS TO: aero(), engine(), gear()
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS:
|
OUTPUTS:
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
|
|
|
||||||
|
|
@ -1,42 +1,42 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: ls_sim_control.h
|
TITLE: ls_sim_control.h
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: LaRCSim simulation control parameters header file
|
FUNCTION: LaRCSim simulation control parameters header file
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Created 18 DEC 1993 by Bruce Jackson
|
GENEALOGY: Created 18 DEC 1993 by Bruce Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: B. Jackson
|
DESIGNED BY: B. Jackson
|
||||||
|
|
||||||
CODED BY: B. Jackson
|
CODED BY: B. Jackson
|
||||||
|
|
||||||
MAINTAINED BY: guess who
|
MAINTAINED BY: guess who
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
940204 Added "overrun" flag to indicate non-real-time frame.
|
940204 Added "overrun" flag to indicate non-real-time frame.
|
||||||
940210 Added "vision" flag to indicate use of shared memory.
|
940210 Added "vision" flag to indicate use of shared memory.
|
||||||
940513 Added "max_tape_channels" and "max_time_slices" EBJ
|
940513 Added "max_tape_channels" and "max_time_slices" EBJ
|
||||||
950308 Increased size of time_stamp and date_string to include
|
950308 Increased size of time_stamp and date_string to include
|
||||||
terminating null char. EBJ
|
terminating null char. EBJ
|
||||||
950314 Addedf "paused" flag to make this global (was local to
|
950314 Addedf "paused" flag to make this global (was local to
|
||||||
ls_cockpit routine). EBJ
|
ls_cockpit routine). EBJ
|
||||||
950406 Removed tape_channels parameter, and added end_time, model_hz,
|
950406 Removed tape_channels parameter, and added end_time, model_hz,
|
||||||
and term_update_hz parameters. EBJ
|
and term_update_hz parameters. EBJ
|
||||||
|
|
||||||
$Header$
|
$Header$
|
||||||
$Log$
|
$Log$
|
||||||
|
|
@ -79,7 +79,7 @@ Initial Flight Gear revision.
|
||||||
* Modified write_cmp2 flag to write_asc1 flag, since XPLOT 4.00 doesn't
|
* Modified write_cmp2 flag to write_asc1 flag, since XPLOT 4.00 doesn't
|
||||||
* support cmp2. Also added RCS header and log entries in header.
|
* support cmp2. Also added RCS header and log entries in header.
|
||||||
*
|
*
|
||||||
|
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
|
|
||||||
|
|
@ -95,37 +95,37 @@ Initial Flight Gear revision.
|
||||||
typedef struct {
|
typedef struct {
|
||||||
|
|
||||||
enum { batch, terminal, GLmouse, cockpit } sim_type;
|
enum { batch, terminal, GLmouse, cockpit } sim_type;
|
||||||
char simname[64]; /* name of simulation */
|
char simname[64]; /* name of simulation */
|
||||||
int run_number; /* run number of this session */
|
int run_number; /* run number of this session */
|
||||||
char date_string[7]; /* like "931220" */
|
char date_string[7]; /* like "931220" */
|
||||||
char time_stamp[9]; /* like "13:00:00" */
|
char time_stamp[9]; /* like "13:00:00" */
|
||||||
#ifdef COMPILE_THIS_CODE_THIS_USELESS_CODE
|
#ifdef COMPILE_THIS_CODE_THIS_USELESS_CODE
|
||||||
char userid[L_cuserid]; /* who is running this sim */
|
char userid[L_cuserid]; /* who is running this sim */
|
||||||
#endif /* COMPILE_THIS_CODE_THIS_USELESS_CODE */
|
#endif /* COMPILE_THIS_CODE_THIS_USELESS_CODE */
|
||||||
long time_slices; /* number of points that can be recorded (circ buff) */
|
long time_slices; /* number of points that can be recorded (circ buff) */
|
||||||
int write_av; /* will be writing out an Agile_VU file after run */
|
int write_av; /* will be writing out an Agile_VU file after run */
|
||||||
int write_mat; /* will be writing out a matrix script of session */
|
int write_mat; /* will be writing out a matrix script of session */
|
||||||
int write_tab; /* will be writing out a tab-delimited time history */
|
int write_tab; /* will be writing out a tab-delimited time history */
|
||||||
int write_asc1; /* will be writing out a GetData ASCII 1 file */
|
int write_asc1; /* will be writing out a GetData ASCII 1 file */
|
||||||
int save_spacing; /* spacing between data points when recording
|
int save_spacing; /* spacing between data points when recording
|
||||||
data to memory; 0 = every point, 1 = every
|
data to memory; 0 = every point, 1 = every
|
||||||
other point; 2 = every fourth point, etc. */
|
other point; 2 = every fourth point, etc. */
|
||||||
int write_spacing; /* spacing between data points when writing
|
int write_spacing; /* spacing between data points when writing
|
||||||
output files; 0 = every point, 1 = every
|
output files; 0 = every point, 1 = every
|
||||||
other point; 2 = every fourth point, etc. */
|
other point; 2 = every fourth point, etc. */
|
||||||
int overrun; /* indicates, if non-zero, a frame overrun
|
int overrun; /* indicates, if non-zero, a frame overrun
|
||||||
occurred in the previous frame. Suitable for
|
occurred in the previous frame. Suitable for
|
||||||
setting a display flag or writing an error
|
setting a display flag or writing an error
|
||||||
message. */
|
message. */
|
||||||
int vision; /* indicates, if non-zero, marriage to LaRC VISION
|
int vision; /* indicates, if non-zero, marriage to LaRC VISION
|
||||||
software (developed A. Dare and J. Burley of the
|
software (developed A. Dare and J. Burley of the
|
||||||
former Cockpit Technologies Branch) */
|
former Cockpit Technologies Branch) */
|
||||||
int debug; /* indicates, if non-zero, to operate in debug mode
|
int debug; /* indicates, if non-zero, to operate in debug mode
|
||||||
which implies disable double-buffering and synch.
|
which implies disable double-buffering and synch.
|
||||||
attempts to avoid errors */
|
attempts to avoid errors */
|
||||||
int paused; /* indicates simulation is paused */
|
int paused; /* indicates simulation is paused */
|
||||||
float end_time; /* end of simulation run value */
|
float end_time; /* end of simulation run value */
|
||||||
float model_hz; /* current inner loop frame rate */
|
float model_hz; /* current inner loop frame rate */
|
||||||
float term_update_hz; /* current terminal refresh frequency */
|
float term_update_hz; /* current terminal refresh frequency */
|
||||||
|
|
||||||
} SIM_CONTROL;
|
} SIM_CONTROL;
|
||||||
|
|
|
||||||
|
|
@ -1,52 +1,52 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: ls_step
|
TITLE: ls_step
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: Integration routine for equations of motion
|
FUNCTION: Integration routine for equations of motion
|
||||||
(vehicle states)
|
(vehicle states)
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Written 920802 by Bruce Jackson. Based upon equations
|
GENEALOGY: Written 920802 by Bruce Jackson. Based upon equations
|
||||||
given in reference [1] and a Matrix-X/System Build block
|
given in reference [1] and a Matrix-X/System Build block
|
||||||
diagram model of equations of motion coded by David Raney
|
diagram model of equations of motion coded by David Raney
|
||||||
at NASA-Langley in June of 1992.
|
at NASA-Langley in June of 1992.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: Bruce Jackson
|
DESIGNED BY: Bruce Jackson
|
||||||
|
|
||||||
CODED BY: Bruce Jackson
|
CODED BY: Bruce Jackson
|
||||||
|
|
||||||
MAINTAINED BY:
|
MAINTAINED BY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
921223 Modified calculation of Phi and Psi to use the "atan2" routine
|
921223 Modified calculation of Phi and Psi to use the "atan2" routine
|
||||||
rather than the "atan" to allow full circular angles.
|
rather than the "atan" to allow full circular angles.
|
||||||
"atan" limits to +/- pi/2. EBJ
|
"atan" limits to +/- pi/2. EBJ
|
||||||
|
|
||||||
940111 Changed from oldstyle include file ls_eom.h; also changed
|
940111 Changed from oldstyle include file ls_eom.h; also changed
|
||||||
from DATA to SCALAR type. EBJ
|
from DATA to SCALAR type. EBJ
|
||||||
|
|
||||||
950207 Initialized Alpha_dot and Beta_dot to zero on first pass; calculated
|
950207 Initialized Alpha_dot and Beta_dot to zero on first pass; calculated
|
||||||
thereafter. EBJ
|
thereafter. EBJ
|
||||||
|
|
||||||
950224 Added logic to avoid adding additional increment to V_east
|
950224 Added logic to avoid adding additional increment to V_east
|
||||||
in case V_east already accounts for rotating earth.
|
in case V_east already accounts for rotating earth.
|
||||||
EBJ
|
EBJ
|
||||||
|
|
||||||
CURRENT RCS HEADER:
|
CURRENT RCS HEADER:
|
||||||
|
|
||||||
$Header$
|
$Header$
|
||||||
$Log$
|
$Log$
|
||||||
|
|
@ -268,32 +268,32 @@ Initial Flight Gear revision.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
[ 1] McFarland, Richard E.: "A Standard Kinematic Model
|
[ 1] McFarland, Richard E.: "A Standard Kinematic Model
|
||||||
for Flight Simulation at NASA-Ames", NASA CR-2497,
|
for Flight Simulation at NASA-Ames", NASA CR-2497,
|
||||||
January 1975
|
January 1975
|
||||||
|
|
||||||
[ 2] ANSI/AIAA R-004-1992 "Recommended Practice: Atmos-
|
[ 2] ANSI/AIAA R-004-1992 "Recommended Practice: Atmos-
|
||||||
pheric and Space Flight Vehicle Coordinate Systems",
|
pheric and Space Flight Vehicle Coordinate Systems",
|
||||||
February 1992
|
February 1992
|
||||||
|
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLED BY:
|
CALLED BY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLS TO: None.
|
CALLS TO: None.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS: State derivatives
|
INPUTS: State derivatives
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS: States
|
OUTPUTS: States
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
|
|
||||||
|
|
@ -312,8 +312,8 @@ Initial Flight Gear revision.
|
||||||
/* #include "ls_sim_control.h" */
|
/* #include "ls_sim_control.h" */
|
||||||
#include <math.h>
|
#include <math.h>
|
||||||
|
|
||||||
extern Model current_model; /* defined in ls_model.c */
|
extern Model current_model; /* defined in ls_model.c */
|
||||||
extern SCALAR Simtime; /* defined in ls_main.c */
|
extern SCALAR Simtime; /* defined in ls_main.c */
|
||||||
|
|
||||||
void uiuc_init_vars() {
|
void uiuc_init_vars() {
|
||||||
static int init = 0;
|
static int init = 0;
|
||||||
|
|
@ -328,102 +328,102 @@ void uiuc_init_vars() {
|
||||||
|
|
||||||
|
|
||||||
void ls_step( SCALAR dt, int Initialize ) {
|
void ls_step( SCALAR dt, int Initialize ) {
|
||||||
static int inited = 0;
|
static int inited = 0;
|
||||||
SCALAR dth;
|
SCALAR dth;
|
||||||
static SCALAR v_dot_north_past, v_dot_east_past, v_dot_down_past;
|
static SCALAR v_dot_north_past, v_dot_east_past, v_dot_down_past;
|
||||||
static SCALAR latitude_dot_past, longitude_dot_past, radius_dot_past;
|
static SCALAR latitude_dot_past, longitude_dot_past, radius_dot_past;
|
||||||
static SCALAR p_dot_body_past, q_dot_body_past, r_dot_body_past;
|
static SCALAR p_dot_body_past, q_dot_body_past, r_dot_body_past;
|
||||||
SCALAR p_local_in_body, q_local_in_body, r_local_in_body;
|
SCALAR p_local_in_body, q_local_in_body, r_local_in_body;
|
||||||
SCALAR epsilon, inv_eps, local_gnd_veast;
|
SCALAR epsilon, inv_eps, local_gnd_veast;
|
||||||
SCALAR e_dot_0, e_dot_1, e_dot_2, e_dot_3;
|
SCALAR e_dot_0, e_dot_1, e_dot_2, e_dot_3;
|
||||||
static SCALAR e_0, e_1, e_2, e_3;
|
static SCALAR e_0, e_1, e_2, e_3;
|
||||||
static SCALAR e_dot_0_past, e_dot_1_past, e_dot_2_past, e_dot_3_past;
|
static SCALAR e_dot_0_past, e_dot_1_past, e_dot_2_past, e_dot_3_past;
|
||||||
SCALAR cos_Lat_geocentric, inv_Radius_to_vehicle;
|
SCALAR cos_Lat_geocentric, inv_Radius_to_vehicle;
|
||||||
|
|
||||||
/* I N I T I A L I Z A T I O N */
|
/* I N I T I A L I Z A T I O N */
|
||||||
|
|
||||||
|
|
||||||
if ( (inited == 0) || (Initialize != 0) )
|
if ( (inited == 0) || (Initialize != 0) )
|
||||||
{
|
{
|
||||||
/* Set past values to zero */
|
/* Set past values to zero */
|
||||||
v_dot_north_past = v_dot_east_past = v_dot_down_past = 0;
|
v_dot_north_past = v_dot_east_past = v_dot_down_past = 0;
|
||||||
latitude_dot_past = longitude_dot_past = radius_dot_past = 0;
|
latitude_dot_past = longitude_dot_past = radius_dot_past = 0;
|
||||||
p_dot_body_past = q_dot_body_past = r_dot_body_past = 0;
|
p_dot_body_past = q_dot_body_past = r_dot_body_past = 0;
|
||||||
e_dot_0_past = e_dot_1_past = e_dot_2_past = e_dot_3_past = 0;
|
e_dot_0_past = e_dot_1_past = e_dot_2_past = e_dot_3_past = 0;
|
||||||
|
|
||||||
/* Initialize geocentric position from geodetic latitude and altitude */
|
/* Initialize geocentric position from geodetic latitude and altitude */
|
||||||
|
|
||||||
ls_geod_to_geoc( Latitude, Altitude, &Sea_level_radius, &Lat_geocentric);
|
ls_geod_to_geoc( Latitude, Altitude, &Sea_level_radius, &Lat_geocentric);
|
||||||
Earth_position_angle = 0;
|
Earth_position_angle = 0;
|
||||||
Lon_geocentric = Longitude;
|
Lon_geocentric = Longitude;
|
||||||
Radius_to_vehicle = Altitude + Sea_level_radius;
|
Radius_to_vehicle = Altitude + Sea_level_radius;
|
||||||
|
|
||||||
/* Correct eastward velocity to account for earths' rotation, if necessary */
|
/* Correct eastward velocity to account for earths' rotation, if necessary */
|
||||||
|
|
||||||
local_gnd_veast = OMEGA_EARTH*Sea_level_radius*cos(Lat_geocentric);
|
local_gnd_veast = OMEGA_EARTH*Sea_level_radius*cos(Lat_geocentric);
|
||||||
if( fabs(V_east - V_east_rel_ground) < 0.8*local_gnd_veast )
|
if( fabs(V_east - V_east_rel_ground) < 0.8*local_gnd_veast )
|
||||||
V_east = V_east + local_gnd_veast;
|
V_east = V_east + local_gnd_veast;
|
||||||
|
|
||||||
/* Initialize quaternions and transformation matrix from Euler angles */
|
/* Initialize quaternions and transformation matrix from Euler angles */
|
||||||
// Initialize UIUC aircraft model
|
// Initialize UIUC aircraft model
|
||||||
if (current_model == UIUC) {
|
if (current_model == UIUC) {
|
||||||
uiuc_init_2_wrapper();
|
uiuc_init_2_wrapper();
|
||||||
}
|
}
|
||||||
|
|
||||||
e_0 = cos(Psi*0.5)*cos(Theta*0.5)*cos(Phi*0.5)
|
e_0 = cos(Psi*0.5)*cos(Theta*0.5)*cos(Phi*0.5)
|
||||||
+ sin(Psi*0.5)*sin(Theta*0.5)*sin(Phi*0.5);
|
+ sin(Psi*0.5)*sin(Theta*0.5)*sin(Phi*0.5);
|
||||||
e_1 = cos(Psi*0.5)*cos(Theta*0.5)*sin(Phi*0.5)
|
e_1 = cos(Psi*0.5)*cos(Theta*0.5)*sin(Phi*0.5)
|
||||||
- sin(Psi*0.5)*sin(Theta*0.5)*cos(Phi*0.5);
|
- sin(Psi*0.5)*sin(Theta*0.5)*cos(Phi*0.5);
|
||||||
e_2 = cos(Psi*0.5)*sin(Theta*0.5)*cos(Phi*0.5)
|
e_2 = cos(Psi*0.5)*sin(Theta*0.5)*cos(Phi*0.5)
|
||||||
+ sin(Psi*0.5)*cos(Theta*0.5)*sin(Phi*0.5);
|
+ sin(Psi*0.5)*cos(Theta*0.5)*sin(Phi*0.5);
|
||||||
e_3 =-cos(Psi*0.5)*sin(Theta*0.5)*sin(Phi*0.5)
|
e_3 =-cos(Psi*0.5)*sin(Theta*0.5)*sin(Phi*0.5)
|
||||||
+ sin(Psi*0.5)*cos(Theta*0.5)*cos(Phi*0.5);
|
+ sin(Psi*0.5)*cos(Theta*0.5)*cos(Phi*0.5);
|
||||||
T_local_to_body_11 = e_0*e_0 + e_1*e_1 - e_2*e_2 - e_3*e_3;
|
T_local_to_body_11 = e_0*e_0 + e_1*e_1 - e_2*e_2 - e_3*e_3;
|
||||||
T_local_to_body_12 = 2*(e_1*e_2 + e_0*e_3);
|
T_local_to_body_12 = 2*(e_1*e_2 + e_0*e_3);
|
||||||
T_local_to_body_13 = 2*(e_1*e_3 - e_0*e_2);
|
T_local_to_body_13 = 2*(e_1*e_3 - e_0*e_2);
|
||||||
T_local_to_body_21 = 2*(e_1*e_2 - e_0*e_3);
|
T_local_to_body_21 = 2*(e_1*e_2 - e_0*e_3);
|
||||||
T_local_to_body_22 = e_0*e_0 - e_1*e_1 + e_2*e_2 - e_3*e_3;
|
T_local_to_body_22 = e_0*e_0 - e_1*e_1 + e_2*e_2 - e_3*e_3;
|
||||||
T_local_to_body_23 = 2*(e_2*e_3 + e_0*e_1);
|
T_local_to_body_23 = 2*(e_2*e_3 + e_0*e_1);
|
||||||
T_local_to_body_31 = 2*(e_1*e_3 + e_0*e_2);
|
T_local_to_body_31 = 2*(e_1*e_3 + e_0*e_2);
|
||||||
T_local_to_body_32 = 2*(e_2*e_3 - e_0*e_1);
|
T_local_to_body_32 = 2*(e_2*e_3 - e_0*e_1);
|
||||||
T_local_to_body_33 = e_0*e_0 - e_1*e_1 - e_2*e_2 + e_3*e_3;
|
T_local_to_body_33 = e_0*e_0 - e_1*e_1 - e_2*e_2 + e_3*e_3;
|
||||||
|
|
||||||
// Initialize local velocities (V_north, V_east, V_down)
|
// Initialize local velocities (V_north, V_east, V_down)
|
||||||
// based on transformation matrix calculated above
|
// based on transformation matrix calculated above
|
||||||
if (current_model == UIUC) {
|
if (current_model == UIUC) {
|
||||||
uiuc_local_vel_init();
|
uiuc_local_vel_init();
|
||||||
}
|
}
|
||||||
|
|
||||||
/* Calculate local gravitation acceleration */
|
/* Calculate local gravitation acceleration */
|
||||||
|
|
||||||
ls_gravity( Radius_to_vehicle, Lat_geocentric, &Gravity );
|
ls_gravity( Radius_to_vehicle, Lat_geocentric, &Gravity );
|
||||||
|
|
||||||
/* Initialize vehicle model */
|
/* Initialize vehicle model */
|
||||||
|
|
||||||
ls_aux();
|
ls_aux();
|
||||||
ls_model(0.0, 0);
|
ls_model(0.0, 0);
|
||||||
|
|
||||||
/* Calculate initial accelerations */
|
/* Calculate initial accelerations */
|
||||||
|
|
||||||
ls_accel();
|
ls_accel();
|
||||||
|
|
||||||
/* Initialize auxiliary variables */
|
/* Initialize auxiliary variables */
|
||||||
|
|
||||||
ls_aux();
|
ls_aux();
|
||||||
Std_Alpha_dot = 0.;
|
Std_Alpha_dot = 0.;
|
||||||
Std_Beta_dot = 0.;
|
Std_Beta_dot = 0.;
|
||||||
|
|
||||||
/* set flag; disable integrators */
|
/* set flag; disable integrators */
|
||||||
|
|
||||||
inited = -1;
|
inited = -1;
|
||||||
dt = 0.0;
|
dt = 0.0;
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
/* Update time */
|
/* Update time */
|
||||||
|
|
||||||
dth = 0.5*dt;
|
dth = 0.5*dt;
|
||||||
Simtime = Simtime + dt;
|
Simtime = Simtime + dt;
|
||||||
|
|
||||||
/* L I N E A R V E L O C I T I E S */
|
/* L I N E A R V E L O C I T I E S */
|
||||||
|
|
||||||
|
|
@ -446,12 +446,12 @@ void ls_step( SCALAR dt, int Initialize ) {
|
||||||
cos_Lat_geocentric = cos(Lat_geocentric);
|
cos_Lat_geocentric = cos(Lat_geocentric);
|
||||||
|
|
||||||
if ( cos_Lat_geocentric != 0) {
|
if ( cos_Lat_geocentric != 0) {
|
||||||
Longitude_dot = V_east/(Radius_to_vehicle*cos_Lat_geocentric);
|
Longitude_dot = V_east/(Radius_to_vehicle*cos_Lat_geocentric);
|
||||||
}
|
}
|
||||||
|
|
||||||
Latitude_dot = V_north*inv_Radius_to_vehicle;
|
Latitude_dot = V_north*inv_Radius_to_vehicle;
|
||||||
Radius_dot = -V_down;
|
Radius_dot = -V_down;
|
||||||
|
|
||||||
/* A N G U L A R V E L O C I T I E S A N D P O S I T I O N S */
|
/* A N G U L A R V E L O C I T I E S A N D P O S I T I O N S */
|
||||||
|
|
||||||
/* Integrate rotational accelerations to get velocities */
|
/* Integrate rotational accelerations to get velocities */
|
||||||
|
|
@ -493,74 +493,74 @@ void ls_step( SCALAR dt, int Initialize ) {
|
||||||
|
|
||||||
/* Integrate using trapezoidal as before */
|
/* Integrate using trapezoidal as before */
|
||||||
|
|
||||||
e_0 = e_0 + dth*(e_dot_0 + e_dot_0_past);
|
e_0 = e_0 + dth*(e_dot_0 + e_dot_0_past);
|
||||||
e_1 = e_1 + dth*(e_dot_1 + e_dot_1_past);
|
e_1 = e_1 + dth*(e_dot_1 + e_dot_1_past);
|
||||||
e_2 = e_2 + dth*(e_dot_2 + e_dot_2_past);
|
e_2 = e_2 + dth*(e_dot_2 + e_dot_2_past);
|
||||||
e_3 = e_3 + dth*(e_dot_3 + e_dot_3_past);
|
e_3 = e_3 + dth*(e_dot_3 + e_dot_3_past);
|
||||||
|
|
||||||
/* calculate orthagonality correction - scale quaternion to unity length */
|
/* calculate orthagonality correction - scale quaternion to unity length */
|
||||||
|
|
||||||
epsilon = sqrt(e_0*e_0 + e_1*e_1 + e_2*e_2 + e_3*e_3);
|
epsilon = sqrt(e_0*e_0 + e_1*e_1 + e_2*e_2 + e_3*e_3);
|
||||||
inv_eps = 1/epsilon;
|
inv_eps = 1/epsilon;
|
||||||
|
|
||||||
e_0 = inv_eps*e_0;
|
e_0 = inv_eps*e_0;
|
||||||
e_1 = inv_eps*e_1;
|
e_1 = inv_eps*e_1;
|
||||||
e_2 = inv_eps*e_2;
|
e_2 = inv_eps*e_2;
|
||||||
e_3 = inv_eps*e_3;
|
e_3 = inv_eps*e_3;
|
||||||
|
|
||||||
/* Save past values */
|
/* Save past values */
|
||||||
|
|
||||||
e_dot_0_past = e_dot_0;
|
e_dot_0_past = e_dot_0;
|
||||||
e_dot_1_past = e_dot_1;
|
e_dot_1_past = e_dot_1;
|
||||||
e_dot_2_past = e_dot_2;
|
e_dot_2_past = e_dot_2;
|
||||||
e_dot_3_past = e_dot_3;
|
e_dot_3_past = e_dot_3;
|
||||||
|
|
||||||
/* Update local to body transformation matrix */
|
/* Update local to body transformation matrix */
|
||||||
|
|
||||||
T_local_to_body_11 = e_0*e_0 + e_1*e_1 - e_2*e_2 - e_3*e_3;
|
T_local_to_body_11 = e_0*e_0 + e_1*e_1 - e_2*e_2 - e_3*e_3;
|
||||||
T_local_to_body_12 = 2*(e_1*e_2 + e_0*e_3);
|
T_local_to_body_12 = 2*(e_1*e_2 + e_0*e_3);
|
||||||
T_local_to_body_13 = 2*(e_1*e_3 - e_0*e_2);
|
T_local_to_body_13 = 2*(e_1*e_3 - e_0*e_2);
|
||||||
T_local_to_body_21 = 2*(e_1*e_2 - e_0*e_3);
|
T_local_to_body_21 = 2*(e_1*e_2 - e_0*e_3);
|
||||||
T_local_to_body_22 = e_0*e_0 - e_1*e_1 + e_2*e_2 - e_3*e_3;
|
T_local_to_body_22 = e_0*e_0 - e_1*e_1 + e_2*e_2 - e_3*e_3;
|
||||||
T_local_to_body_23 = 2*(e_2*e_3 + e_0*e_1);
|
T_local_to_body_23 = 2*(e_2*e_3 + e_0*e_1);
|
||||||
T_local_to_body_31 = 2*(e_1*e_3 + e_0*e_2);
|
T_local_to_body_31 = 2*(e_1*e_3 + e_0*e_2);
|
||||||
T_local_to_body_32 = 2*(e_2*e_3 - e_0*e_1);
|
T_local_to_body_32 = 2*(e_2*e_3 - e_0*e_1);
|
||||||
T_local_to_body_33 = e_0*e_0 - e_1*e_1 - e_2*e_2 + e_3*e_3;
|
T_local_to_body_33 = e_0*e_0 - e_1*e_1 - e_2*e_2 + e_3*e_3;
|
||||||
|
|
||||||
/* Calculate Euler angles */
|
/* Calculate Euler angles */
|
||||||
|
|
||||||
Theta = asin( -T_local_to_body_13 );
|
Theta = asin( -T_local_to_body_13 );
|
||||||
|
|
||||||
if( T_local_to_body_11 == 0 )
|
if( T_local_to_body_11 == 0 )
|
||||||
Psi = 0;
|
Psi = 0;
|
||||||
else
|
else
|
||||||
Psi = atan2( T_local_to_body_12, T_local_to_body_11 );
|
Psi = atan2( T_local_to_body_12, T_local_to_body_11 );
|
||||||
|
|
||||||
if( T_local_to_body_33 == 0 )
|
if( T_local_to_body_33 == 0 )
|
||||||
Phi = 0;
|
Phi = 0;
|
||||||
else
|
else
|
||||||
Phi = atan2( T_local_to_body_23, T_local_to_body_33 );
|
Phi = atan2( T_local_to_body_23, T_local_to_body_33 );
|
||||||
|
|
||||||
/* Resolve Psi to 0 - 359.9999 */
|
/* Resolve Psi to 0 - 359.9999 */
|
||||||
|
|
||||||
if (Psi < 0 ) Psi = Psi + 2*LS_PI;
|
if (Psi < 0 ) Psi = Psi + 2*LS_PI;
|
||||||
|
|
||||||
/* L I N E A R P O S I T I O N S */
|
/* L I N E A R P O S I T I O N S */
|
||||||
|
|
||||||
/* Trapezoidal acceleration for position */
|
/* Trapezoidal acceleration for position */
|
||||||
|
|
||||||
Lat_geocentric = Lat_geocentric + dth*(Latitude_dot + latitude_dot_past );
|
Lat_geocentric = Lat_geocentric + dth*(Latitude_dot + latitude_dot_past );
|
||||||
Lon_geocentric = Lon_geocentric + dth*(Longitude_dot + longitude_dot_past);
|
Lon_geocentric = Lon_geocentric + dth*(Longitude_dot + longitude_dot_past);
|
||||||
Radius_to_vehicle = Radius_to_vehicle + dth*(Radius_dot + radius_dot_past );
|
Radius_to_vehicle = Radius_to_vehicle + dth*(Radius_dot + radius_dot_past );
|
||||||
Earth_position_angle = Earth_position_angle + dt*OMEGA_EARTH;
|
Earth_position_angle = Earth_position_angle + dt*OMEGA_EARTH;
|
||||||
|
|
||||||
/* Save past values */
|
/* Save past values */
|
||||||
|
|
||||||
latitude_dot_past = Latitude_dot;
|
latitude_dot_past = Latitude_dot;
|
||||||
longitude_dot_past = Longitude_dot;
|
longitude_dot_past = Longitude_dot;
|
||||||
radius_dot_past = Radius_dot;
|
radius_dot_past = Radius_dot;
|
||||||
|
|
||||||
/* end of ls_step */
|
/* end of ls_step */
|
||||||
}
|
}
|
||||||
/*************************************************************************/
|
/*************************************************************************/
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -5,7 +5,7 @@
|
||||||
#define _LS_STEP_H
|
#define _LS_STEP_H
|
||||||
|
|
||||||
|
|
||||||
void ls_step( SCALAR dt, int Initialize );
|
void ls_step( SCALAR dt, int Initialize );
|
||||||
|
|
||||||
|
|
||||||
#endif /* _LS_STEP_H */
|
#endif /* _LS_STEP_H */
|
||||||
|
|
|
||||||
|
|
@ -1,42 +1,42 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: ls_sym.h
|
TITLE: ls_sym.h
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: Header file for symbol table routines
|
FUNCTION: Header file for symbol table routines
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: production
|
MODULE STATUS: production
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Created 930629 by E. B. Jackson
|
GENEALOGY: Created 930629 by E. B. Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: Bruce Jackson
|
DESIGNED BY: Bruce Jackson
|
||||||
|
|
||||||
CODED BY: same
|
CODED BY: same
|
||||||
|
|
||||||
MAINTAINED BY:
|
MAINTAINED BY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
950227 Added header and declarations for ls_print_findsym_error(),
|
950227 Added header and declarations for ls_print_findsym_error(),
|
||||||
ls_get_double(), and ls_get_double() routines. EBJ
|
ls_get_double(), and ls_get_double() routines. EBJ
|
||||||
|
|
||||||
950302 Added structure for symbol description. EBJ
|
950302 Added structure for symbol description. EBJ
|
||||||
|
|
||||||
950306 Added ls_get_sym_val() and ls_set_sym_val() routines.
|
950306 Added ls_get_sym_val() and ls_set_sym_val() routines.
|
||||||
This is now the production version. EBJ
|
This is now the production version. EBJ
|
||||||
|
|
||||||
CURRENT RCS HEADER:
|
CURRENT RCS HEADER:
|
||||||
|
|
||||||
$Header$
|
$Header$
|
||||||
$Log$
|
$Log$
|
||||||
|
|
@ -76,23 +76,23 @@ Initial Flight Gear revision.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLED BY:
|
CALLED BY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLS TO:
|
CALLS TO:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS:
|
OUTPUTS:
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
|
|
||||||
|
|
@ -118,56 +118,56 @@ Initial Flight Gear revision.
|
||||||
|
|
||||||
typedef enum {Unknown, Char, UChar, SHint, USHint, Sint, Uint, Slng, Ulng, flt, dbl} vartype;
|
typedef enum {Unknown, Char, UChar, SHint, USHint, Sint, Uint, Slng, Ulng, flt, dbl} vartype;
|
||||||
|
|
||||||
typedef char SYMBOL_NAME[64];
|
typedef char SYMBOL_NAME[64];
|
||||||
typedef vartype SYMBOL_TYPE;
|
typedef vartype SYMBOL_TYPE;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
typedef struct
|
typedef struct
|
||||||
{
|
{
|
||||||
SYMBOL_NAME Mod_Name;
|
SYMBOL_NAME Mod_Name;
|
||||||
SYMBOL_NAME Par_Name;
|
SYMBOL_NAME Par_Name;
|
||||||
SYMBOL_TYPE Par_Type;
|
SYMBOL_TYPE Par_Type;
|
||||||
SYMBOL_NAME Alias;
|
SYMBOL_NAME Alias;
|
||||||
char *Addr;
|
char *Addr;
|
||||||
} symbol_rec;
|
} symbol_rec;
|
||||||
|
|
||||||
|
|
||||||
extern int ls_findsym( const char *modname, const char *varname,
|
extern int ls_findsym( const char *modname, const char *varname,
|
||||||
char **addr, vartype *vtype );
|
char **addr, vartype *vtype );
|
||||||
|
|
||||||
extern void ls_print_findsym_error(int result,
|
extern void ls_print_findsym_error(int result,
|
||||||
char *mod_name,
|
char *mod_name,
|
||||||
char *var_name);
|
char *var_name);
|
||||||
|
|
||||||
extern double ls_get_double(vartype sym_type, void *addr );
|
extern double ls_get_double(vartype sym_type, void *addr );
|
||||||
|
|
||||||
extern void ls_set_double(vartype sym_type, void *addr, double value );
|
extern void ls_set_double(vartype sym_type, void *addr, double value );
|
||||||
|
|
||||||
extern double ls_get_sym_val( symbol_rec *symrec, int *error );
|
extern double ls_get_sym_val( symbol_rec *symrec, int *error );
|
||||||
|
|
||||||
/* This routine attempts to return the present value of the symbol
|
/* This routine attempts to return the present value of the symbol
|
||||||
described in symbol_rec. If Addr is non-zero, the value of that
|
described in symbol_rec. If Addr is non-zero, the value of that
|
||||||
location, interpreted as type double, will be returned. If Addr
|
location, interpreted as type double, will be returned. If Addr
|
||||||
is zero, and Mod_Name and Par_Name are both not null strings,
|
is zero, and Mod_Name and Par_Name are both not null strings,
|
||||||
the ls_findsym() routine is used to try to obtain the address
|
the ls_findsym() routine is used to try to obtain the address
|
||||||
by looking at debugger symbol tables in the executable image, and
|
by looking at debugger symbol tables in the executable image, and
|
||||||
the value of the double contained at that address is returned,
|
the value of the double contained at that address is returned,
|
||||||
and the symbol record is updated to contain the address of that
|
and the symbol record is updated to contain the address of that
|
||||||
symbol. If an error is discovered, 'error' will be non-zero and
|
symbol. If an error is discovered, 'error' will be non-zero and
|
||||||
and error message is printed on stderr. */
|
and error message is printed on stderr. */
|
||||||
|
|
||||||
extern void ls_set_sym_val( symbol_rec *symrec, double value );
|
extern void ls_set_sym_val( symbol_rec *symrec, double value );
|
||||||
|
|
||||||
/* This routine sets the value of a double at the location pointed
|
/* This routine sets the value of a double at the location pointed
|
||||||
to by the symbol_rec's Addr field, if Addr is non-zero. If Addr
|
to by the symbol_rec's Addr field, if Addr is non-zero. If Addr
|
||||||
is zero, and Mod_Name and Par_Name are both not null strings,
|
is zero, and Mod_Name and Par_Name are both not null strings,
|
||||||
the ls_findsym() routine is used to try to obtain the address
|
the ls_findsym() routine is used to try to obtain the address
|
||||||
by looking at debugger symbol tables in the executable image, and
|
by looking at debugger symbol tables in the executable image, and
|
||||||
the value of the double contained at that address is returned,
|
the value of the double contained at that address is returned,
|
||||||
and the symbol record is updated to contain the address of that
|
and the symbol record is updated to contain the address of that
|
||||||
symbol. If an error is discovered, 'error' will be non-zero and
|
symbol. If an error is discovered, 'error' will be non-zero and
|
||||||
and error message is printed on stderr. */
|
and error message is printed on stderr. */
|
||||||
|
|
||||||
|
|
||||||
#endif /* _LS_SYM_H */
|
#endif /* _LS_SYM_H */
|
||||||
|
|
|
||||||
|
|
@ -1,90 +1,90 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: ls_trim.c
|
TITLE: ls_trim.c
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: Trims the simulated aircraft by using certain
|
FUNCTION: Trims the simulated aircraft by using certain
|
||||||
controls to null out a similar number of outputs.
|
controls to null out a similar number of outputs.
|
||||||
|
|
||||||
This routine used modified Newton-Raphson method to find the vector
|
This routine used modified Newton-Raphson method to find the vector
|
||||||
of control corrections, delta_U, to drive a similar-sized vector of
|
of control corrections, delta_U, to drive a similar-sized vector of
|
||||||
output errors, Y, to near-zero. Nearness to zero is to within a
|
output errors, Y, to near-zero. Nearness to zero is to within a
|
||||||
tolerance specified by the Criteria vector. An optional Weight
|
tolerance specified by the Criteria vector. An optional Weight
|
||||||
vector can be used to improve the numerical properties of the
|
vector can be used to improve the numerical properties of the
|
||||||
Jacobian matrix (called H_Partials).
|
Jacobian matrix (called H_Partials).
|
||||||
|
|
||||||
Using a single-sided difference method, each control is
|
Using a single-sided difference method, each control is
|
||||||
independently perturbed and the change in each output of
|
independently perturbed and the change in each output of
|
||||||
interest is calculated, forming a Jacobian matrix H (variable
|
interest is calculated, forming a Jacobian matrix H (variable
|
||||||
name is H_Partials):
|
name is H_Partials):
|
||||||
|
|
||||||
dY = H dU
|
dY = H dU
|
||||||
|
|
||||||
|
|
||||||
The columns of H correspond to the control effect; the rows of
|
The columns of H correspond to the control effect; the rows of
|
||||||
H correspond to the outputs affected.
|
H correspond to the outputs affected.
|
||||||
|
|
||||||
We wish to find dU such that for U = U0 + dU,
|
We wish to find dU such that for U = U0 + dU,
|
||||||
|
|
||||||
Y = Y0 + dY = 0
|
Y = Y0 + dY = 0
|
||||||
or dY = -Y0
|
or dY = -Y0
|
||||||
|
|
||||||
One solution is dU = inv(H)*(-Y0); however, inverting H
|
One solution is dU = inv(H)*(-Y0); however, inverting H
|
||||||
directly is not numerically sound, since it may be singular
|
directly is not numerically sound, since it may be singular
|
||||||
(especially if one of the controls is on a limit, or the
|
(especially if one of the controls is on a limit, or the
|
||||||
problem is poorly posed). An alternative is to either weight
|
problem is poorly posed). An alternative is to either weight
|
||||||
the elements of dU to make them more normalized; another is to
|
the elements of dU to make them more normalized; another is to
|
||||||
multiply both sides by the transpose of H and invert the
|
multiply both sides by the transpose of H and invert the
|
||||||
resulting [H' H]. This routine does both:
|
resulting [H' H]. This routine does both:
|
||||||
|
|
||||||
-Y0 = H dU
|
-Y0 = H dU
|
||||||
W (-Y0) = W H dU premultiply by W
|
W (-Y0) = W H dU premultiply by W
|
||||||
H' W (-Y0) = H' W H dU premultiply by H'
|
H' W (-Y0) = H' W H dU premultiply by H'
|
||||||
|
|
||||||
dU = [inv(H' W H)][ H' W (-Y0)] Solve for dU
|
dU = [inv(H' W H)][ H' W (-Y0)] Solve for dU
|
||||||
|
|
||||||
As a further refinement, dU is limited to a smallish magnitude
|
As a further refinement, dU is limited to a smallish magnitude
|
||||||
so that Y approaches 0 in small steps (to avoid an overshoot
|
so that Y approaches 0 in small steps (to avoid an overshoot
|
||||||
if the problem is inherently non-linear).
|
if the problem is inherently non-linear).
|
||||||
|
|
||||||
Lastly, this routine can be easily fooled by "local minima",
|
Lastly, this routine can be easily fooled by "local minima",
|
||||||
or depressions in the solution space that don't lead to a Y =
|
or depressions in the solution space that don't lead to a Y =
|
||||||
0 solution. The only advice we can offer is to "go somewheres
|
0 solution. The only advice we can offer is to "go somewheres
|
||||||
else and try again"; often approaching a trim solution from a
|
else and try again"; often approaching a trim solution from a
|
||||||
different (non-trimmed) starting point will prove beneficial.
|
different (non-trimmed) starting point will prove beneficial.
|
||||||
|
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Created from old CASTLE SHELL$TRIM.PAS
|
GENEALOGY: Created from old CASTLE SHELL$TRIM.PAS
|
||||||
on 6 FEB 95, which was based upon an Ames
|
on 6 FEB 95, which was based upon an Ames
|
||||||
CASPRE routine called BQUIET.
|
CASPRE routine called BQUIET.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: E. B. Jackson
|
DESIGNED BY: E. B. Jackson
|
||||||
|
|
||||||
CODED BY: same
|
CODED BY: same
|
||||||
|
|
||||||
MAINTAINED BY: same
|
MAINTAINED BY: same
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
950307 Modified to make use of ls_get_sym_val and ls_put_sym_val
|
950307 Modified to make use of ls_get_sym_val and ls_put_sym_val
|
||||||
routines. EBJ
|
routines. EBJ
|
||||||
950329 Fixed bug in making use of more than 3 controls;
|
950329 Fixed bug in making use of more than 3 controls;
|
||||||
removed call by ls_trim_get_set() to ls_trim_init(). EBJ
|
removed call by ls_trim_get_set() to ls_trim_init(). EBJ
|
||||||
|
|
||||||
CURRENT RCS HEADER:
|
CURRENT RCS HEADER:
|
||||||
|
|
||||||
$Header$
|
$Header$
|
||||||
$Log$
|
$Log$
|
||||||
|
|
@ -142,23 +142,23 @@ Start of 0.6.x branch.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLED BY:
|
CALLED BY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLS TO:
|
CALLS TO:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS:
|
OUTPUTS:
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
|
|
||||||
|
|
@ -192,38 +192,38 @@ static char rcsid[] = "$Id$";
|
||||||
|
|
||||||
typedef struct
|
typedef struct
|
||||||
{
|
{
|
||||||
symbol_rec Symbol;
|
symbol_rec Symbol;
|
||||||
double Min_Val, Max_Val, Curr_Val, Authority;
|
double Min_Val, Max_Val, Curr_Val, Authority;
|
||||||
double Percent, Requested_Percent, Pert_Size;
|
double Percent, Requested_Percent, Pert_Size;
|
||||||
int Ineffective, At_Limit;
|
int Ineffective, At_Limit;
|
||||||
} control_rec;
|
} control_rec;
|
||||||
|
|
||||||
typedef struct
|
typedef struct
|
||||||
{
|
{
|
||||||
symbol_rec Symbol;
|
symbol_rec Symbol;
|
||||||
double Curr_Val, Weighting, Trim_Criteria;
|
double Curr_Val, Weighting, Trim_Criteria;
|
||||||
int Uncontrollable;
|
int Uncontrollable;
|
||||||
} output_rec;
|
} output_rec;
|
||||||
|
|
||||||
|
|
||||||
static int Symbols_loaded = 0;
|
static int Symbols_loaded = 0;
|
||||||
static int Index;
|
static int Index;
|
||||||
static int Trim_Cycles;
|
static int Trim_Cycles;
|
||||||
static int First;
|
static int First;
|
||||||
static int Trimmed;
|
static int Trimmed;
|
||||||
static double Gain;
|
static double Gain;
|
||||||
|
|
||||||
static int Number_of_Controls;
|
static int Number_of_Controls;
|
||||||
static int Number_of_Outputs;
|
static int Number_of_Outputs;
|
||||||
static control_rec Controls[ MAX_NUMBER_OF_CONTROLS ];
|
static control_rec Controls[ MAX_NUMBER_OF_CONTROLS ];
|
||||||
static output_rec Outputs[ MAX_NUMBER_OF_OUTPUTS ];
|
static output_rec Outputs[ MAX_NUMBER_OF_OUTPUTS ];
|
||||||
|
|
||||||
static double **H_Partials;
|
static double **H_Partials;
|
||||||
|
|
||||||
static double Baseline_Output[ MAX_NUMBER_OF_OUTPUTS ];
|
static double Baseline_Output[ MAX_NUMBER_OF_OUTPUTS ];
|
||||||
static double Saved_Control, Saved_Control_Percent;
|
static double Saved_Control, Saved_Control_Percent;
|
||||||
|
|
||||||
static double Cost, Previous_Cost;
|
static double Cost, Previous_Cost;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -242,13 +242,13 @@ int ls_trim_init()
|
||||||
Trimmed = 0;
|
Trimmed = 0;
|
||||||
|
|
||||||
for (i=0;i<Number_of_Controls;i++)
|
for (i=0;i<Number_of_Controls;i++)
|
||||||
{
|
{
|
||||||
Controls[i].Curr_Val = ls_get_sym_val( &Controls[i].Symbol, &error );
|
Controls[i].Curr_Val = ls_get_sym_val( &Controls[i].Symbol, &error );
|
||||||
if (error) Controls[i].Symbol.Addr = NIL_POINTER;
|
if (error) Controls[i].Symbol.Addr = NIL_POINTER;
|
||||||
Controls[i].Requested_Percent =
|
Controls[i].Requested_Percent =
|
||||||
(Controls[i].Curr_Val - Controls[i].Min_Val)
|
(Controls[i].Curr_Val - Controls[i].Min_Val)
|
||||||
/Controls[i].Authority;
|
/Controls[i].Authority;
|
||||||
}
|
}
|
||||||
|
|
||||||
H_Partials = nr_matrix( 1, Number_of_Controls, 1, Number_of_Controls );
|
H_Partials = nr_matrix( 1, Number_of_Controls, 1, Number_of_Controls );
|
||||||
if (H_Partials == 0) return -1;
|
if (H_Partials == 0) return -1;
|
||||||
|
|
@ -262,20 +262,20 @@ void ls_trim_get_vals()
|
||||||
int i, error;
|
int i, error;
|
||||||
|
|
||||||
for (i=0;i<Number_of_Outputs;i++)
|
for (i=0;i<Number_of_Outputs;i++)
|
||||||
{
|
{
|
||||||
Outputs[i].Curr_Val = ls_get_sym_val( &Outputs[i].Symbol, &error );
|
Outputs[i].Curr_Val = ls_get_sym_val( &Outputs[i].Symbol, &error );
|
||||||
if (error) Outputs[i].Symbol.Addr = NIL_POINTER;
|
if (error) Outputs[i].Symbol.Addr = NIL_POINTER;
|
||||||
}
|
}
|
||||||
|
|
||||||
Cost = 0.0;
|
Cost = 0.0;
|
||||||
for (i=0;i<Number_of_Controls;i++)
|
for (i=0;i<Number_of_Controls;i++)
|
||||||
{
|
{
|
||||||
Controls[i].Curr_Val = ls_get_sym_val( &Controls[i].Symbol, &error );
|
Controls[i].Curr_Val = ls_get_sym_val( &Controls[i].Symbol, &error );
|
||||||
if (error) Controls[i].Symbol.Addr = NIL_POINTER;
|
if (error) Controls[i].Symbol.Addr = NIL_POINTER;
|
||||||
Controls[i].Percent =
|
Controls[i].Percent =
|
||||||
(Controls[i].Curr_Val - Controls[i].Min_Val)
|
(Controls[i].Curr_Val - Controls[i].Min_Val)
|
||||||
/Controls[i].Authority;
|
/Controls[i].Authority;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
@ -286,22 +286,22 @@ void ls_trim_move_controls()
|
||||||
int i;
|
int i;
|
||||||
|
|
||||||
for(i=0;i<Number_of_Controls;i++)
|
for(i=0;i<Number_of_Controls;i++)
|
||||||
{
|
{
|
||||||
Controls[i].At_Limit = 0;
|
Controls[i].At_Limit = 0;
|
||||||
if (Controls[i].Requested_Percent <= 0.0)
|
if (Controls[i].Requested_Percent <= 0.0)
|
||||||
{
|
{
|
||||||
Controls[i].Requested_Percent = 0.0;
|
Controls[i].Requested_Percent = 0.0;
|
||||||
Controls[i].At_Limit = 1;
|
Controls[i].At_Limit = 1;
|
||||||
}
|
}
|
||||||
if (Controls[i].Requested_Percent >= 1.0)
|
if (Controls[i].Requested_Percent >= 1.0)
|
||||||
{
|
{
|
||||||
Controls[i].Requested_Percent = 1.0;
|
Controls[i].Requested_Percent = 1.0;
|
||||||
Controls[i].At_Limit = 1;
|
Controls[i].At_Limit = 1;
|
||||||
}
|
}
|
||||||
Controls[i].Curr_Val = Controls[i].Min_Val +
|
Controls[i].Curr_Val = Controls[i].Min_Val +
|
||||||
(Controls[i].Max_Val - Controls[i].Min_Val) *
|
(Controls[i].Max_Val - Controls[i].Min_Val) *
|
||||||
Controls[i].Requested_Percent;
|
Controls[i].Requested_Percent;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void ls_trim_put_controls()
|
void ls_trim_put_controls()
|
||||||
|
|
@ -310,8 +310,8 @@ void ls_trim_put_controls()
|
||||||
int i;
|
int i;
|
||||||
|
|
||||||
for (i=0;i<Number_of_Controls;i++)
|
for (i=0;i<Number_of_Controls;i++)
|
||||||
if (Controls[i].Symbol.Addr)
|
if (Controls[i].Symbol.Addr)
|
||||||
ls_set_sym_val( &Controls[i].Symbol, Controls[i].Curr_Val );
|
ls_set_sym_val( &Controls[i].Symbol, Controls[i].Curr_Val );
|
||||||
}
|
}
|
||||||
|
|
||||||
void ls_trim_calc_cost()
|
void ls_trim_calc_cost()
|
||||||
|
|
@ -321,7 +321,7 @@ void ls_trim_calc_cost()
|
||||||
|
|
||||||
Cost = 0.0;
|
Cost = 0.0;
|
||||||
for(i=0;i<Number_of_Outputs;i++)
|
for(i=0;i<Number_of_Outputs;i++)
|
||||||
Cost += pow((Outputs[i].Curr_Val/Outputs[i].Trim_Criteria),2.0);
|
Cost += pow((Outputs[i].Curr_Val/Outputs[i].Trim_Criteria),2.0);
|
||||||
}
|
}
|
||||||
|
|
||||||
void ls_trim_save_baseline_outputs()
|
void ls_trim_save_baseline_outputs()
|
||||||
|
|
@ -329,7 +329,7 @@ void ls_trim_save_baseline_outputs()
|
||||||
int i, error;
|
int i, error;
|
||||||
|
|
||||||
for (i=0;i<Number_of_Outputs;i++)
|
for (i=0;i<Number_of_Outputs;i++)
|
||||||
Baseline_Output[i] = ls_get_sym_val( &Outputs[i].Symbol, &error );
|
Baseline_Output[i] = ls_get_sym_val( &Outputs[i].Symbol, &error );
|
||||||
}
|
}
|
||||||
|
|
||||||
int ls_trim_eval_outputs()
|
int ls_trim_eval_outputs()
|
||||||
|
|
@ -338,7 +338,7 @@ int ls_trim_eval_outputs()
|
||||||
|
|
||||||
trimmed = 1;
|
trimmed = 1;
|
||||||
for(i=0;i<Number_of_Outputs;i++)
|
for(i=0;i<Number_of_Outputs;i++)
|
||||||
if( fabs(Outputs[i].Curr_Val) > Outputs[i].Trim_Criteria) trimmed = 0;
|
if( fabs(Outputs[i].Curr_Val) > Outputs[i].Trim_Criteria) trimmed = 0;
|
||||||
return trimmed;
|
return trimmed;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
@ -350,54 +350,54 @@ void ls_trim_calc_h_column()
|
||||||
delta_control = (Controls[Index].Curr_Val - Saved_Control)/Controls[Index].Authority;
|
delta_control = (Controls[Index].Curr_Val - Saved_Control)/Controls[Index].Authority;
|
||||||
|
|
||||||
for(i=0;i<Number_of_Outputs;i++)
|
for(i=0;i<Number_of_Outputs;i++)
|
||||||
{
|
{
|
||||||
delta_output = Outputs[i].Curr_Val - Baseline_Output[i];
|
delta_output = Outputs[i].Curr_Val - Baseline_Output[i];
|
||||||
H_Partials[i+1][Index+1] = delta_output/delta_control;
|
H_Partials[i+1][Index+1] = delta_output/delta_control;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void ls_trim_do_step()
|
void ls_trim_do_step()
|
||||||
{
|
{
|
||||||
int i, j, l, singular;
|
int i, j, l, singular;
|
||||||
double **h_trans_w_h;
|
double **h_trans_w_h;
|
||||||
double delta_req_mag, scaling;
|
double delta_req_mag, scaling;
|
||||||
double delta_U_requested[ MAX_NUMBER_OF_CONTROLS ];
|
double delta_U_requested[ MAX_NUMBER_OF_CONTROLS ];
|
||||||
double temp[ MAX_NUMBER_OF_CONTROLS ];
|
double temp[ MAX_NUMBER_OF_CONTROLS ];
|
||||||
|
|
||||||
/* Identify ineffective controls (whose partials are all near zero) */
|
/* Identify ineffective controls (whose partials are all near zero) */
|
||||||
|
|
||||||
for (j=0;j<Number_of_Controls;j++)
|
for (j=0;j<Number_of_Controls;j++)
|
||||||
{
|
{
|
||||||
Controls[j].Ineffective = 1;
|
Controls[j].Ineffective = 1;
|
||||||
for(i=0;i<Number_of_Outputs;i++)
|
for(i=0;i<Number_of_Outputs;i++)
|
||||||
if (fabs(H_Partials[i+1][j+1]) > EPS) Controls[j].Ineffective = 0;
|
if (fabs(H_Partials[i+1][j+1]) > EPS) Controls[j].Ineffective = 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
/* Identify uncontrollable outputs */
|
/* Identify uncontrollable outputs */
|
||||||
|
|
||||||
for (j=0;j<Number_of_Outputs;j++)
|
for (j=0;j<Number_of_Outputs;j++)
|
||||||
{
|
{
|
||||||
Outputs[j].Uncontrollable = 1;
|
Outputs[j].Uncontrollable = 1;
|
||||||
for(i=0;i<Number_of_Controls;i++)
|
for(i=0;i<Number_of_Controls;i++)
|
||||||
if (fabs(H_Partials[j+1][i+1]) > EPS) Outputs[j].Uncontrollable = 0;
|
if (fabs(H_Partials[j+1][i+1]) > EPS) Outputs[j].Uncontrollable = 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
/* Calculate well-conditioned partials matrix [ H' W H ] */
|
/* Calculate well-conditioned partials matrix [ H' W H ] */
|
||||||
|
|
||||||
h_trans_w_h = nr_matrix(1, Number_of_Controls, 1, Number_of_Controls);
|
h_trans_w_h = nr_matrix(1, Number_of_Controls, 1, Number_of_Controls);
|
||||||
if (h_trans_w_h == 0)
|
if (h_trans_w_h == 0)
|
||||||
{
|
{
|
||||||
fprintf(stderr, "Memory error in ls_trim().\n");
|
fprintf(stderr, "Memory error in ls_trim().\n");
|
||||||
exit(1);
|
exit(1);
|
||||||
}
|
}
|
||||||
for (l=1;l<=Number_of_Controls;l++)
|
for (l=1;l<=Number_of_Controls;l++)
|
||||||
for (j=1;j<=Number_of_Controls;j++)
|
for (j=1;j<=Number_of_Controls;j++)
|
||||||
{
|
{
|
||||||
h_trans_w_h[l][j] = 0.0;
|
h_trans_w_h[l][j] = 0.0;
|
||||||
for (i=1;i<=Number_of_Outputs;i++)
|
for (i=1;i<=Number_of_Outputs;i++)
|
||||||
h_trans_w_h[l][j] +=
|
h_trans_w_h[l][j] +=
|
||||||
H_Partials[i][l]*H_Partials[i][j]*Outputs[i-1].Weighting;
|
H_Partials[i][l]*H_Partials[i][j]*Outputs[i-1].Weighting;
|
||||||
}
|
}
|
||||||
|
|
||||||
/* Invert the partials array [ inv( H' W H ) ]; note: h_trans_w_h is replaced
|
/* Invert the partials array [ inv( H' W H ) ]; note: h_trans_w_h is replaced
|
||||||
with its inverse during this function call */
|
with its inverse during this function call */
|
||||||
|
|
@ -405,50 +405,50 @@ void ls_trim_do_step()
|
||||||
singular = nr_gaussj( h_trans_w_h, Number_of_Controls, 0, 0 );
|
singular = nr_gaussj( h_trans_w_h, Number_of_Controls, 0, 0 );
|
||||||
|
|
||||||
if (singular) /* Can't invert successfully */
|
if (singular) /* Can't invert successfully */
|
||||||
{
|
{
|
||||||
nr_free_matrix( h_trans_w_h, 1, Number_of_Controls,
|
nr_free_matrix( h_trans_w_h, 1, Number_of_Controls,
|
||||||
1, Number_of_Controls );
|
1, Number_of_Controls );
|
||||||
fprintf(stderr, "Singular matrix in ls_trim().\n");
|
fprintf(stderr, "Singular matrix in ls_trim().\n");
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
/* Form right hand side of equality: temp = [ H' W (-Y) ] */
|
/* Form right hand side of equality: temp = [ H' W (-Y) ] */
|
||||||
|
|
||||||
for(i=0;i<Number_of_Controls;i++)
|
for(i=0;i<Number_of_Controls;i++)
|
||||||
{
|
{
|
||||||
temp[i] = 0.0;
|
temp[i] = 0.0;
|
||||||
for(j=0;j<Number_of_Outputs;j++)
|
for(j=0;j<Number_of_Outputs;j++)
|
||||||
temp[i] -= H_Partials[j+1][i+1]*Baseline_Output[j]*Outputs[j].Weighting;
|
temp[i] -= H_Partials[j+1][i+1]*Baseline_Output[j]*Outputs[j].Weighting;
|
||||||
}
|
}
|
||||||
|
|
||||||
/* Solve for dU = [inv( H' W H )][ H' W (-Y)] */
|
/* Solve for dU = [inv( H' W H )][ H' W (-Y)] */
|
||||||
for(i=0;i<Number_of_Controls;i++)
|
for(i=0;i<Number_of_Controls;i++)
|
||||||
{
|
{
|
||||||
delta_U_requested[i] = 0.0;
|
delta_U_requested[i] = 0.0;
|
||||||
for(j=0;j<Number_of_Controls;j++)
|
for(j=0;j<Number_of_Controls;j++)
|
||||||
delta_U_requested[i] += h_trans_w_h[i+1][j+1]*temp[j];
|
delta_U_requested[i] += h_trans_w_h[i+1][j+1]*temp[j];
|
||||||
}
|
}
|
||||||
|
|
||||||
/* limit step magnitude to certain size, but not direction */
|
/* limit step magnitude to certain size, but not direction */
|
||||||
|
|
||||||
delta_req_mag = 0.0;
|
delta_req_mag = 0.0;
|
||||||
for(i=0;i<Number_of_Controls;i++)
|
for(i=0;i<Number_of_Controls;i++)
|
||||||
delta_req_mag += delta_U_requested[i]*delta_U_requested[i];
|
delta_req_mag += delta_U_requested[i]*delta_U_requested[i];
|
||||||
delta_req_mag = sqrt(delta_req_mag);
|
delta_req_mag = sqrt(delta_req_mag);
|
||||||
scaling = STEP_LIMIT/delta_req_mag;
|
scaling = STEP_LIMIT/delta_req_mag;
|
||||||
if (scaling < 1.0)
|
if (scaling < 1.0)
|
||||||
for(i=0;i<Number_of_Controls;i++)
|
for(i=0;i<Number_of_Controls;i++)
|
||||||
delta_U_requested[i] *= scaling;
|
delta_U_requested[i] *= scaling;
|
||||||
|
|
||||||
/* Convert deltas to percent of authority */
|
/* Convert deltas to percent of authority */
|
||||||
|
|
||||||
for(i=0;i<Number_of_Controls;i++)
|
for(i=0;i<Number_of_Controls;i++)
|
||||||
Controls[i].Requested_Percent = Controls[i].Percent + delta_U_requested[i];
|
Controls[i].Requested_Percent = Controls[i].Percent + delta_U_requested[i];
|
||||||
|
|
||||||
/* free up temporary matrix */
|
/* free up temporary matrix */
|
||||||
|
|
||||||
nr_free_matrix( h_trans_w_h, 1, Number_of_Controls,
|
nr_free_matrix( h_trans_w_h, 1, Number_of_Controls,
|
||||||
1, Number_of_Controls );
|
1, Number_of_Controls );
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
@ -462,70 +462,70 @@ int ls_trim()
|
||||||
Trimmed = 0;
|
Trimmed = 0;
|
||||||
if (Symbols_loaded) {
|
if (Symbols_loaded) {
|
||||||
|
|
||||||
ls_trim_init(); /* Initialize Outputs & controls */
|
ls_trim_init(); /* Initialize Outputs & controls */
|
||||||
ls_trim_get_vals(); /* Limit the current control settings */
|
ls_trim_get_vals(); /* Limit the current control settings */
|
||||||
Baseline = TRUE;
|
Baseline = TRUE;
|
||||||
ls_trim_move_controls(); /* Write out the new values of controls */
|
ls_trim_move_controls(); /* Write out the new values of controls */
|
||||||
ls_trim_put_controls();
|
ls_trim_put_controls();
|
||||||
ls_loop( 0.0, -1 ); /* Cycle the simulation once with new limited
|
ls_loop( 0.0, -1 ); /* Cycle the simulation once with new limited
|
||||||
controls */
|
controls */
|
||||||
|
|
||||||
/* Main trim cycle loop follows */
|
/* Main trim cycle loop follows */
|
||||||
|
|
||||||
while((!Trimmed) && (Trim_Cycles < Max_Cycles))
|
while((!Trimmed) && (Trim_Cycles < Max_Cycles))
|
||||||
{
|
{
|
||||||
ls_trim_get_vals();
|
ls_trim_get_vals();
|
||||||
if (Index == -1)
|
if (Index == -1)
|
||||||
{
|
{
|
||||||
ls_trim_calc_cost();
|
ls_trim_calc_cost();
|
||||||
/*Adjust_Gain(); */
|
/*Adjust_Gain(); */
|
||||||
ls_trim_save_baseline_outputs();
|
ls_trim_save_baseline_outputs();
|
||||||
Trimmed = ls_trim_eval_outputs();
|
Trimmed = ls_trim_eval_outputs();
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
ls_trim_calc_h_column();
|
ls_trim_calc_h_column();
|
||||||
Controls[Index].Curr_Val = Saved_Control;
|
Controls[Index].Curr_Val = Saved_Control;
|
||||||
Controls[Index].Percent = Saved_Control_Percent;
|
Controls[Index].Percent = Saved_Control_Percent;
|
||||||
Controls[Index].Requested_Percent = Saved_Control_Percent;
|
Controls[Index].Requested_Percent = Saved_Control_Percent;
|
||||||
}
|
}
|
||||||
Index++;
|
Index++;
|
||||||
if (!Trimmed)
|
if (!Trimmed)
|
||||||
{
|
{
|
||||||
if (Index >= Number_of_Controls)
|
if (Index >= Number_of_Controls)
|
||||||
{
|
{
|
||||||
Baseline = TRUE;
|
Baseline = TRUE;
|
||||||
Index = -1;
|
Index = -1;
|
||||||
ls_trim_do_step();
|
ls_trim_do_step();
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{ /* Save the current value & pert next control */
|
{ /* Save the current value & pert next control */
|
||||||
Baseline = FALSE;
|
Baseline = FALSE;
|
||||||
Saved_Control = Controls[Index].Curr_Val;
|
Saved_Control = Controls[Index].Curr_Val;
|
||||||
Saved_Control_Percent = Controls[Index].Percent;
|
Saved_Control_Percent = Controls[Index].Percent;
|
||||||
|
|
||||||
if (Controls[Index].Percent <
|
if (Controls[Index].Percent <
|
||||||
(1.0 - Controls[Index].Pert_Size) )
|
(1.0 - Controls[Index].Pert_Size) )
|
||||||
{
|
{
|
||||||
Controls[Index].Requested_Percent =
|
Controls[Index].Requested_Percent =
|
||||||
Controls[Index].Percent +
|
Controls[Index].Percent +
|
||||||
Controls[Index].Pert_Size ;
|
Controls[Index].Pert_Size ;
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
Controls[Index].Requested_Percent =
|
Controls[Index].Requested_Percent =
|
||||||
Controls[Index].Percent -
|
Controls[Index].Percent -
|
||||||
Controls[Index].Pert_Size;
|
Controls[Index].Pert_Size;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
ls_trim_move_controls();
|
ls_trim_move_controls();
|
||||||
ls_trim_put_controls();
|
ls_trim_put_controls();
|
||||||
ls_loop( 0.0, -1 );
|
ls_loop( 0.0, -1 );
|
||||||
Trim_Cycles++;
|
Trim_Cycles++;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
nr_free_matrix( H_Partials, 1, Number_of_Controls, 1, Number_of_Controls );
|
nr_free_matrix( H_Partials, 1, Number_of_Controls, 1, Number_of_Controls );
|
||||||
}
|
}
|
||||||
|
|
||||||
if (!Trimmed) fprintf(stderr, "Trim unsuccessful.\n");
|
if (!Trimmed) fprintf(stderr, "Trim unsuccessful.\n");
|
||||||
|
|
@ -562,99 +562,99 @@ char *ls_trim_get_set(char *buffer, char *eob)
|
||||||
|
|
||||||
while( !abrt && (eob > bufptr))
|
while( !abrt && (eob > bufptr))
|
||||||
{
|
{
|
||||||
bufptr = strtok_r( 0L, "\n", lasts );
|
bufptr = strtok_r( 0L, "\n", lasts );
|
||||||
if (bufptr == 0) return 0L;
|
if (bufptr == 0) return 0L;
|
||||||
if (strncasecmp( bufptr, "end", 3) == 0) break;
|
if (strncasecmp( bufptr, "end", 3) == 0) break;
|
||||||
|
|
||||||
sscanf( bufptr, "%s", line );
|
sscanf( bufptr, "%s", line );
|
||||||
if (line[0] != '#') /* ignore comments */
|
if (line[0] != '#') /* ignore comments */
|
||||||
{
|
{
|
||||||
switch (looking_for)
|
switch (looking_for)
|
||||||
{
|
{
|
||||||
case controls_header:
|
case controls_header:
|
||||||
{
|
{
|
||||||
if (strncasecmp( line, "controls", 8) == 0)
|
if (strncasecmp( line, "controls", 8) == 0)
|
||||||
{
|
{
|
||||||
n = sscanf( bufptr, "%s%d", line, &Number_of_Controls );
|
n = sscanf( bufptr, "%s%d", line, &Number_of_Controls );
|
||||||
if (n != 2) abrt = 1;
|
if (n != 2) abrt = 1;
|
||||||
looking_for = controls;
|
looking_for = controls;
|
||||||
i = 0;
|
i = 0;
|
||||||
}
|
}
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
case controls:
|
case controls:
|
||||||
{
|
{
|
||||||
n = sscanf( bufptr, "%s%s%le%le%le",
|
n = sscanf( bufptr, "%s%s%le%le%le",
|
||||||
Controls[i].Symbol.Mod_Name,
|
Controls[i].Symbol.Mod_Name,
|
||||||
Controls[i].Symbol.Par_Name,
|
Controls[i].Symbol.Par_Name,
|
||||||
&Controls[i].Min_Val,
|
&Controls[i].Min_Val,
|
||||||
&Controls[i].Max_Val,
|
&Controls[i].Max_Val,
|
||||||
&Controls[i].Pert_Size);
|
&Controls[i].Pert_Size);
|
||||||
if (n != 5) abrt = 1;
|
if (n != 5) abrt = 1;
|
||||||
Controls[i].Symbol.Addr = NIL_POINTER;
|
Controls[i].Symbol.Addr = NIL_POINTER;
|
||||||
i++;
|
i++;
|
||||||
if (i >= Number_of_Controls) looking_for = outputs_header;
|
if (i >= Number_of_Controls) looking_for = outputs_header;
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
case outputs_header:
|
case outputs_header:
|
||||||
{
|
{
|
||||||
if (strncasecmp( line, "outputs", 7) == 0)
|
if (strncasecmp( line, "outputs", 7) == 0)
|
||||||
{
|
{
|
||||||
n = sscanf( bufptr, "%s%d", line, &Number_of_Outputs );
|
n = sscanf( bufptr, "%s%d", line, &Number_of_Outputs );
|
||||||
if (n != 2) abrt = 1;
|
if (n != 2) abrt = 1;
|
||||||
looking_for = outputs;
|
looking_for = outputs;
|
||||||
i = 0;
|
i = 0;
|
||||||
}
|
}
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
case outputs:
|
case outputs:
|
||||||
{
|
{
|
||||||
n = sscanf( bufptr, "%s%s%le",
|
n = sscanf( bufptr, "%s%s%le",
|
||||||
Outputs[i].Symbol.Mod_Name,
|
Outputs[i].Symbol.Mod_Name,
|
||||||
Outputs[i].Symbol.Par_Name,
|
Outputs[i].Symbol.Par_Name,
|
||||||
&Outputs[i].Trim_Criteria );
|
&Outputs[i].Trim_Criteria );
|
||||||
if (n != 3) abrt = 1;
|
if (n != 3) abrt = 1;
|
||||||
Outputs[i].Symbol.Addr = NIL_POINTER;
|
Outputs[i].Symbol.Addr = NIL_POINTER;
|
||||||
i++;
|
i++;
|
||||||
if (i >= Number_of_Outputs) looking_for = done;
|
if (i >= Number_of_Outputs) looking_for = done;
|
||||||
}
|
}
|
||||||
case done:
|
case done:
|
||||||
{
|
{
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
if ((!abrt) &&
|
if ((!abrt) &&
|
||||||
(Number_of_Controls > 0) &&
|
(Number_of_Controls > 0) &&
|
||||||
(Number_of_Outputs == Number_of_Controls))
|
(Number_of_Outputs == Number_of_Controls))
|
||||||
{
|
{
|
||||||
Symbols_loaded = 1;
|
Symbols_loaded = 1;
|
||||||
|
|
||||||
for(i=0;i<Number_of_Controls;i++) /* Initialize fields in Controls data */
|
for(i=0;i<Number_of_Controls;i++) /* Initialize fields in Controls data */
|
||||||
{
|
{
|
||||||
Controls[i].Curr_Val = ls_get_sym_val( &Controls[i].Symbol, &error );
|
Controls[i].Curr_Val = ls_get_sym_val( &Controls[i].Symbol, &error );
|
||||||
if (error)
|
if (error)
|
||||||
Controls[i].Symbol.Addr = NIL_POINTER;
|
Controls[i].Symbol.Addr = NIL_POINTER;
|
||||||
Controls[i].Authority = Controls[i].Max_Val - Controls[i].Min_Val;
|
Controls[i].Authority = Controls[i].Max_Val - Controls[i].Min_Val;
|
||||||
if (Controls[i].Authority == 0.0)
|
if (Controls[i].Authority == 0.0)
|
||||||
Controls[i].Authority = 1.0;
|
Controls[i].Authority = 1.0;
|
||||||
Controls[i].Requested_Percent =
|
Controls[i].Requested_Percent =
|
||||||
(Controls[i].Curr_Val - Controls[i].Min_Val)
|
(Controls[i].Curr_Val - Controls[i].Min_Val)
|
||||||
/Controls[i].Authority;
|
/Controls[i].Authority;
|
||||||
Controls[i].Pert_Size = Controls[i].Pert_Size/Controls[i].Authority;
|
Controls[i].Pert_Size = Controls[i].Pert_Size/Controls[i].Authority;
|
||||||
}
|
}
|
||||||
|
|
||||||
for (i=0;i<Number_of_Outputs;i++) /* Initialize fields in Outputs data */
|
for (i=0;i<Number_of_Outputs;i++) /* Initialize fields in Outputs data */
|
||||||
{
|
{
|
||||||
Outputs[i].Curr_Val = ls_get_sym_val( &Outputs[i].Symbol, &error );
|
Outputs[i].Curr_Val = ls_get_sym_val( &Outputs[i].Symbol, &error );
|
||||||
if (error) Outputs[i].Symbol.Addr = NIL_POINTER;
|
if (error) Outputs[i].Symbol.Addr = NIL_POINTER;
|
||||||
Outputs[i].Weighting =
|
Outputs[i].Weighting =
|
||||||
Outputs[0].Trim_Criteria/Outputs[i].Trim_Criteria;
|
Outputs[0].Trim_Criteria/Outputs[i].Trim_Criteria;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
bufptr = *lasts;
|
bufptr = *lasts;
|
||||||
return bufptr;
|
return bufptr;
|
||||||
|
|
@ -676,19 +676,19 @@ void ls_trim_put_set( FILE *fp )
|
||||||
fprintf(fp, " controls: %d\n", Number_of_Controls);
|
fprintf(fp, " controls: %d\n", Number_of_Controls);
|
||||||
fprintf(fp, "# module parameter min_val max_val pert_size\n");
|
fprintf(fp, "# module parameter min_val max_val pert_size\n");
|
||||||
for (i=0; i<Number_of_Controls; i++)
|
for (i=0; i<Number_of_Controls; i++)
|
||||||
fprintf(fp, " %s\t%s\t%E\t%E\t%E\n",
|
fprintf(fp, " %s\t%s\t%E\t%E\t%E\n",
|
||||||
Controls[i].Symbol.Mod_Name,
|
Controls[i].Symbol.Mod_Name,
|
||||||
Controls[i].Symbol.Par_Name,
|
Controls[i].Symbol.Par_Name,
|
||||||
Controls[i].Min_Val,
|
Controls[i].Min_Val,
|
||||||
Controls[i].Max_Val,
|
Controls[i].Max_Val,
|
||||||
Controls[i].Pert_Size*Controls[i].Authority);
|
Controls[i].Pert_Size*Controls[i].Authority);
|
||||||
fprintf(fp, " outputs: %d\n", Number_of_Outputs);
|
fprintf(fp, " outputs: %d\n", Number_of_Outputs);
|
||||||
fprintf(fp, "# module parameter trim_criteria\n");
|
fprintf(fp, "# module parameter trim_criteria\n");
|
||||||
for (i=0;i<Number_of_Outputs;i++)
|
for (i=0;i<Number_of_Outputs;i++)
|
||||||
fprintf(fp, " %s\t%s\t%E\n",
|
fprintf(fp, " %s\t%s\t%E\n",
|
||||||
Outputs[i].Symbol.Mod_Name,
|
Outputs[i].Symbol.Mod_Name,
|
||||||
Outputs[i].Symbol.Par_Name,
|
Outputs[i].Symbol.Par_Name,
|
||||||
Outputs[i].Trim_Criteria );
|
Outputs[i].Trim_Criteria );
|
||||||
fprintf(fp, "end\n");
|
fprintf(fp, "end\n");
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -1,34 +1,34 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: ls_types.h
|
TITLE: ls_types.h
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: LaRCSim type definitions header file
|
FUNCTION: LaRCSim type definitions header file
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Created 15 DEC 1993 by Bruce Jackson from old
|
GENEALOGY: Created 15 DEC 1993 by Bruce Jackson from old
|
||||||
ls_eom.h header
|
ls_eom.h header
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: B. Jackson
|
DESIGNED BY: B. Jackson
|
||||||
|
|
||||||
CODED BY: B. Jackson
|
CODED BY: B. Jackson
|
||||||
|
|
||||||
MAINTAINED BY: guess who
|
MAINTAINED BY: guess who
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
19 MAY 2001 Reduce MSVC6 warnings Geoff R. McLane
|
19 MAY 2001 Reduce MSVC6 warnings Geoff R. McLane
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
|
|
||||||
#ifndef _LS_TYPES_H
|
#ifndef _LS_TYPES_H
|
||||||
|
|
|
||||||
|
|
@ -1,41 +1,41 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: Navion_aero
|
TITLE: Navion_aero
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: Linear aerodynamics model
|
FUNCTION: Linear aerodynamics model
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Based upon class notes from AA271, Stanford University,
|
GENEALOGY: Based upon class notes from AA271, Stanford University,
|
||||||
Spring 1988. Dr. Robert Cannon, instructor.
|
Spring 1988. Dr. Robert Cannon, instructor.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: Bruce Jackson
|
DESIGNED BY: Bruce Jackson
|
||||||
|
|
||||||
CODED BY: Bruce Jackson
|
CODED BY: Bruce Jackson
|
||||||
|
|
||||||
MAINTAINED BY: Bruce Jackson
|
MAINTAINED BY: Bruce Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
921229 Changed Alpha, Beta into radians; added Alpha bias.
|
921229 Changed Alpha, Beta into radians; added Alpha bias.
|
||||||
EBJ
|
EBJ
|
||||||
930105 Modified to support linear airframe simulation by
|
930105 Modified to support linear airframe simulation by
|
||||||
adding shared memory initialization routine. EBJ
|
adding shared memory initialization routine. EBJ
|
||||||
931013 Added scaling by airspeed, to allow for low-airspeed
|
931013 Added scaling by airspeed, to allow for low-airspeed
|
||||||
ground operations. EBJ
|
ground operations. EBJ
|
||||||
940216 Scaled long, lat stick and rudder to more appropriate values
|
940216 Scaled long, lat stick and rudder to more appropriate values
|
||||||
of elevator and aileron. EBJ
|
of elevator and aileron. EBJ
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
|
|
@ -65,24 +65,24 @@ control surface deflections. For example, L_beta is an estimate of how
|
||||||
much roll moment varies per degree of sideslip increase. A decoding
|
much roll moment varies per degree of sideslip increase. A decoding
|
||||||
ring is given below:
|
ring is given below:
|
||||||
|
|
||||||
X Aerodynamic force, lbs, in X-axis (+ forward)
|
X Aerodynamic force, lbs, in X-axis (+ forward)
|
||||||
Y Aerodynamic force, lbs, in Y-axis (+ right)
|
Y Aerodynamic force, lbs, in Y-axis (+ right)
|
||||||
Z Aerodynamic force, lbs, in Z-axis (+ down)
|
Z Aerodynamic force, lbs, in Z-axis (+ down)
|
||||||
L Aero. moment about X-axis (+ roll right), ft-lbs
|
L Aero. moment about X-axis (+ roll right), ft-lbs
|
||||||
M Aero. moment about Y-axis (+ pitch up), ft-lbs
|
M Aero. moment about Y-axis (+ pitch up), ft-lbs
|
||||||
N Aero. moment about Z-axis (+ nose right), ft-lbs
|
N Aero. moment about Z-axis (+ nose right), ft-lbs
|
||||||
|
|
||||||
0 Subscript implying initial, or nominal, value
|
0 Subscript implying initial, or nominal, value
|
||||||
u X-axis component of airspeed (ft/sec) (+ forward)
|
u X-axis component of airspeed (ft/sec) (+ forward)
|
||||||
v Y-axis component of airspeed (ft/sec) (+ right)
|
v Y-axis component of airspeed (ft/sec) (+ right)
|
||||||
w Z-axis component of airspeed (ft/sec) (+ down)
|
w Z-axis component of airspeed (ft/sec) (+ down)
|
||||||
p X-axis ang. rate (rad/sec) (+ roll right), rad/sec
|
p X-axis ang. rate (rad/sec) (+ roll right), rad/sec
|
||||||
q Y-axis ang. rate (rad/sec) (+ pitch up), rad/sec
|
q Y-axis ang. rate (rad/sec) (+ pitch up), rad/sec
|
||||||
r Z-axis ang. rate (rad/sec) (+ yaw right), rad/sec
|
r Z-axis ang. rate (rad/sec) (+ yaw right), rad/sec
|
||||||
beta Angle of sideslip, degrees (+ wind in RIGHT ear)
|
beta Angle of sideslip, degrees (+ wind in RIGHT ear)
|
||||||
da Aileron deflection, degrees (+ left ail. TE down)
|
da Aileron deflection, degrees (+ left ail. TE down)
|
||||||
de Elevator deflection, degrees (+ trailing edge down)
|
de Elevator deflection, degrees (+ trailing edge down)
|
||||||
dr Rudder deflection, degrees (+ trailing edge LEFT)
|
dr Rudder deflection, degrees (+ trailing edge LEFT)
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
|
|
@ -203,10 +203,10 @@ void navion_aero( SCALAR dt, int Initialize ) {
|
||||||
F_Z_aero = scale*(Z_0 + Mass*(Z_u*u + Z_w*w + Z_de*elevator));
|
F_Z_aero = scale*(Z_0 + Mass*(Z_u*u + Z_w*w + Z_de*elevator));
|
||||||
|
|
||||||
M_l_aero = scale*(I_xx*(L_beta*Std_Beta + L_p*P_body + L_r*R_body
|
M_l_aero = scale*(I_xx*(L_beta*Std_Beta + L_p*P_body + L_r*R_body
|
||||||
+ L_da*aileron + L_dr*rudder));
|
+ L_da*aileron + L_dr*rudder));
|
||||||
M_m_aero = scale*(M_0 + I_yy*(M_w*w + M_q*Q_body + M_de*(elevator + Long_trim)));
|
M_m_aero = scale*(M_0 + I_yy*(M_w*w + M_q*Q_body + M_de*(elevator + Long_trim)));
|
||||||
M_n_aero = scale*(I_zz*(N_beta*Std_Beta + N_p*P_body + N_r*R_body
|
M_n_aero = scale*(I_zz*(N_beta*Std_Beta + N_p*P_body + N_r*R_body
|
||||||
+ N_da*aileron + N_dr*rudder));
|
+ N_da*aileron + N_dr*rudder));
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -1,34 +1,34 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: engine.c
|
TITLE: engine.c
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: dummy engine routine
|
FUNCTION: dummy engine routine
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: incomplete
|
MODULE STATUS: incomplete
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Created 15 OCT 92 as dummy routine for checkout. EBJ
|
GENEALOGY: Created 15 OCT 92 as dummy routine for checkout. EBJ
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: designer
|
DESIGNED BY: designer
|
||||||
|
|
||||||
CODED BY: programmer
|
CODED BY: programmer
|
||||||
|
|
||||||
MAINTAINED BY: maintainer
|
MAINTAINED BY: maintainer
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
CURRENT RCS HEADER INFO:
|
CURRENT RCS HEADER INFO:
|
||||||
|
|
||||||
$Header$
|
$Header$
|
||||||
|
|
||||||
|
|
@ -38,23 +38,23 @@ $Header$
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLED BY: ls_model();
|
CALLED BY: ls_model();
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLS TO: none
|
CALLS TO: none
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS:
|
OUTPUTS:
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
#include <math.h>
|
#include <math.h>
|
||||||
|
|
@ -64,7 +64,7 @@ $Header$
|
||||||
#include "ls_sim_control.h"
|
#include "ls_sim_control.h"
|
||||||
#include "ls_cockpit.h"
|
#include "ls_cockpit.h"
|
||||||
|
|
||||||
extern SIM_CONTROL sim_control_;
|
extern SIM_CONTROL sim_control_;
|
||||||
|
|
||||||
void navion_engine( SCALAR dt, int init ) {
|
void navion_engine( SCALAR dt, int init ) {
|
||||||
/* if (init) { */
|
/* if (init) { */
|
||||||
|
|
|
||||||
|
|
@ -1,38 +1,38 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: gear
|
TITLE: gear
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: Landing gear model for example simulation
|
FUNCTION: Landing gear model for example simulation
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Created 931012 by E. B. Jackson
|
GENEALOGY: Created 931012 by E. B. Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: E. B. Jackson
|
DESIGNED BY: E. B. Jackson
|
||||||
|
|
||||||
CODED BY: E. B. Jackson
|
CODED BY: E. B. Jackson
|
||||||
|
|
||||||
MAINTAINED BY: E. B. Jackson
|
MAINTAINED BY: E. B. Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
931218 Added navion.h header to allow connection with
|
931218 Added navion.h header to allow connection with
|
||||||
aileron displacement for nosewheel steering. EBJ
|
aileron displacement for nosewheel steering. EBJ
|
||||||
940511 Connected nosewheel to rudder pedal; adjusted gain.
|
940511 Connected nosewheel to rudder pedal; adjusted gain.
|
||||||
|
|
||||||
CURRENT RCS HEADER:
|
CURRENT RCS HEADER:
|
||||||
|
|
||||||
$Header$
|
$Header$
|
||||||
$Log$
|
$Log$
|
||||||
|
|
@ -92,23 +92,23 @@ Initial Flight Gear revision.
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLED BY:
|
CALLED BY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLS TO:
|
CALLS TO:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS:
|
OUTPUTS:
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
#include <math.h>
|
#include <math.h>
|
||||||
|
|
@ -167,21 +167,21 @@ void navion_gear( SCALAR dt, int Initialize ) {
|
||||||
|
|
||||||
#define NUM_WHEELS 3
|
#define NUM_WHEELS 3
|
||||||
|
|
||||||
static int num_wheels = NUM_WHEELS; /* number of wheels */
|
static int num_wheels = NUM_WHEELS; /* number of wheels */
|
||||||
static DATA d_wheel_rp_body_v[NUM_WHEELS][3] = /* X, Y, Z locations */
|
static DATA d_wheel_rp_body_v[NUM_WHEELS][3] = /* X, Y, Z locations */
|
||||||
{
|
{
|
||||||
{ 10., 0., 4. }, /* in feet */
|
{ 10., 0., 4. }, /* in feet */
|
||||||
{ -1., 3., 4. },
|
{ -1., 3., 4. },
|
||||||
{ -1., -3., 4. }
|
{ -1., -3., 4. }
|
||||||
};
|
};
|
||||||
static DATA spring_constant[NUM_WHEELS] = /* springiness, lbs/ft */
|
static DATA spring_constant[NUM_WHEELS] = /* springiness, lbs/ft */
|
||||||
{ 1500., 5000., 5000. };
|
{ 1500., 5000., 5000. };
|
||||||
static DATA spring_damping[NUM_WHEELS] = /* damping, lbs/ft/sec */
|
static DATA spring_damping[NUM_WHEELS] = /* damping, lbs/ft/sec */
|
||||||
{ 100., 150., 150. };
|
{ 100., 150., 150. };
|
||||||
static DATA percent_brake[NUM_WHEELS] = /* percent applied braking */
|
static DATA percent_brake[NUM_WHEELS] = /* percent applied braking */
|
||||||
{ 0., 0., 0. }; /* 0 = none, 1 = full */
|
{ 0., 0., 0. }; /* 0 = none, 1 = full */
|
||||||
static DATA caster_angle_rad[NUM_WHEELS] = /* steerable tires - in */
|
static DATA caster_angle_rad[NUM_WHEELS] = /* steerable tires - in */
|
||||||
{ 0., 0., 0.}; /* radians, +CW */
|
{ 0., 0., 0.}; /* radians, +CW */
|
||||||
/*
|
/*
|
||||||
* End of aircraft specific code
|
* End of aircraft specific code
|
||||||
*/
|
*/
|
||||||
|
|
@ -194,51 +194,51 @@ void navion_gear( SCALAR dt, int Initialize ) {
|
||||||
*
|
*
|
||||||
* mu ^
|
* mu ^
|
||||||
* |
|
* |
|
||||||
* max_mu | +
|
* max_mu | +
|
||||||
* | /|
|
* | /|
|
||||||
* sliding_mu | / +------
|
* sliding_mu | / +------
|
||||||
* | /
|
* | /
|
||||||
* | /
|
* | /
|
||||||
* +--+------------------------>
|
* +--+------------------------>
|
||||||
* | | | sideward V
|
* | | | sideward V
|
||||||
* 0 bkout skid
|
* 0 bkout skid
|
||||||
* V V
|
* V V
|
||||||
*/
|
*/
|
||||||
|
|
||||||
|
|
||||||
static DATA sliding_mu = 0.5;
|
static DATA sliding_mu = 0.5;
|
||||||
static DATA rolling_mu = 0.01;
|
static DATA rolling_mu = 0.01;
|
||||||
static DATA max_brake_mu = 0.6;
|
static DATA max_brake_mu = 0.6;
|
||||||
static DATA max_mu = 0.8;
|
static DATA max_mu = 0.8;
|
||||||
static DATA bkout_v = 0.1;
|
static DATA bkout_v = 0.1;
|
||||||
static DATA skid_v = 1.0;
|
static DATA skid_v = 1.0;
|
||||||
/*
|
/*
|
||||||
* Local data variables
|
* Local data variables
|
||||||
*/
|
*/
|
||||||
|
|
||||||
DATA d_wheel_cg_body_v[3]; /* wheel offset from cg, X-Y-Z */
|
DATA d_wheel_cg_body_v[3]; /* wheel offset from cg, X-Y-Z */
|
||||||
DATA d_wheel_cg_local_v[3]; /* wheel offset from cg, N-E-D */
|
DATA d_wheel_cg_local_v[3]; /* wheel offset from cg, N-E-D */
|
||||||
DATA d_wheel_rwy_local_v[3]; /* wheel offset from rwy, N-E-U */
|
DATA d_wheel_rwy_local_v[3]; /* wheel offset from rwy, N-E-U */
|
||||||
// DATA v_wheel_body_v[3]; /* wheel velocity, X-Y-Z */
|
// DATA v_wheel_body_v[3]; /* wheel velocity, X-Y-Z */
|
||||||
DATA v_wheel_local_v[3]; /* wheel velocity, N-E-D */
|
DATA v_wheel_local_v[3]; /* wheel velocity, N-E-D */
|
||||||
DATA f_wheel_local_v[3]; /* wheel reaction force, N-E-D */
|
DATA f_wheel_local_v[3]; /* wheel reaction force, N-E-D */
|
||||||
DATA temp3a[3], temp3b[3], tempF[3], tempM[3];
|
DATA temp3a[3], temp3b[3], tempF[3], tempM[3];
|
||||||
DATA reaction_normal_force; /* wheel normal (to rwy) force */
|
DATA reaction_normal_force; /* wheel normal (to rwy) force */
|
||||||
DATA cos_wheel_hdg_angle, sin_wheel_hdg_angle; /* temp storage */
|
DATA cos_wheel_hdg_angle, sin_wheel_hdg_angle; /* temp storage */
|
||||||
DATA v_wheel_forward, v_wheel_sideward, abs_v_wheel_sideward;
|
DATA v_wheel_forward, v_wheel_sideward, abs_v_wheel_sideward;
|
||||||
DATA forward_mu, sideward_mu; /* friction coefficients */
|
DATA forward_mu, sideward_mu; /* friction coefficients */
|
||||||
DATA beta_mu; /* breakout friction slope */
|
DATA beta_mu; /* breakout friction slope */
|
||||||
DATA forward_wheel_force, sideward_wheel_force;
|
DATA forward_wheel_force, sideward_wheel_force;
|
||||||
|
|
||||||
int i; /* per wheel loop counter */
|
int i; /* per wheel loop counter */
|
||||||
|
|
||||||
/*
|
/*
|
||||||
* Execution starts here
|
* Execution starts here
|
||||||
*/
|
*/
|
||||||
|
|
||||||
beta_mu = max_mu/(skid_v-bkout_v);
|
beta_mu = max_mu/(skid_v-bkout_v);
|
||||||
clear3( F_gear_v ); /* Initialize sum of forces... */
|
clear3( F_gear_v ); /* Initialize sum of forces... */
|
||||||
clear3( M_gear_v ); /* ...and moments */
|
clear3( M_gear_v ); /* ...and moments */
|
||||||
|
|
||||||
/*
|
/*
|
||||||
* Put aircraft specific executable code here
|
* Put aircraft specific executable code here
|
||||||
|
|
@ -249,115 +249,115 @@ void navion_gear( SCALAR dt, int Initialize ) {
|
||||||
|
|
||||||
caster_angle_rad[0] = 0.03*Rudder_pedal;
|
caster_angle_rad[0] = 0.03*Rudder_pedal;
|
||||||
|
|
||||||
for (i=0;i<num_wheels;i++) /* Loop for each wheel */
|
for (i=0;i<num_wheels;i++) /* Loop for each wheel */
|
||||||
{
|
{
|
||||||
/*========================================*/
|
/*========================================*/
|
||||||
/* Calculate wheel position w.r.t. runway */
|
/* Calculate wheel position w.r.t. runway */
|
||||||
/*========================================*/
|
/*========================================*/
|
||||||
|
|
||||||
/* First calculate wheel location w.r.t. cg in body (X-Y-Z) axes... */
|
/* First calculate wheel location w.r.t. cg in body (X-Y-Z) axes... */
|
||||||
|
|
||||||
sub3( d_wheel_rp_body_v[i], D_cg_rp_body_v, d_wheel_cg_body_v );
|
sub3( d_wheel_rp_body_v[i], D_cg_rp_body_v, d_wheel_cg_body_v );
|
||||||
|
|
||||||
/* then converting to local (North-East-Down) axes... */
|
/* then converting to local (North-East-Down) axes... */
|
||||||
|
|
||||||
multtrans3x3by3( T_local_to_body_m, d_wheel_cg_body_v, d_wheel_cg_local_v );
|
multtrans3x3by3( T_local_to_body_m, d_wheel_cg_body_v, d_wheel_cg_local_v );
|
||||||
|
|
||||||
/* Runway axes correction - third element is Altitude, not (-)Z... */
|
/* Runway axes correction - third element is Altitude, not (-)Z... */
|
||||||
|
|
||||||
d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* since altitude = -Z */
|
d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* since altitude = -Z */
|
||||||
|
|
||||||
/* Add wheel offset to cg location in local axes */
|
/* Add wheel offset to cg location in local axes */
|
||||||
|
|
||||||
add3( d_wheel_cg_local_v, D_cg_rwy_local_v, d_wheel_rwy_local_v );
|
add3( d_wheel_cg_local_v, D_cg_rwy_local_v, d_wheel_rwy_local_v );
|
||||||
|
|
||||||
/* remove Runway axes correction so right hand rule applies */
|
/* remove Runway axes correction so right hand rule applies */
|
||||||
|
|
||||||
d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* now Z positive down */
|
d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* now Z positive down */
|
||||||
|
|
||||||
/*============================*/
|
/*============================*/
|
||||||
/* Calculate wheel velocities */
|
/* Calculate wheel velocities */
|
||||||
/*============================*/
|
/*============================*/
|
||||||
|
|
||||||
/* contribution due to angular rates */
|
/* contribution due to angular rates */
|
||||||
|
|
||||||
cross3( Omega_body_v, d_wheel_cg_body_v, temp3a );
|
cross3( Omega_body_v, d_wheel_cg_body_v, temp3a );
|
||||||
|
|
||||||
/* transform into local axes */
|
/* transform into local axes */
|
||||||
|
|
||||||
multtrans3x3by3( T_local_to_body_m, temp3a, temp3b );
|
multtrans3x3by3( T_local_to_body_m, temp3a, temp3b );
|
||||||
|
|
||||||
/* plus contribution due to cg velocities */
|
/* plus contribution due to cg velocities */
|
||||||
|
|
||||||
add3( temp3b, V_local_rel_ground_v, v_wheel_local_v );
|
add3( temp3b, V_local_rel_ground_v, v_wheel_local_v );
|
||||||
|
|
||||||
|
|
||||||
/*===========================================*/
|
/*===========================================*/
|
||||||
/* Calculate forces & moments for this wheel */
|
/* Calculate forces & moments for this wheel */
|
||||||
/*===========================================*/
|
/*===========================================*/
|
||||||
|
|
||||||
/* Add any anticipation, or frame lead/prediction, here... */
|
/* Add any anticipation, or frame lead/prediction, here... */
|
||||||
|
|
||||||
/* no lead used at present */
|
/* no lead used at present */
|
||||||
|
|
||||||
/* Calculate sideward and forward velocities of the wheel
|
/* Calculate sideward and forward velocities of the wheel
|
||||||
in the runway plane */
|
in the runway plane */
|
||||||
|
|
||||||
cos_wheel_hdg_angle = cos(caster_angle_rad[i] + Psi);
|
cos_wheel_hdg_angle = cos(caster_angle_rad[i] + Psi);
|
||||||
sin_wheel_hdg_angle = sin(caster_angle_rad[i] + Psi);
|
sin_wheel_hdg_angle = sin(caster_angle_rad[i] + Psi);
|
||||||
|
|
||||||
v_wheel_forward = v_wheel_local_v[0]*cos_wheel_hdg_angle
|
v_wheel_forward = v_wheel_local_v[0]*cos_wheel_hdg_angle
|
||||||
+ v_wheel_local_v[1]*sin_wheel_hdg_angle;
|
+ v_wheel_local_v[1]*sin_wheel_hdg_angle;
|
||||||
v_wheel_sideward = v_wheel_local_v[1]*cos_wheel_hdg_angle
|
v_wheel_sideward = v_wheel_local_v[1]*cos_wheel_hdg_angle
|
||||||
- v_wheel_local_v[0]*sin_wheel_hdg_angle;
|
- v_wheel_local_v[0]*sin_wheel_hdg_angle;
|
||||||
|
|
||||||
/* Calculate normal load force (simple spring constant) */
|
/* Calculate normal load force (simple spring constant) */
|
||||||
|
|
||||||
reaction_normal_force = 0.;
|
reaction_normal_force = 0.;
|
||||||
if( d_wheel_rwy_local_v[2] < 0. )
|
if( d_wheel_rwy_local_v[2] < 0. )
|
||||||
{
|
{
|
||||||
reaction_normal_force = spring_constant[i]*d_wheel_rwy_local_v[2]
|
reaction_normal_force = spring_constant[i]*d_wheel_rwy_local_v[2]
|
||||||
- v_wheel_local_v[2]*spring_damping[i];
|
- v_wheel_local_v[2]*spring_damping[i];
|
||||||
if (reaction_normal_force > 0.) reaction_normal_force = 0.;
|
if (reaction_normal_force > 0.) reaction_normal_force = 0.;
|
||||||
/* to prevent damping component from swamping spring component */
|
/* to prevent damping component from swamping spring component */
|
||||||
}
|
}
|
||||||
|
|
||||||
/* Calculate friction coefficients */
|
/* Calculate friction coefficients */
|
||||||
|
|
||||||
forward_mu = (max_brake_mu - rolling_mu)*percent_brake[i] + rolling_mu;
|
forward_mu = (max_brake_mu - rolling_mu)*percent_brake[i] + rolling_mu;
|
||||||
abs_v_wheel_sideward = sqrt(v_wheel_sideward*v_wheel_sideward);
|
abs_v_wheel_sideward = sqrt(v_wheel_sideward*v_wheel_sideward);
|
||||||
sideward_mu = sliding_mu;
|
sideward_mu = sliding_mu;
|
||||||
if (abs_v_wheel_sideward < skid_v)
|
if (abs_v_wheel_sideward < skid_v)
|
||||||
sideward_mu = (abs_v_wheel_sideward - bkout_v)*beta_mu;
|
sideward_mu = (abs_v_wheel_sideward - bkout_v)*beta_mu;
|
||||||
if (abs_v_wheel_sideward < bkout_v) sideward_mu = 0.;
|
if (abs_v_wheel_sideward < bkout_v) sideward_mu = 0.;
|
||||||
|
|
||||||
/* Calculate foreward and sideward reaction forces */
|
/* Calculate foreward and sideward reaction forces */
|
||||||
|
|
||||||
forward_wheel_force = forward_mu*reaction_normal_force;
|
forward_wheel_force = forward_mu*reaction_normal_force;
|
||||||
sideward_wheel_force = sideward_mu*reaction_normal_force;
|
sideward_wheel_force = sideward_mu*reaction_normal_force;
|
||||||
if(v_wheel_forward < 0.) forward_wheel_force = -forward_wheel_force;
|
if(v_wheel_forward < 0.) forward_wheel_force = -forward_wheel_force;
|
||||||
if(v_wheel_sideward < 0.) sideward_wheel_force = -sideward_wheel_force;
|
if(v_wheel_sideward < 0.) sideward_wheel_force = -sideward_wheel_force;
|
||||||
|
|
||||||
/* Rotate into local (N-E-D) axes */
|
/* Rotate into local (N-E-D) axes */
|
||||||
|
|
||||||
f_wheel_local_v[0] = forward_wheel_force*cos_wheel_hdg_angle
|
f_wheel_local_v[0] = forward_wheel_force*cos_wheel_hdg_angle
|
||||||
- sideward_wheel_force*sin_wheel_hdg_angle;
|
- sideward_wheel_force*sin_wheel_hdg_angle;
|
||||||
f_wheel_local_v[1] = forward_wheel_force*sin_wheel_hdg_angle
|
f_wheel_local_v[1] = forward_wheel_force*sin_wheel_hdg_angle
|
||||||
+ sideward_wheel_force*cos_wheel_hdg_angle;
|
+ sideward_wheel_force*cos_wheel_hdg_angle;
|
||||||
f_wheel_local_v[2] = reaction_normal_force;
|
f_wheel_local_v[2] = reaction_normal_force;
|
||||||
|
|
||||||
/* Convert reaction force from local (N-E-D) axes to body (X-Y-Z) */
|
/* Convert reaction force from local (N-E-D) axes to body (X-Y-Z) */
|
||||||
|
|
||||||
mult3x3by3( T_local_to_body_m, f_wheel_local_v, tempF );
|
mult3x3by3( T_local_to_body_m, f_wheel_local_v, tempF );
|
||||||
|
|
||||||
/* Calculate moments from force and offsets in body axes */
|
/* Calculate moments from force and offsets in body axes */
|
||||||
|
|
||||||
cross3( d_wheel_cg_body_v, tempF, tempM );
|
cross3( d_wheel_cg_body_v, tempF, tempM );
|
||||||
|
|
||||||
/* Sum forces and moments across all wheels */
|
/* Sum forces and moments across all wheels */
|
||||||
|
|
||||||
add3( tempF, F_gear_v, F_gear_v );
|
add3( tempF, F_gear_v, F_gear_v );
|
||||||
add3( tempM, M_gear_v, M_gear_v );
|
add3( tempM, M_gear_v, M_gear_v );
|
||||||
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -1,59 +1,59 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: navion_init.c
|
TITLE: navion_init.c
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: Initializes navion math model
|
FUNCTION: Initializes navion math model
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Added to navion package 930111 by Bruce Jackson
|
GENEALOGY: Added to navion package 930111 by Bruce Jackson
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: EBJ
|
DESIGNED BY: EBJ
|
||||||
|
|
||||||
CODED BY: EBJ
|
CODED BY: EBJ
|
||||||
|
|
||||||
MAINTAINED BY: EBJ
|
MAINTAINED BY: EBJ
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
|
|
||||||
950314 Removed initialization of state variables, since this is
|
950314 Removed initialization of state variables, since this is
|
||||||
now done (version 1.4b1) in ls_init. EBJ
|
now done (version 1.4b1) in ls_init. EBJ
|
||||||
950406 Removed #include of "shmdefs.h"; shmdefs.h is a duplicate
|
950406 Removed #include of "shmdefs.h"; shmdefs.h is a duplicate
|
||||||
of "navion.h". EBJ
|
of "navion.h". EBJ
|
||||||
|
|
||||||
CURRENT RCS HEADER:
|
CURRENT RCS HEADER:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
REFERENCES:
|
REFERENCES:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLED BY:
|
CALLED BY:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
CALLS TO:
|
CALLS TO:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
OUTPUTS:
|
OUTPUTS:
|
||||||
|
|
||||||
--------------------------------------------------------------------------*/
|
--------------------------------------------------------------------------*/
|
||||||
#include "ls_types.h"
|
#include "ls_types.h"
|
||||||
|
|
|
||||||
|
|
@ -2,28 +2,28 @@ init
|
||||||
0010
|
0010
|
||||||
continuous_states: 22
|
continuous_states: 22
|
||||||
# module parameter value
|
# module parameter value
|
||||||
* generic_.geodetic_position_v[0] 2.793445E-05
|
* generic_.geodetic_position_v[0] 2.793445E-05
|
||||||
* generic_.geodetic_position_v[1] 3.262070E-07
|
* generic_.geodetic_position_v[1] 3.262070E-07
|
||||||
* generic_.geodetic_position_v[2] 3.758099E+00
|
* generic_.geodetic_position_v[2] 3.758099E+00
|
||||||
* generic_.v_local_v[0] 7.287719E+00
|
* generic_.v_local_v[0] 7.287719E+00
|
||||||
* generic_.v_local_v[1] 1.521770E+03
|
* generic_.v_local_v[1] 1.521770E+03
|
||||||
* generic_.v_local_v[2] -1.265722E-05
|
* generic_.v_local_v[2] -1.265722E-05
|
||||||
* generic_.euler_angles_v[0] -2.658474E-06
|
* generic_.euler_angles_v[0] -2.658474E-06
|
||||||
* generic_.euler_angles_v[1] 7.401790E-03
|
* generic_.euler_angles_v[1] 7.401790E-03
|
||||||
* generic_.euler_angles_v[2] 1.391358E-03
|
* generic_.euler_angles_v[2] 1.391358E-03
|
||||||
* generic_.omega_body_v[0] 7.206685E-05
|
* generic_.omega_body_v[0] 7.206685E-05
|
||||||
* generic_.omega_body_v[1] 0.000000E+00
|
* generic_.omega_body_v[1] 0.000000E+00
|
||||||
* generic_.omega_body_v[2] 9.492658E-05
|
* generic_.omega_body_v[2] 9.492658E-05
|
||||||
* generic_.earth_position_angle 0.000000E+00
|
* generic_.earth_position_angle 0.000000E+00
|
||||||
* generic_.mass 8.547270E+01
|
* generic_.mass 8.547270E+01
|
||||||
* generic_.i_xx 1.048000E+03
|
* generic_.i_xx 1.048000E+03
|
||||||
* generic_.i_yy 3.000000E+03
|
* generic_.i_yy 3.000000E+03
|
||||||
* generic_.i_zz 3.530000E+03
|
* generic_.i_zz 3.530000E+03
|
||||||
* generic_.i_xz 0.000000E+00
|
* generic_.i_xz 0.000000E+00
|
||||||
* generic_.d_cg_rp_body_v[0] 0.000000E+00
|
* generic_.d_cg_rp_body_v[0] 0.000000E+00
|
||||||
* generic_.d_cg_rp_body_v[1] 0.000000E+00
|
* generic_.d_cg_rp_body_v[1] 0.000000E+00
|
||||||
* generic_.d_cg_rp_body_v[2] 0.000000E+00
|
* generic_.d_cg_rp_body_v[2] 0.000000E+00
|
||||||
aero long_trim 1.969572E-03
|
aero long_trim 1.969572E-03
|
||||||
discrete_states: 0
|
discrete_states: 0
|
||||||
# module parameter value
|
# module parameter value
|
||||||
end
|
end
|
||||||
|
|
|
||||||
|
|
@ -1,32 +1,32 @@
|
||||||
/***************************************************************************
|
/***************************************************************************
|
||||||
|
|
||||||
TITLE: uiuc_aero
|
TITLE: uiuc_aero
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
FUNCTION: aerodynamics, engine and gear model
|
FUNCTION: aerodynamics, engine and gear model
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODULE STATUS: developmental
|
MODULE STATUS: developmental
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
GENEALOGY: Equations based on Part 1 of Roskam's S&C text
|
GENEALOGY: Equations based on Part 1 of Roskam's S&C text
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
DESIGNED BY: Bipin Sehgal
|
DESIGNED BY: Bipin Sehgal
|
||||||
|
|
||||||
CODED BY: Bipin Sehgal
|
CODED BY: Bipin Sehgal
|
||||||
|
|
||||||
MAINTAINED BY: Rob Deters and Glen Dimock
|
MAINTAINED BY: Rob Deters and Glen Dimock
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
MODIFICATION HISTORY:
|
MODIFICATION HISTORY:
|
||||||
|
|
||||||
DATE PURPOSE BY
|
DATE PURPOSE BY
|
||||||
3/17/00 Initial test release
|
3/17/00 Initial test release
|
||||||
3/09/01 Added callout to UIUC gear function. (DPM)
|
3/09/01 Added callout to UIUC gear function. (DPM)
|
||||||
6/18/01 Added call out to UIUC record routine (RD)
|
6/18/01 Added call out to UIUC record routine (RD)
|
||||||
|
|
@ -45,7 +45,7 @@
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
INPUTS:
|
INPUTS:
|
||||||
|
|
||||||
----------------------------------------------------------------------------
|
----------------------------------------------------------------------------
|
||||||
|
|
||||||
|
|
@ -69,7 +69,7 @@ void uiuc_init_2_wrapper()
|
||||||
// On first time through initialize UIUC aircraft model
|
// On first time through initialize UIUC aircraft model
|
||||||
if (init==0) {
|
if (init==0) {
|
||||||
init=-1;
|
init=-1;
|
||||||
uiuc_defaults_inits();
|
uiuc_defaults_inits();
|
||||||
uiuc_init_aeromodel();
|
uiuc_init_aeromodel();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
|
||||||
Loading…
Add table
Reference in a new issue