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Updates from Jon.

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This commit is contained in:
curt 1999-07-31 04:55:23 +00:00
parent 8d58f64257
commit a1b2152d7f
7 changed files with 101 additions and 80 deletions
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2
src/FDM/JSBSim/FGAircraft.cpp
View file

@ -399,7 +399,9 @@ void FGAircraft::FAero(void)
void FGAircraft::FGear(void)
{
if (GearUp) {
// crash routine
} else {
}
}

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

@ -51,8 +51,8 @@ FGControls::~FGControls() {
// $Log$
// Revision 1.3 1999/06/28 15:39:23 curt
// Updates contributed by Jon Berndt.
// Revision 1.4 1999/07/31 02:55:24 curt
// Updates from Jon.
//
// Revision 1.1 1999/02/13 01:12:03 curt
// Initial Revision.

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

@ -177,8 +177,8 @@ extern FGControls controls;
// $Log$
// Revision 1.3 1999/06/28 15:39:24 curt
// Updates contributed by Jon Berndt.
// Revision 1.4 1999/07/31 02:55:24 curt
// Updates from Jon.
//
// Revision 1.1 1999/02/13 01:12:03 curt
// Initial Revision.

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

@ -93,7 +93,7 @@ FGFDMExec::FGFDMExec(void)
Rotation = new FGRotation(this);
Position = new FGPosition(this);
Auxiliary = new FGAuxiliary(this);
Output = new FGOutput(this);
// Output = new FGOutput(this);
State = new FGState(this);
@ -106,7 +106,7 @@ FGFDMExec::FGFDMExec(void)
if (!Rotation->InitModel()) {cerr << "Rotation model init failed"; Error+=16;}
if (!Position->InitModel()) {cerr << "Position model init failed"; Error+=32;}
if (!Auxiliary->InitModel()) {cerr << "Auxiliary model init failed"; Error+=64;}
if (!Output->InitModel()) {cerr << "Output model init failed"; Error+=128;}
// if (!Output->InitModel()) {cerr << "Output model init failed"; Error+=128;}
Schedule(Atmosphere, 5);
Schedule(FCS, 1);
@ -115,7 +115,7 @@ FGFDMExec::FGFDMExec(void)
Schedule(Translation, 1);
Schedule(Position, 1);
Schedule(Auxiliary, 1);
Schedule(Output, 1);
// Schedule(Output, 1);
terminate = false;
frozen = false;

57
src/FDM/JSBSim/FGOutput.cpp
View file

@ -196,33 +196,34 @@ void FGOutput::DelimitedOutput(void)
cout << "N";
cout << endl;
FirstPass = false;
} else {
cout << State->Getsim_time() << ",";
cout << State->Geth() << ",";
cout << Rotation->Getphi() << ",";
cout << Rotation->Gettht() << ",";
cout << Rotation->Getpsi() << ",";
cout << Atmosphere->Getrho() << ",";
cout << State->GetVt() << ",";
cout << Translation->GetU() << ",";
cout << Translation->GetV() << ",";
cout << Translation->GetW() << ",";
cout << Position->GetVn() << ",";
cout << Position->GetVe() << ",";
cout << Position->GetVd() << ",";
cout << Translation->GetUdot() << ",";
cout << Translation->GetVdot() << ",";
cout << Translation->GetWdot() << ",";
cout << Aircraft->GetFx() << ",";
cout << Aircraft->GetFy() << ",";
cout << Aircraft->GetFz() << ",";
cout << State->Getlatitude() << ",";
cout << State->Getlongitude() << ",";
cout << State->Getqbar() << ",";
cout << Translation->Getalpha() << ",";
cout << Aircraft->GetL() << ",";
cout << Aircraft->GetM() << ",";
cout << Aircraft->GetN() << "";
cout << endl;
}
cout << State->Getsim_time() << ",";
cout << State->Geth() << ",";
cout << Rotation->Getphi() << ",";
cout << Rotation->Gettht() << ",";
cout << Rotation->Getpsi() << ",";
cout << Atmosphere->Getrho() << ",";
cout << State->GetVt() << ",";
cout << Translation->GetU() << ",";
cout << Translation->GetV() << ",";
cout << Translation->GetW() << ",";
cout << Position->GetVn() << ",";
cout << Position->GetVe() << ",";
cout << Position->GetVd() << ",";
cout << Translation->GetUdot() << ",";
cout << Translation->GetVdot() << ",";
cout << Translation->GetWdot() << ",";
cout << Aircraft->GetFx() << ",";
cout << Aircraft->GetFy() << ",";
cout << Aircraft->GetFz() << ",";
cout << State->Getlatitude() << ",";
cout << State->Getlongitude() << ",";
cout << State->Getqbar() << ",";
cout << Translation->Getalpha() << ",";
cout << Aircraft->GetL() << ",";
cout << Aircraft->GetM() << ",";
cout << Aircraft->GetN() << "";
cout << endl;
}

107
src/FDM/JSBSim/FGState.cpp
View file

@ -107,51 +107,7 @@ bool FGState::Reset(string path, string fname)
resetfile >> h;
resetfile.close();
// Change all angular measurements from degrees (as in config file) to radians
gamma = 0.0;
if (W != 0.0)
alpha = U*U > 0.0 ? atan2(W, U) : 0.0;
else
alpha = 0.0;
if (V != 0.0)
beta = U*U+W*W > 0.0 ? atan2(V, (fabs(U)/U)*sqrt(U*U + W*W)) : 0.0;
else
beta = 0.0;
latitude *= M_PI / 180.0;
longitude *= M_PI / 180.0;
phi *= M_PI / 180.0;
tht *= M_PI / 180.0;
psi *= M_PI / 180.0;
FDMExec->GetTranslation()->SetUVW(U, V, W);
FDMExec->GetRotation()->SetEuler(phi, tht, psi);
FDMExec->GetTranslation()->SetABG(alpha, beta, gamma);
Vt = sqrt(U*U + V*V + W*W);
qbar = 0.5*(U*U + V*V + W*W)*FDMExec->GetAtmosphere()->CalcRho(h);
Q0 = sin(psi*0.5)*sin(tht*0.5)*sin(phi*0.5) + cos(psi*0.5)*cos(tht*0.5)*cos(phi*0.5);
Q1 = -sin(psi*0.5)*sin(tht*0.5)*cos(phi*0.5) + cos(psi*0.5)*cos(tht*0.5)*sin(phi*0.5);
Q2 = sin(psi*0.5)*cos(tht*0.5)*sin(phi*0.5) + cos(psi*0.5)*sin(tht*0.5)*cos(phi*0.5);
Q3 = sin(psi*0.5)*cos(tht*0.5)*cos(phi*0.5) - cos(psi*0.5)*sin(tht*0.5)*sin(phi*0.5);
FDMExec->GetRotation()->SetQ0123(Q0, Q1, Q2, Q3);
T[1][1] = Q0*Q0 + Q1*Q1 - Q2*Q2 - Q3*Q3;
T[1][2] = 2*(Q1*Q2 + Q0*Q3);
T[1][3] = 2*(Q1*Q3 - Q0*Q2);
T[2][1] = 2*(Q1*Q2 - Q0*Q3);
T[2][2] = Q0*Q0 - Q1*Q1 + Q2*Q2 - Q3*Q3;
T[2][3] = 2*(Q2*Q3 + Q0*Q1);
T[3][1] = 2*(Q1*Q3 + Q0*Q2);
T[3][2] = 2*(Q2*Q3 - Q0*Q1);
T[3][3] = Q0*Q0 - Q1*Q1 - Q2*Q2 + Q3*Q3;
FDMExec->GetPosition()->SetT(T[1][1], T[1][2], T[1][3],
T[2][1], T[2][2], T[2][3],
T[3][1], T[3][2], T[3][3]);
Initialize(U, V, W, phi, tht, psi, latitude, longitude, h);
return true;
} else {
@ -161,6 +117,67 @@ bool FGState::Reset(string path, string fname)
}
void FGState::Initialize(float U, float V, float W,
float phi, float tht, float psi,
float Latitude, float Longitude, float H)
{
float alpha, beta, gamma;
float Q0, Q1, Q2, Q3;
float T[4][4];
latitude = Latitude;
longitude = Longitude;
h = H;
// Change all angular measurements from degrees (as in config file) to radians
gamma = 0.0;
if (W != 0.0)
alpha = U*U > 0.0 ? atan2(W, U) : 0.0;
else
alpha = 0.0;
if (V != 0.0)
beta = U*U+W*W > 0.0 ? atan2(V, (fabs(U)/U)*sqrt(U*U + W*W)) : 0.0;
else
beta = 0.0;
latitude *= M_PI / 180.0;
longitude *= M_PI / 180.0;
phi *= M_PI / 180.0;
tht *= M_PI / 180.0;
psi *= M_PI / 180.0;
FDMExec->GetTranslation()->SetUVW(U, V, W);
FDMExec->GetRotation()->SetEuler(phi, tht, psi);
FDMExec->GetTranslation()->SetABG(alpha, beta, gamma);
Vt = sqrt(U*U + V*V + W*W);
qbar = 0.5*(U*U + V*V + W*W)*FDMExec->GetAtmosphere()->CalcRho(h);
Q0 = sin(psi*0.5)*sin(tht*0.5)*sin(phi*0.5) + cos(psi*0.5)*cos(tht*0.5)*cos(phi*0.5);
Q1 = -sin(psi*0.5)*sin(tht*0.5)*cos(phi*0.5) + cos(psi*0.5)*cos(tht*0.5)*sin(phi*0.5);
Q2 = sin(psi*0.5)*cos(tht*0.5)*sin(phi*0.5) + cos(psi*0.5)*sin(tht*0.5)*cos(phi*0.5);
Q3 = sin(psi*0.5)*cos(tht*0.5)*cos(phi*0.5) - cos(psi*0.5)*sin(tht*0.5)*sin(phi*0.5);
FDMExec->GetRotation()->SetQ0123(Q0, Q1, Q2, Q3);
T[1][1] = Q0*Q0 + Q1*Q1 - Q2*Q2 - Q3*Q3;
T[1][2] = 2*(Q1*Q2 + Q0*Q3);
T[1][3] = 2*(Q1*Q3 - Q0*Q2);
T[2][1] = 2*(Q1*Q2 - Q0*Q3);
T[2][2] = Q0*Q0 - Q1*Q1 + Q2*Q2 - Q3*Q3;
T[2][3] = 2*(Q2*Q3 + Q0*Q1);
T[3][1] = 2*(Q1*Q3 + Q0*Q2);
T[3][2] = 2*(Q2*Q3 - Q0*Q1);
T[3][3] = Q0*Q0 - Q1*Q1 - Q2*Q2 + Q3*Q3;
FDMExec->GetPosition()->SetT(T[1][1], T[1][2], T[1][3],
T[2][1], T[2][2], T[2][3],
T[3][1], T[3][2], T[3][3]);
DisplayData();
}
bool FGState::StoreData(string fname)
{
ofstream datafile(fname.c_str());

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

@ -78,6 +78,7 @@ public:
~FGState(void);
bool Reset(string, string);
void Initialize(float, float, float, float, float, float, float, float, float);
bool StoreData(string);
bool DumpData(string);
bool DisplayData(void);