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Sync JSBSim again

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This commit is contained in:
Erik Hofman 2010-11-28 10:58:47 +01:00
parent 4dc76922c8
commit ad51a9bde2
35 changed files with 477 additions and 461 deletions
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31
src/FDM/JSBSim/FGFDMExec.cpp
View file

@ -71,7 +71,7 @@ using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id: FGFDMExec.cpp,v 1.82 2010/10/07 03:17:29 jberndt Exp $";
static const char *IdSrc = "$Id: FGFDMExec.cpp,v 1.83 2010/11/07 13:30:54 jberndt Exp $";
static const char *IdHdr = ID_FDMEXEC;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -95,23 +95,11 @@ void checkTied ( FGPropertyManager *node )
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Constructors
FGFDMExec::FGFDMExec(FGPropertyManager* root) : Root(root), delete_root(false)
{
FDMctr = new unsigned int;
*FDMctr = 0;
Initialize();
root_overload = (root != NULL);
}
// Constructor
FGFDMExec::FGFDMExec(FGPropertyManager* root, unsigned int* fdmctr) : Root(root), delete_root(false), FDMctr(fdmctr)
FGFDMExec::FGFDMExec(FGPropertyManager* root, unsigned int* fdmctr) : Root(root), FDMctr(fdmctr)
{
Initialize();
root_overload = (root != NULL);
}
void FGFDMExec::Initialize()
{
Frame = 0;
Error = 0;
GroundCallback = 0;
@ -138,6 +126,7 @@ void FGFDMExec::Initialize()
IsChild = false;
holding = false;
Terminate = false;
StandAlone = false;
sim_time = 0.0;
dT = 1.0/120.0; // a default timestep size. This is needed for when JSBSim is
@ -152,8 +141,10 @@ void FGFDMExec::Initialize()
if (Root == 0) { // Then this is the root FDM
Root = new FGPropertyManager; // Create the property manager
delete_root = true;
StandAlone = true;
}
if (FDMctr == 0) {
FDMctr = new unsigned int; // Create and initialize the child FDM counter
(*FDMctr) = 0;
}
@ -197,13 +188,13 @@ FGFDMExec::~FGFDMExec()
checkTied( instance );
DeAllocate();
if(FDMctr != 0 && !root_overload) {
if (IdFDM == 0) { // Meaning this is no child FDM
if(Root != 0) {
if (delete_root)
if(StandAlone)
delete Root;
Root = 0;
}
if (IdFDM == 0) { // Meaning this is no child FDM
if(FDMctr != 0) {
delete FDMctr;
FDMctr = 0;
}

75
src/FDM/JSBSim/FGFDMExec.h
View file

@ -41,7 +41,10 @@ SENTRY
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "models/FGModel.h"
#include <vector>
#include <string>
//#include "models/FGModel.h"
#include "models/FGOutput.h"
#include "models/FGInput.h"
#include "initialization/FGTrim.h"
@ -53,14 +56,11 @@ INCLUDES
#include "models/FGPropagate.h"
#include "math/FGColumnVector3.h"
#include <vector>
#include <string>
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.54 2010/10/07 03:17:29 jberndt Exp $"
#define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.56 2010/11/18 20:37:10 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
@ -70,6 +70,20 @@ namespace JSBSim {
class FGScript;
class FGTrim;
class FGAerodynamics;
class FGAircraft;
class FGAtmosphere;
class FGAuxiliary;
class FGBuoyantForces;
class FGExternalReactions;
class FGGroundReactions;
class FGFCS;
class FGInertial;
class FGInput;
class FGOutput;
class FGPropagate;
class FGPropulsion;
class FGMassBalance;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
@ -169,7 +183,7 @@ CLASS DOCUMENTATION
property actually maps toa function call of DoTrim().
@author Jon S. Berndt
@version $Revision: 1.54 $
@version $Revision: 1.56 $
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -206,9 +220,8 @@ class FGFDMExec : public FGJSBBase, public FGXMLFileRead
public:
/// Default constructors
FGFDMExec(FGPropertyManager* root = 0);
FGFDMExec(FGPropertyManager* root, unsigned int* fdmctr);
/// Default constructor
FGFDMExec(FGPropertyManager* root = 0, unsigned int* fdmctr = 0);
/// Default destructor
~FGFDMExec();
@ -292,49 +305,49 @@ public:
/// @name Top-level executive State and Model retrieval mechanism
//@{
/// Returns the FGAtmosphere pointer.
inline FGAtmosphere* GetAtmosphere(void) {return Atmosphere;}
FGAtmosphere* GetAtmosphere(void) {return Atmosphere;}
/// Returns the FGFCS pointer.
inline FGFCS* GetFCS(void) {return FCS;}
FGFCS* GetFCS(void) {return FCS;}
/// Returns the FGPropulsion pointer.
inline FGPropulsion* GetPropulsion(void) {return Propulsion;}
FGPropulsion* GetPropulsion(void) {return Propulsion;}
/// Returns the FGAircraft pointer.
inline FGMassBalance* GetMassBalance(void) {return MassBalance;}
FGMassBalance* GetMassBalance(void) {return MassBalance;}
/// Returns the FGAerodynamics pointer
inline FGAerodynamics* GetAerodynamics(void){return Aerodynamics;}
FGAerodynamics* GetAerodynamics(void){return Aerodynamics;}
/// Returns the FGInertial pointer.
inline FGInertial* GetInertial(void) {return Inertial;}
FGInertial* GetInertial(void) {return Inertial;}
/// Returns the FGGroundReactions pointer.
inline FGGroundReactions* GetGroundReactions(void) {return GroundReactions;}
FGGroundReactions* GetGroundReactions(void) {return GroundReactions;}
/// Returns the FGExternalReactions pointer.
inline FGExternalReactions* GetExternalReactions(void) {return ExternalReactions;}
FGExternalReactions* GetExternalReactions(void) {return ExternalReactions;}
/// Returns the FGBuoyantForces pointer.
inline FGBuoyantForces* GetBuoyantForces(void) {return BuoyantForces;}
FGBuoyantForces* GetBuoyantForces(void) {return BuoyantForces;}
/// Returns the FGAircraft pointer.
inline FGAircraft* GetAircraft(void) {return Aircraft;}
FGAircraft* GetAircraft(void) {return Aircraft;}
/// Returns the FGPropagate pointer.
inline FGPropagate* GetPropagate(void) {return Propagate;}
FGPropagate* GetPropagate(void) {return Propagate;}
/// Returns the FGAuxiliary pointer.
inline FGAuxiliary* GetAuxiliary(void) {return Auxiliary;}
FGAuxiliary* GetAuxiliary(void) {return Auxiliary;}
/// Returns the FGInput pointer.
inline FGInput* GetInput(void) {return Input;}
FGInput* GetInput(void) {return Input;}
/// Returns the FGGroundCallback pointer.
inline FGGroundCallback* GetGroundCallback(void) {return GroundCallback;}
FGGroundCallback* GetGroundCallback(void) {return GroundCallback;}
/// Retrieves the script object
inline FGScript* GetScript(void) {return Script;}
FGScript* GetScript(void) {return Script;}
// Returns a pointer to the FGInitialCondition object
inline FGInitialCondition* GetIC(void) {return IC;}
FGInitialCondition* GetIC(void) {return IC;}
// Returns a pointer to the FGTrim object
FGTrim* GetTrim(void);
//@}
/// Retrieves the engine path.
inline const string& GetEnginePath(void) {return EnginePath;}
const string& GetEnginePath(void) {return EnginePath;}
/// Retrieves the aircraft path.
inline const string& GetAircraftPath(void) {return AircraftPath;}
const string& GetAircraftPath(void) {return AircraftPath;}
/// Retrieves the systems path.
inline const string& GetSystemsPath(void) {return SystemsPath;}
const string& GetSystemsPath(void) {return SystemsPath;}
/// Retrieves the full aircraft path name.
inline const string& GetFullAircraftPath(void) {return FullAircraftPath;}
const string& GetFullAircraftPath(void) {return FullAircraftPath;}
/** Retrieves the value of a property.
@param property the name of the property
@ -524,7 +537,6 @@ private:
bool Constructing;
bool modelLoaded;
bool IsChild;
bool root_overload;
string modelName;
string AircraftPath;
string FullAircraftPath;
@ -556,7 +568,7 @@ private:
FGTrim* Trim;
FGPropertyManager* Root;
bool delete_root;
bool StandAlone;
FGPropertyManager* instance;
// The FDM counter is used to give each child FDM an unique ID. The root FDM has the ID 0
@ -567,7 +579,6 @@ private:
vector <childData*> ChildFDMList;
vector <FGModel*> Models;
void Initialize();
bool ReadFileHeader(Element*);
bool ReadChild(Element*);
bool ReadPrologue(Element*);

15
src/FDM/JSBSim/JSBSim.cxx
View file

@ -18,7 +18,7 @@
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id: JSBSim.cxx,v 1.63 2010/10/07 03:45:40 jberndt Exp $
// $Id: JSBSim.cxx,v 1.64 2010/10/31 04:49:25 jberndt Exp $
#ifdef HAVE_CONFIG_H
@ -452,7 +452,7 @@ void FGJSBsim::update( double dt )
// ground in this area.
double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
double alt, slr, lat, lon;
FGColumnVector3 cart = Auxiliary->GetLocationVRP();
FGLocation cart = Auxiliary->GetLocationVRP();
if ( needTrim && startup_trim->getBoolValue() ) {
alt = fgic->GetAltitudeASLFtIC();
slr = fgic->GetSeaLevelRadiusFtIC();
@ -488,9 +488,9 @@ void FGJSBsim::update( double dt )
if ( needTrim ) {
if ( startup_trim->getBoolValue() ) {
double contact[3], d[3], agl;
double contact[3], d[3], vel[3], agl;
get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
d, d, d, &agl);
d, vel, d, &agl);
double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
+ contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
@ -498,6 +498,13 @@ void FGJSBsim::update( double dt )
"Ready to trim, terrain elevation is: "
<< terrain_alt * SG_METER_TO_FEET );
if (fgGetBool("/sim/presets/onground")) {
FGColumnVector3 gndVelNED = cart.GetTec2l()
* FGColumnVector3(vel[0], vel[1], vel[2]);
fgic->SetVNorthFpsIC(gndVelNED(1));
fgic->SetVEastFpsIC(gndVelNED(2));
fgic->SetVDownFpsIC(gndVelNED(3));
}
fgic->SetTerrainElevationFtIC( terrain_alt );
do_trim();
} else {

89
src/FDM/JSBSim/initialization/FGInitialCondition.cpp
View file

@ -62,7 +62,7 @@ using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id: FGInitialCondition.cpp,v 1.46 2010/09/29 02:19:05 jberndt Exp $";
static const char *IdSrc = "$Id: FGInitialCondition.cpp,v 1.50 2010/11/20 16:38:43 bcoconni Exp $";
static const char *IdHdr = ID_INITIALCONDITION;
//******************************************************************************
@ -187,7 +187,7 @@ void FGInitialCondition::WriteStateFile(int num)
outfile << " <psi unit=\"DEG\"> " << Propagate->GetEuler(ePsi) << " </psi>" << endl;
outfile << " <longitude unit=\"DEG\"> " << Propagate->GetLongitudeDeg() << " </longitude>" << endl;
outfile << " <latitude unit=\"DEG\"> " << Propagate->GetLatitudeDeg() << " </latitude>" << endl;
outfile << " <altitude unit=\"FT\"> " << Propagate->GetAltitudeASL() << " </altitude>" << endl;
outfile << " <altitude unit=\"FT\"> " << Propagate->GetDistanceAGL() << " </altitude>" << endl;
outfile << "</initialize>" << endl;
outfile.close();
} else {
@ -225,20 +225,37 @@ void FGInitialCondition::SetVequivalentKtsIC(double tt) {
//******************************************************************************
void FGInitialCondition::SetVgroundFpsIC(double tt) {
double ua,va,wa;
double vxz;
void FGInitialCondition::calcAeroEuler(void)
{
double ua = u + uw;
double va = v + vw;
double wa = w + ww;
vt = sqrt( ua*ua + va*va + wa*wa );
alpha = beta = 0.0;
calpha = cbeta = 1.0;
salpha = sbeta = 0.0;
double vxz = sqrt( u*u + w*w );
if( w != 0 ) alpha = atan2( w, u );
if( vxz != 0 ) {
beta = atan2( v, vxz );
calpha = u / vxz;
salpha = w / vxz;
}
double vn = sqrt(vxz*vxz + v*v);
if (vn != 0) {
cbeta = vxz / vn;
sbeta = v / vn;
}
}
//******************************************************************************
void FGInitialCondition::SetVgroundFpsIC(double tt) {
vg=tt;
lastSpeedSet=setvg;
vnorth = vg*cos(psi); veast = vg*sin(psi); vdown = 0;
calcUVWfromNED();
ua = u + uw; va = v + vw; wa = w + ww;
vt = sqrt( ua*ua + va*va + wa*wa );
alpha = beta = 0;
vxz = sqrt( u*u + w*w );
if( w != 0 ) alpha = atan2( w, u );
if( vxz != 0 ) beta = atan2( v, vxz );
calcAeroEuler();
mach=vt/fdmex->GetAtmosphere()->GetSoundSpeed();
vc=calcVcas(mach);
ve=vt*sqrt(fdmex->GetAtmosphere()->GetDensityRatio());
@ -336,7 +353,7 @@ void FGInitialCondition::SetPsiRadIC(double tt) {
void FGInitialCondition::SetUBodyFpsIC(double tt) {
u=tt;
vt=sqrt(u*u + v*v + w*w);
calcAeroEuler();
lastSpeedSet=setuvw;
}
@ -344,7 +361,7 @@ void FGInitialCondition::SetUBodyFpsIC(double tt) {
void FGInitialCondition::SetVBodyFpsIC(double tt) {
v=tt;
vt=sqrt(u*u + v*v + w*w);
calcAeroEuler();
lastSpeedSet=setuvw;
}
@ -352,7 +369,7 @@ void FGInitialCondition::SetVBodyFpsIC(double tt) {
void FGInitialCondition::SetWBodyFpsIC(double tt) {
w=tt;
vt=sqrt( u*u + v*v + w*w );
calcAeroEuler();
lastSpeedSet=setuvw;
}
@ -360,16 +377,9 @@ void FGInitialCondition::SetWBodyFpsIC(double tt) {
//******************************************************************************
void FGInitialCondition::SetVNorthFpsIC(double tt) {
double ua,va,wa;
double vxz;
vnorth = tt;
calcUVWfromNED();
ua = u + uw; va = v + vw; wa = w + ww;
vt = sqrt( ua*ua + va*va + wa*wa );
alpha = beta = 0;
vxz = sqrt( u*u + w*w );
if( w != 0 ) alpha = atan2( w, u );
if( vxz != 0 ) beta = atan2( v, vxz );
calcAeroEuler();
mach=vt/fdmex->GetAtmosphere()->GetSoundSpeed();
vc=calcVcas(mach);
ve=vt*sqrt(fdmex->GetAtmosphere()->GetDensityRatio());
@ -379,16 +389,9 @@ void FGInitialCondition::SetVNorthFpsIC(double tt) {
//******************************************************************************
void FGInitialCondition::SetVEastFpsIC(double tt) {
double ua,va,wa;
double vxz;
veast = tt;
calcUVWfromNED();
ua = u + uw; va = v + vw; wa = w + ww;
vt = sqrt( ua*ua + va*va + wa*wa );
alpha = beta = 0;
vxz = sqrt( u*u + w*w );
if( w != 0 ) alpha = atan2( w, u );
if( vxz != 0 ) beta = atan2( v, vxz );
calcAeroEuler();
mach=vt/fdmex->GetAtmosphere()->GetSoundSpeed();
vc=calcVcas(mach);
ve=vt*sqrt(fdmex->GetAtmosphere()->GetDensityRatio());
@ -398,16 +401,9 @@ void FGInitialCondition::SetVEastFpsIC(double tt) {
//******************************************************************************
void FGInitialCondition::SetVDownFpsIC(double tt) {
double ua,va,wa;
double vxz;
vdown = tt;
calcUVWfromNED();
ua = u + uw; va = v + vw; wa = w + ww;
vt = sqrt( ua*ua + va*va + wa*wa );
alpha = beta = 0;
vxz = sqrt( u*u + w*w );
if( w != 0 ) alpha = atan2( w, u );
if( vxz != 0 ) beta = atan2( v, vxz );
calcAeroEuler();
mach=vt/fdmex->GetAtmosphere()->GetSoundSpeed();
vc=calcVcas(mach);
ve=vt*sqrt(fdmex->GetAtmosphere()->GetDensityRatio());
@ -885,6 +881,7 @@ bool FGInitialCondition::Load(string rstfile, bool useStoredPath)
bool FGInitialCondition::Load_v1(void)
{
bool result = true;
int n;
if (document->FindElement("latitude"))
@ -953,13 +950,18 @@ bool FGInitialCondition::Load_v1(void)
Element* running_elements = document->FindElement("running");
while (running_elements) {
n = int(running_elements->GetDataAsNumber());
propulsion->InitRunning(n);
try {
propulsion->InitRunning(n);
} catch (string str) {
cerr << str << endl;
result = false;
}
running_elements = document->FindNextElement("running");
}
fdmex->RunIC();
return true;
return result;
}
//******************************************************************************
@ -1213,7 +1215,12 @@ bool FGInitialCondition::Load_v2(void)
Element* running_elements = document->FindElement("running");
while (running_elements) {
n = int(running_elements->GetDataAsNumber());
propulsion->InitRunning(n);
try {
propulsion->InitRunning(n);
} catch (string str) {
cerr << str << endl;
result = false;
}
running_elements = document->FindNextElement("running");
}

7
src/FDM/JSBSim/initialization/FGInitialCondition.h
View file

@ -56,7 +56,7 @@ INCLUDES
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_INITIALCONDITION "$Id: FGInitialCondition.h,v 1.20 2010/02/15 03:22:57 jberndt Exp $"
#define ID_INITIALCONDITION "$Id: FGInitialCondition.h,v 1.22 2010/11/20 16:38:43 bcoconni Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
@ -151,7 +151,7 @@ CLASS DOCUMENTATION
- vc (calibrated airspeed, ft/sec)
- mach (mach)
- vground (ground speed, ft/sec)
- running (0 or 1)
- running (-1 for all engines, 0 for no engines, 1 ... n for specific engines)
<h3>Properties</h3>
@property ic/vc-kts (read/write) Calibrated airspeed initial condition in knots
@ -202,7 +202,7 @@ CLASS DOCUMENTATION
@property ic/r-rad_sec (read/write) Yaw rate initial condition in radians/second
@author Tony Peden
@version "$Id: FGInitialCondition.h,v 1.20 2010/02/15 03:22:57 jberndt Exp $"
@version "$Id: FGInitialCondition.h,v 1.22 2010/11/20 16:38:43 bcoconni Exp $"
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -661,6 +661,7 @@ private:
double calcVcas(double Mach);
void calcUVWfromNED(void);
void calcWindUVW(void);
void calcAeroEuler(void);
bool findInterval(double x,double guess);
bool solve(double *y, double x);

12
src/FDM/JSBSim/input_output/FGScript.cpp
View file

@ -54,7 +54,7 @@ using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id: FGScript.cpp,v 1.41 2010/07/08 11:36:28 jberndt Exp $";
static const char *IdSrc = "$Id: FGScript.cpp,v 1.42 2010/11/24 12:58:39 jberndt Exp $";
static const char *IdHdr = ID_FGSCRIPT;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -376,7 +376,9 @@ bool FGScript::RunScript(void)
Events[ev_ctr].Triggered = true;
} else if (Events[ev_ctr].Persistent) { // If the event is persistent, reset the trigger.
Events[ev_ctr].Triggered = false; // Reset the trigger for persistent events
Events[ev_ctr].Notified = false; // Also reset the notification flag
} else if (Events[ev_ctr].Continuous) { // If the event is continuous, reset the trigger.
Events[ev_ctr].Triggered = false; // Reset the trigger for persistent events
Events[ev_ctr].Notified = false; // Also reset the notification flag
}
@ -486,9 +488,11 @@ void FGScript::Debug(int from)
cout << ":" << endl;
if (Events[i].Persistent)
cout << " " << "Always executes";
cout << " " << "Whenever triggered, executes once";
else if (Events[i].Continuous)
cout << " " << "While true, always executes";
else
cout << " " << "Executes once";
cout << " " << "When first triggered, executes once";
Events[i].Condition->PrintCondition();

17
src/FDM/JSBSim/math/FGModelFunctions.h
View file

@ -44,7 +44,7 @@ INCLUDES
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_MODELFUNCTIONS "$Id: FGModelFunctions.h,v 1.2 2010/08/24 10:30:14 jberndt Exp $"
#define ID_MODELFUNCTIONS "$Id: FGModelFunctions.h,v 1.3 2010/11/17 03:18:37 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
@ -56,15 +56,24 @@ namespace JSBSim {
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/**
@author Jon Berndt
/** The model functions class provides the capability for loading, storing, and
executing arbitrary functions.
For certain classes, such as the engine, aerodynamics, ground reactions,
mass balance, etc., it can be useful to incorporate special functions that
can operate on the local model parameters before and/or after the model
executes. For example, there is no inherent chamber pressure calculation
done in the rocket engine model. However, an arbitrary function can be added
to a specific rocket engine XML configuration file. It would be tagged with
a "pre" or "post" type attribute to denote whether the function is to be
executed before or after the standard model algorithm.
@author Jon Berndt
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DECLARATION: FGModelFunctions
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGModelFunctions : public FGJSBBase
class FGModelFunctions : public FGJSBBase
{
public:
~FGModelFunctions();

38
src/FDM/JSBSim/models/FGAerodynamics.cpp
View file

@ -52,7 +52,7 @@ using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id: FGAerodynamics.cpp,v 1.34 2010/10/15 11:32:41 jberndt Exp $";
static const char *IdSrc = "$Id: FGAerodynamics.cpp,v 1.35 2010/11/18 12:38:06 jberndt Exp $";
static const char *IdHdr = ID_AERODYNAMICS;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -134,24 +134,28 @@ bool FGAerodynamics::InitModel(void)
bool FGAerodynamics::Run(void)
{
unsigned int axis_ctr, ctr;
double alpha, twovel;
if (FGModel::Run()) return true;
if (FDMExec->Holding()) return false; // if paused don't execute
unsigned int axis_ctr, ctr;
const double alpha=FDMExec->GetAuxiliary()->Getalpha();
const double twovel=2*FDMExec->GetAuxiliary()->GetVt();
const double qbar = FDMExec->GetAuxiliary()->Getqbar();
const double wingarea = FDMExec->GetAircraft()->GetWingArea();
const double wingspan = FDMExec->GetAircraft()->GetWingSpan();
const double wingchord = FDMExec->GetAircraft()->Getcbar();
const double wingincidence = FDMExec->GetAircraft()->GetWingIncidence();
RunPreFunctions();
// calculate some oft-used quantities for speed
twovel = 2*Auxiliary->GetVt();
if (twovel != 0) {
bi2vel = Aircraft->GetWingSpan() / twovel;
ci2vel = Aircraft->Getcbar() / twovel;
bi2vel = wingspan / twovel;
ci2vel = wingchord / twovel;
}
alphaw = Auxiliary->Getalpha() + Aircraft->GetWingIncidence();
alpha = Auxiliary->Getalpha();
qbar_area = Aircraft->GetWingArea() * Auxiliary->Getqbar();
alphaw = alpha + wingincidence;
qbar_area = wingarea * qbar;
if (alphaclmax != 0) {
if (alpha > 0.85*alphaclmax) {
@ -204,18 +208,18 @@ bool FGAerodynamics::Run(void)
}
// Calculate aerodynamic reference point shift, if any
if (AeroRPShift) vDeltaRP(eX) = AeroRPShift->GetValue()*Aircraft->Getcbar()*12.0;
if (AeroRPShift) vDeltaRP(eX) = AeroRPShift->GetValue()*wingchord*12.0;
// Calculate lift coefficient squared
if ( Auxiliary->Getqbar() > 0) {
clsq = vFw(eLift) / (Aircraft->GetWingArea()*Auxiliary->Getqbar());
if ( qbar > 0) {
clsq = vFw(eLift) / (wingarea*qbar);
clsq *= clsq;
}
// Calculate lift Lift over Drag
if ( fabs(vFw(eDrag)) > 0.0) lod = fabs( vFw(eLift) / vFw(eDrag) );
vDXYZcg = MassBalance->StructuralToBody(Aircraft->GetXYZrp() + vDeltaRP);
vDXYZcg = FDMExec->GetMassBalance()->StructuralToBody(FDMExec->GetAircraft()->GetXYZrp() + vDeltaRP);
vMoments = vDXYZcg*vForces; // M = r X F
@ -250,8 +254,8 @@ FGMatrix33& FGAerodynamics::GetTw2b(void)
{
double ca, cb, sa, sb;
double alpha = Auxiliary->Getalpha();
double beta = Auxiliary->Getbeta();
double alpha = FDMExec->GetAuxiliary()->Getalpha();
double beta = FDMExec->GetAuxiliary()->Getbeta();
ca = cos(alpha);
sa = sin(alpha);
@ -278,8 +282,8 @@ FGMatrix33& FGAerodynamics::GetTb2w(void)
double alpha,beta;
double ca, cb, sa, sb;
alpha = Auxiliary->Getalpha();
beta = Auxiliary->Getbeta();
alpha = FDMExec->GetAuxiliary()->Getalpha();
beta = FDMExec->GetAuxiliary()->Getbeta();
ca = cos(alpha);
sa = sin(alpha);

26
src/FDM/JSBSim/models/FGAerodynamics.h
View file

@ -52,7 +52,7 @@ INCLUDES
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_AERODYNAMICS "$Id: FGAerodynamics.h,v 1.20 2009/11/12 13:08:11 jberndt Exp $"
#define ID_AERODYNAMICS "$Id: FGAerodynamics.h,v 1.21 2010/11/18 12:38:06 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
@ -109,7 +109,7 @@ CLASS DOCUMENTATION
Systems may NOT be combined, or a load error will occur.
@author Jon S. Berndt, Tony Peden
@version $Revision: 1.20 $
@version $Revision: 1.21 $
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -141,7 +141,7 @@ public:
/** Gets the total aerodynamic force vector.
@return a force vector reference. */
FGColumnVector3& GetForces(void) {return vForces;}
const FGColumnVector3& GetForces(void) const {return vForces;}
/** Gets the aerodynamic force for an axis.
@param n Axis index. This could be 0, 1, or 2, or one of the
@ -151,7 +151,7 @@ public:
/** Gets the total aerodynamic moment vector.
@return a moment vector reference. */
FGColumnVector3& GetMoments(void) {return vMoments;}
const FGColumnVector3& GetMoments(void) const {return vMoments;}
/** Gets the aerodynamic moment for an axis.
@return the moment about a single axis (as described also in the
@ -160,7 +160,7 @@ public:
/** Retrieves the aerodynamic forces in the wind axes.
@return a reference to a column vector containing the wind axis forces. */
FGColumnVector3& GetvFw(void) { return vFw; }
const FGColumnVector3& GetvFw(void) const { return vFw; }
/** Retrieves the aerodynamic forces in the wind axes, given an axis.
@param axis the axis to return the force for (eX, eY, eZ).
@ -169,22 +169,22 @@ public:
double GetvFw(int axis) const { return vFw(axis); }
/** Retrieves the lift over drag ratio */
inline double GetLoD(void) const { return lod; }
double GetLoD(void) const { return lod; }
/** Retrieves the square of the lift coefficient. */
inline double GetClSquared(void) const { return clsq; }
inline double GetAlphaCLMax(void) const { return alphaclmax; }
inline double GetAlphaCLMin(void) const { return alphaclmin; }
double GetClSquared(void) const { return clsq; }
double GetAlphaCLMax(void) const { return alphaclmax; }
double GetAlphaCLMin(void) const { return alphaclmin; }
inline double GetHysteresisParm(void) const { return stall_hyst; }
inline double GetStallWarn(void) const { return impending_stall; }
double GetHysteresisParm(void) const { return stall_hyst; }
double GetStallWarn(void) const { return impending_stall; }
double GetAlphaW(void) const { return alphaw; }
double GetBI2Vel(void) const { return bi2vel; }
double GetCI2Vel(void) const { return ci2vel; }
inline void SetAlphaCLMax(double tt) { alphaclmax=tt; }
inline void SetAlphaCLMin(double tt) { alphaclmin=tt; }
void SetAlphaCLMax(double tt) { alphaclmax=tt; }
void SetAlphaCLMin(double tt) { alphaclmin=tt; }
/** Gets the strings for the current set of coefficients.
@param delimeter either a tab or comma string depending on output type

37
src/FDM/JSBSim/models/FGAircraft.cpp
View file

@ -40,7 +40,7 @@ INCLUDES
#include <sys/stat.h>
#include <sys/types.h>
#include <iostream>
#include <cmath>
#include "FGAircraft.h"
@ -54,7 +54,6 @@ INCLUDES
#include "FGPropagate.h"
#include "FGPropulsion.h"
#include "input_output/FGPropertyManager.h"
#include <iostream>
using namespace std;
@ -68,7 +67,7 @@ DEFINITIONS
GLOBAL DATA
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
static const char *IdSrc = "$Id: FGAircraft.cpp,v 1.28 2010/09/07 00:40:03 jberndt Exp $";
static const char *IdSrc = "$Id: FGAircraft.cpp,v 1.29 2010/11/18 12:38:06 jberndt Exp $";
static const char *IdHdr = ID_AIRCRAFT;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -118,30 +117,30 @@ bool FGAircraft::Run(void)
vForces.InitMatrix();
if (!HoldDown) {
vForces += Aerodynamics->GetForces();
vForces += Propulsion->GetForces();
vForces += GroundReactions->GetForces();
vForces += ExternalReactions->GetForces();
vForces += BuoyantForces->GetForces();
vForces += FDMExec->GetAerodynamics()->GetForces();
vForces += FDMExec->GetPropulsion()->GetForces();
vForces += FDMExec->GetGroundReactions()->GetForces();
vForces += FDMExec->GetExternalReactions()->GetForces();
vForces += FDMExec->GetBuoyantForces()->GetForces();
} else {
const FGMatrix33& mTl2b = Propagate->GetTl2b();
vForces = mTl2b * FGColumnVector3(0,0,-MassBalance->GetWeight());
const FGMatrix33& mTl2b = FDMExec->GetPropagate()->GetTl2b();
vForces = mTl2b * FGColumnVector3(0,0,-FDMExec->GetMassBalance()->GetWeight());
}
vMoments.InitMatrix();
if (!HoldDown) {
vMoments += Aerodynamics->GetMoments();
vMoments += Propulsion->GetMoments();
vMoments += GroundReactions->GetMoments();
vMoments += ExternalReactions->GetMoments();
vMoments += BuoyantForces->GetMoments();
vMoments += FDMExec->GetAerodynamics()->GetMoments();
vMoments += FDMExec->GetPropulsion()->GetMoments();
vMoments += FDMExec->GetGroundReactions()->GetMoments();
vMoments += FDMExec->GetExternalReactions()->GetMoments();
vMoments += FDMExec->GetBuoyantForces()->GetMoments();
}
vBodyAccel = vForces/MassBalance->GetMass();
vBodyAccel = vForces/FDMExec->GetMassBalance()->GetMass();
vNcg = vBodyAccel/Inertial->SLgravity();
vNcg = vBodyAccel/FDMExec->GetInertial()->SLgravity();
vNwcg = Aerodynamics->GetTb2w() * vNcg;
vNwcg = FDMExec->GetAerodynamics()->GetTb2w() * vNcg;
vNwcg(3) = 1.0 - vNwcg(3);
RunPostFunctions();
@ -153,7 +152,7 @@ bool FGAircraft::Run(void)
double FGAircraft::GetNlf(void) const
{
return -1*Aerodynamics->GetvFw(3)/MassBalance->GetWeight();
return (-FDMExec->GetAerodynamics()->GetvFw(3))/FDMExec->GetMassBalance()->GetWeight();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

60
src/FDM/JSBSim/models/FGAircraft.h
View file

@ -49,7 +49,7 @@ INCLUDES
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_AIRCRAFT "$Id: FGAircraft.h,v 1.15 2009/10/24 22:59:30 jberndt Exp $"
#define ID_AIRCRAFT "$Id: FGAircraft.h,v 1.16 2010/11/18 12:38:06 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
@ -90,7 +90,7 @@ CLASS DOCUMENTATION
@endcode
@author Jon S. Berndt
@version $Id: FGAircraft.h,v 1.15 2009/10/24 22:59:30 jberndt Exp $
@version $Id: FGAircraft.h,v 1.16 2010/11/18 12:38:06 jberndt Exp $
@see Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling
Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420 Naval Postgraduate
School, January 1994
@ -140,33 +140,33 @@ public:
double GetWingSpan(void) const { return WingSpan; }
/// Gets the average wing chord
double Getcbar(void) const { return cbar; }
inline double GetWingIncidence(void) const { return WingIncidence; }
inline double GetWingIncidenceDeg(void) const { return WingIncidence*radtodeg; }
inline double GetHTailArea(void) const { return HTailArea; }
inline double GetHTailArm(void) const { return HTailArm; }
inline double GetVTailArea(void) const { return VTailArea; }
inline double GetVTailArm(void) const { return VTailArm; }
inline double Getlbarh(void) const { return lbarh; } // HTailArm / cbar
inline double Getlbarv(void) const { return lbarv; } // VTailArm / cbar
inline double Getvbarh(void) const { return vbarh; } // H. Tail Volume
inline double Getvbarv(void) const { return vbarv; } // V. Tail Volume
inline FGColumnVector3& GetMoments(void) { return vMoments; }
inline double GetMoments(int idx) const { return vMoments(idx); }
inline FGColumnVector3& GetForces(void) { return vForces; }
inline double GetForces(int idx) const { return vForces(idx); }
inline FGColumnVector3& GetBodyAccel(void) { return vBodyAccel; }
inline double GetBodyAccel(int idx) { return vBodyAccel(idx); }
inline FGColumnVector3& GetNcg (void) { return vNcg; }
inline double GetNcg(int idx) { return vNcg(idx); }
inline FGColumnVector3& GetXYZrp(void) { return vXYZrp; }
inline FGColumnVector3& GetXYZvrp(void) { return vXYZvrp; }
inline FGColumnVector3& GetXYZep(void) { return vXYZep; }
inline double GetXYZrp(int idx) const { return vXYZrp(idx); }
inline double GetXYZvrp(int idx) const { return vXYZvrp(idx); }
inline double GetXYZep(int idx) const { return vXYZep(idx); }
inline void SetAircraftName(const std::string& name) {AircraftName = name;}
inline void SetHoldDown(int hd) {HoldDown = hd;}
inline int GetHoldDown(void) const {return HoldDown;}
double GetWingIncidence(void) const { return WingIncidence; }
double GetWingIncidenceDeg(void) const { return WingIncidence*radtodeg; }
double GetHTailArea(void) const { return HTailArea; }
double GetHTailArm(void) const { return HTailArm; }
double GetVTailArea(void) const { return VTailArea; }
double GetVTailArm(void) const { return VTailArm; }
double Getlbarh(void) const { return lbarh; } // HTailArm / cbar
double Getlbarv(void) const { return lbarv; } // VTailArm / cbar
double Getvbarh(void) const { return vbarh; } // H. Tail Volume
double Getvbarv(void) const { return vbarv; } // V. Tail Volume
const FGColumnVector3& GetMoments(void) const { return vMoments; }
double GetMoments(int idx) const { return vMoments(idx); }
const FGColumnVector3& GetForces(void) const { return vForces; }
double GetForces(int idx) const { return vForces(idx); }
FGColumnVector3& GetBodyAccel(void) { return vBodyAccel; }
double GetBodyAccel(int idx) const { return vBodyAccel(idx); }
const FGColumnVector3& GetNcg(void) const { return vNcg; }
double GetNcg(int idx) const { return vNcg(idx); }
const FGColumnVector3& GetXYZrp(void) const { return vXYZrp; }
const FGColumnVector3& GetXYZvrp(void) const { return vXYZvrp; }
const FGColumnVector3& GetXYZep(void) const { return vXYZep; }
double GetXYZrp(int idx) const { return vXYZrp(idx); }
double GetXYZvrp(int idx) const { return vXYZvrp(idx); }
double GetXYZep(int idx) const { return vXYZep(idx); }
void SetAircraftName(const std::string& name) {AircraftName = name;}
void SetHoldDown(int hd) {HoldDown = hd;}
int GetHoldDown(void) const {return HoldDown;}
void SetXYZrp(int idx, double value) {vXYZrp(idx) = value;}
@ -174,7 +174,7 @@ public:
double GetNlf(void) const;
inline FGColumnVector3& GetNwcg(void) { return vNwcg; }
FGColumnVector3& GetNwcg(void) { return vNwcg; }
void bind(void);
void unbind(void);

54
src/FDM/JSBSim/models/FGAtmosphere.cpp
View file

@ -61,7 +61,7 @@ using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id: FGAtmosphere.cpp,v 1.38 2010/09/16 11:01:24 jberndt Exp $";
static const char *IdSrc = "$Id: FGAtmosphere.cpp,v 1.40 2010/11/18 12:38:06 jberndt Exp $";
static const char *IdHdr = ID_ATMOSPHERE;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -158,7 +158,7 @@ bool FGAtmosphere::Run(void)
RunPreFunctions();
T_dev = 0.0;
h = Propagate->GetAltitudeASL();
h = FDMExec->GetPropagate()->GetAltitudeASL();
if (!useExternal) {
Calculate(h);
@ -275,11 +275,11 @@ void FGAtmosphere::Calculate(double altitude)
if (slope == 0) {
intTemperature = reftemp;
intPressure = refpress*exp(-Inertial->SLgravity()/(reftemp*Reng)*(altitude-htab[i]));
intPressure = refpress*exp(-FDMExec->GetInertial()->SLgravity()/(reftemp*Reng)*(altitude-htab[i]));
intDensity = intPressure/(Reng*intTemperature);
} else {
intTemperature = reftemp+slope*(altitude-htab[i]);
intPressure = refpress*pow(intTemperature/reftemp,-Inertial->SLgravity()/(slope*Reng));
intPressure = refpress*pow(intTemperature/reftemp,-FDMExec->GetInertial()->SLgravity()/(slope*Reng));
intDensity = intPressure/(Reng*intTemperature);
}
@ -404,7 +404,12 @@ void FGAtmosphere::SetWindPsi(double dir)
void FGAtmosphere::Turbulence(void)
{
double DeltaT = rate*FDMExec->GetDeltaT();
const double DeltaT = rate*FDMExec->GetDeltaT();
const double wingspan = FDMExec->GetAircraft()->GetWingSpan();
const double HOverBMAC = FDMExec->GetAuxiliary()->GetHOverBMAC();
const FGMatrix33& Tl2b = FDMExec->GetPropagate()->GetTl2b();
const double HTailArm = FDMExec->GetAircraft()->GetHTailArm();
const double VTailArm = FDMExec->GetAircraft()->GetVTailArm();
switch (turbType) {
case ttStandard: {
@ -438,7 +443,6 @@ void FGAtmosphere::Turbulence(void)
// Diminish turbulence within three wingspans
// of the ground
vTurbulenceNED = TurbGain * Magnitude * vDirection;
double HOverBMAC = Auxiliary->GetHOverBMAC();
if (HOverBMAC < 3.0)
vTurbulenceNED *= (HOverBMAC / 3.0) * (HOverBMAC / 3.0);
@ -451,20 +455,20 @@ void FGAtmosphere::Turbulence(void)
// Need to determine the turbulence change in body axes between two time points.
vTurbulenceGrad = TurbGain*MagnitudeAccel * vDirection;
vBodyTurbGrad = Propagate->GetTl2b()*vTurbulenceGrad;
vBodyTurbGrad = Tl2b*vTurbulenceGrad;
if (Aircraft->GetWingSpan() > 0) {
vTurbPQR(eP) = vBodyTurbGrad(eY)/Aircraft->GetWingSpan();
if (wingspan > 0) {
vTurbPQR(eP) = vBodyTurbGrad(eY)/wingspan;
} else {
vTurbPQR(eP) = vBodyTurbGrad(eY)/30.0;
}
// if (Aircraft->GetHTailArm() != 0.0)
// vTurbPQR(eQ) = vBodyTurbGrad(eZ)/Aircraft->GetHTailArm();
// if (HTailArm != 0.0)
// vTurbPQR(eQ) = vBodyTurbGrad(eZ)/HTailArm;
// else
// vTurbPQR(eQ) = vBodyTurbGrad(eZ)/10.0;
if (Aircraft->GetVTailArm() > 0)
vTurbPQR(eR) = vBodyTurbGrad(eX)/Aircraft->GetVTailArm();
if (VTailArm > 0)
vTurbPQR(eR) = vBodyTurbGrad(eX)/VTailArm;
else
vTurbPQR(eR) = vBodyTurbGrad(eX)/10.0;
@ -496,7 +500,6 @@ void FGAtmosphere::Turbulence(void)
vDirection += vDirectionAccel*DeltaT;
// Diminish z-vector within two wingspans of the ground
double HOverBMAC = Auxiliary->GetHOverBMAC();
if (HOverBMAC < 2.0) vDirection(eZ) *= HOverBMAC / 2.0;
vDirection.Normalize();
@ -504,15 +507,15 @@ void FGAtmosphere::Turbulence(void)
vTurbulenceNED = TurbGain*Magnitude * vDirection;
vTurbulenceGrad = TurbGain*MagnitudeAccel * vDirection;
vBodyTurbGrad = Propagate->GetTl2b() * vTurbulenceGrad;
vTurbPQR(eP) = vBodyTurbGrad(eY) / Aircraft->GetWingSpan();
if (Aircraft->GetHTailArm() > 0)
vTurbPQR(eQ) = vBodyTurbGrad(eZ) / Aircraft->GetHTailArm();
vBodyTurbGrad = Tl2b * vTurbulenceGrad;
vTurbPQR(eP) = vBodyTurbGrad(eY) / wingspan;
if (HTailArm > 0)
vTurbPQR(eQ) = vBodyTurbGrad(eZ) / HTailArm;
else
vTurbPQR(eQ) = vBodyTurbGrad(eZ) / 10.0;
if (Aircraft->GetVTailArm() > 0)
vTurbPQR(eR) = vBodyTurbGrad(eX) / Aircraft->GetVTailArm();
if (VTailArm > 0)
vTurbPQR(eR) = vBodyTurbGrad(eX) / VTailArm;
else
vTurbPQR(eR) = vBodyTurbGrad(eX)/10.0;
@ -554,7 +557,6 @@ void FGAtmosphere::Turbulence(void)
// Vertical component of turbulence.
vTurbulenceNED(3) = sinewave * max_vs * TurbGain * Rhythmicity;
vTurbulenceNED(3)+= delta;
double HOverBMAC = Auxiliary->GetHOverBMAC();
if (HOverBMAC < 3.0)
vTurbulenceNED(3) *= HOverBMAC * 0.3333;
@ -579,9 +581,9 @@ void FGAtmosphere::Turbulence(void)
// Turbulence model according to MIL-F-8785C (Flying Qualities of Piloted Aircraft)
double
h = Propagate->GetDistanceAGL(),
V = Auxiliary->GetVt(), // true airspeed in ft/s
b_w = Aircraft->GetWingSpan(),
h = FDMExec->GetPropagate()->GetDistanceAGL(),
V = FDMExec->GetAuxiliary()->GetVt(), // true airspeed in ft/s
b_w = wingspan,
L_u, L_w, sig_u, sig_w;
// clip height functions at 10 ft
@ -628,7 +630,7 @@ void FGAtmosphere::Turbulence(void)
nu_v = GaussianRandomNumber(),
nu_w = GaussianRandomNumber(),
nu_p = GaussianRandomNumber(),
xi_u, xi_v, xi_w, xi_p, xi_q, xi_r;
xi_u=0, xi_v=0, xi_w=0, xi_p=0, xi_q=0, xi_r=0;
// values of turbulence NED velocities
@ -685,7 +687,7 @@ void FGAtmosphere::Turbulence(void)
vTurbPQR(3) = xi_r;
// vTurbPQR is in the body fixed frame, not NED
vTurbPQR = Propagate->GetTl2b()*vTurbPQR;
vTurbPQR = Tl2b*vTurbPQR;
// hand on the values for the next timestep
xi_u_km1 = xi_u; nu_u_km1 = nu_u;

14
src/FDM/JSBSim/models/FGAtmosphere.h
View file

@ -35,8 +35,8 @@ HISTORY
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifndef FGAtmosphere_H
#define FGAtmosphere_H
#ifndef FGATMOSPHERE_H
#define FGATMOSPHERE_H
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
@ -50,7 +50,7 @@ INCLUDES
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_ATMOSPHERE "$Id: FGAtmosphere.h,v 1.23 2010/09/16 11:01:24 jberndt Exp $"
#define ID_ATMOSPHERE "$Id: FGAtmosphere.h,v 1.24 2010/11/18 12:38:06 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
@ -64,7 +64,7 @@ CLASS DOCUMENTATION
/** Models the 1976 Standard Atmosphere.
@author Tony Peden, Jon Berndt
@version $Id: FGAtmosphere.h,v 1.23 2010/09/16 11:01:24 jberndt Exp $
@version $Id: FGAtmosphere.h,v 1.24 2010/11/18 12:38:06 jberndt Exp $
@see Anderson, John D. "Introduction to Flight, Third Edition", McGraw-Hill,
1989, ISBN 0-07-001641-0
@ -205,7 +205,7 @@ public:
// TOTAL WIND access functions (wind + gust + turbulence)
/// Retrieves the total wind components in NED frame.
FGColumnVector3& GetTotalWindNED(void) { return vTotalWindNED; }
const FGColumnVector3& GetTotalWindNED(void) const { return vTotalWindNED; }
/// Retrieves a total wind component in NED frame.
double GetTotalWindNED(int idx) const {return vTotalWindNED(idx);}
@ -276,8 +276,8 @@ public:
double GetTurbPQR(int idx) const {return vTurbPQR(idx);}
double GetTurbMagnitude(void) const {return Magnitude;}
FGColumnVector3& GetTurbDirection(void) {return vDirection;}
FGColumnVector3& GetTurbPQR(void) {return vTurbPQR;}
const FGColumnVector3& GetTurbDirection(void) const {return vDirection;}
const FGColumnVector3& GetTurbPQR(void) const {return vTurbPQR;}
void SetWindspeed20ft(double ws) { windspeed_at_20ft = ws;}
double GetWindspeed20ft() const { return windspeed_at_20ft;}

111
src/FDM/JSBSim/models/FGAuxiliary.cpp
View file

@ -59,7 +59,7 @@ using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id: FGAuxiliary.cpp,v 1.44 2010/10/10 15:10:15 jberndt Exp $";
static const char *IdSrc = "$Id: FGAuxiliary.cpp,v 1.45 2010/11/18 12:38:06 jberndt Exp $";
static const char *IdHdr = ID_AUXILIARY;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -144,22 +144,29 @@ bool FGAuxiliary::Run()
RunPreFunctions();
const FGColumnVector3& vPQR = Propagate->GetPQR();
const FGColumnVector3& vUVW = Propagate->GetUVW();
const FGColumnVector3& vUVWdot = Propagate->GetUVWdot();
const FGColumnVector3& vVel = Propagate->GetVel();
const double density = FDMExec->GetAtmosphere()->GetDensity();
const double soundspeed = FDMExec->GetAtmosphere()->GetSoundSpeed();
const double DistanceAGL = FDMExec->GetPropagate()->GetDistanceAGL();
const double wingspan = FDMExec->GetAircraft()->GetWingSpan();
const FGMatrix33& Tl2b = FDMExec->GetPropagate()->GetTl2b();
const FGMatrix33& Tb2l = FDMExec->GetPropagate()->GetTb2l();
p = Atmosphere->GetPressure();
rhosl = Atmosphere->GetDensitySL();
psl = Atmosphere->GetPressureSL();
sat = Atmosphere->GetTemperature();
const FGColumnVector3& vPQR = FDMExec->GetPropagate()->GetPQR();
const FGColumnVector3& vUVW = FDMExec->GetPropagate()->GetUVW();
const FGColumnVector3& vUVWdot = FDMExec->GetPropagate()->GetUVWdot();
const FGColumnVector3& vVel = FDMExec->GetPropagate()->GetVel();
p = FDMExec->GetAtmosphere()->GetPressure();
rhosl = FDMExec->GetAtmosphere()->GetDensitySL();
psl = FDMExec->GetAtmosphere()->GetPressureSL();
sat = FDMExec->GetAtmosphere()->GetTemperature();
// Rotation
double cTht = Propagate->GetCosEuler(eTht);
double sTht = Propagate->GetSinEuler(eTht);
double cPhi = Propagate->GetCosEuler(ePhi);
double sPhi = Propagate->GetSinEuler(ePhi);
double cTht = FDMExec->GetPropagate()->GetCosEuler(eTht);
double sTht = FDMExec->GetPropagate()->GetSinEuler(eTht);
double cPhi = FDMExec->GetPropagate()->GetCosEuler(ePhi);
double sPhi = FDMExec->GetPropagate()->GetSinEuler(ePhi);
vEulerRates(eTht) = vPQR(eQ)*cPhi - vPQR(eR)*sPhi;
if (cTht != 0.0) {
@ -168,8 +175,8 @@ bool FGAuxiliary::Run()
}
// Combine the wind speed with aircraft speed to obtain wind relative speed
FGColumnVector3 wind = Propagate->GetTl2b()*Atmosphere->GetTotalWindNED();
vAeroPQR = vPQR - Atmosphere->GetTurbPQR();
FGColumnVector3 wind = Tl2b*FDMExec->GetAtmosphere()->GetTotalWindNED();
vAeroPQR = vPQR - FDMExec->GetAtmosphere()->GetTurbPQR();
vAeroUVW = vUVW - wind;
Vt = vAeroUVW.Magnitude();
@ -196,15 +203,15 @@ bool FGAuxiliary::Run()
alpha = beta = adot = bdot = 0;
}
Re = Vt * Aircraft->Getcbar() / Atmosphere->GetKinematicViscosity();
Re = Vt * FDMExec->GetAircraft()->Getcbar() / FDMExec->GetAtmosphere()->GetKinematicViscosity();
qbar = 0.5*Atmosphere->GetDensity()*Vt*Vt;
qbarUW = 0.5*Atmosphere->GetDensity()*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW));
qbarUV = 0.5*Atmosphere->GetDensity()*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eV)*vAeroUVW(eV));
Mach = Vt / Atmosphere->GetSoundSpeed();
MachU = vMachUVW(eU) = vAeroUVW(eU) / Atmosphere->GetSoundSpeed();
vMachUVW(eV) = vAeroUVW(eV) / Atmosphere->GetSoundSpeed();
vMachUVW(eW) = vAeroUVW(eW) / Atmosphere->GetSoundSpeed();
qbar = 0.5*density*Vt*Vt;
qbarUW = 0.5*density*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW));
qbarUV = 0.5*density*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eV)*vAeroUVW(eV));
Mach = Vt / soundspeed;
MachU = vMachUVW(eU) = vAeroUVW(eU) / soundspeed;
vMachUVW(eV) = vAeroUVW(eV) / soundspeed;
vMachUVW(eW) = vAeroUVW(eW) / soundspeed;
// Position
@ -234,20 +241,15 @@ bool FGAuxiliary::Run()
vcas = veas = 0.0;
}
const double SLgravity = FDMExec->GetInertial()->SLgravity();
vPilotAccel.InitMatrix();
if ( Vt > 1.0 ) {
// Use the "+=" operator to avoid the creation of temporary objects.
vAircraftAccel = Aerodynamics->GetForces();
vAircraftAccel += Propulsion->GetForces();
vAircraftAccel += GroundReactions->GetForces();
vAircraftAccel += ExternalReactions->GetForces();
vAircraftAccel += BuoyantForces->GetForces();
vAircraftAccel /= MassBalance->GetMass();
vAircraftAccel = FDMExec->GetAircraft()->GetBodyAccel();
// Nz is Acceleration in "g's", along normal axis (-Z body axis)
Nz = -vAircraftAccel(eZ)/Inertial->SLgravity();
vToEyePt = MassBalance->StructuralToBody(Aircraft->GetXYZep());
vPilotAccel = vAircraftAccel + Propagate->GetPQRdot() * vToEyePt;
Nz = -vAircraftAccel(eZ)/SLgravity;
vToEyePt = FDMExec->GetMassBalance()->StructuralToBody(FDMExec->GetAircraft()->GetXYZep());
vPilotAccel = vAircraftAccel + FDMExec->GetPropagate()->GetPQRdot() * vToEyePt;
vPilotAccel += vPQR * (vPQR * vToEyePt);
} else {
// The line below handles low velocity (and on-ground) cases, basically
@ -256,24 +258,24 @@ bool FGAuxiliary::Run()
// any jitter that could be introduced by the landing gear. Theoretically,
// this branch could be eliminated, with a penalty of having a short
// transient at startup (lasting only a fraction of a second).
vPilotAccel = Propagate->GetTl2b() * FGColumnVector3( 0.0, 0.0, -Inertial->SLgravity() );
Nz = -vPilotAccel(eZ)/Inertial->SLgravity();
vPilotAccel = Tl2b * FGColumnVector3( 0.0, 0.0, -SLgravity );
Nz = -vPilotAccel(eZ)/SLgravity;
}
vPilotAccelN = vPilotAccel/Inertial->SLgravity();
vPilotAccelN = vPilotAccel/SLgravity;
// VRP computation
const FGLocation& vLocation = Propagate->GetLocation();
FGColumnVector3& vrpStructural = Aircraft->GetXYZvrp();
FGColumnVector3 vrpBody = MassBalance->StructuralToBody( vrpStructural );
FGColumnVector3 vrpLocal = Propagate->GetTb2l() * vrpBody;
const FGLocation& vLocation = FDMExec->GetPropagate()->GetLocation();
const FGColumnVector3& vrpStructural = FDMExec->GetAircraft()->GetXYZvrp();
const FGColumnVector3 vrpBody = FDMExec->GetMassBalance()->StructuralToBody( vrpStructural );
const FGColumnVector3 vrpLocal = Tb2l * vrpBody;
vLocationVRP = vLocation.LocalToLocation( vrpLocal );
// Recompute some derived values now that we know the dependent parameters values ...
hoverbcg = Propagate->GetDistanceAGL() / Aircraft->GetWingSpan();
hoverbcg = DistanceAGL / wingspan;
FGColumnVector3 vMac = Propagate->GetTb2l()*MassBalance->StructuralToBody(Aircraft->GetXYZrp());
hoverbmac = (Propagate->GetDistanceAGL() + vMac(3)) / Aircraft->GetWingSpan();
FGColumnVector3 vMac = Tb2l*FDMExec->GetMassBalance()->StructuralToBody(FDMExec->GetAircraft()->GetXYZrp());
hoverbmac = (DistanceAGL + vMac(3)) / wingspan;
// when all model are executed,
// please calculate the distance from the initial point
@ -294,10 +296,10 @@ double FGAuxiliary::GetHeadWind(void) const
{
double psiw,vw;
psiw = Atmosphere->GetWindPsi();
vw = Atmosphere->GetTotalWindNED().Magnitude();
psiw = FDMExec->GetAtmosphere()->GetWindPsi();
vw = FDMExec->GetAtmosphere()->GetTotalWindNED().Magnitude();
return vw*cos(psiw - Propagate->GetEuler(ePsi));
return vw*cos(psiw - FDMExec->GetPropagate()->GetEuler(ePsi));
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -310,10 +312,17 @@ double FGAuxiliary::GetCrossWind(void) const
{
double psiw,vw;
psiw = Atmosphere->GetWindPsi();
vw = Atmosphere->GetTotalWindNED().Magnitude();
psiw = FDMExec->GetAtmosphere()->GetWindPsi();
vw = FDMExec->GetAtmosphere()->GetTotalWindNED().Magnitude();
return vw*sin(psiw - Propagate->GetEuler(ePsi));
return vw*sin(psiw - FDMExec->GetPropagate()->GetEuler(ePsi));
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
double FGAuxiliary::GethVRP(void) const
{
return vLocationVRP.GetRadius() - FDMExec->GetPropagate()->GetSeaLevelRadius();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -382,7 +391,7 @@ void FGAuxiliary::bind(void)
void FGAuxiliary::CalculateRelativePosition(void)
{
const double earth_radius_mt = Inertial->GetRefRadius()*fttom;
const double earth_radius_mt = FDMExec->GetInertial()->GetRefRadius()*fttom;
lat_relative_position=(FDMExec->GetPropagate()->GetLatitude() - FDMExec->GetIC()->GetLatitudeDegIC() *degtorad)*earth_radius_mt;
lon_relative_position=(FDMExec->GetPropagate()->GetLongitude() - FDMExec->GetIC()->GetLongitudeDegIC()*degtorad)*earth_radius_mt;
relative_position = sqrt(lat_relative_position*lat_relative_position + lon_relative_position*lon_relative_position);

7
src/FDM/JSBSim/models/FGAuxiliary.h
View file

@ -42,13 +42,12 @@ INCLUDES
#include "FGModel.h"
#include "math/FGColumnVector3.h"
#include "math/FGLocation.h"
#include "FGPropagate.h"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_AUXILIARY "$Id: FGAuxiliary.h,v 1.17 2009/10/24 22:59:30 jberndt Exp $"
#define ID_AUXILIARY "$Id: FGAuxiliary.h,v 1.19 2010/11/18 12:38:06 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
@ -100,7 +99,7 @@ CLASS DOCUMENTATION
The radius R is calculated below in the vector vToEyePt.
@author Tony Peden, Jon Berndt
@version $Id: FGAuxiliary.h,v 1.17 2009/10/24 22:59:30 jberndt Exp $
@version $Id: FGAuxiliary.h,v 1.19 2010/11/18 12:38:06 jberndt Exp $
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -162,7 +161,7 @@ public:
const FGColumnVector3& GetAeroUVW (void) const { return vAeroUVW; }
const FGLocation& GetLocationVRP(void) const { return vLocationVRP; }
double GethVRP(void) const { return vLocationVRP.GetRadius() - Propagate->GetSeaLevelRadius(); }
double GethVRP(void) const;
double GetAeroUVW (int idx) const { return vAeroUVW(idx); }
double Getalpha (void) const { return alpha; }
double Getbeta (void) const { return beta; }

4
src/FDM/JSBSim/models/FGBuoyantForces.cpp
View file

@ -45,7 +45,7 @@ using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id: FGBuoyantForces.cpp,v 1.13 2010/09/07 00:40:03 jberndt Exp $";
static const char *IdSrc = "$Id: FGBuoyantForces.cpp,v 1.14 2010/11/18 12:38:06 jberndt Exp $";
static const char *IdHdr = ID_BUOYANTFORCES;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -181,7 +181,7 @@ const FGMatrix33& FGBuoyantForces::GetGasMassInertia(void)
gasCellJ = FGMatrix33();
for (unsigned int i=0; i < size; i++) {
FGColumnVector3 v = MassBalance->StructuralToBody( Cells[i]->GetXYZ() );
FGColumnVector3 v = FDMExec->GetMassBalance()->StructuralToBody( Cells[i]->GetXYZ() );
// Body basis is in FT.
const double mass = Cells[i]->GetMass();

4
src/FDM/JSBSim/models/FGExternalForce.h
View file

@ -39,10 +39,10 @@ SENTRY
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include <string>
#include "FGFDMExec.h"
#include "FGJSBBase.h"
#include "models/propulsion/FGForce.h"
#include <string>
#include "input_output/FGPropertyManager.h"
#include "math/FGColumnVector3.h"
#include "math/FGFunction.h"
@ -51,7 +51,7 @@ INCLUDES
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_EXTERNALFORCE "$Id: FGExternalForce.h,v 1.8 2009/10/02 10:30:09 jberndt Exp $"
#define ID_EXTERNALFORCE "$Id: FGExternalForce.h,v 1.9 2010/11/18 12:38:06 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS

8
src/FDM/JSBSim/models/FGExternalReactions.h
View file

@ -38,15 +38,15 @@ SENTRY
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include <vector>
#include "FGModel.h"
#include "FGExternalForce.h"
#include <vector>
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_EXTERNALREACTIONS "$Id: FGExternalReactions.h,v 1.9 2009/10/24 22:59:30 jberndt Exp $"
#define ID_EXTERNALREACTIONS "$Id: FGExternalReactions.h,v 1.10 2010/11/18 12:38:06 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
@ -147,12 +147,12 @@ public:
/** Retrieves the total forces defined in the external reactions.
@return the total force in pounds.
*/
FGColumnVector3 GetForces(void) {return vTotalForces;}
FGColumnVector3 GetForces(void) const {return vTotalForces;}
/** Retrieves the total moment resulting from the forces defined in the external reactions.
@return the total moment in foot-pounds.
*/
FGColumnVector3 GetMoments(void) {return vTotalMoments;}
FGColumnVector3 GetMoments(void) const {return vTotalMoments;}
private:

10
src/FDM/JSBSim/models/FGFCS.cpp
View file

@ -63,7 +63,7 @@ using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id: FGFCS.cpp,v 1.71 2010/09/28 02:54:03 jberndt Exp $";
static const char *IdSrc = "$Id: FGFCS.cpp,v 1.72 2010/11/18 12:38:06 jberndt Exp $";
static const char *IdHdr = ID_FCS;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -218,7 +218,7 @@ bool FGFCS::Run(void)
// Set the default steering angle
for (i=0; i<SteerPosDeg.size(); i++) {
FGLGear* gear = GroundReactions->GetGearUnit(i);
FGLGear* gear = FDMExec->GetGroundReactions()->GetGearUnit(i);
SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
}
@ -760,7 +760,7 @@ ifstream* FGFCS::FindSystemFile(const string& sysfilename)
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
string FGFCS::GetComponentStrings(const string& delimiter)
string FGFCS::GetComponentStrings(const string& delimiter) const
{
unsigned int comp;
string CompStrings = "";
@ -797,7 +797,7 @@ string FGFCS::GetComponentStrings(const string& delimiter)
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
string FGFCS::GetComponentValues(const string& delimiter)
string FGFCS::GetComponentValues(const string& delimiter) const
{
std::ostringstream buf;
@ -964,7 +964,7 @@ void FGFCS::bindModel(void)
string tmp;
for (i=0; i<SteerPosDeg.size(); i++) {
if (GroundReactions->GetGearUnit(i)->GetSteerable()) {
if (FDMExec->GetGroundReactions()->GetGearUnit(i)->GetSteerable()) {
tmp = CreateIndexedPropertyName("fcs/steer-pos-deg", i);
PropertyManager->Tie( tmp.c_str(), this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
}

4
src/FDM/JSBSim/models/FGFCS.h
View file

@ -348,13 +348,13 @@ public:
/** Retrieves all component names for inclusion in output stream
@param delimiter either a tab or comma string depending on output type
@return a string containing the descriptive names for all components */
std::string GetComponentStrings(const std::string& delimiter);
std::string GetComponentStrings(const std::string& delimiter) const;
/** Retrieves all component outputs for inclusion in output stream
@param delimiter either a tab or comma string depending on output type
@return a string containing the numeric values for the current set of
component outputs */
std::string GetComponentValues(const std::string& delimiter);
std::string GetComponentValues(const std::string& delimiter) const;
/// @name Pilot input command setting
//@{

8
src/FDM/JSBSim/models/FGGroundReactions.cpp
View file

@ -46,7 +46,7 @@ using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id: FGGroundReactions.cpp,v 1.30 2010/09/07 00:40:03 jberndt Exp $";
static const char *IdSrc = "$Id: FGGroundReactions.cpp,v 1.31 2010/11/18 12:38:06 jberndt Exp $";
static const char *IdHdr = ID_GROUNDREACTIONS;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -187,7 +187,7 @@ bool FGGroundReactions::Load(Element* el)
Element* contact_element = el->FindElement("contact");
while (contact_element) {
lGear.push_back(new FGLGear(contact_element, FDMExec, num++));
FCS->AddGear(); // make the FCS aware of the landing gear
FDMExec->GetFCS()->AddGear(); // make the FCS aware of the landing gear
contact_element = el->FindNextElement("contact");
}
@ -202,7 +202,7 @@ bool FGGroundReactions::Load(Element* el)
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
string FGGroundReactions::GetGroundReactionStrings(string delimeter)
string FGGroundReactions::GetGroundReactionStrings(string delimeter) const
{
std::ostringstream buf;
@ -237,7 +237,7 @@ string FGGroundReactions::GetGroundReactionStrings(string delimeter)
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
string FGGroundReactions::GetGroundReactionValues(string delimeter)
string FGGroundReactions::GetGroundReactionValues(string delimeter) const
{
std::ostringstream buf;

12
src/FDM/JSBSim/models/FGGroundReactions.h
View file

@ -45,7 +45,7 @@ INCLUDES
#include "math/FGColumnVector3.h"
#include "input_output/FGXMLElement.h"
#define ID_GROUNDREACTIONS "$Id: FGGroundReactions.h,v 1.18 2010/09/07 00:40:03 jberndt Exp $"
#define ID_GROUNDREACTIONS "$Id: FGGroundReactions.h,v 1.19 2010/11/18 12:38:06 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
@ -100,12 +100,12 @@ public:
bool InitModel(void);
bool Run(void);
bool Load(Element* el);
FGColumnVector3& GetForces(void) {return vForces;}
const FGColumnVector3& GetForces(void) const {return vForces;}
double GetForces(int idx) const {return vForces(idx);}
FGColumnVector3& GetMoments(void) {return vMoments;}
const FGColumnVector3& GetMoments(void) const {return vMoments;}
double GetMoments(int idx) const {return vMoments(idx);}
string GetGroundReactionStrings(string delimeter);
string GetGroundReactionValues(string delimeter);
string GetGroundReactionStrings(string delimeter) const;
string GetGroundReactionValues(string delimeter) const;
bool GetWOW(void) const;
void UpdateForcesAndMoments(void);
@ -114,7 +114,7 @@ public:
/** Gets a gear instance
@param gear index of gear instance
@return a pointer to the FGLGear instance of the gear unit requested */
inline FGLGear* GetGearUnit(int gear) { return lGear[gear]; }
FGLGear* GetGearUnit(int gear) const { return lGear[gear]; }
private:
vector <FGLGear*> lGear;

6
src/FDM/JSBSim/models/FGInertial.cpp
View file

@ -45,7 +45,7 @@ using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id: FGInertial.cpp,v 1.19 2010/10/10 15:06:38 jberndt Exp $";
static const char *IdSrc = "$Id: FGInertial.cpp,v 1.20 2010/11/18 12:38:06 jberndt Exp $";
static const char *IdHdr = ID_INERTIAL;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -116,7 +116,7 @@ bool FGInertial::Run(void)
RunPreFunctions();
// Gravitation accel
double r = Propagate->GetRadius();
double r = FDMExec->GetPropagate()->GetRadius();
gAccel = GetGAccel(r);
earthPosAngle += FDMExec->GetDeltaT()*RotationRate;
@ -145,7 +145,7 @@ FGColumnVector3 FGInertial::GetGravityJ2(FGColumnVector3 position) const
// Gravitation accel
double r = position.Magnitude();
double lat = Propagate->GetLatitude();
double lat = FDMExec->GetPropagate()->GetLatitude();
double sinLat = sin(lat);
double adivr = a/r;

2
src/FDM/JSBSim/models/FGInput.cpp
View file

@ -191,7 +191,7 @@ bool FGInput::Run(void)
ostringstream info;
info << "JSBSim version: " << JSBSim_version << endl;
info << "Config File version: " << needed_cfg_version << endl;
info << "Aircraft simulated: " << Aircraft->GetAircraftName() << endl;
// info << "Aircraft simulated: " << Aircraft->GetAircraftName() << endl;
info << "Simulation time: " << setw(8) << setprecision(3) << FDMExec->GetSimTime() << endl;
socket->Reply(info.str());

24
src/FDM/JSBSim/models/FGMassBalance.cpp
View file

@ -51,7 +51,7 @@ using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id: FGMassBalance.cpp,v 1.33 2010/09/07 00:40:03 jberndt Exp $";
static const char *IdSrc = "$Id: FGMassBalance.cpp,v 1.34 2010/11/18 12:38:06 jberndt Exp $";
static const char *IdHdr = ID_MASSBALANCE;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -151,8 +151,8 @@ bool FGMassBalance::Load(Element* el)
if (FDMExec->GetChildFDM(fdm)->mated) ChildFDMWeight += FDMExec->GetChildFDM(fdm)->exec->GetMassBalance()->GetWeight();
}
Weight = EmptyWeight + Propulsion->GetTanksWeight() + GetTotalPointMassWeight()
+ BuoyantForces->GetGasMass()*slugtolb + ChildFDMWeight;
Weight = EmptyWeight + FDMExec->GetPropulsion()->GetTanksWeight() + GetTotalPointMassWeight()
+ FDMExec->GetBuoyantForces()->GetGasMass()*slugtolb + ChildFDMWeight;
Mass = lbtoslug*Weight;
@ -179,16 +179,16 @@ bool FGMassBalance::Run(void)
if (FDMExec->GetChildFDM(fdm)->mated) ChildFDMWeight += FDMExec->GetChildFDM(fdm)->exec->GetMassBalance()->GetWeight();
}
Weight = EmptyWeight + Propulsion->GetTanksWeight() + GetTotalPointMassWeight()
+ BuoyantForces->GetGasMass()*slugtolb + ChildFDMWeight;
Weight = EmptyWeight + FDMExec->GetPropulsion()->GetTanksWeight() + GetTotalPointMassWeight()
+ FDMExec->GetBuoyantForces()->GetGasMass()*slugtolb + ChildFDMWeight;
Mass = lbtoslug*Weight;
// Calculate new CG
vXYZcg = (Propulsion->GetTanksMoment() + EmptyWeight*vbaseXYZcg
vXYZcg = (FDMExec->GetPropulsion()->GetTanksMoment() + EmptyWeight*vbaseXYZcg
+ GetPointMassMoment()
+ BuoyantForces->GetGasMassMoment()) / Weight;
+ FDMExec->GetBuoyantForces()->GetGasMassMoment()) / Weight;
// Track frame-by-frame delta CG, and move the EOM-tracked location
// by this amount.
@ -196,7 +196,7 @@ bool FGMassBalance::Run(void)
vDeltaXYZcg = vXYZcg - vLastXYZcg;
vDeltaXYZcgBody = StructuralToBody(vLastXYZcg) - StructuralToBody(vXYZcg);
vLastXYZcg = vXYZcg;
Propagate->NudgeBodyLocation(vDeltaXYZcgBody);
FDMExec->GetPropagate()->NudgeBodyLocation(vDeltaXYZcgBody);
// Calculate new total moments of inertia
@ -206,8 +206,8 @@ bool FGMassBalance::Run(void)
mJ += GetPointmassInertia( lbtoslug * EmptyWeight, vbaseXYZcg );
// Then add the contributions from the additional pointmasses.
mJ += CalculatePMInertias();
mJ += Propulsion->CalculateTankInertias();
mJ += BuoyantForces->GetGasMassInertia();
mJ += FDMExec->GetPropulsion()->CalculateTankInertias();
mJ += FDMExec->GetBuoyantForces()->GetGasMassInertia();
Ixx = mJ(1,1);
Iyy = mJ(2,2);
@ -432,8 +432,8 @@ void FGMassBalance::GetMassPropertiesReport(void) const
<< setw(12) << pm->GetPointMassMoI(3,3) << endl;
}
for (unsigned int i=0;i<Propulsion->GetNumTanks() ;i++) {
FGTank* tank = Propulsion->GetTank(i);
for (unsigned int i=0;i<FDMExec->GetPropulsion()->GetNumTanks() ;i++) {
FGTank* tank = FDMExec->GetPropulsion()->GetTank(i);
string tankname="";
if (tank->GetType() == FGTank::ttFUEL && tank->GetGrainType() != FGTank::gtUNKNOWN) {
tankname = "Solid Fuel";

10
src/FDM/JSBSim/models/FGMassBalance.h
View file

@ -49,7 +49,7 @@ INCLUDES
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_MASSBALANCE "$Id: FGMassBalance.h,v 1.21 2010/08/12 04:07:11 jberndt Exp $"
#define ID_MASSBALANCE "$Id: FGMassBalance.h,v 1.22 2010/11/18 12:38:06 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONSS
@ -160,15 +160,15 @@ public:
*/
FGColumnVector3 StructuralToBody(const FGColumnVector3& r) const;
inline void SetEmptyWeight(double EW) { EmptyWeight = EW;}
inline void SetBaseCG(const FGColumnVector3& CG) {vbaseXYZcg = vXYZcg = CG;}
void SetEmptyWeight(double EW) { EmptyWeight = EW;}
void SetBaseCG(const FGColumnVector3& CG) {vbaseXYZcg = vXYZcg = CG;}
void AddPointMass(Element* el);
double GetTotalPointMassWeight(void);
FGColumnVector3& GetPointMassMoment(void);
FGMatrix33& GetJ(void) {return mJ;}
FGMatrix33& GetJinv(void) {return mJinv;}
const FGMatrix33& GetJ(void) const {return mJ;}
const FGMatrix33& GetJinv(void) const {return mJinv;}
void SetAircraftBaseInertias(FGMatrix33 BaseJ) {baseJ = BaseJ;}
void GetMassPropertiesReport(void) const;

40
src/FDM/JSBSim/models/FGModel.cpp
View file

@ -57,7 +57,7 @@ using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id: FGModel.cpp,v 1.15 2010/09/07 00:19:38 jberndt Exp $";
static const char *IdSrc = "$Id: FGModel.cpp,v 1.16 2010/11/18 12:38:06 jberndt Exp $";
static const char *IdHdr = ID_MODEL;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -72,18 +72,6 @@ FGModel::FGModel(FGFDMExec* fdmex)
{
FDMExec = fdmex;
Atmosphere = 0;
FCS = 0;
Propulsion = 0;
MassBalance = 0;
Aerodynamics = 0;
Inertial = 0;
GroundReactions = 0;
ExternalReactions = 0;
Aircraft = 0;
Propagate = 0;
Auxiliary = 0;
//in order for FGModel derived classes to self-bind (that is, call
//their bind function in the constructor, the PropertyManager pointer
//must be brought up now.
@ -106,31 +94,7 @@ FGModel::~FGModel()
bool FGModel::InitModel(void)
{
Atmosphere = FDMExec->GetAtmosphere();
FCS = FDMExec->GetFCS();
Propulsion = FDMExec->GetPropulsion();
MassBalance = FDMExec->GetMassBalance();
Aerodynamics = FDMExec->GetAerodynamics();
Inertial = FDMExec->GetInertial();
GroundReactions = FDMExec->GetGroundReactions();
ExternalReactions = FDMExec->GetExternalReactions();
BuoyantForces = FDMExec->GetBuoyantForces();
Aircraft = FDMExec->GetAircraft();
Propagate = FDMExec->GetPropagate();
Auxiliary = FDMExec->GetAuxiliary();
if (!Atmosphere ||
!FCS ||
!Propulsion ||
!MassBalance ||
!Aerodynamics ||
!Inertial ||
!GroundReactions ||
!ExternalReactions ||
!Aircraft ||
!Propagate ||
!Auxiliary) return(false);
else return(true);
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

26
src/FDM/JSBSim/models/FGModel.h
View file

@ -48,7 +48,7 @@ INCLUDES
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_MODEL "$Id: FGModel.h,v 1.16 2010/09/22 11:33:40 jberndt Exp $"
#define ID_MODEL "$Id: FGModel.h,v 1.18 2010/11/18 12:38:06 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
@ -57,18 +57,6 @@ FORWARD DECLARATIONS
namespace JSBSim {
class FGFDMExec;
class FGAtmosphere;
class FGFCS;
class FGPropulsion;
class FGMassBalance;
class FGAerodynamics;
class FGInertial;
class FGGroundReactions;
class FGExternalReactions;
class FGBuoyantForces;
class FGAircraft;
class FGPropagate;
class FGAuxiliary;
class Element;
class FGPropertyManager;
@ -118,18 +106,6 @@ protected:
virtual void Debug(int from);
FGFDMExec* FDMExec;
FGAtmosphere* Atmosphere;
FGFCS* FCS;
FGPropulsion* Propulsion;
FGMassBalance* MassBalance;
FGAerodynamics* Aerodynamics;
FGInertial* Inertial;
FGGroundReactions* GroundReactions;
FGExternalReactions* ExternalReactions;
FGBuoyantForces* BuoyantForces;
FGAircraft* Aircraft;
FGPropagate* Propagate;
FGAuxiliary* Auxiliary;
FGPropertyManager* PropertyManager;
};
}

32
src/FDM/JSBSim/models/FGOutput.cpp
View file

@ -74,7 +74,7 @@ using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id: FGOutput.cpp,v 1.49 2010/10/15 11:30:29 jberndt Exp $";
static const char *IdSrc = "$Id: FGOutput.cpp,v 1.50 2010/11/18 12:38:06 jberndt Exp $";
static const char *IdHdr = ID_OUTPUT;
// (stolen from FGFS native_fdm.cxx)
@ -237,6 +237,19 @@ void FGOutput::SetProtocol(const string& protocol)
void FGOutput::DelimitedOutput(const string& fname)
{
const FGAerodynamics* Aerodynamics = FDMExec->GetAerodynamics();
const FGAuxiliary* Auxiliary = FDMExec->GetAuxiliary();
const FGAircraft* Aircraft = FDMExec->GetAircraft();
const FGAtmosphere* Atmosphere = FDMExec->GetAtmosphere();
const FGPropulsion* Propulsion = FDMExec->GetPropulsion();
const FGMassBalance* MassBalance = FDMExec->GetMassBalance();
const FGPropagate* Propagate = FDMExec->GetPropagate();
const FGFCS* FCS = FDMExec->GetFCS();
const FGInertial* Inertial = FDMExec->GetInertial();
const FGGroundReactions* GroundReactions = FDMExec->GetGroundReactions();
const FGExternalReactions* ExternalReactions = FDMExec->GetExternalReactions();
const FGBuoyantForces* BuoyantForces = FDMExec->GetBuoyantForces();
streambuf* buffer;
string scratch = "";
@ -493,6 +506,13 @@ void FGOutput::DelimitedOutput(const string& fname)
void FGOutput::SocketDataFill(FGNetFDM* net)
{
const FGAerodynamics* Aerodynamics = FDMExec->GetAerodynamics();
const FGAuxiliary* Auxiliary = FDMExec->GetAuxiliary();
const FGPropulsion* Propulsion = FDMExec->GetPropulsion();
const FGMassBalance* MassBalance = FDMExec->GetMassBalance();
const FGPropagate* Propagate = FDMExec->GetPropagate();
const FGFCS* FCS = FDMExec->GetFCS();
const FGGroundReactions* GroundReactions = FDMExec->GetGroundReactions();
unsigned int i;
// Version
@ -701,6 +721,16 @@ void FGOutput::FlightGearSocketOutput(void)
void FGOutput::SocketOutput(void)
{
const FGAerodynamics* Aerodynamics = FDMExec->GetAerodynamics();
const FGAuxiliary* Auxiliary = FDMExec->GetAuxiliary();
const FGPropulsion* Propulsion = FDMExec->GetPropulsion();
const FGMassBalance* MassBalance = FDMExec->GetMassBalance();
const FGPropagate* Propagate = FDMExec->GetPropagate();
const FGFCS* FCS = FDMExec->GetFCS();
const FGAtmosphere* Atmosphere = FDMExec->GetAtmosphere();
const FGAircraft* Aircraft = FDMExec->GetAircraft();
const FGGroundReactions* GroundReactions = FDMExec->GetGroundReactions();
string asciiData, scratch;
if (socket == NULL) return;

5
src/FDM/JSBSim/models/FGOutput.h
View file

@ -51,7 +51,7 @@ INCLUDES
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_OUTPUT "$Id: FGOutput.h,v 1.18 2010/10/15 11:30:29 jberndt Exp $"
#define ID_OUTPUT "$Id: FGOutput.h,v 1.19 2010/10/31 04:48:46 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
@ -124,7 +124,7 @@ CLASS DOCUMENTATION
propulsion ON|OFF
</pre>
NOTE that Time is always output with the data.
@version $Id: FGOutput.h,v 1.18 2010/10/15 11:30:29 jberndt Exp $
@version $Id: FGOutput.h,v 1.19 2010/10/31 04:48:46 jberndt Exp $
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -178,7 +178,6 @@ public:
/** Subsystem: Propulsion (= 4096) */ ssPropulsion = 4096
} subsystems;
FGNetFDM fgSockBuf;
private:

44
src/FDM/JSBSim/models/FGPropagate.cpp
View file

@ -71,7 +71,7 @@ using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id: FGPropagate.cpp,v 1.71 2010/10/15 11:34:09 jberndt Exp $";
static const char *IdSrc = "$Id: FGPropagate.cpp,v 1.73 2010/11/18 12:38:06 jberndt Exp $";
static const char *IdHdr = ID_PROPAGATE;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -94,7 +94,6 @@ FGPropagate::FGPropagate(FGFDMExec* fdmex) : FGModel(fdmex)
integrator_rotational_position = eAdamsBashforth2;
integrator_translational_position = eTrapezoidal;
VState.dqPQRdot.resize(4, FGColumnVector3(0.0,0.0,0.0));
VState.dqPQRidot.resize(4, FGColumnVector3(0.0,0.0,0.0));
VState.dqUVWidot.resize(4, FGColumnVector3(0.0,0.0,0.0));
VState.dqInertialVelocity.resize(4, FGColumnVector3(0.0,0.0,0.0));
@ -118,18 +117,17 @@ bool FGPropagate::InitModel(void)
if (!FGModel::InitModel()) return false;
// For initialization ONLY:
SeaLevelRadius = LocalTerrainRadius = Inertial->GetRefRadius();
SeaLevelRadius = LocalTerrainRadius = FDMExec->GetInertial()->GetRefRadius();
VState.vLocation.SetRadius( LocalTerrainRadius + 4.0 );
VState.vLocation.SetEllipse(Inertial->GetSemimajor(), Inertial->GetSemiminor());
vOmegaEarth = FGColumnVector3( 0.0, 0.0, Inertial->omega() ); // Earth rotation vector
VState.vLocation.SetEllipse(FDMExec->GetInertial()->GetSemimajor(), FDMExec->GetInertial()->GetSemiminor());
vOmegaEarth = FGColumnVector3( 0.0, 0.0, FDMExec->GetInertial()->omega() ); // Earth rotation vector
vPQRdot.InitMatrix();
vQtrndot = FGQuaternion(0,0,0);
vUVWdot.InitMatrix();
vInertialVelocity.InitMatrix();
VState.dqPQRdot.resize(4, FGColumnVector3(0.0,0.0,0.0));
VState.dqPQRidot.resize(4, FGColumnVector3(0.0,0.0,0.0));
VState.dqUVWidot.resize(4, FGColumnVector3(0.0,0.0,0.0));
VState.dqInertialVelocity.resize(4, FGColumnVector3(0.0,0.0,0.0));
@ -157,7 +155,7 @@ void FGPropagate::SetInitialState(const FGInitialCondition *FGIC)
FGIC->GetLatitudeRadIC(),
FGIC->GetAltitudeASLFtIC() + FGIC->GetSeaLevelRadiusFtIC() );
VState.vLocation.SetEarthPositionAngle(Inertial->GetEarthPositionAngle());
VState.vLocation.SetEarthPositionAngle(FDMExec->GetInertial()->GetEarthPositionAngle());
Ti2ec = GetTi2ec(); // ECI to ECEF transform
Tec2i = Ti2ec.Transposed(); // ECEF to ECI frame transform
@ -259,7 +257,7 @@ bool FGPropagate::Run(void)
// matrices that are consistent with the new state of the vehicle
// 1. Update the Earth position angle (EPA)
VState.vLocation.SetEarthPositionAngle(Inertial->GetEarthPositionAngle());
VState.vLocation.SetEarthPositionAngle(FDMExec->GetInertial()->GetEarthPositionAngle());
// 2. Update the Ti2ec and Tec2i transforms from the updated EPA
Ti2ec = GetTi2ec(); // ECI to ECEF transform
@ -314,9 +312,9 @@ bool FGPropagate::Run(void)
void FGPropagate::CalculatePQRdot(void)
{
const FGColumnVector3& vMoments = Aircraft->GetMoments(); // current moments
const FGMatrix33& J = MassBalance->GetJ(); // inertia matrix
const FGMatrix33& Jinv = MassBalance->GetJinv(); // inertia matrix inverse
const FGColumnVector3& vMoments = FDMExec->GetAircraft()->GetMoments(); // current moments
const FGMatrix33& J = FDMExec->GetMassBalance()->GetJ(); // inertia matrix
const FGMatrix33& Jinv = FDMExec->GetMassBalance()->GetJinv(); // inertia matrix inverse
// Compute body frame rotational accelerations based on the current body
// moments and the total inertial angular velocity expressed in the body
@ -358,8 +356,8 @@ void FGPropagate::CalculateQuatdot(void)
void FGPropagate::CalculateUVWdot(void)
{
double mass = MassBalance->GetMass(); // mass
const FGColumnVector3& vForces = Aircraft->GetForces(); // current forces
double mass = FDMExec->GetMassBalance()->GetMass(); // mass
const FGColumnVector3& vForces = FDMExec->GetAircraft()->GetForces(); // current forces
vUVWdot = vForces/mass - (VState.vPQR + 2.0*(Ti2b *vOmegaEarth)) * VState.vUVW;
@ -369,10 +367,10 @@ void FGPropagate::CalculateUVWdot(void)
// Include Gravitation accel
switch (gravType) {
case gtStandard:
vGravAccel = Tl2b * FGColumnVector3( 0.0, 0.0, Inertial->GetGAccel(VehicleRadius) );
vGravAccel = Tl2b * FGColumnVector3( 0.0, 0.0, FDMExec->GetInertial()->GetGAccel(VehicleRadius) );
break;
case gtWGS84:
vGravAccel = Tec2b * Inertial->GetGravityJ2(VState.vLocation);
vGravAccel = Tec2b * FDMExec->GetInertial()->GetGravityJ2(VState.vLocation);
break;
}
@ -471,15 +469,15 @@ void FGPropagate::Integrate( FGQuaternion& Integrand,
void FGPropagate::ResolveFrictionForces(double dt)
{
const double invMass = 1.0 / MassBalance->GetMass();
const FGMatrix33& Jinv = MassBalance->GetJinv();
const double invMass = 1.0 / FDMExec->GetMassBalance()->GetMass();
const FGMatrix33& Jinv = FDMExec->GetMassBalance()->GetJinv();
vector <FGColumnVector3> JacF, JacM;
FGColumnVector3 vdot, wdot;
FGColumnVector3 Fc, Mc;
int n = 0, i;
// Compiles data from the ground reactions to build up the jacobian matrix
for (MultiplierIterator it=MultiplierIterator(GroundReactions); *it; ++it, n++) {
for (MultiplierIterator it=MultiplierIterator(FDMExec->GetGroundReactions()); *it; ++it, n++) {
JacF.push_back((*it)->ForceJacobian);
JacM.push_back((*it)->MomentJacobian);
}
@ -495,7 +493,7 @@ void FGPropagate::ResolveFrictionForces(double dt)
// Initializes the Lagrange multipliers
i = 0;
for (MultiplierIterator it=MultiplierIterator(GroundReactions); *it; ++it, i++) {
for (MultiplierIterator it=MultiplierIterator(FDMExec->GetGroundReactions()); *it; ++it, i++) {
lambda[i] = (*it)->value;
lambdaMax[i] = (*it)->Max;
lambdaMin[i] = (*it)->Min;
@ -568,10 +566,10 @@ void FGPropagate::ResolveFrictionForces(double dt)
// Save the value of the Lagrange multipliers to accelerate the convergence
// of the Gauss-Seidel algorithm at next iteration.
i = 0;
for (MultiplierIterator it=MultiplierIterator(GroundReactions); *it; ++it)
for (MultiplierIterator it=MultiplierIterator(FDMExec->GetGroundReactions()); *it; ++it)
(*it)->value = lambda[i++];
GroundReactions->UpdateForcesAndMoments();
FDMExec->GetGroundReactions()->UpdateForcesAndMoments();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -633,13 +631,11 @@ void FGPropagate::InitializeDerivatives(void)
CalculateInertialVelocity(); // Translational position derivative
// Initialize past values deques
VState.dqPQRdot.clear();
VState.dqPQRidot.clear();
VState.dqUVWidot.clear();
VState.dqInertialVelocity.clear();
VState.dqQtrndot.clear();
for (int i=0; i<4; i++) {
VState.dqPQRdot.push_front(vPQRdot);
VState.dqPQRidot.push_front(vPQRidot);
VState.dqUVWidot.push_front(vUVWdot);
VState.dqInertialVelocity.push_front(VState.vInertialVelocity);
@ -861,7 +857,7 @@ void FGPropagate::Debug(int from)
<< reset << endl;
cout << endl;
cout << highint << " Earth Position Angle (deg): " << setw(8) << setprecision(3) << reset
<< Inertial->GetEarthPositionAngleDeg() << endl;
<< FDMExec->GetInertial()->GetEarthPositionAngleDeg() << endl;
cout << endl;
cout << highint << " Body velocity (ft/sec): " << setw(8) << setprecision(3) << reset << VState.vUVW << endl;
cout << highint << " Local velocity (ft/sec): " << setw(8) << setprecision(3) << reset << vVel << endl;

5
src/FDM/JSBSim/models/FGPropagate.h
View file

@ -49,7 +49,7 @@ INCLUDES
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_PROPAGATE "$Id: FGPropagate.h,v 1.51 2010/10/07 03:45:40 jberndt Exp $"
#define ID_PROPAGATE "$Id: FGPropagate.h,v 1.52 2010/10/31 04:48:46 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
@ -102,7 +102,7 @@ CLASS DOCUMENTATION
@endcode
@author Jon S. Berndt, Mathias Froehlich
@version $Id: FGPropagate.h,v 1.51 2010/10/07 03:45:40 jberndt Exp $
@version $Id: FGPropagate.h,v 1.52 2010/10/31 04:48:46 jberndt Exp $
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -152,7 +152,6 @@ public:
FGColumnVector3 vInertialPosition;
deque <FGColumnVector3> dqPQRdot;
deque <FGColumnVector3> dqPQRidot;
deque <FGColumnVector3> dqUVWidot;
deque <FGColumnVector3> dqInertialVelocity;

45
src/FDM/JSBSim/models/FGPropulsion.cpp
View file

@ -65,7 +65,7 @@ using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id: FGPropulsion.cpp,v 1.41 2010/10/15 11:32:41 jberndt Exp $";
static const char *IdSrc = "$Id: FGPropulsion.cpp,v 1.43 2010/11/18 12:38:06 jberndt Exp $";
static const char *IdHdr = ID_PROPULSION;
extern short debug_lvl;
@ -115,6 +115,8 @@ FGPropulsion::~FGPropulsion()
bool FGPropulsion::InitModel(void)
{
bool result = true;
if (!FGModel::InitModel()) return false;
for (unsigned int i=0; i<numTanks; i++) Tanks[i]->ResetToIC();
@ -123,18 +125,28 @@ bool FGPropulsion::InitModel(void)
switch (Engines[i]->GetType()) {
case FGEngine::etPiston:
((FGPiston*)Engines[i])->ResetToIC();
if (HasInitializedEngines && (InitializedEngines & i)) InitRunning(i);
try {
if (HasInitializedEngines && (InitializedEngines & i)) InitRunning(i);
} catch (string str) {
cerr << str << endl;
result = false;
}
break;
case FGEngine::etTurbine:
((FGTurbine*)Engines[i])->ResetToIC();
if (HasInitializedEngines && (InitializedEngines & i)) InitRunning(i);
try {
if (HasInitializedEngines && (InitializedEngines & i)) InitRunning(i);
} catch (string str) {
cerr << str << endl;
result = false;
}
break;
default:
break;
}
}
return true;
return result;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -226,14 +238,13 @@ bool FGPropulsion::GetSteadyState(void)
void FGPropulsion::InitRunning(int n)
{
if (n > 0) { // A specific engine is supposed to be initialized
if (n >= 0) { // A specific engine is supposed to be initialized
if (n >= (int)GetNumEngines() ) {
cerr << "Tried to initialize a non-existent engine!" << endl;
throw;
throw(string("Tried to initialize a non-existent engine!"));
}
FCS->SetThrottleCmd(n,1);
FCS->SetMixtureCmd(n,1);
FDMExec->GetFCS()->SetThrottleCmd(n,1);
FDMExec->GetFCS()->SetMixtureCmd(n,1);
GetEngine(n)->InitRunning();
GetSteadyState();
@ -243,16 +254,14 @@ void FGPropulsion::InitRunning(int n)
} else if (n < 0) { // -1 refers to "All Engines"
for (unsigned int i=0; i<GetNumEngines(); i++) {
FCS->SetThrottleCmd(i,1);
FCS->SetMixtureCmd(i,1);
FDMExec->GetFCS()->SetThrottleCmd(i,1);
FDMExec->GetFCS()->SetMixtureCmd(i,1);
GetEngine(i)->InitRunning();
}
GetSteadyState();
InitializedEngines = -1;
HasInitializedEngines = true;
} else if (n == 0) { // No engines are to be initialized
// Do nothing
}
}
@ -325,7 +334,7 @@ bool FGPropulsion::Load(Element* el)
return false;
}
FCS->AddThrottle();
FDMExec->GetFCS()->AddThrottle();
ThrottleAdded = true;
numEngines++;
@ -335,7 +344,7 @@ bool FGPropulsion::Load(Element* el)
}
CalculateTankInertias();
if (!ThrottleAdded) FCS->AddThrottle(); // need to have at least one throttle
if (!ThrottleAdded) FDMExec->GetFCS()->AddThrottle(); // need to have at least one throttle
// Process fuel dump rate
if (el->FindElement("dump-rate"))
@ -401,7 +410,7 @@ ifstream* FGPropulsion::FindEngineFile(const string& engine_filename)
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
string FGPropulsion::GetPropulsionStrings(const string& delimiter)
string FGPropulsion::GetPropulsionStrings(const string& delimiter) const
{
unsigned int i;
@ -425,7 +434,7 @@ string FGPropulsion::GetPropulsionStrings(const string& delimiter)
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
string FGPropulsion::GetPropulsionValues(const string& delimiter)
string FGPropulsion::GetPropulsionValues(const string& delimiter) const
{
unsigned int i;
@ -483,7 +492,7 @@ FGMatrix33& FGPropulsion::CalculateTankInertias(void)
tankJ = FGMatrix33();
for (unsigned int i=0; i<size; i++) {
tankJ += MassBalance->GetPointmassInertia( lbtoslug * Tanks[i]->GetContents(),
tankJ += FDMExec->GetMassBalance()->GetPointmassInertia( lbtoslug * Tanks[i]->GetContents(),
Tanks[i]->GetXYZ() );
tankJ(1,1) += Tanks[i]->GetIxx();
tankJ(2,2) += Tanks[i]->GetIyy();

36
src/FDM/JSBSim/models/FGPropulsion.h
View file

@ -49,7 +49,7 @@ INCLUDES
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_PROPULSION "$Id: FGPropulsion.h,v 1.25 2010/01/02 17:58:01 andgi Exp $"
#define ID_PROPULSION "$Id: FGPropulsion.h,v 1.26 2010/11/18 12:38:06 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
@ -91,7 +91,7 @@ CLASS DOCUMENTATION
@endcode
@author Jon S. Berndt
@version $Id: FGPropulsion.h,v 1.25 2010/01/02 17:58:01 andgi Exp $
@version $Id: FGPropulsion.h,v 1.26 2010/11/18 12:38:06 jberndt Exp $
@see
FGEngine
FGTank
@ -125,32 +125,32 @@ public:
bool Load(Element* el);
/// Retrieves the number of engines defined for the aircraft.
inline unsigned int GetNumEngines(void) const {return (unsigned int)Engines.size();}
unsigned int GetNumEngines(void) const {return (unsigned int)Engines.size();}
/** Retrieves an engine object pointer from the list of engines.
@param index the engine index within the vector container
@return the address of the specific engine, or zero if no such engine is
available */
inline FGEngine* GetEngine(unsigned int index) {
FGEngine* GetEngine(unsigned int index) const {
if (index < Engines.size()) return Engines[index];
else return 0L; }
/// Retrieves the number of tanks defined for the aircraft.
inline unsigned int GetNumTanks(void) const {return (unsigned int)Tanks.size();}
unsigned int GetNumTanks(void) const {return (unsigned int)Tanks.size();}
/** Retrieves a tank object pointer from the list of tanks.
@param index the tank index within the vector container
@return the address of the specific tank, or zero if no such tank is
available */
inline FGTank* GetTank(unsigned int index) {
FGTank* GetTank(unsigned int index) const {
if (index < Tanks.size()) return Tanks[index];
else return 0L; }
/** Returns the number of fuel tanks currently actively supplying fuel */
inline int GetnumSelectedFuelTanks(void) const {return numSelectedFuelTanks;}
int GetnumSelectedFuelTanks(void) const {return numSelectedFuelTanks;}
/** Returns the number of oxidizer tanks currently actively supplying oxidizer */
inline int GetnumSelectedOxiTanks(void) const {return numSelectedOxiTanks;}
int GetnumSelectedOxiTanks(void) const {return numSelectedOxiTanks;}
/** Loops the engines until thrust output steady (used for trimming) */
bool GetSteadyState(void);
@ -158,18 +158,18 @@ public:
/** Sets up the engines as running */
void InitRunning(int n);
std::string GetPropulsionStrings(const std::string& delimiter);
std::string GetPropulsionValues(const std::string& delimiter);
std::string GetPropulsionStrings(const std::string& delimiter) const;
std::string GetPropulsionValues(const std::string& delimiter) const;
inline FGColumnVector3& GetForces(void) {return vForces; }
inline double GetForces(int n) const { return vForces(n);}
inline FGColumnVector3& GetMoments(void) {return vMoments;}
inline double GetMoments(int n) const {return vMoments(n);}
const FGColumnVector3& GetForces(void) const {return vForces; }
double GetForces(int n) const { return vForces(n);}
const FGColumnVector3& GetMoments(void) const {return vMoments;}
double GetMoments(int n) const {return vMoments(n);}
inline bool GetRefuel(void) const {return refuel;}
inline void SetRefuel(bool setting) {refuel = setting;}
inline bool GetFuelDump(void) const {return dump;}
inline void SetFuelDump(bool setting) {dump = setting;}
bool GetRefuel(void) const {return refuel;}
void SetRefuel(bool setting) {refuel = setting;}
bool GetFuelDump(void) const {return dump;}
void SetFuelDump(bool setting) {dump = setting;}
double Transfer(int source, int target, double amount);
void DoRefuel(double time_slice);
void DumpFuel(double time_slice);

20
src/FDM/JSBSim/models/atmosphere/FGMSIS.cpp
View file

@ -66,7 +66,7 @@ using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id: FGMSIS.cpp,v 1.13 2010/02/25 05:21:36 jberndt Exp $";
static const char *IdSrc = "$Id: FGMSIS.cpp,v 1.14 2010/11/18 12:38:06 jberndt Exp $";
static const char *IdHdr = ID_MSIS;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -153,11 +153,11 @@ bool MSIS::Run(void)
//do temp, pressure, and density first
if (!useExternal) {
// get sea-level values
Calculate(Auxiliary->GetDayOfYear(),
Auxiliary->GetSecondsInDay(),
Calculate(FDMExec->GetAuxiliary()->GetDayOfYear(),
FDMExec->GetAuxiliary()->GetSecondsInDay(),
0.0,
Propagate->GetLocation().GetLatitudeDeg(),
Propagate->GetLocation().GetLongitudeDeg());
FDMExec->GetPropagate()->GetLocation().GetLatitudeDeg(),
FDMExec->GetPropagate()->GetLocation().GetLongitudeDeg());
SLtemperature = output.t[1] * 1.8;
SLdensity = output.d[5] * 1.940321;
SLpressure = 1716.488 * SLdensity * SLtemperature;
@ -168,11 +168,11 @@ bool MSIS::Run(void)
rSLsoundspeed = 1.0/SLsoundspeed;
// get at-altitude values
Calculate(Auxiliary->GetDayOfYear(),
Auxiliary->GetSecondsInDay(),
Propagate->GetAltitudeASL(),
Propagate->GetLocation().GetLatitudeDeg(),
Propagate->GetLocation().GetLongitudeDeg());
Calculate(FDMExec->GetAuxiliary()->GetDayOfYear(),
FDMExec->GetAuxiliary()->GetSecondsInDay(),
FDMExec->GetPropagate()->GetAltitudeASL(),
FDMExec->GetPropagate()->GetLocation().GetLatitudeDeg(),
FDMExec->GetPropagate()->GetLocation().GetLongitudeDeg());
intTemperature = output.t[1] * 1.8;
intDensity = output.d[5] * 1.940321;
intPressure = 1716.488 * intDensity * intTemperature;