From f14cc3be33e322cdf6ae20ccf58f2848e8be08fd Mon Sep 17 00:00:00 2001 From: Henning Stahlke Date: Thu, 2 Feb 2017 10:29:34 +0100 Subject: [PATCH] Extend yasim-test.cpp; add print mass distribution, add plot with different configs --- src/FDM/YASim/Airplane.cpp | 46 ++++++++----- src/FDM/YASim/Airplane.hpp | 2 + src/FDM/YASim/ControlMap.hpp | 5 +- src/FDM/YASim/yasim-test.cpp | 127 +++++++++++++++++++++++++---------- 4 files changed, 124 insertions(+), 56 deletions(-) diff --git a/src/FDM/YASim/Airplane.cpp b/src/FDM/YASim/Airplane.cpp index f3f792ba9..2678cdedb 100644 --- a/src/FDM/YASim/Airplane.cpp +++ b/src/FDM/YASim/Airplane.cpp @@ -839,6 +839,17 @@ void Airplane::setupWeights(bool isApproach) } } +/// load values for controls as defined in cruise configuration +void Airplane::loadCruiseControls() +{ + _controls.reset(); + for(int i=0; i<_cruiseControls.size(); i++) { + Control* c = (Control*)_cruiseControls.get(i); + _controls.setInput(c->control, c->val); + } + _controls.applyControls(); +} + void Airplane::runCruise() { setupState(_cruiseAoA, _cruiseSpeed,_cruiseGlideAngle, &_cruiseState); @@ -847,14 +858,8 @@ void Airplane::runCruise() Atmosphere::calcStdDensity(_cruiseP, _cruiseT)); // The control configuration - _controls.reset(); - int i; - for(i=0; i<_cruiseControls.size(); i++) { - Control* c = (Control*)_cruiseControls.get(i); - _controls.setInput(c->control, c->val); - } - _controls.applyControls(1000000); // Huge dt value - + loadCruiseControls(); + // The local wind float wind[3]; Math::mul3(-1, _cruiseState.v, wind); @@ -865,7 +870,7 @@ void Airplane::runCruise() // Set up the thruster parameters and iterate until the thrust // stabilizes. - for(i=0; i<_thrusters.size(); i++) { + for(int i=0; i<_thrusters.size(); i++) { Thruster* t = ((ThrustRec*)_thrusters.get(i))->thruster; t->setWind(wind); t->setAir(_cruiseP, _cruiseT, @@ -882,6 +887,17 @@ void Airplane::runCruise() _model.calcForces(&_cruiseState); } +/// load values for controls as defined in approach configuration +void Airplane::loadApproachControls() +{ + _controls.reset(); + for(int i=0; i<_approachControls.size(); i++) { + Control* c = (Control*)_approachControls.get(i); + _controls.setInput(c->control, c->val); + } + _controls.applyControls(); +} + void Airplane::runApproach() { setupState(_approachAoA, _approachSpeed,_approachGlideAngle, &_approachState); @@ -890,14 +906,8 @@ void Airplane::runApproach() Atmosphere::calcStdDensity(_approachP, _approachT)); // The control configuration - _controls.reset(); - int i; - for(i=0; i<_approachControls.size(); i++) { - Control* c = (Control*)_approachControls.get(i); - _controls.setInput(c->control, c->val); - } - _controls.applyControls(1000000); - + loadApproachControls(); + // The local wind float wind[3]; Math::mul3(-1, _approachState.v, wind); @@ -909,7 +919,7 @@ void Airplane::runApproach() // Run the thrusters until they get to a stable setting. FIXME: // this is lots of wasted work. - for(i=0; i<_thrusters.size(); i++) { + for(int i=0; i<_thrusters.size(); i++) { Thruster* t = ((ThrustRec*)_thrusters.get(i))->thruster; t->setWind(wind); t->setAir(_approachP, _approachT, diff --git a/src/FDM/YASim/Airplane.hpp b/src/FDM/YASim/Airplane.hpp index 1f0bb47fc..f44e3fe62 100644 --- a/src/FDM/YASim/Airplane.hpp +++ b/src/FDM/YASim/Airplane.hpp @@ -95,6 +95,8 @@ public: const char* getFailureMsg(); static void setupState(float aoa, float speed, float gla, State* s); // utility + void loadApproachControls(); + void loadCruiseControls(); private: struct Tank { float pos[3]; float cap; float fill; diff --git a/src/FDM/YASim/ControlMap.hpp b/src/FDM/YASim/ControlMap.hpp index 839ae2c4f..4741f5df0 100644 --- a/src/FDM/YASim/ControlMap.hpp +++ b/src/FDM/YASim/ControlMap.hpp @@ -49,8 +49,9 @@ public: // specified value. void setInput(int input, float value); - // Calculates and applies the settings received since the last reset(). - void applyControls(float dt); + /// Calculates and applies the settings received since the last reset(). + /// dt defaults to a large value used at solve time. + void applyControls(float dt=1e6); // Returns the input/output range appropriate for the given // control. Ailerons go from -1 to 1, while throttles are never diff --git a/src/FDM/YASim/yasim-test.cpp b/src/FDM/YASim/yasim-test.cpp index 61ed2a3dd..312774006 100644 --- a/src/FDM/YASim/yasim-test.cpp +++ b/src/FDM/YASim/yasim-test.cpp @@ -9,6 +9,7 @@ #include "FGFDM.hpp" #include "Atmosphere.hpp" +#include "RigidBody.hpp" #include "Airplane.hpp" using namespace yasim; @@ -30,6 +31,13 @@ static const float DEG2RAD = 0.0174532925199; static const float KTS2MPS = 0.514444444444; +enum Config +{ + CONFIG_NONE, + CONFIG_APPROACH, + CONFIG_CRUISE, +}; + // Generate a graph of lift, drag and L/D against AoA at the specified // speed and altitude. The result is a space-separated file of // numbers: "aoa lift drag LD" (aoa in degrees, lift and drag in @@ -40,15 +48,29 @@ static const float KTS2MPS = 0.514444444444; "dat" using 1:3 with lines title 'drag', \ "dat" using 1:4 with lines title 'LD' */ -void yasim_graph(Airplane* a, float alt, float kts) +void yasim_graph(Airplane* a, float alt, float kts, int cfg = CONFIG_NONE) { Model* m = a->getModel(); State s; - + m->setAir(Atmosphere::getStdPressure(alt), Atmosphere::getStdTemperature(alt), Atmosphere::getStdDensity(alt)); - m->getBody()->recalc(); + + switch (cfg) { + case CONFIG_APPROACH: + a->loadApproachControls(); + break; + case CONFIG_CRUISE: + a->loadCruiseControls(); + break; + case CONFIG_NONE: + break; + } + //if we fake the properties we could also use FGFDM::getExternalInput() + + + m->getBody()->recalc(); for(int deg=-179; deg<=179; deg++) { float aoa = deg * DEG2RAD; @@ -58,7 +80,7 @@ void yasim_graph(Airplane* a, float alt, float kts) m->calcForces(&s); float acc[3]; - m->getBody()->getAccel(acc); + m->getBody()->getAccel(acc); Math::tmul33(s.orient, acc, acc); float drag = acc[0] * (-1/9.8); @@ -68,19 +90,39 @@ void yasim_graph(Airplane* a, float alt, float kts) } } +void yasim_masses(Airplane* a) +{ + RigidBody* body = a->getModel()->getBody(); + int i, N = body->numMasses(); + float pos[3]; + float m, mass = 0; + printf("id posx posy posz mass\n"); + for (i = 0; i < N; i++) + { + body->getMassPosition(i, pos); + m = body->getMass(i); + printf("%d %.3f %.3f %.3f %.3f\n", i, pos[0], pos[1], pos[2], m); + mass += m; + } + printf("Total mass: %g", mass); +} + int usage() { - fprintf(stderr, "Usage: yasim [-g [-a alt] [-s kts]]\n"); + fprintf(stderr, "Usage: yasim [-g [-a alt] [-s kts] [-approach | -cruise] ]\n"); + fprintf(stderr, " yasim [-m]\n"); + fprintf(stderr, " -g print lift/drag table: aoa, lift, drag, lift/drag \n"); + fprintf(stderr, " -m print mass distribution table: id, x, y, z, mass \n"); return 1; } + int main(int argc, char** argv) { FGFDM* fdm = new FGFDM(); Airplane* a = fdm->getAirplane(); if(argc < 2) return usage(); - // Read try { string file = argv[1]; @@ -94,38 +136,51 @@ int main(int argc, char** argv) a->compile(); if(a->getFailureMsg()) printf("SOLUTION FAILURE: %s\n", a->getFailureMsg()); - - if(!a->getFailureMsg() && argc > 2 && strcmp(argv[2], "-g") == 0) { - float alt = 5000, kts = 100; - for(int i=3; igetFailureMsg() && argc > 2 ) { + if(strcmp(argv[2], "-g") == 0) { + float alt = 5000, kts = 100; + int cfg = CONFIG_NONE; + for(int i=3; igetCruiseAoA() * RAD2DEG; - float tail = -1 * a->getTailIncidence() * RAD2DEG; - float drag = 1000 * a->getDragCoefficient(); - float cg[3]; - a->getModel()->getBody()->getCG(cg); - a->getModel()->getBody()->recalc(); + else if(std::strcmp(argv[i], "-s") == 0) { + if(i+1 < argc) kts = std::atof(argv[++i]); + } + else if(std::strcmp(argv[i], "-approach") == 0) cfg = CONFIG_APPROACH; + else if(std::strcmp(argv[i], "-cruise") == 0) cfg = CONFIG_CRUISE; + else return usage(); + } + yasim_graph(a, alt, kts, cfg); + } + else if(strcmp(argv[2], "-m") == 0) { + yasim_masses(a); + } + } + else { + printf("Solution results:"); + float aoa = a->getCruiseAoA() * RAD2DEG; + float tail = -1 * a->getTailIncidence() * RAD2DEG; + float drag = 1000 * a->getDragCoefficient(); + float cg[3]; + a->getModel()->getBody()->getCG(cg); + a->getModel()->getBody()->recalc(); - float SI_inertia[9]; - a->getModel()->getBody()->getInertiaMatrix(SI_inertia); - - printf("Solution results:"); - printf(" Iterations: %d\n", a->getSolutionIterations()); - printf(" Drag Coefficient: %f\n", drag); - printf(" Lift Ratio: %f\n", a->getLiftRatio()); - printf(" Cruise AoA: %f\n", aoa); - printf(" Tail Incidence: %f\n", tail); - printf("Approach Elevator: %f\n", a->getApproachElevator()); - printf(" CG: x:%.3f, y:%.3f, z:%.3f\n\n", cg[0], cg[1], cg[2]); - printf(" Inertia tensor : %.3f, %.3f, %.3f\n", SI_inertia[0], SI_inertia[1], SI_inertia[2]); - printf(" [kg*m^2] %.3f, %.3f, %.3f\n", SI_inertia[3], SI_inertia[4], SI_inertia[5]); - printf(" Origo at CG %.3f, %.3f, %.3f\n", SI_inertia[6], SI_inertia[7], SI_inertia[8]); - } + float SI_inertia[9]; + a->getModel()->getBody()->getInertiaMatrix(SI_inertia); + + printf(" Iterations: %d\n", a->getSolutionIterations()); + printf(" Drag Coefficient: %f\n", drag); + printf(" Lift Ratio: %f\n", a->getLiftRatio()); + printf(" Cruise AoA: %f\n", aoa); + printf(" Tail Incidence: %f\n", tail); + printf("Approach Elevator: %f\n", a->getApproachElevator()); + printf(" CG: x:%.3f, y:%.3f, z:%.3f\n\n", cg[0], cg[1], cg[2]); + printf("Inertia tensor [kg*m^2], origo at CG:\n"); + printf(" %7.3f, %7.3f, %7.3f\n", SI_inertia[0], SI_inertia[1], SI_inertia[2]); + printf(" %7.3f, %7.3f, %7.3f\n", SI_inertia[3], SI_inertia[4], SI_inertia[5]); + printf(" %7.3f, %7.3f, %7.3f\n", SI_inertia[6], SI_inertia[7], SI_inertia[8]); + } delete fdm; return 0; }