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Latest JSBSim updates.

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This commit is contained in:
tony 2002-08-28 13:46:42 +00:00
parent 21db1e10b2
commit b5d116dad7
11 changed files with 494 additions and 94 deletions

2
src/FDM/JSBSim/FGEngine.h
View file

@ -111,7 +111,7 @@ public:
FGEngine(FGFDMExec* exec);
virtual ~FGEngine();
enum EngineType {etUnknown, etRocket, etPiston, etTurboProp, etTurboJet, etTurboShaft};
enum EngineType {etUnknown, etRocket, etPiston, etTurbine};
virtual double GetThrottleMin(void) { return MinThrottle; }
virtual double GetThrottleMax(void) { return MaxThrottle; }

283
src/FDM/JSBSim/FGFCS.cpp
View file

@ -74,11 +74,14 @@ FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
Name = "FGFCS";
DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = 0.0;
AP_DaCmd = AP_DeCmd = AP_DrCmd = AP_ThrottleCmd = 0.0;
PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
GearCmd = GearPos = 1; // default to gear down
LeftBrake = RightBrake = CenterBrake = 0.0;
DoNormalize=true;
eMode = mNone;
bind();
for (i=0;i<=NForms;i++) {
DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
@ -100,11 +103,13 @@ FGFCS::~FGFCS()
PropAdvanceCmd.clear();
PropAdvance.clear();
unsigned int i;
unbind();
for (i=0;i<Components.size();i++) delete Components[i];
unsigned int i;
for (i=0;i<APComponents.size();i++) delete APComponents[i];
for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
Debug(1);
}
@ -118,12 +123,21 @@ bool FGFCS::Run(void)
for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
for (i=0; i<Components.size(); i++) Components[i]->Run();
for (i=0; i<APComponents.size(); i++) {
eMode = mAP;
APComponents[i]->Run();
eMode = mNone;
}
for (i=0; i<FCSComponents.size(); i++) {
eMode = mFCS;
FCSComponents[i]->Run();
eMode = mNone;
}
if (DoNormalize) Normalize();
return false;
return false;
} else {
return true;
return true;
}
}
@ -265,17 +279,63 @@ void FGFCS::SetPropAdvance(int engineNum, double setting)
bool FGFCS::Load(FGConfigFile* AC_cfg)
{
string token;
string token, delimiter;
string name, file, fname;
unsigned i;
vector <FGFCSComponent*> *Components;
FGConfigFile *FCS_cfg;
// Determine if the FCS/Autopilot is defined inline in the aircraft configuration
// file or in a separate file. Set up the config file class as appropriate.
delimiter = AC_cfg->GetValue();
name = AC_cfg->GetValue("NAME");
fname = AC_cfg->GetValue("FILE");
Name = Name + ":" + AC_cfg->GetValue("NAME");
if (debug_lvl > 0) cout << " Control System Name: " << Name << endl;
if ( AC_cfg->GetValue("NORMALIZE") == "FALSE") {
DoNormalize=false;
cout << " Automatic Control Surface Normalization Disabled" << endl;
DoNormalize = false;
cout << " Automatic Control Surface Normalization Disabled" << endl;
}
AC_cfg->GetNextConfigLine();
while ((token = AC_cfg->GetValue()) != string("/FLIGHT_CONTROL")) {
# ifndef macintosh
file = "control/" + fname + ".xml";
# else
file = "control;" + fname + ".xml";
# endif
if (name.empty()) {
name = fname;
if (file.empty()) {
cerr << "FCS/Autopilot does not appear to be defined inline nor in a file" << endl;
} else {
FCS_cfg = new FGConfigFile(file);
if (!FCS_cfg->IsOpen()) {
cerr << "Could not open " << delimiter << " file: " << file << endl;
return false;
} else {
AC_cfg = FCS_cfg; // set local config file object pointer to FCS config
// file object pointer
}
}
} else {
AC_cfg->GetNextConfigLine();
}
if (delimiter == "AUTOPILOT") {
Components = &APComponents;
eMode = mAP;
Name = "Autopilot:" + name;
} else if (delimiter == "FLIGHT_CONTROL") {
Components = &FCSComponents;
eMode = mFCS;
Name = "FCS:" + name;
} else {
cerr << endl << "Unknown FCS delimiter" << endl << endl;
}
if (debug_lvl > 0) cout << " Control System Name: " << Name << endl;
while ((token = AC_cfg->GetValue()) != string("/" + delimiter)) {
if (token == "COMPONENT") {
token = AC_cfg->GetValue("TYPE");
if (debug_lvl > 0) cout << endl << " Loading Component \""
@ -286,38 +346,40 @@ bool FGFCS::Load(FGConfigFile* AC_cfg)
(token == "SECOND_ORDER_FILTER") ||
(token == "WASHOUT_FILTER") ||
(token == "INTEGRATOR") ) {
Components.push_back(new FGFilter(this, AC_cfg));
Components->push_back(new FGFilter(this, AC_cfg));
} else if ((token == "PURE_GAIN") ||
(token == "SCHEDULED_GAIN") ||
(token == "AEROSURFACE_SCALE") ) {
Components.push_back(new FGGain(this, AC_cfg));
Components->push_back(new FGGain(this, AC_cfg));
} else if (token == "SUMMER") {
Components.push_back(new FGSummer(this, AC_cfg));
Components->push_back(new FGSummer(this, AC_cfg));
} else if (token == "DEADBAND") {
Components.push_back(new FGDeadBand(this, AC_cfg));
Components->push_back(new FGDeadBand(this, AC_cfg));
} else if (token == "GRADIENT") {
Components.push_back(new FGGradient(this, AC_cfg));
Components->push_back(new FGGradient(this, AC_cfg));
} else if (token == "SWITCH") {
Components.push_back(new FGSwitch(this, AC_cfg));
Components->push_back(new FGSwitch(this, AC_cfg));
} else if (token == "KINEMAT") {
Components.push_back(new FGKinemat(this, AC_cfg));
Components->push_back(new FGKinemat(this, AC_cfg));
} else {
cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
return false;
}
AC_cfg->GetNextConfigLine();
if (AC_cfg->GetNextConfigLine() == "EOF") break;
}
}
//collect information for normalizing control surfaces
string nodeName;
for (i=0;i<Components.size();i++) {
if ( (Components[i]->GetType() == "AEROSURFACE_SCALE"
|| Components[i]->GetType() == "KINEMAT")
&& Components[i]->GetOutputNode() ) {
nodeName= Components[i]->GetOutputNode()->GetName();
//collect information for normalizing control surfaces
string nodeName;
for (i=0; i<Components->size(); i++) {
if ( (((*Components)[i])->GetType() == "AEROSURFACE_SCALE"
|| ((*Components)[i])->GetType() == "KINEMAT")
&& ((*Components)[i])->GetOutputNode() ) {
nodeName = ((*Components)[i])->GetOutputNode()->GetName();
if ( nodeName == "elevator-pos-rad" ) {
ToNormalize[iDe]=i;
} else if ( nodeName == "left-aileron-pos-rad"
@ -337,21 +399,41 @@ bool FGFCS::Load(FGConfigFile* AC_cfg)
}
}
bindModel();
if (delimiter == "FLIGHT_CONTROL") bindModel();
eMode = mNone;
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
double FGFCS::GetComponentOutput(int idx) {
return Components[idx]->GetOutput();
double FGFCS::GetComponentOutput(int idx)
{
switch (eMode) {
case mFCS:
return FCSComponents[idx]->GetOutput();
case mAP:
return APComponents[idx]->GetOutput();
case mNone:
cerr << "Unknown FCS mode" << endl;
break;
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
string FGFCS::GetComponentName(int idx) {
return Components[idx]->GetName();
string FGFCS::GetComponentName(int idx)
{
switch (eMode) {
case mFCS:
return FCSComponents[idx]->GetName();
case mAP:
return APComponents[idx]->GetName();
case mNone:
cerr << "Unknown FCS mode" << endl;
break;
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -379,11 +461,17 @@ string FGFCS::GetComponentStrings(void)
string CompStrings = "";
bool firstime = true;
for (comp = 0; comp < Components.size(); comp++) {
for (comp = 0; comp < FCSComponents.size(); comp++) {
if (firstime) firstime = false;
else CompStrings += ", ";
CompStrings += Components[comp]->GetName();
CompStrings += FCSComponents[comp]->GetName();
}
for (comp = 0; comp < APComponents.size(); comp++)
{
CompStrings += ", ";
CompStrings += APComponents[comp]->GetName();
}
return CompStrings;
@ -398,11 +486,16 @@ string FGFCS::GetComponentValues(void)
char buffer[10];
bool firstime = true;
for (comp = 0; comp < Components.size(); comp++) {
for (comp = 0; comp < FCSComponents.size(); comp++) {
if (firstime) firstime = false;
else CompValues += ", ";
sprintf(buffer, "%9.6f", Components[comp]->GetOutput());
sprintf(buffer, "%9.6f", FCSComponents[comp]->GetOutput());
CompValues += string(buffer);
}
for (comp = 0; comp < APComponents.size(); comp++) {
sprintf(buffer, ", %9.6f", APComponents[comp]->GetOutput());
CompValues += string(buffer);
}
@ -430,31 +523,31 @@ void FGFCS::Normalize(void) {
//ToNormalize is filled in Load()
if ( ToNormalize[iDe] > -1 ) {
DePos[ofNorm] = Components[ToNormalize[iDe]]->GetOutputPct();
DePos[ofNorm] = FCSComponents[ToNormalize[iDe]]->GetOutputPct();
}
if ( ToNormalize[iDaL] > -1 ) {
DaLPos[ofNorm] = Components[ToNormalize[iDaL]]->GetOutputPct();
DaLPos[ofNorm] = FCSComponents[ToNormalize[iDaL]]->GetOutputPct();
}
if ( ToNormalize[iDaR] > -1 ) {
DaRPos[ofNorm] = Components[ToNormalize[iDaR]]->GetOutputPct();
DaRPos[ofNorm] = FCSComponents[ToNormalize[iDaR]]->GetOutputPct();
}
if ( ToNormalize[iDr] > -1 ) {
DrPos[ofNorm] = Components[ToNormalize[iDr]]->GetOutputPct();
DrPos[ofNorm] = FCSComponents[ToNormalize[iDr]]->GetOutputPct();
}
if ( ToNormalize[iDsb] > -1 ) {
DsbPos[ofNorm] = Components[ToNormalize[iDsb]]->GetOutputPct();
DsbPos[ofNorm] = FCSComponents[ToNormalize[iDsb]]->GetOutputPct();
}
if ( ToNormalize[iDsp] > -1 ) {
DspPos[ofNorm] = Components[ToNormalize[iDsp]]->GetOutputPct();
DspPos[ofNorm] = FCSComponents[ToNormalize[iDsp]]->GetOutputPct();
}
if ( ToNormalize[iDf] > -1 ) {
DfPos[ofNorm] = Components[ToNormalize[iDf]]->GetOutputPct();
DfPos[ofNorm] = FCSComponents[ToNormalize[iDf]]->GetOutputPct();
}
DePos[ofMag] = fabs(DePos[ofRad]);
@ -603,6 +696,91 @@ void FGFCS::bind(void)
&FGFCS::GetGearPos,
&FGFCS::SetGearPos,
true);
PropertyManager->Tie("jsbsim/ap/elevator_cmd", this,
&FGFCS::GetAPDeCmd,
&FGFCS::SetAPDeCmd,
true);
PropertyManager->Tie("jsbsim/ap/aileron_cmd", this,
&FGFCS::GetAPDaCmd,
&FGFCS::SetAPDaCmd,
true);
PropertyManager->Tie("jsbsim/ap/rudder_cmd", this,
&FGFCS::GetAPDrCmd,
&FGFCS::SetAPDrCmd,
true);
PropertyManager->Tie("jsbsim/ap/throttle_cmd", this,
&FGFCS::GetAPThrottleCmd,
&FGFCS::SetAPThrottleCmd,
true);
PropertyManager->Tie("jsbsim/ap/attitude_setpoint", this,
&FGFCS::GetAPAttitudeSetPt,
&FGFCS::SetAPAttitudeSetPt,
true);
PropertyManager->Tie("jsbsim/ap/altitude_setpoint", this,
&FGFCS::GetAPAltitudeSetPt,
&FGFCS::SetAPAltitudeSetPt,
true);
PropertyManager->Tie("jsbsim/ap/heading_setpoint", this,
&FGFCS::GetAPHeadingSetPt,
&FGFCS::SetAPHeadingSetPt,
true);
PropertyManager->Tie("jsbsim/ap/airspeed_setpoint", this,
&FGFCS::GetAPAirspeedSetPt,
&FGFCS::SetAPAirspeedSetPt,
true);
PropertyManager->Tie("jsbsim/ap/acquire_attitude", this,
&FGFCS::GetAPAcquireAttitude,
&FGFCS::SetAPAcquireAttitude,
true);
PropertyManager->Tie("jsbsim/ap/acquire_altitude", this,
&FGFCS::GetAPAcquireAltitude,
&FGFCS::SetAPAcquireAltitude,
true);
PropertyManager->Tie("jsbsim/ap/acquire_heading", this,
&FGFCS::GetAPAcquireHeading,
&FGFCS::SetAPAcquireHeading,
true);
PropertyManager->Tie("jsbsim/ap/acquire_airspeed", this,
&FGFCS::GetAPAcquireAirspeed,
&FGFCS::SetAPAcquireAirspeed,
true);
PropertyManager->Tie("jsbsim/ap/attitude_hold", this,
&FGFCS::GetAPAttitudeHold,
&FGFCS::SetAPAttitudeHold,
true);
PropertyManager->Tie("jsbsim/ap/altitude_hold", this,
&FGFCS::GetAPAltitudeHold,
&FGFCS::SetAPAltitudeHold,
true);
PropertyManager->Tie("jsbsim/ap/heading_hold", this,
&FGFCS::GetAPHeadingHold,
&FGFCS::SetAPHeadingHold,
true);
PropertyManager->Tie("jsbsim/ap/airspeed_hold", this,
&FGFCS::GetAPAirspeedHold,
&FGFCS::SetAPAirspeedHold,
true);
PropertyManager->Tie("jsbsim/ap/wingslevel_hold", this,
&FGFCS::GetAPWingsLevelHold,
&FGFCS::SetAPWingsLevelHold,
true);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -685,6 +863,23 @@ void FGFCS::unbind(void)
PropertyManager->Untie("fcs/mag-spoiler-pos-rad");
PropertyManager->Untie("fcs/spoiler-pos-norm");
PropertyManager->Untie("gear/gear-pos-norm");
PropertyManager->Untie("jsbsim/ap/elevator_cmd");
PropertyManager->Untie("jsbsim/ap/aileron_cmd");
PropertyManager->Untie("jsbsim/ap/rudder_cmd");
PropertyManager->Untie("jsbsim/ap/throttle_cmd");
PropertyManager->Untie("jsbsim/ap/attitude_setpoint");
PropertyManager->Untie("jsbsim/ap/altitude_setpoint");
PropertyManager->Untie("jsbsim/ap/heading_setpoint");
PropertyManager->Untie("jsbsim/ap/airspeed_setpoint");
PropertyManager->Untie("jsbsim/ap/acquire_attitude");
PropertyManager->Untie("jsbsim/ap/acquire_altitude");
PropertyManager->Untie("jsbsim/ap/acquire_heading");
PropertyManager->Untie("jsbsim/ap/acquire_airspeed");
PropertyManager->Untie("jsbsim/ap/attitude_hold");
PropertyManager->Untie("jsbsim/ap/altitude_hold");
PropertyManager->Untie("jsbsim/ap/heading_hold");
PropertyManager->Untie("jsbsim/ap/airspeed_hold");
PropertyManager->Untie("jsbsim/ap/wingslevel_hold");
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

163
src/FDM/JSBSim/FGFCS.h
View file

@ -232,6 +232,138 @@ public:
inline double GetGearCmd(void) const { return GearCmd; }
//@}
/// @name AUTOPilot -> FCS effectors command retrieval
//@{
/** Gets the AUTOPilot aileron command.
@return aileron command in radians */
inline double GetAPDaCmd(void) const { return AP_DaCmd; }
/** Gets the AUTOPilot elevator command.
@return elevator command in radians */
inline double GetAPDeCmd(void) const { return AP_DeCmd; }
/** Gets the AUTOPilot rudder command.
@return rudder command in radians */
inline double GetAPDrCmd(void) const { return AP_DrCmd; }
/** Gets the AUTOPilot throttle (all engines) command.
@return throttle command in percent */
inline double GetAPThrottleCmd(void) const { return AP_ThrottleCmd; }
//@}
/// @name AUTOPilot setpoint retrieval
//@{
/** Gets the autopilot pitch attitude setpoint
@return Pitch attitude setpoint in radians */
inline double GetAPAttitudeSetPt(void) const {return APAttitudeSetPt;}
/** Gets the autopilot altitude setpoint
@return Altitude setpoint in feet */
inline double GetAPAltitudeSetPt(void) const {return APAltitudeSetPt;}
/** Gets the autopilot heading setpoint
@return Heading setpoint in radians */
inline double GetAPHeadingSetPt(void) const {return APHeadingSetPt;}
/** Gets the autopilot airspeed setpoint
@return Airspeed setpoint in fps */
inline double GetAPAirspeedSetPt(void) const {return APAirspeedSetPt;}
//@}
/// @name AUTOPilot setpoint setting
//@{
/// Sets the autopilot pitch attitude setpoint
inline void SetAPAttitudeSetPt(double set) {APAttitudeSetPt = set;}
/// Sets the autopilot altitude setpoint
inline void SetAPAltitudeSetPt(double set) {APAltitudeSetPt = set;}
/// Sets the autopilot heading setpoint
inline void SetAPHeadingSetPt(double set) {APHeadingSetPt = set;}
/// Sets the autopilot airspeed setpoint
inline void SetAPAirspeedSetPt(double set) {APAirspeedSetPt = set;}
//@}
/// @name AUTOPilot mode setting
//@{
/** Turns on/off the attitude-seeking autopilot.
@param set true turns the mode on, false turns it off **/
inline void SetAPAcquireAttitude(bool set) {APAcquireAttitude = set;}
/** Turns on/off the altitude-seeking autopilot.
@param set true turns the mode on, false turns it off **/
inline void SetAPAcquireAltitude(bool set) {APAcquireAltitude = set;}
/** Turns on/off the heading-seeking autopilot.
@param set true turns the mode on, false turns it off **/
inline void SetAPAcquireHeading(bool set) {APAcquireHeading = set;}
/** Turns on/off the airspeed-seeking autopilot.
@param set true turns the mode on, false turns it off **/
inline void SetAPAcquireAirspeed(bool set) {APAcquireAirspeed = set;}
/** Turns on/off the attitude-holding autopilot.
@param set true turns the mode on, false turns it off **/
inline void SetAPAttitudeHold(bool set) {APAttitudeHold = set;}
/** Turns on/off the altitude-holding autopilot.
@param set true turns the mode on, false turns it off **/
inline void SetAPAltitudeHold(bool set) {APAltitudeHold = set;}
/** Turns on/off the heading-holding autopilot.
@param set true turns the mode on, false turns it off **/
inline void SetAPHeadingHold(bool set) {APHeadingHold = set;}
/** Turns on/off the airspeed-holding autopilot.
@param set true turns the mode on, false turns it off **/
inline void SetAPAirspeedHold(bool set) {APAirspeedHold = set;}
/** Turns on/off the wing-leveler autopilot.
@param set true turns the mode on, false turns it off **/
inline void SetAPWingsLevelHold(bool set) {APWingsLevelHold = set;}
//@}
/// @name AUTOPilot mode retrieval
//@{
/** Retrieves the on/off mode of the autopilot AcquireAttitude mode
@return true if on, false if off */
inline bool GetAPAcquireAttitude(void) const {return APAcquireAttitude;}
/** Retrieves the on/off mode of the autopilot AcquireAltitude mode
@return true if on, false if off */
inline bool GetAPAcquireAltitude(void) const {return APAcquireAltitude;}
/** Retrieves the on/off mode of the autopilot AcquireHeading mode
@return true if on, false if off */
inline bool GetAPAcquireHeading(void) const {return APAcquireHeading;}
/** Retrieves the on/off mode of the autopilot AcquireAirspeed mode
@return true if on, false if off */
inline bool GetAPAcquireAirspeed(void) const {return APAcquireAirspeed;}
/** Retrieves the on/off mode of the autopilot AttitudeHold mode
@return true if on, false if off */
inline bool GetAPAttitudeHold(void) const {return APAttitudeHold;}
/** Retrieves the on/off mode of the autopilot AltitudeHold mode
@return true if on, false if off */
inline bool GetAPAltitudeHold(void) const {return APAltitudeHold;}
/** Retrieves the on/off mode of the autopilot HeadingHold mode
@return true if on, false if off */
inline bool GetAPHeadingHold(void) const {return APHeadingHold;}
/** Retrieves the on/off mode of the autopilot AirspeedHold mode
@return true if on, false if off */
inline bool GetAPAirspeedHold(void) const {return APAirspeedHold;}
/** Retrieves the on/off mode of the autopilot WingsLevelHold mode
@return true if on, false if off */
inline bool GetAPWingsLevelHold(void) const {return APWingsLevelHold;}
//@}
/// @name Aerosurface position retrieval
//@{
/** Gets the left aileron position.
@ -370,6 +502,25 @@ public:
void SetPropAdvanceCmd(int engine, double cmd);
//@}
/// @name AUTOPilot -> FCS effector command setting
//@{
/** Sets the AUTOPilot aileron command
@param cmd AUTOPilot aileron command in radians*/
inline void SetAPDaCmd( double cmd ) { AP_DaCmd = cmd; }
/** Sets the AUTOPilot elevator command
@param cmd AUTOPilot elevator command in radians*/
inline void SetAPDeCmd(double cmd ) { AP_DeCmd = cmd; }
/** Sets the AUTOPilot rudder command
@param cmd AUTOPilot rudder command in radians*/
inline void SetAPDrCmd(double cmd) { AP_DrCmd = cmd; }
/** Sets the AUTOPilot throttle command
@param cmd AUTOPilot throttle command in percent*/
inline void SetAPThrottleCmd(double cmd) { AP_ThrottleCmd = cmd; }
//@}
/// @name Aerosurface position setting
//@{
/** Sets the left aileron position
@ -428,7 +579,7 @@ public:
void SetPropAdvance(int engine, double cmd);
//@}
/// @name Landing Gear brakes
/// @name Landing Gear brakes
//@{
/** Sets the left brake group
@param cmd brake setting in percent (0.0 - 1.0) */
@ -466,6 +617,7 @@ public:
private:
double DaCmd, DeCmd, DrCmd, DfCmd, DsbCmd, DspCmd;
double AP_DaCmd, AP_DeCmd, AP_DrCmd, AP_ThrottleCmd;
double DePos[NForms], DaLPos[NForms], DaRPos[NForms], DrPos[NForms];
double DfPos[NForms], DsbPos[NForms], DspPos[NForms];
double PTrimCmd, YTrimCmd, RTrimCmd;
@ -478,10 +630,17 @@ private:
double LeftBrake, RightBrake, CenterBrake; // Brake settings
double GearCmd,GearPos;
enum Mode {mAP, mFCS, mNone} eMode;
double APAttitudeSetPt, APAltitudeSetPt, APHeadingSetPt, APAirspeedSetPt;
bool APAcquireAttitude, APAcquireAltitude, APAcquireHeading, APAcquireAirspeed;
bool APAttitudeHold, APAltitudeHold, APHeadingHold, APAirspeedHold, APWingsLevelHold;
bool DoNormalize;
void Normalize(void);
vector <FGFCSComponent*> Components;
vector <FGFCSComponent*> FCSComponents;
vector <FGFCSComponent*> APComponents;
int ToNormalize[NNorm];
void Debug(int from);
};

29
src/FDM/JSBSim/FGFDMExec.cpp
View file

@ -421,6 +421,9 @@ bool FGFDMExec::LoadModel(string APath, string EPath, string model)
} else if (token == "FLIGHT_CONTROL") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Flight Control" << fgdef << endl;
if (!ReadFlightControls(&AC_cfg)) result = false;
} else if (token == "AUTOPILOT") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Autopilot" << fgdef << endl;
if (!ReadFlightControls(&AC_cfg)) result = false;
} else if (token == "OUTPUT") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Output directives" << fgdef << endl;
if (!ReadOutput(&AC_cfg)) result = false;
@ -483,6 +486,7 @@ bool FGFDMExec::ReadSlave(FGConfigFile* AC_cfg)
// reset debug level to prior setting
int saved_debug_lvl = debug_lvl;
string token;
SlaveFDMList.push_back(new slaveData);
SlaveFDMList.back()->exec = new FGFDMExec();
@ -490,9 +494,30 @@ bool FGFDMExec::ReadSlave(FGConfigFile* AC_cfg)
string AircraftName = AC_cfg->GetValue("FILE");
debug_lvl = 0;
debug_lvl = 0; // turn off debug output for slave vehicle
SlaveFDMList.back()->exec->LoadModel("aircraft", "engine", AircraftName);
debug_lvl = saved_debug_lvl;
debug_lvl = saved_debug_lvl; // turn debug output back on for master vehicle
AC_cfg->GetNextConfigLine();
while ((token = AC_cfg->GetValue()) != string("/SLAVE")) {
*AC_cfg >> token;
if (token == "XLOC") { *AC_cfg >> SlaveFDMList.back()->x; }
else if (token == "YLOC") { *AC_cfg >> SlaveFDMList.back()->y; }
else if (token == "ZLOC") { *AC_cfg >> SlaveFDMList.back()->z; }
else if (token == "PITCH") { *AC_cfg >> SlaveFDMList.back()->pitch;}
else if (token == "YAW") { *AC_cfg >> SlaveFDMList.back()->yaw; }
else if (token == "ROLL") { *AC_cfg >> SlaveFDMList.back()->roll; }
else cerr << "Unknown identifier: " << token << " in slave vehicle definition" << endl;
}
if (debug_lvl > 0) {
cout << " X = " << SlaveFDMList.back()->x << endl;
cout << " Y = " << SlaveFDMList.back()->y << endl;
cout << " Z = " << SlaveFDMList.back()->z << endl;
cout << " Pitch = " << SlaveFDMList.back()->pitch << endl;
cout << " Yaw = " << SlaveFDMList.back()->yaw << endl;
cout << " Roll = " << SlaveFDMList.back()->roll << endl;
}
return true;
}

3
src/FDM/JSBSim/FGInertial.cpp
View file

@ -51,14 +51,13 @@ FGInertial::FGInertial(FGFDMExec* fgex) : FGModel(fgex)
{
Name = "FGInertial";
vRadius.InitMatrix();
// Defaults
RotationRate = 0.00007272205217;
GM = 14.06252720E15;
RadiusReference = 20925650.00;
gAccelReference = GM/(RadiusReference*RadiusReference);
gAccel = GM/(RadiusReference*RadiusReference);
vRadius.InitMatrix();
vCoriolis.InitMatrix();
vCentrifugal.InitMatrix();
vGravity.InitMatrix();

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

@ -87,7 +87,6 @@ public:
void bind(void);
void unbind(void);
private:
FGColumnVector3 vOmegaLocal;
FGColumnVector3 vForces;

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

@ -59,13 +59,15 @@ char FGJSBBase::fgdef[6] = {27, '[', '3', '9', 'm', '\0' };
const double FGJSBBase::radtodeg = 57.29578;
const double FGJSBBase::degtorad = 1.745329E-2;
const double FGJSBBase::hptoftlbssec = 550.0;
const double FGJSBBase::psftoinhg = 0.014138;
const double FGJSBBase::fpstokts = 0.592484;
const double FGJSBBase::ktstofps = 1.68781;
const double FGJSBBase::inchtoft = 0.08333333;
const double FGJSBBase::in3tom3 = 1.638706E-5;
const double FGJSBBase::Reng = 1716.0;
const double FGJSBBase::SHRatio = 1.40;
const string FGJSBBase::needed_cfg_version = "1.57";
const string FGJSBBase::JSBSim_version = "0.9.1";
const string FGJSBBase::needed_cfg_version = "1.58";
const string FGJSBBase::JSBSim_version = "0.9.2";
queue <FGJSBBase::Message*> FGJSBBase::Messages;
FGJSBBase::Message FGJSBBase::localMsg;

21
src/FDM/JSBSim/FGJSBBase.h
View file

@ -165,7 +165,24 @@ enum eParam {
FG_VBARV, //vertical tail volume
FG_GEAR_CMD,
FG_GEAR_POS,
FG_HYSTPARM
FG_HYSTPARM,
AP_ELEVATOR_CMD,
AP_AILERON_CMD,
AP_RUDDER_CMD,
AP_THROTTLE_CMD,
AP_SET_ATTITUDE,
AP_SET_ALTITUDE,
AP_SET_HEADING,
AP_SET_AIRSPEED,
AP_ACQUIRE_ATTITUDE,
AP_ACQUIRE_ALTITUDE,
AP_ACQUIRE_HEADING,
AP_ACQUIRE_AIRSPEED,
AP_ATTITUDE_HOLD_ON,
AP_ALTITUDE_HOLD_ON,
AP_HEADING_HOLD_ON,
AP_AIRSPEED_HOLD_ON,
AP_WINGSLEVEL_HOLD_ON
};
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -299,9 +316,11 @@ protected:
static const double radtodeg;
static const double degtorad;
static const double hptoftlbssec;
static const double psftoinhg;
static const double fpstokts;
static const double ktstofps;
static const double inchtoft;
static const double in3tom3;
static const double Reng; // Specific Gas Constant,ft^2/(sec^2*R)
static const double SHRatio;
static const string needed_cfg_version;

8
src/FDM/JSBSim/FGOutput.cpp
View file

@ -211,6 +211,10 @@ void FGOutput::DelimitedOutput(string fname)
outstream << ", ";
outstream << Aerodynamics->GetCoefficientStrings();
}
if (SubSystems & ssFCS) {
outstream << ", ";
outstream << FCS->GetComponentStrings();
}
if (SubSystems & ssGroundReactions) {
outstream << ", ";
outstream << GroundReactions->GetGroundReactionStrings();
@ -294,6 +298,10 @@ void FGOutput::DelimitedOutput(string fname)
outstream << ", ";
outstream << Aerodynamics->GetCoefficientValues();
}
if (SubSystems & ssFCS) {
outstream << ", ";
outstream << FCS->GetComponentValues();
}
if (SubSystems & ssGroundReactions) {
outstream << ", ";
outstream << GroundReactions->GetGroundReactionValues();

51
src/FDM/JSBSim/FGPiston.cpp
View file

@ -50,7 +50,6 @@ CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
FGPiston::FGPiston(FGFDMExec* exec, FGConfigFile* Eng_cfg) : FGEngine(exec),
CONVERT_CUBIC_INCHES_TO_METERS_CUBED(1.638706e-5),
R_air(287.3),
rho_fuel(800), // estimate
calorific_value_fuel(47.3e6),
@ -85,7 +84,7 @@ FGPiston::FGPiston(FGFDMExec* exec, FGConfigFile* Eng_cfg) : FGEngine(exec),
crank_counter = 0;
EngineNumber = 0;
OilTemp_degK = 298;
ManifoldPressure_inHg = Atmosphere->GetPressure() * 0.014138; // psf to in Hg
ManifoldPressure_inHg = Atmosphere->GetPressure() * psftoinhg; // psf to in Hg
dt = State->Getdt();
@ -150,7 +149,6 @@ double FGPiston::Calculate(double PowerRequired)
T_amb = Atmosphere->GetTemperature() * (5.0 / 9.0); // convert from Rankine to Kelvin
RPM = Propulsion->GetThruster(EngineNumber)->GetRPM();
//if (RPM < IdleRPM) RPM = IdleRPM; // kludge
IAS = Auxiliary->GetVcalibratedKTS();
@ -216,49 +214,28 @@ void FGPiston::doEngineStartup(void)
crank_counter = 0;
}
//Check mode of engine operation
if (Cranking) {
crank_counter++;
if (RPM <= 480) {
// Do nothing !! - cranking power output is now handled in the doPower section
} else {
// consider making a horrible noise if the starter is engaged with
// the engine running
}
}
if (Cranking) crank_counter++; //Check mode of engine operation
// if ((!Running) && (spark) && (fuel) && (crank_counter > 120)) {
if ((!Running) && (spark) && (fuel)) {
// start the engine if revs high enough
if (!Running && spark && fuel) { // start the engine if revs high enough
if (Cranking) {
if ((RPM > 450) && (crank_counter > 175)) {
//Add a little delay to startup on the starter
Running = true;
}
if ((RPM > 450) && (crank_counter > 175)) // Add a little delay to startup
Running = true; // on the starter
} else {
if (RPM > 450) {
Running = true;
//This allows us to in-air start when windmilling
}
if (RPM > 450) // This allows us to in-air start
Running = true; // when windmilling
}
}
if ( (Running) && ((!spark)||(!fuel)) ) {
// Cut the engine
// note that we only cut the power - the engine may continue to
// spin if the prop is in a moving airstream
Running = false;
}
// Cut the engine *power* - Note: the engine may continue to
// spin if the prop is in a moving airstream
// And finally a last check for stalling
if ( Running && (!spark || !fuel) ) Running = false;
// Check for stalling (RPM = 0).
if (Running) {
//Check if we have stalled the engine
if (RPM == 0) {
Running = false;
} else if ((RPM <= 480) && (Cranking)) {
// Make sure the engine noise dosn't play if the engine won't
// start due to eg mixture lever pulled out.
Running = false;
}
}
@ -290,7 +267,7 @@ void FGPiston::doManifoldPressure(void)
ManifoldPressure_inHg = MinManifoldPressure_inHg +
(Throttle * (MaxManifoldPressure_inHg - MinManifoldPressure_inHg));
} else {
ManifoldPressure_inHg = Atmosphere->GetPressure() * 0.014138; // psf to in Hg
ManifoldPressure_inHg = Atmosphere->GetPressure() * psftoinhg; // psf to in Hg
}
}
@ -311,7 +288,7 @@ void FGPiston::doAirFlow(void)
{
rho_air = p_amb / (R_air * T_amb);
double rho_air_manifold = rho_air * ManifoldPressure_inHg / 29.6;
double displacement_SI = Displacement * CONVERT_CUBIC_INCHES_TO_METERS_CUBED;
double displacement_SI = Displacement * in3tom3;
double swept_volume = (displacement_SI * (RPM/60)) / 2;
double v_dot_air = swept_volume * volumetric_efficiency;
m_dot_air = v_dot_air * rho_air_manifold;

17
src/FDM/JSBSim/FGState.cpp
View file

@ -567,6 +567,23 @@ void FGState::InitPropertyMaps(void)
ParamNameToProp[ "FG_GEAR_CMD" ]="gear/gear-cmd-norm";
ParamNameToProp[ "FG_GEAR_POS" ]="gear/gear-pos-norm";
ParamNameToProp[ "FG_HYSTPARM" ]="aero/stall-hyst-norm";
ParamNameToProp[ "AP_ELEVATOR_CMD" ]="jsbsim/ap/elevator_cmd";
ParamNameToProp[ "AP_AILERON_CMD" ]="jsbsim/ap/aileron_cmd";
ParamNameToProp[ "AP_RUDDER_CMD" ]="jsbsim/ap/rudder_cmd";
ParamNameToProp[ "AP_THROTTLE_CMD" ]="jsbsim/ap/throttle_cmd";
ParamNameToProp[ "AP_SET_ATTITUDE" ]="jsbsim/ap/set_attitude";
ParamNameToProp[ "AP_SET_ALTITUDE" ]="jsbsim/ap/set_altitude";
ParamNameToProp[ "AP_SET_HEADING" ]="jsbsim/ap/set_heading";
ParamNameToProp[ "AP_SET_AIRSPEED" ]="jsbsim/ap/set_airspeed";
ParamNameToProp[ "AP_ACQUIRE_ATTITUDE" ]="jsbsim/ap/acquire_attitude";
ParamNameToProp[ "AP_ACQUIRE_ALTITUDE" ]="jsbsim/ap/acquire_altitude";
ParamNameToProp[ "AP_ACQUIRE_HEADING" ]="jsbsim/ap/acquire_heading";
ParamNameToProp[ "AP_ACQUIRE_AIRSPEED" ]="jsbsim/ap/acquire_aispeed";
ParamNameToProp[ "AP_ATTITUDE_HOLD_ON" ]="jsbsim/ap/attitude_hold_on";
ParamNameToProp[ "AP_ALTITUDE,_HOLD_ON" ]="jsbsim/ap/altitude_hold_on";
ParamNameToProp[ "AP_HEADING_HOLD_ON" ]="jsbsim/ap/heading_hold_on";
ParamNameToProp[ "AP_AIRSPEED_HOLD_ON" ]="jsbsim/ap/airspeed_hold_on";
ParamNameToProp[ "AP_WINGSLEVEL_HOLD_ON" ]="jsbsim/ap/wingslevel_hold_on";
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%