Merge /u/jsb1685/flightgear/ branch yasim into next
https://sourceforge.net/p/flightgear/flightgear/merge-requests/124/
This commit is contained in:
James Turner
commit
e4e5cc9394
6 changed files with 110 additions and 64 deletions
|
|
@ -22,18 +22,6 @@ static const char* DEF_PROP_ELEVATOR_TRIM = "/controls/flight/elevator-trim";
|
|||
// gadgets
|
||||
inline float abs(float f) { return f<0 ? -f : f; }
|
||||
|
||||
// Solver threshold. How close to the solution are we trying
|
||||
// to get? Trying too hard can result in oscillations about
|
||||
// the correct solution, which is bad. Stick this in as a
|
||||
// compile time constant for now, and consider making it
|
||||
// settable per-model.
|
||||
const float STHRESH = 1;
|
||||
|
||||
// How slowly do we change values in the solver. Too slow, and
|
||||
// the solution converges very slowly. Too fast, and it can
|
||||
// oscillate.
|
||||
const float SOLVE_TWEAK = 0.3226;
|
||||
|
||||
Airplane::Airplane()
|
||||
{
|
||||
_approachConfig.isApproach = true;
|
||||
|
|
@ -522,7 +510,7 @@ void Airplane::compileContactPoints()
|
|||
}
|
||||
}
|
||||
|
||||
void Airplane::compile()
|
||||
void Airplane::compile(bool verbose)
|
||||
{
|
||||
RigidBody* body = _model.getBody();
|
||||
int firstMass = body->numMasses();
|
||||
|
|
@ -650,12 +638,12 @@ void Airplane::compile()
|
|||
solveGear();
|
||||
calculateCGHardLimits();
|
||||
|
||||
if(_wing && _tail) solveAirplane();
|
||||
if(_wing && _tail) solveAirplane(verbose);
|
||||
else
|
||||
{
|
||||
// The rotor(s) mass:
|
||||
compileRotorgear();
|
||||
solveHelicopter();
|
||||
solveHelicopter(verbose);
|
||||
}
|
||||
|
||||
// Do this after solveGear, because it creates "gear" objects that
|
||||
|
|
@ -810,7 +798,7 @@ void Airplane::runConfig(Config &cfg)
|
|||
/// Used only in solveAirplane() and solveHelicopter(), not at runtime
|
||||
void Airplane::applyDragFactor(float factor)
|
||||
{
|
||||
float applied = Math::pow(factor, SOLVE_TWEAK);
|
||||
float applied = Math::pow(factor, _solverDelta);
|
||||
_dragFactor *= applied;
|
||||
if(_wing)
|
||||
_wing->multiplyDragCoefficient(applied);
|
||||
|
|
@ -856,7 +844,7 @@ void Airplane::applyDragFactor(float factor)
|
|||
/// change lift coefficient cz in surfaces
|
||||
void Airplane::applyLiftRatio(float factor)
|
||||
{
|
||||
float applied = Math::pow(factor, SOLVE_TWEAK);
|
||||
float applied = Math::pow(factor, _solverDelta);
|
||||
_liftRatio *= applied;
|
||||
if(_wing)
|
||||
_wing->multiplyLiftRatio(applied);
|
||||
|
|
@ -895,7 +883,7 @@ float Airplane::_getLift(Config &cfg)
|
|||
return cfg.weight * tmp[2];
|
||||
}
|
||||
|
||||
void Airplane::solveAirplane()
|
||||
void Airplane::solveAirplane(bool verbose)
|
||||
{
|
||||
static const float ARCMIN = 0.0002909f;
|
||||
|
||||
|
|
@ -913,14 +901,18 @@ void Airplane::solveAirplane()
|
|||
_tailIncidence = new ControlSetting;
|
||||
_tailIncidenceCopy = new ControlSetting;
|
||||
}
|
||||
if (verbose) {
|
||||
fprintf(stdout,"i\tdAoa\tdTail\tcl0\tcp1\n");
|
||||
}
|
||||
|
||||
while(1) {
|
||||
if(_solutionIterations++ > SOLVER_MAX_ITERATIONS) {
|
||||
if(_solutionIterations++ > _solverMaxIterations) {
|
||||
_failureMsg = "Solution failed to converge!";
|
||||
return;
|
||||
}
|
||||
// Run an iteration at cruise, and extract the needed numbers:
|
||||
runConfig(_cruiseConfig);
|
||||
|
||||
_model.getThrust(tmp);
|
||||
float thrust = tmp[0] + _cruiseConfig.weight * Math::sin(_cruiseConfig.glideAngle) * 9.81;
|
||||
|
||||
|
|
@ -985,8 +977,8 @@ void Airplane::solveAirplane()
|
|||
applyLiftRatio(liftFactor);
|
||||
|
||||
// DON'T do the following until the above are sane
|
||||
if(normFactor(dragFactor) > STHRESH*1.0001
|
||||
|| normFactor(liftFactor) > STHRESH*1.0001)
|
||||
if(normFactor(dragFactor) > _solverThreshold*1.0001
|
||||
|| normFactor(liftFactor) > _solverThreshold*1.0001)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
|
@ -994,24 +986,31 @@ void Airplane::solveAirplane()
|
|||
// OK, now we can adjust the minor variables:
|
||||
float aoaDelta = -clift0 * (ARCMIN/(clift1-clift0));
|
||||
float tailDelta = -cpitch0 * (ARCMIN/(cpitch1-cpitch0));
|
||||
_cruiseConfig.aoa += SOLVE_TWEAK*aoaDelta;
|
||||
_tailIncidence->val += SOLVE_TWEAK*tailDelta;
|
||||
|
||||
if (verbose) {
|
||||
fprintf(stdout,"%4d\t%f\t%f\t%f\t%f\n", _solutionIterations, aoaDelta, tailDelta, clift0, cpitch1);
|
||||
}
|
||||
_cruiseConfig.aoa += _solverDelta*aoaDelta;
|
||||
_tailIncidence->val += _solverDelta*tailDelta;
|
||||
|
||||
_cruiseConfig.aoa = Math::clamp(_cruiseConfig.aoa, -0.175f, 0.175f);
|
||||
_tailIncidence->val = Math::clamp(_tailIncidence->val, -0.175f, 0.175f);
|
||||
|
||||
if(abs(xforce/_cruiseConfig.weight) < STHRESH*0.0001 &&
|
||||
abs(alift/_approachConfig.weight) < STHRESH*0.0001 &&
|
||||
abs(aoaDelta) < STHRESH*.000017 &&
|
||||
abs(tailDelta) < STHRESH*.000017)
|
||||
if(abs(xforce/_cruiseConfig.weight) < _solverThreshold*0.0001 &&
|
||||
abs(alift/_approachConfig.weight) < _solverThreshold*0.0001 &&
|
||||
abs(aoaDelta) < _solverThreshold*.000017 &&
|
||||
abs(tailDelta) < _solverThreshold*.000017)
|
||||
{
|
||||
float elevDelta = -apitch0 * (ELEVDIDDLE/(apitch1-apitch0));
|
||||
if (verbose) {
|
||||
fprintf(stdout,"%4d dElev %f, ap0 %f,ap1 %f \n", _solutionIterations, elevDelta, apitch0, apitch1);
|
||||
}
|
||||
// If this finaly value is OK, then we're all done
|
||||
if(abs(elevDelta) < STHRESH*0.0001)
|
||||
if(abs(elevDelta) < _solverThreshold*0.0001)
|
||||
break;
|
||||
|
||||
// Otherwise, adjust and do the next iteration
|
||||
_approachElevator->val += SOLVE_TWEAK * elevDelta;
|
||||
_approachElevator->val += _solverDelta * elevDelta;
|
||||
if(abs(_approachElevator->val) > 1) {
|
||||
_failureMsg = "Insufficient elevator to trim for approach.";
|
||||
break;
|
||||
|
|
@ -1040,7 +1039,7 @@ void Airplane::solveAirplane()
|
|||
}
|
||||
}
|
||||
|
||||
void Airplane::solveHelicopter()
|
||||
void Airplane::solveHelicopter(bool verbose)
|
||||
{
|
||||
_solutionIterations = 0;
|
||||
_failureMsg = 0;
|
||||
|
|
@ -1048,16 +1047,16 @@ void Airplane::solveHelicopter()
|
|||
{
|
||||
Rotorgear* rg = getRotorgear();
|
||||
applyDragFactor(Math::pow(rg->getYasimDragFactor()/1000,
|
||||
1/SOLVE_TWEAK));
|
||||
1/_solverDelta));
|
||||
applyLiftRatio(Math::pow(rg->getYasimLiftFactor(),
|
||||
1/SOLVE_TWEAK));
|
||||
1/_solverDelta));
|
||||
}
|
||||
else
|
||||
//huh, no wing and no rotor? (_rotorgear is constructed,
|
||||
//if a rotor is defined
|
||||
{
|
||||
applyDragFactor(Math::pow(15.7/1000, 1/SOLVE_TWEAK));
|
||||
applyLiftRatio(Math::pow(104, 1/SOLVE_TWEAK));
|
||||
applyDragFactor(Math::pow(15.7/1000, 1/_solverDelta));
|
||||
applyLiftRatio(Math::pow(104, 1/_solverDelta));
|
||||
}
|
||||
_cruiseConfig.state.setupState(0,0,0);
|
||||
_model.setState(&_cruiseConfig.state);
|
||||
|
|
@ -1126,4 +1125,20 @@ float Airplane::getMaxThrust()
|
|||
return sum[0];
|
||||
}
|
||||
|
||||
float Airplane::getTailIncidence() const
|
||||
{
|
||||
if (_tailIncidence != nullptr) {
|
||||
return _tailIncidence->val;
|
||||
}
|
||||
else return 0;
|
||||
}
|
||||
|
||||
float Airplane::getApproachElevator() const
|
||||
{
|
||||
if (_approachElevator != nullptr) {
|
||||
return _approachElevator->val;
|
||||
}
|
||||
else return 0;
|
||||
}
|
||||
|
||||
}; // namespace yasim
|
||||
|
|
|
|||
|
|
@ -92,7 +92,7 @@ public:
|
|||
float getFuelDensity(int tank) const { return ((Tank*)_tanks.get(tank))->density; }
|
||||
float getTankCapacity(int tank) const { return ((Tank*)_tanks.get(tank))->cap; }
|
||||
|
||||
void compile(); // generate point masses & such, then solve
|
||||
void compile(bool verbose = false); // generate point masses & such, then solve
|
||||
void initEngines();
|
||||
void stabilizeThrust();
|
||||
|
||||
|
|
@ -101,8 +101,8 @@ public:
|
|||
float getDragCoefficient() const { return _dragFactor; }
|
||||
float getLiftRatio() const { return _liftRatio; }
|
||||
float getCruiseAoA() const { return _cruiseConfig.aoa; }
|
||||
float getTailIncidence() const { return _tailIncidence->val; }
|
||||
float getApproachElevator() const { return _approachElevator->val; }
|
||||
float getTailIncidence()const;
|
||||
float getApproachElevator() const;
|
||||
const char* getFailureMsg() const { return _failureMsg; }
|
||||
|
||||
// next two are used only in yasim CLI tool
|
||||
|
|
@ -130,6 +130,9 @@ public:
|
|||
float getMaxThrust();
|
||||
float getThrust2WeightEmpty() { return getMaxThrust()/(_emptyWeight * KG2N); };
|
||||
float getThrust2WeightMTOW() { return getMaxThrust()/(_mtow*KG2N); };
|
||||
void setSolverTweak(float f) { _solverDelta = f; };
|
||||
void setSolverThreshold(float threshold) { _solverThreshold = threshold; };
|
||||
void setSolverMaxIterations(int i) { _solverMaxIterations = i; };
|
||||
|
||||
private:
|
||||
struct Tank {
|
||||
|
|
@ -191,8 +194,8 @@ private:
|
|||
void solveGear();
|
||||
float _getPitch(Config &cfg);
|
||||
float _getLift(Config &cfg);
|
||||
void solveAirplane();
|
||||
void solveHelicopter();
|
||||
void solveAirplane(bool verbose = false);
|
||||
void solveHelicopter(bool verbose = false);
|
||||
float compileWing(Wing* w);
|
||||
void compileRotorgear();
|
||||
float compileFuselage(Fuselage* f);
|
||||
|
|
@ -215,6 +218,11 @@ private:
|
|||
/// set property name controling tail trim (incidence)
|
||||
void setHstabTrimControl(const char* propName);
|
||||
|
||||
float _solverDelta {0.3226};
|
||||
// How close to the solution are we trying get?
|
||||
// Trying too hard can result in oscillations (no convergence).
|
||||
float _solverThreshold {1};
|
||||
int _solverMaxIterations {4000};
|
||||
Model _model;
|
||||
ControlMap _controlMap;
|
||||
|
||||
|
|
|
|||
|
|
@ -4,29 +4,40 @@
|
|||
|
||||
#include "Version.hpp"
|
||||
#include <simgear/debug/logstream.hxx>
|
||||
#include <string>
|
||||
#include <iostream>
|
||||
|
||||
namespace yasim {
|
||||
|
||||
static const std::vector<std::string> VersionStrings = {
|
||||
"YASIM_VERSION_ORIGINAL",
|
||||
"YASIM_VERSION_32",
|
||||
"2017.2",
|
||||
"2018.1",
|
||||
"YASIM_VERSION_CURRENT",
|
||||
};
|
||||
|
||||
Version::YASIM_VERSION Version::getByName(const std::string& name)
|
||||
{
|
||||
auto it = std::find(VersionStrings.begin(), VersionStrings.end(), name);
|
||||
if (it == VersionStrings.end()) {
|
||||
SG_LOG(SG_FLIGHT,SG_ALERT,"Unknown yasim version '" << name << "' ignored, using YASIM_VERSION_ORIGINAL");
|
||||
return YASIM_VERSION_ORIGINAL;
|
||||
}
|
||||
YASIM_VERSION v = static_cast<YASIM_VERSION>(std::distance(VersionStrings.begin(), it));
|
||||
if (v > YASIM_VERSION_CURRENT) return YASIM_VERSION_CURRENT;
|
||||
else return v;
|
||||
}
|
||||
|
||||
std::string Version::getName(YASIM_VERSION v)
|
||||
{
|
||||
return VersionStrings.at(static_cast<int>(v));
|
||||
}
|
||||
|
||||
void Version::setVersion( const char * version )
|
||||
{
|
||||
const std::string v(version);
|
||||
|
||||
if( v == "YASIM_VERSION_ORIGINAL" ) {
|
||||
_version = YASIM_VERSION_ORIGINAL;
|
||||
} else if( v == "YASIM_VERSION_32" ) {
|
||||
_version = YASIM_VERSION_32;
|
||||
} else if( v == "2017.2" ) {
|
||||
_version = YASIM_VERSION_2017_2;
|
||||
} else if( v == "2018.1" ) {
|
||||
_version = YASIM_VERSION_2018_1;
|
||||
} else if( v == "YASIM_VERSION_CURRENT" ) {
|
||||
_version = YASIM_VERSION_CURRENT;
|
||||
} else {
|
||||
SG_LOG(SG_FLIGHT,SG_ALERT,"unknown yasim version '" << version << "' ignored, using YASIM_VERSION_ORIGINAL");
|
||||
return;
|
||||
}
|
||||
std::cout << "This aircraft uses yasim version '" << v << "'\n";
|
||||
_version = getByName(v);
|
||||
SG_LOG(SG_FLIGHT,SG_ALERT, "This aircraft uses yasim version '" << v << "' (" << _version << ")\n");
|
||||
}
|
||||
|
||||
} // namespace yasim
|
||||
|
|
|
|||
|
|
@ -1,6 +1,8 @@
|
|||
#ifndef _VERSION_HPP
|
||||
#define _VERSION_HPP
|
||||
|
||||
#include "yasim-common.hpp"
|
||||
|
||||
namespace yasim {
|
||||
|
||||
class Version {
|
||||
|
|
@ -8,19 +10,20 @@ public:
|
|||
Version() : _version(YASIM_VERSION_ORIGINAL) {}
|
||||
virtual ~Version() {}
|
||||
|
||||
typedef enum {
|
||||
enum YASIM_VERSION {
|
||||
YASIM_VERSION_ORIGINAL = 0,
|
||||
YASIM_VERSION_32,
|
||||
YASIM_VERSION_2017_2,
|
||||
YASIM_VERSION_2018_1,
|
||||
YASIM_VERSION_CURRENT = YASIM_VERSION_2018_1
|
||||
} YASIM_VERSION;
|
||||
} ;
|
||||
|
||||
void setVersion( const char * version );
|
||||
int getVersion() const { return _version; }
|
||||
bool isVersion( YASIM_VERSION version ) const;
|
||||
bool isVersionOrNewer( YASIM_VERSION version ) const;
|
||||
|
||||
static YASIM_VERSION getByName(const std::string& name);
|
||||
static std::string getName(YASIM_VERSION v);
|
||||
private:
|
||||
YASIM_VERSION _version;
|
||||
};
|
||||
|
|
|
|||
|
|
@ -8,7 +8,6 @@
|
|||
common file for YASim wide constants and static helper functions
|
||||
*/
|
||||
namespace yasim {
|
||||
static const int SOLVER_MAX_ITERATIONS = 4000;
|
||||
static const float YASIM_PI = 3.14159265358979323846f;
|
||||
static const float PI2 = YASIM_PI*2;
|
||||
static const float RAD2DEG = 180/YASIM_PI;
|
||||
|
|
|
|||
|
|
@ -262,11 +262,21 @@ int main(int argc, char** argv)
|
|||
catch (const sg_exception &e) {
|
||||
printf("XML parse error: %s (%s)\n", e.getFormattedMessage().c_str(), e.getOrigin());
|
||||
}
|
||||
|
||||
// ... and run
|
||||
a->compile();
|
||||
if(a->getFailureMsg())
|
||||
bool verbose {false};
|
||||
if (argc > 2 && strcmp(argv[2], "-v") == 0) {
|
||||
verbose=true;
|
||||
}
|
||||
if ((argc == 4) && (strcmp(argv[2], "--tweak") == 0)) {
|
||||
float tweak = std::atof(argv[3]);
|
||||
a->setSolverTweak(tweak);
|
||||
a->setSolverMaxIterations(2000);
|
||||
verbose=true;
|
||||
}
|
||||
a->compile(verbose);
|
||||
if(a->getFailureMsg()) {
|
||||
printf("SOLUTION FAILURE: %s\n", a->getFailureMsg());
|
||||
}
|
||||
if(!a->getFailureMsg() && argc > 2 ) {
|
||||
bool test = (strcmp(argv[2], "-test") == 0);
|
||||
if((strcmp(argv[2], "-g") == 0) || test)
|
||||
|
|
|
|||
Loading…
Reference in a new issue