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Vivian MEAZZA:

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simulate rotational moment of inertia by using a filter
This commit is contained in:
mfranz 2007-06-11 20:47:20 +00:00
parent 78cb8f5ca3
commit b4cdfed406
2 changed files with 14 additions and 8 deletions
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18
src/AIModel/AIBallistic.cxx
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@ -48,7 +48,8 @@ FGAIBallistic::FGAIBallistic() :
_report_collision(false),
_report_impact(false),
_impact_report_node(fgGetNode("/ai/models/model-impact", true)),
_mat_name("")
_mat_name(""),
_elevation(0)
{
no_roll = false;
}
@ -259,8 +260,8 @@ void FGAIBallistic::Run(double dt) {
if (speed == 0.0) {
hs = vs = 0.0;
} else {
vs = sin( pitch * SG_DEGREES_TO_RADIANS ) * speed_fps;
hs = cos( pitch * SG_DEGREES_TO_RADIANS ) * speed_fps;
vs = sin( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps;
hs = cos( _elevation * SG_DEGREES_TO_RADIANS ) * speed_fps;
}
// convert horizontal speed (fps) to degrees per second
@ -290,12 +291,17 @@ void FGAIBallistic::Run(double dt) {
altitude_ft += vs * dt;
pos.setElevationFt(altitude_ft);
// recalculate pitch (velocity vector) if aerostabilized
// recalculate elevation (velocity vector) if aerostabilized
/*cout << _name << ": " << "aero_stabilised " << _aero_stabilised
<< " pitch " << pitch <<" vs " << vs <<endl ;*/
if (_aero_stabilised)
pitch = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
if (_aero_stabilised) { // we simulate rotational moment of inertia by using a filter
const double coeff = 0.9;
double c = dt / (coeff + dt);
//cout << "c " << c << endl;
_elevation = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
pitch = (_elevation * c) + (pitch * (1 - c));
}
// recalculate total speed
speed = sqrt( vs * vs + hs * hs) / SG_KT_TO_FPS;

4
src/AIModel/submodel.cxx
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@ -478,7 +478,7 @@ void FGSubmodelMgr::transform(submodel *sm)
+ IC.total_speed_east * IC.total_speed_east
+ IC.total_speed_down * IC.total_speed_down);
// if speeds are low this calculation can become unreliable
// if speeds are low these calculations can become unreliable
if (IC.speed > 1) {
IC.azimuth = atan2(IC.total_speed_east , IC.total_speed_north) * SG_RADIANS_TO_DEGREES;
// cout << "azimuth1 " << IC.azimuth<<endl;
@ -488,13 +488,13 @@ void FGSubmodelMgr::transform(submodel *sm)
IC.azimuth += 360;
else if (IC.azimuth >= 360)
IC.azimuth -= 360;
}
// cout << "azimuth2 " << IC.azimuth<<endl;
IC.elevation = -atan(IC.total_speed_down / sqrt(IC.total_speed_north
* IC.total_speed_north + IC.total_speed_east * IC.total_speed_east))
* SG_RADIANS_TO_DEGREES;
}
}
void FGSubmodelMgr::updatelat(double lat)