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Attempting to simplify JSBSim initialization.

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This commit is contained in:
curt 2001-10-29 04:38:25 +00:00
parent 4b5bcd0f0a
commit c8f21829d4
3 changed files with 327 additions and 57 deletions
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281
src/FDM/JSBSim.cxx
View file

@ -148,7 +148,12 @@ void FGJSBsim::init() {
// init method first.
FGInterface::init();
SG_LOG( SG_FLIGHT, SG_INFO, " Initializing JSBSim with:" );
fdmex->GetState()->Initialize(fgic);
// fdmex->RunIC(fgic); //loop JSBSim once w/o integrating
fdmex->Run(); //loop JSBSim once
copy_from_JSBsim(); //update the bus
SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
switch(fgic->GetSpeedSet()) {
case setned:
@ -175,16 +180,17 @@ void FGJSBsim::init() {
}
SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
<< Rotation->Getphi()*RADTODEG << " deg");
<< Rotation->Getphi()*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
<< Rotation->Gettht()*RADTODEG << " deg" );
<< Rotation->Gettht()*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
<< Rotation->Getpsi()*RADTODEG << " deg" );
<< Rotation->Getpsi()*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
<< Position->GetLatitude() << " deg" );
<< Position->GetLatitude() << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
<< Position->GetLongitude() << " deg" );
<< Position->GetLongitude() << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
<< Position->Geth() << " feet" );
SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
@ -385,8 +391,8 @@ bool FGJSBsim::copy_from_JSBsim() {
_set_Mach_number( Translation->GetMach() );
// Positions
_updatePosition( Position->GetLatitude(),
Position->GetLongitude(),
_updatePosition( Position->GetLatitude() * SGD_DEGREES_TO_RADIANS,
Position->GetLongitude() * SGD_DEGREES_TO_RADIANS,
Position->Geth() );
_set_Altitude_AGL( Position->GetDistanceAGL() );
@ -446,17 +452,25 @@ bool FGJSBsim::ToggleDataLogging(bool state) {
//Positions
void FGJSBsim::set_Latitude(double lat) {
double sea_level_radius_meters,lat_geoc;
static const SGPropertyNode *altitude
= fgGetNode("/position/altitude-ft");
double alt;
if ( altitude->getDoubleValue() > -9990 ) {
alt = altitude->getDoubleValue();
} else {
alt = 0.0;
}
double sea_level_radius_meters, lat_geoc;
SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
snap_shot();
sgGeodToGeoc( lat, get_Altitude() , &sea_level_radius_meters, &lat_geoc);
sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
&sea_level_radius_meters, &lat_geoc );
_set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
fgic->SetLatitudeRadIC( lat_geoc );
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
fgic->SetLatitudeRadIC( lat_geoc * SGD_RADIANS_TO_DEGREES );
needTrim=true;
}
@ -464,46 +478,39 @@ void FGJSBsim::set_Longitude(double lon) {
SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
snap_shot();
fgic->SetLongitudeRadIC(lon);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
fgic->SetLongitudeRadIC(lon * SGD_RADIANS_TO_DEGREES );
needTrim=true;
}
void FGJSBsim::set_Altitude(double alt) {
static const SGPropertyNode *latitude
= fgGetNode("/position/latitude-deg");
double sea_level_radius_meters,lat_geoc;
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
SG_LOG(SG_FLIGHT,SG_INFO, " lat (deg) = " << latitude->getDoubleValue() );
snap_shot();
sgGeodToGeoc( get_Latitude(), alt , &sea_level_radius_meters, &lat_geoc);
sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
&sea_level_radius_meters, &lat_geoc);
_set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
fgic->SetLatitudeRadIC( lat_geoc );
fgic->SetLatitudeRadIC( lat_geoc * SGD_RADIANS_TO_DEGREES );
fgic->SetAltitudeFtIC(alt);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::set_V_calibrated_kts(double vc) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
snap_shot();
fgic->SetVcalibratedKtsIC(vc);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::set_Mach_number(double mach) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
snap_shot();
fgic->SetMachIC(mach);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
@ -511,12 +518,9 @@ void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
<< north << ", " << east << ", " << down );
snap_shot();
fgic->SetVnorthFpsIC(north);
fgic->SetVeastFpsIC(east);
fgic->SetVdownFpsIC(down);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
@ -524,12 +528,9 @@ void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
<< u << ", " << v << ", " << w );
snap_shot();
fgic->SetUBodyFpsIC(u);
fgic->SetVBodyFpsIC(v);
fgic->SetWBodyFpsIC(w);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
@ -538,12 +539,9 @@ void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
<< phi << ", " << theta << ", " << psi );
snap_shot();
fgic->SetPitchAngleRadIC(theta);
fgic->SetRollAngleRadIC(phi);
fgic->SetTrueHeadingRadIC(psi);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
@ -551,20 +549,14 @@ void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
void FGJSBsim::set_Climb_Rate( double roc) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
snap_shot();
fgic->SetClimbRateFpsIC(roc);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::set_Gamma_vert_rad( double gamma) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
snap_shot();
fgic->SetFlightPathAngleRadIC(gamma);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
@ -572,28 +564,21 @@ void FGJSBsim::set_Gamma_vert_rad( double gamma) {
void FGJSBsim::set_Sea_level_radius(double slr) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Sea_level_radius: " << slr );
snap_shot();
fgic->SetSeaLevelRadiusFtIC(slr);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::set_Runway_altitude(double ralt) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Runway_altitude: " << ralt );
snap_shot();
_set_Runway_altitude( ralt );
fgic->SetTerrainAltitudeFtIC( ralt );
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::set_Static_pressure(double p) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_pressure: " << p );
snap_shot();
Atmosphere->SetExPressure(p);
if(Atmosphere->External() == true)
needTrim=true;
@ -602,7 +587,6 @@ void FGJSBsim::set_Static_pressure(double p) {
void FGJSBsim::set_Static_temperature(double T) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_temperature: " << T );
snap_shot();
Atmosphere->SetExTemperature(T);
if(Atmosphere->External() == true)
needTrim=true;
@ -612,7 +596,6 @@ void FGJSBsim::set_Static_temperature(double T) {
void FGJSBsim::set_Density(double rho) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Density: " << rho );
snap_shot();
Atmosphere->SetExDensity(rho);
if(Atmosphere->External() == true)
needTrim=true;
@ -625,6 +608,196 @@ void FGJSBsim::set_Velocities_Local_Airmass (double wnorth,
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local_Airmass: "
<< wnorth << ", " << weast << ", " << wdown );
_set_Velocities_Local_Airmass( wnorth, weast, wdown );
Atmosphere->SetWindNED(wnorth, weast, wdown );
if(Atmosphere->External() == true)
needTrim=true;
}
//Positions
void FGJSBsim::update_Latitude(double lat) {
double sea_level_radius_meters, lat_geoc;
SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::update_Latitude: " << lat );
SG_LOG(SG_FLIGHT,SG_INFO," cur alt = " << get_Altitude() );
snap_shot();
sgGeodToGeoc( lat, get_Altitude(), &sea_level_radius_meters, &lat_geoc);
_set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
fgic->SetLatitudeRadIC( lat_geoc );
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::update_Longitude(double lon) {
SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::update_Longitude: " << lon );
SG_LOG(SG_FLIGHT,SG_INFO," cur alt = " << get_Altitude() );
snap_shot();
fgic->SetLongitudeRadIC(lon);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::update_Altitude(double alt) {
double sea_level_radius_meters,lat_geoc;
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::update_Altitude: " << alt );
snap_shot();
sgGeodToGeoc( get_Latitude(), alt , &sea_level_radius_meters, &lat_geoc);
_set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
fgic->SetLatitudeRadIC( lat_geoc );
fgic->SetAltitudeFtIC(alt);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::update_V_calibrated_kts(double vc) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::update_V_calibrated_kts: " << vc );
snap_shot();
fgic->SetVcalibratedKtsIC(vc);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::update_Mach_number(double mach) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::update_Mach_number: " << mach );
snap_shot();
fgic->SetMachIC(mach);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::update_Velocities_Local( double north, double east, double down ){
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::update_Velocities_Local: "
<< north << ", " << east << ", " << down );
snap_shot();
fgic->SetVnorthFpsIC(north);
fgic->SetVeastFpsIC(east);
fgic->SetVdownFpsIC(down);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::update_Velocities_Wind_Body( double u, double v, double w){
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::update_Velocities_Wind_Body: "
<< u << ", " << v << ", " << w );
snap_shot();
fgic->SetUBodyFpsIC(u);
fgic->SetVBodyFpsIC(v);
fgic->SetWBodyFpsIC(w);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
//Euler angles
void FGJSBsim::update_Euler_Angles( double phi, double theta, double psi ) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::update_Euler_Angles: "
<< phi << ", " << theta << ", " << psi );
snap_shot();
fgic->SetPitchAngleRadIC(theta);
fgic->SetRollAngleRadIC(phi);
fgic->SetTrueHeadingRadIC(psi);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
//Flight Path
void FGJSBsim::update_Climb_Rate( double roc) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::update_Climb_Rate: " << roc );
snap_shot();
fgic->SetClimbRateFpsIC(roc);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::update_Gamma_vert_rad( double gamma) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::update_Gamma_vert_rad: " << gamma );
snap_shot();
fgic->SetFlightPathAngleRadIC(gamma);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
//Earth
void FGJSBsim::update_Sea_level_radius(double slr) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::update_Sea_level_radius: " << slr );
snap_shot();
fgic->SetSeaLevelRadiusFtIC(slr);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::update_Runway_altitude(double ralt) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::update_Runway_altitude: " << ralt );
snap_shot();
_set_Runway_altitude( ralt );
fgic->SetTerrainAltitudeFtIC( ralt );
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::update_Static_pressure(double p) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::update_Static_pressure: " << p );
snap_shot();
Atmosphere->SetExPressure(p);
if(Atmosphere->External() == true)
needTrim=true;
}
void FGJSBsim::update_Static_temperature(double T) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::update_Static_temperature: " << T );
snap_shot();
Atmosphere->SetExTemperature(T);
if(Atmosphere->External() == true)
needTrim=true;
}
void FGJSBsim::update_Density(double rho) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::update_Density: " << rho );
snap_shot();
Atmosphere->SetExDensity(rho);
if(Atmosphere->External() == true)
needTrim=true;
}
void FGJSBsim::update_Velocities_Local_Airmass (double wnorth,
double weast,
double wdown ) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::update_Velocities_Local_Airmass: "
<< wnorth << ", " << weast << ", " << wdown );
_set_Velocities_Local_Airmass( wnorth, weast, wdown );
snap_shot();
Atmosphere->SetWindNED(wnorth, weast, wdown );

96
src/FDM/JSBSim.hxx
View file

@ -205,6 +205,102 @@ public:
void set_Velocities_Local_Airmass (double wnorth,
double weast,
double wdown );
/// @name Position Parameter Update
//@{
/** Update geocentric latitude
@param lat latitude in radians measured from the 0 meridian where
the westerly direction is positive and east is negative */
void update_Latitude(double lat); // geocentric
/** Update longitude
@param lon longitude in radians measured from the equator where
the northerly direction is positive and south is negative */
void update_Longitude(double lon);
/** Update altitude
Note: this triggers a recalculation of AGL altitude
@param alt altitude in feet */
void update_Altitude(double alt); // triggers re-calc of AGL altitude
//@}
//void update_AltitudeAGL(double altagl); // and vice-versa
/// @name Velocity Parameter Update
//@{
/** Updates calibrated airspeed
Updateting this will trigger a recalc of the other velocity terms.
@param vc Calibrated airspeed in ft/sec */
void update_V_calibrated_kts(double vc);
/** Updates Mach number.
Updateting this will trigger a recalc of the other velocity terms.
@param mach Mach number */
void update_Mach_number(double mach);
/** Updates velocity in N-E-D coordinates.
Updateting this will trigger a recalc of the other velocity terms.
@param north velocity northward in ft/sec
@param east velocity eastward in ft/sec
@param down velocity downward in ft/sec */
void update_Velocities_Local( double north, double east, double down );
/** Updates aircraft velocity in stability frame.
Updateting this will trigger a recalc of the other velocity terms.
@param u X velocity in ft/sec
@param v Y velocity in ft/sec
@param w Z velocity in ft/sec */
void update_Velocities_Wind_Body( double u, double v, double w);
//@}
/** Euler Angle Parameter Update
@param phi roll angle in radians
@param theta pitch angle in radians
@param psi heading angle in radians */
void update_Euler_Angles( double phi, double theta, double psi );
/// @name Flight Path Parameter Update
//@{
/** Updates rate of climb
@param roc Rate of climb in ft/sec */
void update_Climb_Rate( double roc);
/** Updates the flight path angle in radians
@param gamma flight path angle in radians. */
void update_Gamma_vert_rad( double gamma);
//@}
/// @name Earth Parameter Update
//@{
/** Updates the sea level radius in feet.
@param slr Sea Level Radius in feet */
void update_Sea_level_radius(double slr);
/** Updates the runway altitude in feet above sea level.
@param ralt Runway altitude in feet above sea level. */
void update_Runway_altitude(double ralt);
//@}
/// @name Atmospheric Parameter Update
//@{
/** Updates the atmospheric static pressure
@param p pressure in psf */
void update_Static_pressure(double p);
/** Updates the atmospheric temperature
@param T temperature in degrees rankine */
void update_Static_temperature(double T);
/** Updates the atmospheric density.
@param rho air density slugs/cubic foot */
void update_Density(double rho);
/** Updates the velocity of the local airmass for wind modeling.
@param wnorth velocity north in fps
@param weast velocity east in fps
@param wdown velocity down in fps*/
void update_Velocities_Local_Airmass (double wnorth,
double weast,
double wdown );
//@}
/** Update the position based on inputs, positions, velocities, etc.

7
src/FDM/flight.cxx
View file

@ -205,11 +205,12 @@ FGInterface::init ()
// Set sea-level radius
SG_LOG(SG_FLIGHT, SG_INFO, "...initializing sea-level radius...");
SG_LOG(SG_FLIGHT, SG_INFO, " lat = " << get_Latitude() << " alt = "
<< get_Altitude() );
SG_LOG(SG_FLIGHT, SG_INFO, " lat = " << fgGetDouble("/position/latitude-deg")
<< " alt = " << fgGetDouble("/position/altitude-ft") );
double sea_level_radius_meters;
double lat_geoc;
sgGeodToGeoc(get_Latitude(), get_Altitude(),
sgGeodToGeoc(fgGetDouble("/position/latitude-deg") * SGD_DEGREES_TO_RADIANS,
fgGetDouble("/position/altitude-ft") * SG_FEET_TO_METER,
&sea_level_radius_meters, &lat_geoc);
set_Sea_level_radius(sea_level_radius_meters * SG_METER_TO_FEET);