Updates from Jon.
This commit is contained in:
parent
8d58f64257
commit
a1b2152d7f
7 changed files with 101 additions and 80 deletions
|
@ -399,7 +399,9 @@ void FGAircraft::FAero(void)
|
||||||
void FGAircraft::FGear(void)
|
void FGAircraft::FGear(void)
|
||||||
{
|
{
|
||||||
if (GearUp) {
|
if (GearUp) {
|
||||||
|
// crash routine
|
||||||
} else {
|
} else {
|
||||||
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
|
@ -51,8 +51,8 @@ FGControls::~FGControls() {
|
||||||
|
|
||||||
|
|
||||||
// $Log$
|
// $Log$
|
||||||
// Revision 1.3 1999/06/28 15:39:23 curt
|
// Revision 1.4 1999/07/31 02:55:24 curt
|
||||||
// Updates contributed by Jon Berndt.
|
// Updates from Jon.
|
||||||
//
|
//
|
||||||
// Revision 1.1 1999/02/13 01:12:03 curt
|
// Revision 1.1 1999/02/13 01:12:03 curt
|
||||||
// Initial Revision.
|
// Initial Revision.
|
||||||
|
|
|
@ -177,8 +177,8 @@ extern FGControls controls;
|
||||||
|
|
||||||
|
|
||||||
// $Log$
|
// $Log$
|
||||||
// Revision 1.3 1999/06/28 15:39:24 curt
|
// Revision 1.4 1999/07/31 02:55:24 curt
|
||||||
// Updates contributed by Jon Berndt.
|
// Updates from Jon.
|
||||||
//
|
//
|
||||||
// Revision 1.1 1999/02/13 01:12:03 curt
|
// Revision 1.1 1999/02/13 01:12:03 curt
|
||||||
// Initial Revision.
|
// Initial Revision.
|
||||||
|
|
|
@ -93,7 +93,7 @@ FGFDMExec::FGFDMExec(void)
|
||||||
Rotation = new FGRotation(this);
|
Rotation = new FGRotation(this);
|
||||||
Position = new FGPosition(this);
|
Position = new FGPosition(this);
|
||||||
Auxiliary = new FGAuxiliary(this);
|
Auxiliary = new FGAuxiliary(this);
|
||||||
Output = new FGOutput(this);
|
// Output = new FGOutput(this);
|
||||||
|
|
||||||
State = new FGState(this);
|
State = new FGState(this);
|
||||||
|
|
||||||
|
@ -106,7 +106,7 @@ FGFDMExec::FGFDMExec(void)
|
||||||
if (!Rotation->InitModel()) {cerr << "Rotation model init failed"; Error+=16;}
|
if (!Rotation->InitModel()) {cerr << "Rotation model init failed"; Error+=16;}
|
||||||
if (!Position->InitModel()) {cerr << "Position model init failed"; Error+=32;}
|
if (!Position->InitModel()) {cerr << "Position model init failed"; Error+=32;}
|
||||||
if (!Auxiliary->InitModel()) {cerr << "Auxiliary model init failed"; Error+=64;}
|
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(Atmosphere, 5);
|
||||||
Schedule(FCS, 1);
|
Schedule(FCS, 1);
|
||||||
|
@ -115,7 +115,7 @@ FGFDMExec::FGFDMExec(void)
|
||||||
Schedule(Translation, 1);
|
Schedule(Translation, 1);
|
||||||
Schedule(Position, 1);
|
Schedule(Position, 1);
|
||||||
Schedule(Auxiliary, 1);
|
Schedule(Auxiliary, 1);
|
||||||
Schedule(Output, 1);
|
// Schedule(Output, 1);
|
||||||
|
|
||||||
terminate = false;
|
terminate = false;
|
||||||
frozen = false;
|
frozen = false;
|
||||||
|
|
|
@ -196,33 +196,34 @@ void FGOutput::DelimitedOutput(void)
|
||||||
cout << "N";
|
cout << "N";
|
||||||
cout << endl;
|
cout << endl;
|
||||||
FirstPass = false;
|
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;
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
|
@ -107,51 +107,7 @@ bool FGState::Reset(string path, string fname)
|
||||||
resetfile >> h;
|
resetfile >> h;
|
||||||
resetfile.close();
|
resetfile.close();
|
||||||
|
|
||||||
// Change all angular measurements from degrees (as in config file) to radians
|
Initialize(U, V, W, phi, tht, psi, latitude, longitude, h);
|
||||||
|
|
||||||
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]);
|
|
||||||
|
|
||||||
return true;
|
return true;
|
||||||
} else {
|
} 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)
|
bool FGState::StoreData(string fname)
|
||||||
{
|
{
|
||||||
ofstream datafile(fname.c_str());
|
ofstream datafile(fname.c_str());
|
||||||
|
|
|
@ -78,6 +78,7 @@ public:
|
||||||
~FGState(void);
|
~FGState(void);
|
||||||
|
|
||||||
bool Reset(string, string);
|
bool Reset(string, string);
|
||||||
|
void Initialize(float, float, float, float, float, float, float, float, float);
|
||||||
bool StoreData(string);
|
bool StoreData(string);
|
||||||
bool DumpData(string);
|
bool DumpData(string);
|
||||||
bool DisplayData(void);
|
bool DisplayData(void);
|
||||||
|
|
Loading…
Add table
Reference in a new issue