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New changes to address various feedback from initial release.

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curt 1999-02-11 21:05:34 +00:00
parent bfbee6c124
commit f4e3e8bc92
31 changed files with 877 additions and 794 deletions
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213
JSBsim/FGAircraft.cpp
View file

@ -1,8 +1,8 @@
/*******************************************************************************
/** *****************************************************************************
Module: FGAircraft.cpp
Author: Jon S. Berndt
Date started: 12/12/98
Date started: 12/12/98
Purpose: Encapsulates an aircraft
Called by: FGFDMExec
@ -27,11 +27,9 @@
FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
Models the aircraft reactions and forces.
ARGUMENTS
--------------------------------------------------------------------------------
Models the aircraft reactions and forces. This class is instantiated by the
FGFDMExec class and scheduled as an FDM entry. LoadAircraft() is supplied with a
name of a valid, registered aircraft, and the data file is parsed.
HISTORY
--------------------------------------------------------------------------------
@ -133,20 +131,28 @@ stability derivatives for the aircraft.
********************************************************************************
INCLUDES
*******************************************************************************/
#include "FGAircraft.h"
#include <stdlib.h>
#include <dirent.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <math.h>
#include "FGAircraft.h"
#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGAtmosphere.h"
#include "FGState.h"
#include "FGFDMExec.h"
#include "FGFCS.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
/*******************************************************************************
************************************ CODE **************************************
*******************************************************************************/
FGAircraft::FGAircraft(void) : FGModel()
FGAircraft::FGAircraft(FGFDMExec* fdmex) : FGModel(fdmex)
{
int i;
@ -171,35 +177,33 @@ FGAircraft::~FGAircraft(void)
bool FGAircraft::LoadAircraft(char* fname)
{
char path[250];
char fullpath[275];
char filename[275];
char aircraftDef[2100];
char tag[220];
char path[256];
char fullpath[256];
char filename[256];
char aircraftDef[256];
char tag[256];
DIR* dir;
DIR* coeffdir;
struct dirent* dirEntry = 0L;
struct dirent* coeffdirEntry = 0L;
struct dirent* dirEntry;
struct dirent* coeffdirEntry;
struct stat st;
struct stat st2;
ifstream coeffInFile;
char scratch[250];
sprintf(aircraftDef, "/h/curt/projects/FlightGear/Simulator/FDM/JSBsim/aircraft/%s/%s.dat", fname, fname);
ifstream aircraftfile(aircraftDef);
if (aircraftfile) {
aircraftfile >> AircraftName;
aircraftfile >> WingArea;
aircraftfile >> WingSpan;
aircraftfile >> cbar;
aircraftfile >> Ixx;
aircraftfile >> Iyy;
aircraftfile >> Izz;
aircraftfile >> Ixz;
aircraftfile >> Weight;
m = Weight / 32.174;
aircraftfile >> AircraftName; // String with no embedded spaces
aircraftfile >> WingArea; // square feet
aircraftfile >> WingSpan; // feet
aircraftfile >> cbar; // feet
aircraftfile >> Ixx; // slug ft^2
aircraftfile >> Iyy; // "
aircraftfile >> Izz; // "
aircraftfile >> Ixz; // "
aircraftfile >> EmptyWeight; // pounds
EmptyMass = EmptyWeight / GRAVITY;
aircraftfile >> tag;
numTanks = numEngines = 0;
@ -207,13 +211,13 @@ bool FGAircraft::LoadAircraft(char* fname)
while (strstr(tag,"EOF") == 0) {
if (strstr(tag,"CGLOC")) {
aircraftfile >> Xcg;
aircraftfile >> Ycg;
aircraftfile >> Zcg;
aircraftfile >> Xcg; // inches
aircraftfile >> Ycg; // inches
aircraftfile >> Zcg; // inches
} else if (strstr(tag,"EYEPOINTLOC")) {
aircraftfile >> Xep;
aircraftfile >> Yep;
aircraftfile >> Zep;
aircraftfile >> Xep; // inches
aircraftfile >> Yep; // inches
aircraftfile >> Zep; // inches
} else if (strstr(tag,"TANK")) {
Tank[numTanks] = new FGTank(aircraftfile);
switch(Tank[numTanks]->GetType()) {
@ -227,7 +231,7 @@ bool FGAircraft::LoadAircraft(char* fname)
numTanks++;
} else if (strstr(tag,"ENGINE")) {
aircraftfile >> tag;
Engine[numEngines] = new FGEngine(tag);
Engine[numEngines] = new FGEngine(FDMExec, tag, numEngines);
numEngines++;
}
aircraftfile >> tag;
@ -254,7 +258,7 @@ bool FGAircraft::LoadAircraft(char* fname)
// previously mentioned axis.
sprintf(path,"/h/curt/projects/FlightGear/Simulator/FDM/JSBsim/aircraft/%s/",AircraftName);
if ( dir = opendir(path) ) {
if (dir = opendir(path)) {
while (dirEntry = readdir(dir)) {
sprintf(fullpath,"%s%s",path,dirEntry->d_name);
@ -268,7 +272,7 @@ bool FGAircraft::LoadAircraft(char* fname)
sprintf(filename,"%s%s/%s",path,Axis[axis_ctr],coeffdirEntry->d_name);
stat(filename,&st2);
if (st2.st_size > 6) {
Coeff[axis_ctr][coeff_ctr[axis_ctr]] = new FGCoefficient(filename);
Coeff[axis_ctr][coeff_ctr[axis_ctr]] = new FGCoefficient(FDMExec, filename);
coeff_ctr[axis_ctr]++;
}
}
@ -298,6 +302,8 @@ bool FGAircraft::Run(void)
for (int i = 0; i < 3; i++) Forces[i] = Moments[i] = 0.0;
MassChange();
FProp(); FAero(); FGear(); FMass();
MProp(); MAero(); MGear(); MMass();
@ -308,6 +314,59 @@ bool FGAircraft::Run(void)
}
void FGAircraft::MassChange()
{
// UPDATE TANK CONTENTS
//
// For each engine, cycle through the tanks and draw an equal amount of
// fuel (or oxidizer) from each active tank. The needed amount of fuel is
// determined by the engine in the FGEngine class. If more fuel is needed
// than is available in the tank, then that amount is considered a shortage,
// and will be drawn from the next tank. If the engine cannot be fed what it
// needs, it will be considered to be starved, and will shut down.
float Oshortage, Fshortage;
for (int e=0; e<numEngines; e++) {
Fshortage = Oshortage = 0.0;
for (int t=0; t<numTanks; t++) {
switch(Engine[e]->GetType()) {
case 0: // Rocket
switch(Tank[t]->GetType()) {
case 0: // Fuel
if (Tank[t]->GetSelected()) {
Fshortage = Tank[t]->Reduce((Engine[e]->CalcFuelNeed()/
numSelectedFuelTanks)*(dt*rate) + Fshortage);
}
break;
case 1: // Oxidizer
if (Tank[t]->GetSelected()) {
Oshortage = Tank[t]->Reduce((Engine[e]->CalcOxidizerNeed()/
numSelectedOxiTanks)*(dt*rate) + Oshortage);
}
break;
}
break;
default: // piston, turbojet, turbofan, etc.
if (Tank[t]->GetSelected()) {
Fshortage = Tank[t]->Reduce((Engine[e]->CalcFuelNeed()/
numSelectedFuelTanks)*(dt*rate) + Fshortage);
}
break;
}
}
if ((Fshortage <= 0.0) || (Oshortage <= 0.0)) Engine[e]->SetStarved();
else Engine[e]->SetStarved(false);
}
Weight = EmptyWeight;
for (int t=0; t<numTanks; t++)
Weight += Tank[t]->GetContents();
Mass = Weight / GRAVITY;
}
void FGAircraft::FAero(void)
{
float F[3];
@ -334,59 +393,17 @@ void FGAircraft::FGear(void)
void FGAircraft::FMass(void)
{
Forces[0] += -g*sin(tht) * m;
Forces[1] += g*sin(phi)*cos(tht) * m;
Forces[2] += g*cos(phi)*cos(tht) * m;
Forces[0] += -GRAVITY*sin(tht) * Mass;
Forces[1] += GRAVITY*sin(phi)*cos(tht) * Mass;
Forces[2] += GRAVITY*cos(phi)*cos(tht) * Mass;
}
void FGAircraft::FProp(void)
{
float Oshortage, Fshortage;
for (int i=0;i<numEngines;i++) {
Forces[0] += Engine[i]->CalcThrust();
}
//
// UPDATE TANK CONTENTS
//
// For each engine, cycle through the tanks and draw an equal amount of
// fuel (or oxidizer) from each active tank. The needed amount of fuel is
// determined by the engine in the FGEngine class. If more fuel is needed
// than is available in the tank, then that amount is considered a shortage,
// and will be drawn from the next tank. If the engine cannot be fed what it
// needs, it will be considered to be starved, and will shut down.
for (int e=0; e<numEngines; e++) {
Fshortage = Oshortage = 0.0;
for (int t=0; t<numTanks; t++) {
switch(Engine[e]->GetType()) {
case 0: // Rocket
switch(Tank[t]->GetType()) {
case 0: // Fuel
if (Tank[t]->GetSelected()) {
Fshortage = Tank[t]->Reduce((Engine[e]->CalcFuelNeed()/numSelectedFuelTanks)*(dt*rate) + Fshortage);
}
break;
case 1: // Oxidizer
if (Tank[t]->GetSelected()) {
Oshortage = Tank[t]->Reduce((Engine[e]->CalcOxidizerNeed()/numSelectedOxiTanks)*(dt*rate) + Oshortage);
}
break;
}
break;
default: // piston, turbojet, turbofan, etc.
if (Tank[t]->GetSelected()) {
Fshortage = Tank[t]->Reduce((Engine[e]->CalcFuelNeed()/numSelectedFuelTanks)*(dt*rate) + Fshortage);
}
break;
}
}
if ((Fshortage < 0.0) || (Oshortage < 0.0)) Engine[e]->SetStarved();
else Engine[e]->SetStarved(false);
}
}
@ -418,33 +435,17 @@ void FGAircraft::MProp(void)
void FGAircraft::GetState(void)
{
Ixx = State->GetIxx();
Iyy = State->GetIyy();
Izz = State->GetIzz();
Ixz = State->GetIxz();
alpha = State->Getalpha();
beta = State->Getbeta();
m = State->Getm();
phi = State->Getphi();
tht = State->Gettht();
psi = State->Getpsi();
g = State->Getg();
dt = State->Getdt();
alpha = Translation->Getalpha();
beta = Translation->Getbeta();
phi = Rotation->Getphi();
tht = Rotation->Gettht();
psi = Rotation->Getpsi();
}
void FGAircraft::PutState(void)
{
State->SetIxx(Ixx);
State->SetIyy(Iyy);
State->SetIzz(Izz);
State->SetIxz(Ixz);
State->SetFx(Forces[0]);
State->SetFy(Forces[1]);
State->SetFz(Forces[2]);
State->SetL(Moments[0]);
State->SetM(Moments[1]);
State->SetN(Moments[2]);
State->Setm(m);
}

44
JSBsim/FGAircraft.h
View file

@ -26,9 +26,8 @@
HISTORY
--------------------------------------------------------------------------------
12/12/98 JSB Created
*******************************************************************************/
/*******************************************************************************
********************************************************************************
SENTRY
*******************************************************************************/
@ -102,7 +101,6 @@ INCLUDES
#include "FGCoefficient.h"
#include "FGEngine.h"
#include "FGTank.h"
//#include "FGMatrix.h"
/*******************************************************************************
DEFINITIONS
@ -116,12 +114,15 @@ CLASS DECLARATION
class FGAircraft : public FGModel
{
public:
FGAircraft(void);
FGAircraft(FGFDMExec*);
~FGAircraft(void);
bool Run(void);
bool LoadAircraft(char*);
char* GetAircraftName(void) {return AircraftName;}
inline char* GetAircraftName(void) {return AircraftName;}
inline void SetGearUp(bool tt) {GearUp = tt;}
inline bool GetGearUp(void) {return GearUp;}
inline float GetWingArea(void) {return WingArea;}
@ -129,6 +130,21 @@ public:
inline float Getcbar(void) {return cbar;}
inline FGEngine* GetEngine(int tt) {return Engine[tt];}
inline FGTank* GetTank(int tt) {return Tank[tt];}
inline float GetWeight(void) {return Weight;}
inline float GetMass(void) {return Mass;}
inline float GetL(void) {return Moments[0];}
inline float GetM(void) {return Moments[1];}
inline float GetN(void) {return Moments[2];}
inline float GetFx(void) {return Forces[0];}
inline float GetFy(void) {return Forces[1];}
inline float GetFz(void) {return Forces[2];}
inline float GetIxx(void) {return Ixx;}
inline float GetIyy(void) {return Iyy;}
inline float GetIzz(void) {return Izz;}
inline float GetIxz(void) {return Ixz;}
private:
void GetState(void);
@ -144,26 +160,28 @@ private:
void MMass(void);
void MProp(void);
void MassChange(void);
float Moments[3];
float Forces[3];
char AircraftName[50];
float Ixx, Iyy, Izz, Ixz, m;
float Ixx, Iyy, Izz, Ixz, EmptyMass, Mass;
float Xcg, Ycg, Zcg;
float Xep, Yep, Zep;
float rho, qbar, Vt;
float alpha, beta;
float WingArea, WingSpan, cbar;
float g, phi, tht, psi;
float Weight;
float phi, tht, psi;
float Weight, EmptyWeight;
float dt;
int numTanks;
int numEngines;
int numSelectedOxiTanks;
int numSelectedFuelTanks;
FGTank* Tank[30];
FGEngine *Engine[10];
FGTank* Tank[MAX_TANKS];
FGEngine *Engine[MAX_ENGINES];
FGCoefficient *Coeff[6][10];
int coeff_ctr[6];
@ -184,11 +202,5 @@ protected:
};
#ifndef FDM_MAIN
extern FGAircraft* Aircraft;
#else
FGAircraft* Aircraft;
#endif
/******************************************************************************/
#endif

19
JSBsim/FGAtmosphere.cpp
View file

@ -30,10 +30,6 @@ FUNCTIONAL DESCRIPTION
Models the atmosphere. The equation used below was determined by a third order
curve fit using Excel. The data is from the ICAO atmosphere model.
ARGUMENTS
--------------------------------------------------------------------------------
HISTORY
--------------------------------------------------------------------------------
11/24/98 JSB Created
@ -43,12 +39,21 @@ INCLUDES
*******************************************************************************/
#include "FGAtmosphere.h"
#include "FGState.h"
#include "FGFDMExec.h"
#include "FGFCS.h"
#include "FGAircraft.h"
#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
/*******************************************************************************
************************************ CODE **************************************
*******************************************************************************/
FGAtmosphere::FGAtmosphere() : FGModel()
FGAtmosphere::FGAtmosphere(FGFDMExec* fdmex) : FGModel(fdmex)
{
strcpy(Name,"FGAtmosphere");
}
@ -62,9 +67,9 @@ FGAtmosphere::~FGAtmosphere()
bool FGAtmosphere::Run(void)
{
if (!FGModel::Run()) { // if false then execute this Run()
State->Setrho(0.002377 - 7.0E-08*State->Geth()
rho = 0.002377 - 7.0E-08*State->Geth()
+ 7.0E-13*State->Geth()*State->Geth()
- 2.0E-18*State->Geth()*State->Geth()*State->Geth());
- 2.0E-18*State->Geth()*State->Geth()*State->Geth();
State->SetMach(State->GetVt()/State->Geta());
} else { // skip Run() execution this time

16
JSBsim/FGAtmosphere.h
View file

@ -26,9 +26,8 @@
HISTORY
--------------------------------------------------------------------------------
11/24/98 JSB Created
*******************************************************************************/
/*******************************************************************************
********************************************************************************
SENTRY
*******************************************************************************/
@ -48,21 +47,18 @@ CLASS DECLARATION
class FGAtmosphere : public FGModel
{
public:
FGAtmosphere(void);
FGAtmosphere(FGFDMExec*);
~FGAtmosphere(void);
bool Run(void);
inline float Getrho(void) {return rho;}
protected:
private:
float rho;
};
#ifndef FDM_MAIN
extern FGAtmosphere* Atmosphere;
#else
FGAtmosphere* Atmosphere;
#endif
/******************************************************************************/
#endif

16
JSBsim/FGAuxiliary.cpp
View file

@ -30,10 +30,6 @@ FUNCTIONAL DESCRIPTION
This class calculates various auxiliary parameters, mostly used by the visual
system
ARGUMENTS
--------------------------------------------------------------------------------
HISTORY
--------------------------------------------------------------------------------
01/26/99 JSB Created
@ -43,12 +39,21 @@ INCLUDES
*******************************************************************************/
#include "FGAuxiliary.h"
#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGAtmosphere.h"
#include "FGState.h"
#include "FGFDMExec.h"
#include "FGFCS.h"
#include "FGAircraft.h"
#include "FGPosition.h"
#include "FGOutput.h"
/*******************************************************************************
************************************ CODE **************************************
*******************************************************************************/
FGAuxiliary::FGAuxiliary() : FGModel()
FGAuxiliary::FGAuxiliary(FGFDMExec* fdmex) : FGModel(fdmex)
{
strcpy(Name, "FGAuxiliary");
}
@ -64,6 +69,7 @@ bool FGAuxiliary::Run()
if (!FGModel::Run()) {
} else {
}
return false;
}

13
JSBsim/FGAuxiliary.h
View file

@ -26,9 +26,8 @@
HISTORY
--------------------------------------------------------------------------------
11/22/98 JSB Created
*******************************************************************************/
/*******************************************************************************
********************************************************************************
SENTRY
*******************************************************************************/
@ -51,22 +50,16 @@ CLASS DECLARATION
class FGAuxiliary : public FGModel
{
public:
FGAuxiliary(void);
FGAuxiliary(FGFDMExec*);
~FGAuxiliary(void);
bool Run(void);
protected:
private:
};
#ifndef FDM_MAIN
extern FGAuxiliary* Auxiliary;
#else
FGAuxiliary* Auxiliary;
#endif
/******************************************************************************/
#endif

78
JSBsim/FGCoefficient.cpp
View file

@ -99,10 +99,6 @@ seen to be equal, and there are the same number of values for each altitude.
See the header file FGCoefficient.h for the values of the identifiers.
ARGUMENTS
--------------------------------------------------------------------------------
HISTORY
--------------------------------------------------------------------------------
12/28/98 JSB Created
@ -111,28 +107,58 @@ HISTORY
INCLUDES
*******************************************************************************/
class FGCoefficient;
#include <stdio.h>
#include <stdlib.h>
#include "FGCoefficient.h"
#include "FGAtmosphere.h"
#include "FGState.h"
#include "FGFDMExec.h"
#include "FGFCS.h"
#include "FGAircraft.h"
#include "FGCoefficient.h"
#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
/*******************************************************************************
************************************ CODE **************************************
*******************************************************************************/
FGCoefficient::FGCoefficient(void)
FGCoefficient::FGCoefficient(FGFDMExec* fdex)
{
FDMExec = fdex;
State = FDMExec->GetState();
Atmosphere = FDMExec->GetAtmosphere();
FCS = FDMExec->GetFCS();
Aircraft = FDMExec->GetAircraft();
Translation = FDMExec->GetTranslation();
Rotation = FDMExec->GetRotation();
Position = FDMExec->GetPosition();
Auxiliary = FDMExec->GetAuxiliary();
Output = FDMExec->GetOutput();
rows = columns = 0;
}
FGCoefficient::FGCoefficient(char* fname)
FGCoefficient::FGCoefficient(FGFDMExec* fdex, char* fname)
{
int r, c;
float ftrashcan;
FDMExec = fdex;
State = FDMExec->GetState();
Atmosphere = FDMExec->GetAtmosphere();
FCS = FDMExec->GetFCS();
Aircraft = FDMExec->GetAircraft();
Translation = FDMExec->GetTranslation();
Rotation = FDMExec->GetRotation();
Position = FDMExec->GetPosition();
Auxiliary = FDMExec->GetAuxiliary();
Output = FDMExec->GetOutput();
ifstream coeffDefFile(fname);
if (coeffDefFile) {
@ -260,16 +286,38 @@ FGCoefficient::FGCoefficient(char* fname)
}
FGCoefficient::FGCoefficient(int r, int c)
FGCoefficient::FGCoefficient(FGFDMExec* fdex, int r, int c)
{
FDMExec = fdex;
State = FDMExec->GetState();
Atmosphere = FDMExec->GetAtmosphere();
FCS = FDMExec->GetFCS();
Aircraft = FDMExec->GetAircraft();
Translation = FDMExec->GetTranslation();
Rotation = FDMExec->GetRotation();
Position = FDMExec->GetPosition();
Auxiliary = FDMExec->GetAuxiliary();
Output = FDMExec->GetOutput();
rows = r;
columns = c;
Allocate(r,c);
}
FGCoefficient::FGCoefficient(int n)
FGCoefficient::FGCoefficient(FGFDMExec* fdex, int n)
{
FDMExec = fdex;
State = FDMExec->GetState();
Atmosphere = FDMExec->GetAtmosphere();
FCS = FDMExec->GetFCS();
Aircraft = FDMExec->GetAircraft();
Translation = FDMExec->GetTranslation();
Rotation = FDMExec->GetRotation();
Position = FDMExec->GetPosition();
Auxiliary = FDMExec->GetAuxiliary();
Output = FDMExec->GetOutput();
rows = n;
columns = 0;
Allocate(n);
@ -384,19 +432,19 @@ float FGCoefficient::GetCoeffVal(int val_idx)
case FG_CBAR:
return Aircraft->Getcbar();
case FG_ALPHA:
return State->Getalpha();
return Translation->Getalpha();
case FG_ALPHADOT:
return State->Getadot();
case FG_BETA:
return State->Getbeta();
return Translation->Getbeta();
case FG_BETADOT:
return State->Getbdot();
case FG_PITCHRATE:
return State->GetQ();
return Rotation->GetQ();
case FG_ROLLRATE:
return State->GetP();
return Rotation->GetP();
case FG_YAWRATE:
return State->GetR();
return Rotation->GetR();
case FG_ELEVATOR:
return FCS->GetDe();
case FG_AILERON:

33
JSBsim/FGCoefficient.h
View file

@ -26,9 +26,8 @@
HISTORY
--------------------------------------------------------------------------------
12/28/98 JSB Created
*******************************************************************************/
/*******************************************************************************
********************************************************************************
SENTRY
*******************************************************************************/
@ -64,13 +63,24 @@ DEFINES
CLASS DECLARATION
*******************************************************************************/
class FGFDMExec;
class FGState;
class FGAtmosphere;
class FGFCS;
class FGAircraft;
class FGTranslation;
class FGRotation;
class FGPosition;
class FGAuxiliary;
class FGOutput;
class FGCoefficient
{
public:
FGCoefficient(void);
FGCoefficient(int, int);
FGCoefficient(int);
FGCoefficient(char*);
FGCoefficient(FGFDMExec*);
FGCoefficient(FGFDMExec*, int, int);
FGCoefficient(FGFDMExec*, int);
FGCoefficient(FGFDMExec*, char*);
~FGCoefficient(void);
bool Allocate(int);
@ -98,6 +108,17 @@ private:
float LookupR, LookupC;
float GetCoeffVal(int);
FGFDMExec* FDMExec;
FGState* State;
FGAtmosphere* Atmosphere;
FGFCS* FCS;
FGAircraft* Aircraft;
FGTranslation* Translation;
FGRotation* Rotation;
FGPosition* Position;
FGAuxiliary* Auxiliary;
FGOutput* Output;
};
/******************************************************************************/

48
JSBsim/FGEngine.cpp
View file

@ -28,10 +28,6 @@ FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
See header file.
ARGUMENTS
--------------------------------------------------------------------------------
HISTORY
--------------------------------------------------------------------------------
@ -41,23 +37,44 @@ HISTORY
INCLUDES
*******************************************************************************/
#include "FGEngine.h"
#include "FGState.h"
#include "FGFCS.h"
#include <fstream.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "FGEngine.h"
#include "FGState.h"
#include "FGFDMExec.h"
#include "FGAtmosphere.h"
#include "FGFCS.h"
#include "FGAircraft.h"
#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
/*******************************************************************************
************************************ CODE **************************************
*******************************************************************************/
FGEngine::FGEngine(char *engineName)
FGEngine::FGEngine(FGFDMExec* fdex, char *engineName, int num)
{
char fullpath[250];
char tag[220];
char fullpath[256];
char tag[256];
FDMExec = fdex;
State = FDMExec->GetState();
Atmosphere = FDMExec->GetAtmosphere();
FCS = FDMExec->GetFCS();
Aircraft = FDMExec->GetAircraft();
Translation = FDMExec->GetTranslation();
Rotation = FDMExec->GetRotation();
Position = FDMExec->GetPosition();
Auxiliary = FDMExec->GetAuxiliary();
Output = FDMExec->GetOutput();
strcpy(Name, engineName);
sprintf(fullpath,"/h/curt/projects/FlightGear/Simulator/FDM/JSBsim/engine/%s.dat", engineName);
@ -85,6 +102,7 @@ FGEngine::FGEngine(char *engineName)
cerr << "Unable to open engine definition file " << engineName << endl;
}
EngineNumber = num;
Thrust = 0.0;
Starved = Flameout = false;
}
@ -99,7 +117,7 @@ float FGEngine::CalcRocketThrust(void)
{
float lastThrust;
Throttle = FCS->GetThrottle();
Throttle = FCS->GetThrottle(EngineNumber);
lastThrust = Thrust; // last actual thrust
if (Throttle < MinThrottle || Starved) {
@ -107,7 +125,7 @@ float FGEngine::CalcRocketThrust(void)
Flameout = true;
} else {
PctPower = Throttle / MaxThrottle;
Thrust = PctPower*((1.0 - State->Getrho() / 0.002378)*(VacThrustMax - SLThrustMax) +
Thrust = PctPower*((1.0 - Atmosphere->Getrho() / 0.002378)*(VacThrustMax - SLThrustMax) +
SLThrustMax); // desired thrust
Flameout = false;
}
@ -129,13 +147,13 @@ float FGEngine::CalcThrust(void)
switch(Type) {
case 0: // Rocket
return CalcRocketThrust();
break;
// break;
case 1: // Piston
return CalcPistonThrust();
break;
// break;
default:
return 9999.0;
break;
// break;
}
}

31
JSBsim/FGEngine.h
View file

@ -32,9 +32,8 @@ a generic engine.
HISTORY
--------------------------------------------------------------------------------
01/21/99 JSB Created
*******************************************************************************/
/*******************************************************************************
********************************************************************************
SENTRY
*******************************************************************************/
@ -53,11 +52,21 @@ DEFINES
CLASS DECLARATION
*******************************************************************************/
class FGFDMExec;
class FGState;
class FGAtmosphere;
class FGFCS;
class FGAircraft;
class FGTranslation;
class FGRotation;
class FGPosition;
class FGAuxiliary;
class FGOutput;
class FGEngine
{
public:
FGEngine(void);
FGEngine(char*);
FGEngine(FGFDMExec*, char*, int);
~FGEngine(void);
float GetThrust(void) {return Thrust;}
@ -92,7 +101,19 @@ private:
bool Starved;
bool Flameout;
float PctPower;
int EngineNumber;
FGFDMExec* FDMExec;
FGState* State;
FGAtmosphere* Atmosphere;
FGFCS* FCS;
FGAircraft* Aircraft;
FGTranslation* Translation;
FGRotation* Rotation;
FGPosition* Position;
FGAuxiliary* Auxiliary;
FGOutput* Output;
protected:
float CalcRocketThrust(void);
float CalcPistonThrust(void);
@ -100,4 +121,4 @@ protected:
};
/******************************************************************************/
#endif
#endif

15
JSBsim/FGFCS.cpp
View file

@ -29,10 +29,6 @@ FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
This class models the flight controls for a specific airplane
ARGUMENTS
--------------------------------------------------------------------------------
HISTORY
--------------------------------------------------------------------------------
12/12/98 JSB Created
@ -42,13 +38,22 @@ INCLUDES
*******************************************************************************/
#include "FGFCS.h"
#include "FGState.h"
#include "FGFDMExec.h"
#include "FGAtmosphere.h"
#include "FGAircraft.h"
#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
/*******************************************************************************
************************************ CODE **************************************
*******************************************************************************/
FGFCS::FGFCS(void) : FGModel()
FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
{
strcpy(Name, "FGFCS");
}

21
JSBsim/FGFCS.h
View file

@ -26,9 +26,8 @@
HISTORY
--------------------------------------------------------------------------------
12/12/98 JSB Created
*******************************************************************************/
/*******************************************************************************
********************************************************************************
SENTRY
*******************************************************************************/
@ -49,37 +48,31 @@ CLASS DECLARATION
class FGFCS : public FGModel
{
public:
FGFCS(void);
FGFCS(FGFDMExec*);
~FGFCS(void);
bool Run(void);
inline float GetDa(void) {return Da;}
inline float GetDe(void) {return De;}
inline float GetDr(void) {return Dr;}
inline float GetDf(void) {return Df;}
inline float GetDs(void) {return Ds;}
inline float GetThrottle(void) {return Throttle;}
inline float GetThrottle(int ii) {return Throttle[ii];}
inline void SetDa(float tt) {Da = tt;}
inline void SetDe(float tt) {De = tt;}
inline void SetDr(float tt) {Dr = tt;}
inline void SetDf(float tt) {Df = tt;}
inline void SetDs(float tt) {Ds = tt;}
inline void SetThrottle(float tt) {Throttle = tt;}
inline void SetThrottle(int ii, float tt) {Throttle[ii] = tt;}
protected:
private:
float Da, De, Dr, Df, Ds;
float Throttle;
float Throttle[MAX_ENGINES];
};
#ifndef FDM_MAIN
extern FGFCS* FCS;
#else
FGFCS* FCS;
#endif
/******************************************************************************/
#endif
#endif

68
JSBsim/FGFDMExec.cpp
View file

@ -30,11 +30,6 @@ FUNCTIONAL DESCRIPTION
This class wraps up the simulation scheduling routines.
ARGUMENTS
--------------------------------------------------------------------------------
HISTORY
--------------------------------------------------------------------------------
11/17/98 JSB Created
@ -43,12 +38,23 @@ HISTORY
INCLUDES
*******************************************************************************/
#include "FGFDMExec.h"
#include <stdio.h>
#include <stdlib.h>
#include <iostream.h>
#include <time.h>
#include "FGFDMExec.h"
#include "FGState.h"
#include "FGAtmosphere.h"
#include "FGFCS.h"
#include "FGAircraft.h"
#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
/*******************************************************************************
************************************ CODE **************************************
*******************************************************************************/
@ -58,17 +64,41 @@ INCLUDES
FGFDMExec::FGFDMExec(void)
{
FirstModel = 0L;
FirstModel = 0;
Error = 0;
State = 0;
Atmosphere = 0;
FCS = 0;
Aircraft = 0;
Translation = 0;
Rotation = 0;
Position = 0;
Auxiliary = 0;
Output = 0;
State = new FGState();
Atmosphere = new FGAtmosphere();
FCS = new FGFCS();
Aircraft = new FGAircraft();
Translation = new FGTranslation();
Rotation = new FGRotation();
Position = new FGPosition();
Auxiliary = new FGAuxiliary();
Output = new FGOutput();
// Instantiate this FDM Executive's Models
Atmosphere = new FGAtmosphere(this);
FCS = new FGFCS(this);
Aircraft = new FGAircraft(this);
Translation = new FGTranslation(this);
Rotation = new FGRotation(this);
Position = new FGPosition(this);
Auxiliary = new FGAuxiliary(this);
Output = new FGOutput(this);
State = new FGState(this);
// Initialize models so they can communicate with each other
if (!Atmosphere->InitModel()) {cerr << "Atmosphere model init failed"; Error+=1;}
if (!FCS->InitModel()) {cerr << "FCS model init failed"; Error+=2;}
if (!Aircraft->InitModel()) {cerr << "Aircraft model init failed"; Error+=4;}
if (!Translation->InitModel()){cerr << "Translation model init failed"; Error+=8;}
if (!Rotation->InitModel()) {cerr << "Rotation model init failed"; Error+=16;}
if (!Position->InitModel()) {cerr << "Position model init failed"; Error+=32;}
if (!Auxiliary->InitModel()) {cerr << "Auxiliary model init failed"; Error+=64;}
if (!Output->InitModel()) {cerr << "Output model init failed"; Error+=128;}
Schedule(Atmosphere, 5);
Schedule(FCS, 1);
@ -80,7 +110,7 @@ FGFDMExec::FGFDMExec(void)
Schedule(Output, 5);
terminate = false;
freeze = false;
frozen = false;
}
@ -118,6 +148,8 @@ bool FGFDMExec::Run(void)
{
FGModel* model_iterator;
if (frozen) return true;
model_iterator = FirstModel;
if (model_iterator == 0L) return false;
@ -127,6 +159,8 @@ bool FGFDMExec::Run(void)
if (model_iterator == 0L) break;
}
State->IncrTime();
return true;
}

68
JSBsim/FGFDMExec.h
View file

@ -26,9 +26,8 @@
HISTORY
--------------------------------------------------------------------------------
11/17/98 JSB Created
*******************************************************************************/
/*******************************************************************************
********************************************************************************
SENTRY
*******************************************************************************/
@ -40,45 +39,62 @@ INCLUDES
*******************************************************************************/
#include "FGModel.h"
#include "FGAtmosphere.h"
#include "FGFCS.h"
#include "FGAircraft.h"
#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
/*******************************************************************************
CLASS DECLARATION
*******************************************************************************/
class FGState;
class FGAtmosphere;
class FGFCS;
class FGAircraft;
class FGTranslation;
class FGRotation;
class FGPosition;
class FGAuxiliary;
class FGOutput;
class FGFDMExec
{
public:
FGFDMExec::FGFDMExec(void);
FGFDMExec::~FGFDMExec(void);
FGFDMExec::FGFDMExec(void);
FGFDMExec::~FGFDMExec(void);
FGModel* FirstModel;
FGModel* FirstModel;
bool Initialize(void);
int Schedule(FGModel* model, int rate);
bool Run(void);
bool Freeze(void);
bool Resume(void);
bool Initialize(void);
int Schedule(FGModel* model, int rate);
bool Run(void);
void Freeze(void) {frozen = true;}
void Resume(void) {frozen = false;}
inline FGState* GetState(void) {return State;}
inline FGAtmosphere* GetAtmosphere(void) {return Atmosphere;}
inline FGFCS* GetFCS(void) {return FCS;}
inline FGAircraft* GetAircraft(void) {return Aircraft;}
inline FGTranslation* GetTranslation(void) {return Translation;}
inline FGRotation* GetRotation(void) {return Rotation;}
inline FGPosition* GetPosition(void) {return Position;}
inline FGAuxiliary* GetAuxiliary(void) {return Auxiliary;}
inline FGOutput* GetOutput(void) {return Output;}
private:
bool freeze;
bool terminate;
bool frozen;
bool terminate;
int Error;
FGState* State;
FGAtmosphere* Atmosphere;
FGFCS* FCS;
FGAircraft* Aircraft;
FGTranslation* Translation;
FGRotation* Rotation;
FGPosition* Position;
FGAuxiliary* Auxiliary;
FGOutput* Output;
protected:
};
#ifndef FDM_MAIN
extern FGFDMExec* FDMExec;
#else
FGFDMExec* FDMExec;
#endif
/******************************************************************************/
#endif

17
JSBsim/FGMain.cpp
View file

@ -1,6 +1,13 @@
#define FDM_MAIN
#include "FGFDMExec.h"
#undef FDM_MAIN
#include "FGRotation.h"
#include "FGAtmosphere.h"
#include "FGState.h"
#include "FGFCS.h"
#include "FGAircraft.h"
#include "FGTranslation.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
#include <iostream.h>
#include <time.h>
@ -19,10 +26,10 @@ void main(int argc, char** argv)
FDMExec = new FGFDMExec();
Aircraft->LoadAircraft(argv[1]);
State->Reset(argv[2]);
FDMExec->GetAircraft()->LoadAircraft(argv[1]);
FDMExec->GetState()->Reset(argv[2]);
while (State->Setsim_time(State->Getsim_time() + 0.1) <= 25.0)
while (FDMExec->GetState()->Getsim_time() <= 25.0)
{
FDMExec->Run();
nanosleep(&short_wait,&no_wait);

59
JSBsim/FGModel.cpp
View file

@ -30,28 +30,46 @@ FUNCTIONAL DESCRIPTION
This base class for the FGAero, FGRotational, etc. classes defines methods
common to all models.
ARGUMENTS
--------------------------------------------------------------------------------
HISTORY
--------------------------------------------------------------------------------
11/11/98 JSB Created
********************************************************************************
INCLUDES
*******************************************************************************/
#include "FGModel.h"
#include "FGState.h"
#include "FGFDMExec.h"
#include "FGAtmosphere.h"
#include "FGFCS.h"
#include "FGAircraft.h"
#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
/*******************************************************************************
************************************ CODE **************************************
*******************************************************************************/
FGModel::FGModel()
FGModel::FGModel(FGFDMExec* fdmex)
{
NextModel = 0L;
exe_ctr = 1;
FDMExec = fdmex;
NextModel = 0L;
State = 0;
Atmosphere = 0;
FCS = 0;
Aircraft = 0;
Translation = 0;
Rotation = 0;
Position = 0;
Auxiliary = 0;
Output = 0;
exe_ctr = 1;
}
@ -60,6 +78,31 @@ FGModel::~FGModel()
}
bool FGModel::InitModel(void)
{
State = FDMExec->GetState();
Atmosphere = FDMExec->GetAtmosphere();
FCS = FDMExec->GetFCS();
Aircraft = FDMExec->GetAircraft();
Translation = FDMExec->GetTranslation();
Rotation = FDMExec->GetRotation();
Position = FDMExec->GetPosition();
Auxiliary = FDMExec->GetAuxiliary();
Output = FDMExec->GetOutput();
if (!State ||
!Atmosphere ||
!FCS ||
!Aircraft ||
!Translation ||
!Rotation ||
!Position ||
!Auxiliary ||
!Output) return(false);
else return(true);
}
bool FGModel::Run()
{
if (exe_ctr == 1) {

33
JSBsim/FGModel.h
View file

@ -26,9 +26,8 @@
HISTORY
--------------------------------------------------------------------------------
11/22/98 JSB Created
*******************************************************************************/
/*******************************************************************************
********************************************************************************
SENTRY
*******************************************************************************/
@ -39,10 +38,10 @@ SENTRY
INCLUDES
*******************************************************************************/
#include "FGDefs.h"
#include <stdio.h>
#include <string.h>
#include <iostream.h>
#include "FGState.h"
/*******************************************************************************
DEFINES
@ -52,23 +51,45 @@ DEFINES
CLASS DECLARATION
*******************************************************************************/
class FGFDMExec;
class FGState;
class FGAtmosphere;
class FGFCS;
class FGAircraft;
class FGTranslation;
class FGRotation;
class FGPosition;
class FGAuxiliary;
class FGOutput;
class FGModel
{
public:
FGModel(void);
FGModel(FGFDMExec*);
~FGModel(void);
FGModel* NextModel;
char Name[30];
virtual bool Run(void);
virtual bool InitModel(void);
void SetRate(int tt) {rate = tt;};
protected:
int exe_ctr;
int rate;
FGFDMExec* FDMExec;
FGState* State;
FGAtmosphere* Atmosphere;
FGFCS* FCS;
FGAircraft* Aircraft;
FGTranslation* Translation;
FGRotation* Rotation;
FGPosition* Position;
FGAuxiliary* Auxiliary;
FGOutput* Output;
private:
};
/******************************************************************************/

95
JSBsim/FGOutput.cpp
View file

@ -31,10 +31,6 @@ This is the place where you create output routines to dump data for perusal
later. Some machines may not support the ncurses console output. Borland is one
of those environments which does not, so the ncurses stuff is commented out.
ARGUMENTS
--------------------------------------------------------------------------------
HISTORY
--------------------------------------------------------------------------------
12/02/98 JSB Created
@ -43,34 +39,33 @@ HISTORY
INCLUDES
*******************************************************************************/
/*
#if !defined( __BORLANDC__ )
# define HAVE_NCURSES
#endif
*/
#include "FGOutput.h"
#include <stdio.h>
#include <stdlib.h>
#include <iostream.h>
#ifndef HAVE_NCURSES
#include "FGPosition.h"
#else
#ifdef HAVE_CURSES
#include <ncurses.h>
#include "FGPosition.h"
#endif
#include "FGOutput.h"
#include "FGState.h"
#include "FGFDMExec.h"
#include "FGAtmosphere.h"
#include "FGFCS.h"
#include "FGAircraft.h"
#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
/*******************************************************************************
************************************ CODE **************************************
*******************************************************************************/
FGOutput::FGOutput(void) : FGModel()
FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
{
strcpy(Name, "FGOutput");
FirstPass = true;
#ifdef HAVE_NCURSES
#ifdef HAVE_CURSES
initscr();
cbreak();
noecho();
@ -96,9 +91,9 @@ bool FGOutput::Run(void)
void FGOutput::ConsoleOutput(void)
{
#ifdef HAVE_CURSES
char buffer[20];
#ifdef HAVE_NCURSES
clear();
move(1,1); insstr("Quaternions");
move(2,5); insstr("Q0");
@ -106,10 +101,10 @@ void FGOutput::ConsoleOutput(void)
move(2,27); insstr("Q2");
move(2,38); insstr("Q3");
move(3,1); sprintf(buffer,"%4.4f",State->GetQ0()); insstr(buffer);
move(3,12); sprintf(buffer,"%4.4f",State->GetQ1()); insstr(buffer);
move(3,23); sprintf(buffer,"%4.4f",State->GetQ2()); insstr(buffer);
move(3,34); sprintf(buffer,"%4.4f",State->GetQ3()); insstr(buffer);
move(3,1); sprintf(buffer,"%4.4f",Rotation->GetQ0()); insstr(buffer);
move(3,12); sprintf(buffer,"%4.4f",Rotation->GetQ1()); insstr(buffer);
move(3,23); sprintf(buffer,"%4.4f",Rotation->GetQ2()); insstr(buffer);
move(3,34); sprintf(buffer,"%4.4f",Rotation->GetQ3()); insstr(buffer);
move(0,0); insstr("Time: ");
move(0,6); insstr(gcvt(State->Getsim_time(),6,buffer));
@ -118,25 +113,25 @@ void FGOutput::ConsoleOutput(void)
move(2,55); insstr("Tht");
move(2,64); insstr("Psi");
move(3,45); sprintf(buffer,"%3.3f",State->Getphi()); insstr(buffer);
move(3,54); sprintf(buffer,"%3.3f",State->Gettht()); insstr(buffer);
move(3,63); sprintf(buffer,"%3.3f",State->Getpsi()); insstr(buffer);
move(3,45); sprintf(buffer,"%3.3f",Rotation->Getphi()); insstr(buffer);
move(3,54); sprintf(buffer,"%3.3f",Rotation->Gettht()); insstr(buffer);
move(3,63); sprintf(buffer,"%3.3f",Rotation->Getpsi()); insstr(buffer);
move(5,47); insstr("U");
move(5,56); insstr("V");
move(5,65); insstr("W");
move(6,45); sprintf(buffer,"%5.2f",State->GetU()); insstr(buffer);
move(6,54); sprintf(buffer,"%5.2f",State->GetV()); insstr(buffer);
move(6,63); sprintf(buffer,"%5.2f",State->GetW()); insstr(buffer);
move(6,45); sprintf(buffer,"%5.2f",Translation->GetU()); insstr(buffer);
move(6,54); sprintf(buffer,"%5.2f",Translation->GetV()); insstr(buffer);
move(6,63); sprintf(buffer,"%5.2f",Translation->GetW()); insstr(buffer);
move(8,47); insstr("Fx");
move(8,56); insstr("Fy");
move(8,65); insstr("Fz");
move(9,45); sprintf(buffer,"%5.2f",State->GetFx()); insstr(buffer);
move(9,54); sprintf(buffer,"%5.2f",State->GetFy()); insstr(buffer);
move(9,63); sprintf(buffer,"%5.2f",State->GetFz()); insstr(buffer);
move(9,45); sprintf(buffer,"%5.2f",Aircraft->GetFx()); insstr(buffer);
move(9,54); sprintf(buffer,"%5.2f",Aircraft->GetFy()); insstr(buffer);
move(9,63); sprintf(buffer,"%5.2f",Aircraft->GetFz()); insstr(buffer);
move(11,47); insstr("Fn");
move(11,56); insstr("Fe");
@ -193,27 +188,27 @@ void FGOutput::DelimitedOutput(void)
} else {
cout << State->Getsim_time() << ",";
cout << State->Geth() << ",";
cout << State->Getphi() << ",";
cout << State->Gettht() << ",";
cout << State->Getpsi() << ",";
cout << State->Getrho() << ",";
cout << Rotation->Getphi() << ",";
cout << Rotation->Gettht() << ",";
cout << Rotation->Getpsi() << ",";
cout << Atmosphere->Getrho() << ",";
cout << State->GetVt() << ",";
cout << State->GetU() << ",";
cout << State->GetV() << ",";
cout << State->GetW() << ",";
cout << State->GetVn() << ",";
cout << State->GetVe() << ",";
cout << State->GetVd() << ",";
cout << State->GetUdot() << ",";
cout << State->GetVdot() << ",";
cout << State->GetWdot() << ",";
cout << State->GetFx() << ",";
cout << State->GetFy() << ",";
cout << State->GetFz() << ",";
cout << Translation->GetU() << ",";
cout << Translation->GetV() << ",";
cout << Translation->GetW() << ",";
cout << Position->GetVn() << ",";
cout << Position->GetVe() << ",";
cout << Position->GetVd() << ",";
cout << Translation->GetUdot() << ",";
cout << Translation->GetVdot() << ",";
cout << Translation->GetWdot() << ",";
cout << Aircraft->GetFx() << ",";
cout << Aircraft->GetFy() << ",";
cout << Aircraft->GetFz() << ",";
cout << State->Getlatitude() << ",";
cout << State->Getlongitude() << ",";
cout << State->Getqbar() << ",";
cout << State->Getalpha() << "";
cout << Translation->Getalpha() << "";
cout << endl;
}
}

14
JSBsim/FGOutput.h
View file

@ -26,9 +26,8 @@
HISTORY
--------------------------------------------------------------------------------
12/02/98 JSB Created
*******************************************************************************/
/*******************************************************************************
********************************************************************************
SENTRY
*******************************************************************************/
@ -48,25 +47,20 @@ CLASS DECLARATION
class FGOutput : public FGModel
{
public:
FGOutput(void);
FGOutput(FGFDMExec*);
~FGOutput(void);
bool Run(void);
void ConsoleOutput(void);
void DelimitedOutput(void);
protected:
private:
bool FirstPass;
};
#ifndef FDM_MAIN
extern FGOutput* Output;
#else
FGOutput* Output;
#endif
/******************************************************************************/
#endif

72
JSBsim/FGPosition.cpp
View file

@ -30,10 +30,6 @@ FUNCTIONAL DESCRIPTION
This class encapsulates the integration of rates and accelerations to get the
current position of the aircraft.
ARGUMENTS
--------------------------------------------------------------------------------
None
HISTORY
--------------------------------------------------------------------------------
01/05/99 JSB Created
@ -57,19 +53,26 @@ COMMENTS, REFERENCES, and NOTES
INCLUDES
*******************************************************************************/
#include "FGPosition.h"
#include <math.h>
#include "FGPosition.h"
#include "FGAtmosphere.h"
#include "FGState.h"
#include "FGFDMExec.h"
#include "FGFCS.h"
#include "FGAircraft.h"
#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
/*******************************************************************************
************************************ CODE **************************************
*******************************************************************************/
FGPosition::FGPosition(void) : FGModel()
FGPosition::FGPosition(FGFDMExec* fdmex) : FGModel(fdmex)
{
strcpy(Name, "FGPosition");
EarthRad = 20898908.00; // feet
OmegaEarth = 7.2685E-3; // rad/sec
AccelN = AccelE = AccelD = 0.0;
LongitudeDot = LatitudeDot = RadiusDot = 0.0;
}
@ -115,11 +118,11 @@ bool FGPosition:: Run(void)
AccelE = invMass * Fe + invRadius * (Ve*Vd + Vn*Ve*tanLat); // From
AccelD = invMass * Fd - invRadius * (Vn*Vn + Ve*Ve); // Reference [3]
Vn += 0.5*dt*(3.0*AccelN - lastAccelN); // Eqn. 3.7
Ve += 0.5*dt*(3.0*AccelE - lastAccelE); // From
Vd += 0.5*dt*(3.0*AccelD - lastAccelD); // Reference [3]
Vn += 0.5*dt*rate*(3.0*AccelN - lastAccelN); // Eqn. 3.7
Ve += 0.5*dt*rate*(3.0*AccelE - lastAccelE); // From
Vd += 0.5*dt*rate*(3.0*AccelD - lastAccelD); // Reference [3]
Vee = Ve - OmegaEarth * (Radius) * cosLat; // From Eq. 3.8
Vee = Ve - OMEGAEARTH * (Radius) * cosLat; // From Eq. 3.8
// Reference [3]
lastLatitudeDot = LatitudeDot;
lastLongitudeDot = LongitudeDot;
@ -129,9 +132,9 @@ bool FGPosition:: Run(void)
LatitudeDot = Vn * invRadius;
RadiusDot = -Vd;
Longitude += 0.5*dt*(LongitudeDot + lastLongitudeDot);
Latitude += 0.5*dt*(LatitudeDot + lastLatitudeDot);
Radius += 0.5*dt*(RadiusDot + lastRadiusDot);
Longitude += 0.5*dt*rate*(LongitudeDot + lastLongitudeDot);
Latitude += 0.5*dt*rate*(LatitudeDot + lastLatitudeDot);
Radius += 0.5*dt*rate*(RadiusDot + lastRadiusDot);
PutState();
return false;
@ -143,41 +146,34 @@ bool FGPosition:: Run(void)
void FGPosition::GetState(void)
{
Q0 = State->GetQ0();
Q1 = State->GetQ1();
Q2 = State->GetQ2();
Q3 = State->GetQ3();
dt = State->Getdt();
Fx = State->GetFx();
Fy = State->GetFy();
Fz = State->GetFz();
Q0 = Rotation->GetQ0();
Q1 = Rotation->GetQ1();
Q2 = Rotation->GetQ2();
Q3 = Rotation->GetQ3();
U = State->GetU();
V = State->GetV();
W = State->GetW();
Fx = Aircraft->GetFx();
Fy = Aircraft->GetFy();
Fz = Aircraft->GetFz();
U = Translation->GetU();
V = Translation->GetV();
W = Translation->GetW();
Latitude = State->Getlatitude();
Longitude = State->Getlongitude();
invMass = 1.0 / State->Getm();
invRadius = 1.0 / (State->Geth() + EarthRad);
Radius = State->Geth() + EarthRad;
dt = State->Getdt();
invMass = 1.0 / Aircraft->GetMass();
invRadius = 1.0 / (State->Geth() + EARTHRAD);
Radius = State->Geth() + EARTHRAD;
}
void FGPosition::PutState(void)
{
for (int r=1;r<=3;r++)
for (int c=1;c<=3;c++)
State->SetT(r,c,T[r][c]);
State->Setlatitude(Latitude);
State->Setlongitude(Longitude);
State->Seth(Radius - EarthRad);
State->SetVn(Vn); // remove after testing
State->SetVe(Ve); // remove after testing
State->SetVd(Vd); // remove after testing
State->Seth(Radius - EARTHRAD);
}

35
JSBsim/FGPosition.h
View file

@ -29,9 +29,9 @@ HISTORY
********************************************************************************
COMMENTS, REFERENCES, and NOTES
*******************************************************************************/
********************************************************************************
/*******************************************************************************
********************************************************************************
SENTRY
*******************************************************************************/
@ -50,12 +50,23 @@ CLASS DECLARATION
class FGPosition : public FGModel
{
public:
FGPosition(void);
FGPosition(FGFDMExec*);
~FGPosition(void);
float GetFn() {return Fn;}
float GetFe() {return Fe;}
float GetFd() {return Fd;}
inline float GetFn(void) {return Fn;}
inline float GetFe(void) {return Fe;}
inline float GetFd(void) {return Fd;}
inline float GetVn(void) {return Vn;}
inline float GetVe(void) {return Ve;}
inline float GetVd(void) {return Vd;}
inline float GetT(int r, int c) {return T[r][c];}
inline void SetT(float t1, float t2, float t3, float t4, float t5, float t6,
float t7, float t8, float t9)
{T[1][1]=t1; T[1][2]=t2 ;T[1][3]=t3;
T[2][1]=t4; T[2][2]=t5 ;T[2][3]=t6;
T[3][1]=t7; T[3][2]=t8 ;T[3][3]=t9;}
bool Run(void);
@ -66,26 +77,20 @@ private:
float Q0, Q1, Q2, Q3;
float Fn, Fe, Fd;
float Fx, Fy, Fz;
float U, V, W;
float Vn, Ve, Vd, Vee;
float invMass, invRadius;
float EarthRad, OmegaEarth, Radius;
float Radius;
float AccelN, AccelE, AccelD;
float lastAccelN, lastAccelE, lastAccelD;
float LatitudeDot, LongitudeDot, RadiusDot;
float lastLatitudeDot, lastLongitudeDot, lastRadiusDot;
float Longitude, Latitude;
float U, V, W;
float Vn, Ve, Vd, Vee;
float dt;
void GetState(void);
void PutState(void);
};
#ifndef FDM_MAIN
extern FGPosition* Position;
#else
FGPosition* Position;
#endif
/******************************************************************************/
#endif

67
JSBsim/FGRotation.cpp
View file

@ -29,10 +29,6 @@ FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
This class integrates the rotational EOM.
ARGUMENTS
--------------------------------------------------------------------------------
HISTORY
--------------------------------------------------------------------------------
12/02/98 JSB Created
@ -60,16 +56,26 @@ INCLUDES
*******************************************************************************/
#include "FGRotation.h"
#include "FGAtmosphere.h"
#include "FGState.h"
#include "FGFDMExec.h"
#include "FGFCS.h"
#include "FGAircraft.h"
#include "FGTranslation.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
/*******************************************************************************
************************************ CODE **************************************
*******************************************************************************/
FGRotation::FGRotation(void) : FGModel()
FGRotation::FGRotation(FGFDMExec* fdmex) : FGModel(fdmex)
{
strcpy(Name, "FGRotation");
Q0dot = Q1dot = Q2dot = Q3dot = 0.0;
Pdot = Qdot = Rdot = 0.0;
}
@ -96,9 +102,9 @@ bool FGRotation::Run(void)
Qdot = (M - (Ixx-Izz)*P*R - Ixz*(P*P - R*R))/Iyy;
Rdot = (N1*Ixx + L2*Ixz) / (Ixx*Izz - Ixz*Ixz);
P += dt*(lastPdot + Pdot)/2.0;
Q += dt*(lastQdot + Qdot)/2.0;
R += dt*(lastRdot + Rdot)/2.0;
P += dt*rate*(lastPdot + Pdot)/2.0;
Q += dt*rate*(lastQdot + Qdot)/2.0;
R += dt*rate*(lastRdot + Rdot)/2.0;
lastQ0dot = Q0dot;
lastQ1dot = Q1dot;
@ -110,10 +116,10 @@ bool FGRotation::Run(void)
Q2dot = 0.5*(Q0*Q + Q3*P - Q1*R);
Q3dot = 0.5*(Q0*R + Q1*Q - Q2*P);
Q0 += 0.5*dt*(lastQ0dot + Q0dot);
Q1 += 0.5*dt*(lastQ1dot + Q1dot);
Q2 += 0.5*dt*(lastQ2dot + Q2dot);
Q3 += 0.5*dt*(lastQ3dot + Q3dot);
Q0 += 0.5*dt*rate*(lastQ0dot + Q0dot);
Q1 += 0.5*dt*rate*(lastQ1dot + Q1dot);
Q2 += 0.5*dt*rate*(lastQ2dot + Q2dot);
Q3 += 0.5*dt*rate*(lastQ3dot + Q3dot);
sum = Q0*Q0 + Q1*Q1 + Q2*Q2 + Q3*Q3;
@ -148,44 +154,23 @@ bool FGRotation::Run(void)
void FGRotation::GetState(void)
{
dt = State->Getdt();
P = State->GetP();
Q = State->GetQ();
R = State->GetR();
Pdot = State->GetPdot();
Qdot = State->GetQdot();
Rdot = State->GetRdot();
L = Aircraft->GetL();
M = Aircraft->GetM();
N = Aircraft->GetN();
L = State->GetL();
M = State->GetM();
N = State->GetN();
Ixx = State->GetIxx();
Iyy = State->GetIyy();
Izz = State->GetIzz();
Ixz = State->GetIxz();
Q0 = State->GetQ0();
Q1 = State->GetQ1();
Q2 = State->GetQ2();
Q3 = State->GetQ3();
Ixx = Aircraft->GetIxx();
Iyy = Aircraft->GetIyy();
Izz = Aircraft->GetIzz();
Ixz = Aircraft->GetIxz();
for (int r=1;r<=3;r++)
for (int c=1;c<=3;c++)
T[r][c] = State->GetT(r,c);
T[r][c] = Position->GetT(r,c);
}
void FGRotation::PutState(void)
{
State->SetP(P);
State->SetQ(Q);
State->SetR(R);
State->Setphi(phi);
State->Settht(tht);
State->Setpsi(psi);
State->SetQ0123(Q0, Q1, Q2, Q3);
}

51
JSBsim/FGRotation.h
View file

@ -44,9 +44,8 @@ COMMENTS, REFERENCES, and NOTES
The order of rotations used in this class corresponds to a 3-2-1 sequence,
or Y-P-R, or Z-Y-X, if you prefer.
*******************************************************************************/
/*******************************************************************************
********************************************************************************
SENTRY
*******************************************************************************/
@ -57,8 +56,8 @@ SENTRY
INCLUDES
*******************************************************************************/
#include "FGModel.h"
#include <math.h>
#include "FGModel.h"
/*******************************************************************************
CLASS DECLARATION
@ -67,11 +66,49 @@ CLASS DECLARATION
class FGRotation : public FGModel
{
public:
FGRotation(void);
FGRotation(FGFDMExec*);
~FGRotation(void);
bool Run(void);
inline float GetP(void) {return P;}
inline float GetQ(void) {return Q;}
inline float GetR(void) {return R;}
inline float GetPdot(void) {return Pdot;}
inline float GetQdot(void) {return Qdot;}
inline float GetRdot(void) {return Rdot;}
inline float Getphi(void) {return phi;}
inline float Gettht(void) {return tht;}
inline float Getpsi(void) {return psi;}
inline float GetQ0(void) {return Q0;}
inline float GetQ1(void) {return Q1;}
inline float GetQ2(void) {return Q2;}
inline float GetQ3(void) {return Q3;}
inline void SetP(float tt) {P = tt;}
inline void SetQ(float tt) {Q = tt;}
inline void SetR(float tt) {R = tt;}
inline void SetPQR(float t1, float t2, float t3) {P=t1;
Q=t2;
R=t3;}
inline void Setphi(float tt) {phi = tt;}
inline void Settht(float tt) {tht = tt;}
inline void Setpsi(float tt) {psi = tt;}
inline void SetEuler(float t1, float t2, float t3) {phi=t1;
tht=t2;
psi=t3;}
inline void SetQ0123(float t1, float t2, float t3, float t4) {Q0=t1;
Q1=t2;
Q2=t3;
Q3=t4;}
protected:
private:
@ -91,11 +128,5 @@ private:
void PutState(void);
};
#ifndef FDM_MAIN
extern FGRotation* Rotation;
#else
FGRotation* Rotation;
#endif
/******************************************************************************/
#endif

204
JSBsim/FGState.cpp
View file

@ -1,5 +1,5 @@
/*******************************************************************************
Module: FGState.cpp
Author: Jon Berndt
Date started: 11/17/98
@ -28,50 +28,43 @@ FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
See header file.
ARGUMENTS
--------------------------------------------------------------------------------
HISTORY
--------------------------------------------------------------------------------
11/17/98 JSB Created
********************************************************************************
INCLUDES
*******************************************************************************/
#include "FGState.h"
#include "FGAircraft.h"
#include <math.h>
#include "FGState.h"
#include "FGFDMExec.h"
#include "FGAtmosphere.h"
#include "FGFCS.h"
#include "FGAircraft.h"
#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
/*******************************************************************************
************************************ CODE **************************************
*******************************************************************************/
FGState::FGState(void)
FGState::FGState(FGFDMExec* fdex)
{
U = V = W = Fx = Fy = Fz = 0.0;
P = Q = R = L = M = N = 0.0;
Q0 = Q1 = Q2 = Q3 = 0.0;
Ixx = Iyy = Izz = Ixz = 0.0;
FDMExec = fdex;
Vt = 0.0;
latitude = longitude = 0.0;
alpha = beta = gamma = 0.0;
adot = bdot = 0.0;
phi = tht = psi = 0.0;
Udot = Vdot = Wdot = 0.0;
Pdot = Qdot = Rdot = 0.0;
h = 0.0;
a = 1000.0;
rho = qbar = 0.0;
qbar = 0.0;
sim_time = dt = 0.1;
m = 0.0;
g = 32.174;
const float EarthRad = 20925650.0;
}
@ -82,9 +75,14 @@ FGState::~FGState(void)
bool FGState::Reset(char* fname)
{
char resetDef[200];
char resetDef[256];
float U, V, W;
float phi, tht, psi;
float alpha, beta, gamma;
float Q0, Q1, Q2, Q3;
float T[4][4];
sprintf(resetDef, "/h/curt/projects/FlightGear/Simulator/FDM/JSBsim/aircraft/%s/%s", Aircraft->GetAircraftName(), fname);
sprintf(resetDef, "/h/curt/projects/FlightGear/Simulator/FDM/JSBsim/aircraft/%s/%s", FDMExec->GetAircraft()->GetAircraftName(), fname);
ifstream resetfile(resetDef);
@ -102,20 +100,26 @@ bool FGState::Reset(char* fname)
// Change all angular measurements from degrees (as in config file) to radians
gamma = 0.0;
if (W != 0.0)
alpha = U*U > 0.0 ? atan2(W, U) : 0.0;
else
alpha = 0.0;
if (V != 0.0)
beta = U*U+W*W > 0.0 ? atan2(V, (fabs(U)/U)*sqrt(U*U + W*W)) : 0.0;
else
beta = 0.0;
latitude *= M_PI / 180.0;
longitude *= M_PI / 180.0;
alpha *= M_PI / 180.0;
beta *= M_PI / 180.0;
gamma *= M_PI / 180.0;
phi *= M_PI / 180.0;
tht *= M_PI / 180.0;
psi *= M_PI / 180.0;
FDMExec->GetTranslation()->SetUVW(U, V, W);
FDMExec->GetRotation()->SetEuler(phi, tht, psi);
FDMExec->GetTranslation()->SetABG(alpha, beta, gamma);
Vt = sqrt(U*U + V*V + W*W);
qbar = sqrt(U*U + V*V + W*W);
@ -124,6 +128,8 @@ bool FGState::Reset(char* fname)
Q2 = sin(psi*0.5)*cos(tht*0.5)*sin(phi*0.5) + cos(psi*0.5)*sin(tht*0.5)*cos(phi*0.5);
Q3 = sin(psi*0.5)*cos(tht*0.5)*cos(phi*0.5) - cos(psi*0.5)*sin(tht*0.5)*sin(phi*0.5);
FDMExec->GetRotation()->SetQ0123(Q0, Q1, Q2, Q3);
T[1][1] = Q0*Q0 + Q1*Q1 - Q2*Q2 - Q3*Q3;
T[1][2] = 2*(Q1*Q2 + Q0*Q3);
T[1][3] = 2*(Q1*Q3 - Q0*Q2);
@ -134,6 +140,10 @@ bool FGState::Reset(char* fname)
T[3][2] = 2*(Q2*Q3 - Q0*Q1);
T[3][3] = Q0*Q0 - Q1*Q1 - Q2*Q2 + Q3*Q3;
FDMExec->GetPosition()->SetT(T[1][1], T[1][2], T[1][3],
T[2][1], T[2][2], T[2][3],
T[3][1], T[3][2], T[3][3]);
return true;
} else {
cerr << "Unable to load reset file " << fname << endl;
@ -147,39 +157,15 @@ bool FGState::StoreData(char* fname)
ofstream datafile(fname);
if (datafile) {
datafile << U;
datafile << V;
datafile << W;
datafile << Fx;
datafile << Fy;
datafile << Fz;
datafile << P;
datafile << Q;
datafile << R;
datafile << L;
datafile << M;
datafile << N;
datafile << FDMExec->GetTranslation()->GetU();
datafile << FDMExec->GetTranslation()->GetV();
datafile << FDMExec->GetTranslation()->GetW();
datafile << latitude;
datafile << longitude;
datafile << alpha;
datafile << beta;
datafile << gamma;
datafile << phi;
datafile << tht;
datafile << psi;
datafile << Udot;
datafile << Vdot;
datafile << Wdot;
datafile << Pdot;
datafile << Qdot;
datafile << Rdot;
datafile << FDMExec->GetRotation()->Getphi();
datafile << FDMExec->GetRotation()->Gettht();
datafile << FDMExec->GetRotation()->Getpsi();
datafile << h;
datafile << a;
datafile << rho;
datafile << qbar;
datafile << sim_time;
datafile << dt;
datafile << g;
datafile.close();
return true;
} else {
@ -194,44 +180,33 @@ bool FGState::DumpData(char* fname)
ofstream datafile(fname);
if (datafile) {
datafile << "U: " << U << endl;
datafile << "V: " << V << endl;
datafile << "W: " << W << endl;
datafile << "Fx: " << Fx << endl;
datafile << "Fy: " << Fy << endl;
datafile << "Fz: " << Fz << endl;
datafile << "P: " << P << endl;
datafile << "Q: " << Q << endl;
datafile << "R: " << R << endl;
datafile << "L: " << L << endl;
datafile << "M: " << M << endl;
datafile << "N: " << N << endl;
datafile << "U: " << FDMExec->GetTranslation()->GetU() << endl;
datafile << "V: " << FDMExec->GetTranslation()->GetV() << endl;
datafile << "W: " << FDMExec->GetTranslation()->GetW() << endl;
datafile << "P: " << FDMExec->GetRotation()->GetP() << endl;
datafile << "Q: " << FDMExec->GetRotation()->GetQ() << endl;
datafile << "R: " << FDMExec->GetRotation()->GetR() << endl;
datafile << "L: " << FDMExec->GetAircraft()->GetL() << endl;
datafile << "M: " << FDMExec->GetAircraft()->GetM() << endl;
datafile << "N: " << FDMExec->GetAircraft()->GetN() << endl;
datafile << "latitude: " << latitude << endl;
datafile << "longitude: " << longitude << endl;
datafile << "alpha: " << alpha << endl;
datafile << "beta: " << beta << endl;
datafile << "gamma: " << gamma << endl;
datafile << "phi: " << phi << endl;
datafile << "tht: " << tht << endl;
datafile << "psi: " << psi << endl;
datafile << "Udot: " << Udot << endl;
datafile << "Vdot: " << Vdot << endl;
datafile << "Wdot: " << Wdot << endl;
datafile << "Pdot: " << Pdot << endl;
datafile << "Qdot: " << Qdot << endl;
datafile << "Rdot: " << Rdot << endl;
datafile << "alpha: " << FDMExec->GetTranslation()->Getalpha() << endl;
datafile << "beta: " << FDMExec->GetTranslation()->Getbeta() << endl;
datafile << "gamma: " << FDMExec->GetTranslation()->Getgamma() << endl;
datafile << "phi: " << FDMExec->GetRotation()->Getphi() << endl;
datafile << "tht: " << FDMExec->GetRotation()->Gettht() << endl;
datafile << "psi: " << FDMExec->GetRotation()->Getpsi() << endl;
datafile << "Pdot: " << FDMExec->GetRotation()->GetPdot() << endl;
datafile << "Qdot: " << FDMExec->GetRotation()->GetQdot() << endl;
datafile << "Rdot: " << FDMExec->GetRotation()->GetRdot() << endl;
datafile << "h: " << h << endl;
datafile << "a: " << a << endl;
datafile << "rho: " << rho << endl;
datafile << "rho: " << FDMExec->GetAtmosphere()->Getrho() << endl;
datafile << "qbar: " << qbar << endl;
datafile << "sim_time: " << sim_time << endl;
datafile << "dt: " << dt << endl;
datafile << "g: " << g << endl;
datafile << "m: " << m << endl;
datafile << "Ixx: " << Ixx << endl;
datafile << "Iyy: " << Iyy << endl;
datafile << "Izz: " << Izz << endl;
datafile << "Ixz: " << Ixz << endl;
datafile << "m: " << FDMExec->GetAircraft()->GetMass() << endl;
datafile.close();
return true;
} else {
@ -242,45 +217,34 @@ bool FGState::DumpData(char* fname)
bool FGState::DisplayData(void)
{
cout << "U: " << U << endl;
cout << "V: " << V << endl;
cout << "W: " << W << endl;
cout << "Fx: " << Fx << endl;
cout << "Fy: " << Fy << endl;
cout << "Fz: " << Fz << endl;
cout << "P: " << P << endl;
cout << "Q: " << Q << endl;
cout << "R: " << R << endl;
cout << "L: " << L << endl;
cout << "M: " << M << endl;
cout << "N: " << N << endl;
cout << "U: " << FDMExec->GetTranslation()->GetU() << endl;
cout << "V: " << FDMExec->GetTranslation()->GetV() << endl;
cout << "W: " << FDMExec->GetTranslation()->GetW() << endl;
cout << "P: " << FDMExec->GetRotation()->GetP() << endl;
cout << "Q: " << FDMExec->GetRotation()->GetQ() << endl;
cout << "R: " << FDMExec->GetRotation()->GetR() << endl;
cout << "L: " << FDMExec->GetAircraft()->GetL() << endl;
cout << "M: " << FDMExec->GetAircraft()->GetM() << endl;
cout << "N: " << FDMExec->GetAircraft()->GetN() << endl;
cout << "Vt: " << Vt << endl;
cout << "latitude: " << latitude << endl;
cout << "longitude: " << longitude << endl;
cout << "alpha: " << alpha << endl;
cout << "beta: " << beta << endl;
cout << "gamma: " << gamma << endl;
cout << "phi: " << phi << endl;
cout << "tht: " << tht << endl;
cout << "psi: " << psi << endl;
cout << "Udot: " << Udot << endl;
cout << "Vdot: " << Vdot << endl;
cout << "Wdot: " << Wdot << endl;
cout << "Pdot: " << Pdot << endl;
cout << "Qdot: " << Qdot << endl;
cout << "Rdot: " << Rdot << endl;
cout << "alpha: " << FDMExec->GetTranslation()->Getalpha() << endl;
cout << "beta: " << FDMExec->GetTranslation()->Getbeta() << endl;
cout << "gamma: " << FDMExec->GetTranslation()->Getgamma() << endl;
cout << "phi: " << FDMExec->GetRotation()->Getphi() << endl;
cout << "tht: " << FDMExec->GetRotation()->Gettht() << endl;
cout << "psi: " << FDMExec->GetRotation()->Getpsi() << endl;
cout << "Pdot: " << FDMExec->GetRotation()->GetPdot() << endl;
cout << "Qdot: " << FDMExec->GetRotation()->GetQdot() << endl;
cout << "Rdot: " << FDMExec->GetRotation()->GetRdot() << endl;
cout << "h: " << h << endl;
cout << "a: " << a << endl;
cout << "rho: " << rho << endl;
cout << "rho: " << FDMExec->GetAtmosphere()->Getrho() << endl;
cout << "qbar: " << qbar << endl;
cout << "sim_time: " << sim_time << endl;
cout << "dt: " << dt << endl;
cout << "g: " << g << endl;
cout << "m: " << m << endl;
cout << "Ixx: " << Ixx << endl;
cout << "Iyy: " << Iyy << endl;
cout << "Izz: " << Izz << endl;
cout << "Ixz: " << Ixz << endl;
cout << "m: " << FDMExec->GetAircraft()->GetMass() << endl;
return true;
}

132
JSBsim/FGState.h
View file

@ -32,9 +32,8 @@ global state variables (such as velocity, position, orientation, etc.).
HISTORY
--------------------------------------------------------------------------------
11/17/98 JSB Created
*******************************************************************************/
/*******************************************************************************
********************************************************************************
SENTRY
*******************************************************************************/
@ -47,6 +46,7 @@ INCLUDES
#include <stdio.h>
#include <fstream.h>
#include "FGDefs.h"
/*******************************************************************************
DEFINES
@ -56,186 +56,72 @@ DEFINES
CLASS DECLARATION
*******************************************************************************/
class FGFDMExec;
class FGState
{
public:
FGState(void);
FGState(FGFDMExec*);
~FGState(void);
bool Reset(char*);
bool StoreData(char*);
bool DumpData(char*);
bool DisplayData(void);
inline float GetU(void) {return U;}
inline float GetV(void) {return V;}
inline float GetW(void) {return W;}
inline float GetVn(void) {return Vn;}
inline float GetVe(void) {return Ve;}
inline float GetVd(void) {return Vd;}
inline float GetVt(void) {return Vt;}
inline float GetFx(void) {return Fx;}
inline float GetFy(void) {return Fy;}
inline float GetFz(void) {return Fz;}
inline float GetP(void) {return P;}
inline float GetQ(void) {return Q;}
inline float GetR(void) {return R;}
inline float GetQ0(void) {return Q0;}
inline float GetQ1(void) {return Q1;}
inline float GetQ2(void) {return Q2;}
inline float GetQ3(void) {return Q3;}
inline float GetL(void) {return L;}
inline float GetM(void) {return M;}
inline float GetN(void) {return N;}
inline float GetIxx(void) const {return Ixx;}
inline float GetIyy(void) const {return Iyy;}
inline float GetIzz(void) const {return Izz;}
inline float GetIxz(void) const {return Ixz;}
inline float Getlatitude(void) {return latitude;}
inline float Getlongitude(void) {return longitude;}
inline float GetGeodeticLat(void) {return GeodeticLat;}
inline float Getalpha(void) {return alpha;}
inline float Getbeta(void) {return beta;}
inline float Getgamma(void) {return gamma;}
inline float Getadot(void) {return adot;}
inline float Getbdot(void) {return bdot;}
inline float GetUdot(void) {return Udot;}
inline float GetVdot(void) {return Vdot;}
inline float GetWdot(void) {return Wdot;}
inline float GetPdot(void) {return Pdot;}
inline float GetQdot(void) {return Qdot;}
inline float GetRdot(void) {return Rdot;}
inline float Geth(void) {return h;}
inline float Geta(void) {return a;}
inline float GetMach(void) {return Mach;}
inline float Getrho(void) {return rho;}
inline float Getsim_time(void) {return sim_time;}
inline float Getdt(void) {return dt;}
inline float Getphi(void) {return phi;}
inline float Gettht(void) {return tht;}
inline float Getpsi(void) {return psi;}
inline float Getg(void) {return g;}
inline float Getm(void) {return m;}
inline float Getqbar(void) {return qbar;}
inline float GetT(int r, int c) {return T[r][c];}
inline void SetU(float tt) {U = tt;}
inline void SetV(float tt) {V = tt;}
inline void SetW(float tt) {W = tt;}
inline void SetVt(float tt) {Vt = tt;}
inline void SetVn(float tt) {Vn = tt;}
inline void SetVe(float tt) {Ve = tt;}
inline void SetVd(float tt) {Vd = tt;}
inline void SetFx(float tt) {Fx = tt;}
inline void SetFy(float tt) {Fy = tt;}
inline void SetFz(float tt) {Fz = tt;}
inline void SetP(float tt) {P = tt;}
inline void SetQ(float tt) {Q = tt;}
inline void SetR(float tt) {R = tt;}
inline void SetL(float tt) {L = tt;}
inline void SetM(float tt) {M = tt;}
inline void SetN(float tt) {N = tt;}
inline void SetIxx(float tt) {Ixx = tt;}
inline void SetIyy(float tt) {Iyy = tt;}
inline void SetIzz(float tt) {Izz = tt;}
inline void SetIxz(float tt) {Ixz = tt;}
inline void Setlatitude(float tt) {latitude = tt;}
inline void Setlongitude(float tt) {longitude = tt;}
inline void SetGeodeticLat(float tt) {GeodeticLat = tt;}
inline void Setalpha(float tt) {alpha = tt;}
inline void Setbeta(float tt) {beta = tt;}
inline void Setgamma(float tt) {gamma = tt;}
inline void Setadot(float tt) {adot = tt;}
inline void Setbdot(float tt) {bdot = tt;}
inline void SetUdot(float tt) {Udot = tt;}
inline void SetVdot(float tt) {Vdot = tt;}
inline void SetWdot(float tt) {Wdot = tt;}
inline void SetPdot(float tt) {Pdot = tt;}
inline void SetQdot(float tt) {Qdot = tt;}
inline void SetRdot(float tt) {Rdot = tt;}
inline void Setphi(float tt) {phi = tt;}
inline void Settht(float tt) {tht = tt;}
inline void Setpsi(float tt) {psi = tt;}
inline void Setg(float tt) {g = tt;}
inline void Setm(float tt) {m = tt;}
inline void Setqbar(float tt) {qbar = tt;}
inline void Seth(float tt) {h = tt;}
inline void Seta(float tt) {a = tt;}
inline void SetMach(float tt) {Mach = tt;}
inline void Setrho(float tt) {rho = tt;}
inline float Setsim_time(float tt) {sim_time = tt; return sim_time;}
inline void Setdt(float tt) {dt = tt;}
inline void SetQ0123(float q0, float q1, float q2, float q3) {Q0=q0;Q1=q1;Q2=q2;Q3=q3;}
inline void SetT(int r, int c, float tt) {T[r][c] = tt;}
inline void Setdt(float tt) {dt = tt;}
inline float IncrTime(void) {sim_time+=dt;return sim_time;}
const float EarthRad;
private:
float U, V, W, Fx, Fy, Fz; // A/C body axis velocities and forces
float P, Q, R, L, M, N; // A/C body axis rates and moments
float Q0, Q1, Q2, Q3; // Quaternion elements
float Ixx, Iyy, Izz, Ixz; // Moments of Inertia
float Vt; // Total velocity
float Vn, Ve, Vd; // North, East, and Down local velocities
float latitude, longitude; // position
float GeodeticLat; // Geodetic Latitude
float alpha, beta, gamma; // angle of attack, sideslip, and roll
float adot, bdot; // alpha dot and beta dot
float phi, tht, psi; // Euler angles
float Udot, Vdot, Wdot; // A/C body axis accelerations
float Pdot, Qdot, Rdot; // A/C body axis rotational accelerations
float h, a; // altitude above sea level, speed of sound
float rho, qbar; // density of air in lb/ft^3, dynamic pressure
float qbar; // dynamic pressure
float sim_time, dt;
float m, g; // mass and acceleration of gravity
float T[4][4]; // Local to Body transformation matrix
float Mach; // Mach number
FGFDMExec* FDMExec;
protected:
};
#ifndef FDM_MAIN
extern FGState* State;
#else
FGState* State;
#endif
/******************************************************************************/
#endif

23
JSBsim/FGTank.cpp
View file

@ -28,13 +28,8 @@ FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
See header file.
ARGUMENTS
--------------------------------------------------------------------------------
HISTORY
--------------------------------------------------------------------------------
01/21/99 JSB Created
********************************************************************************
@ -53,19 +48,19 @@ INCLUDES
FGTank::FGTank(ifstream& acfile)
{
char type[20];
acfile >> type;
acfile >> type; // Type = 0: rocket, 1: piston
if (strstr(type,"FUEL")) Type = 0;
else if (strstr(type,"OXIDIZER")) Type = 1;
else Type = -1;
acfile >> X;
acfile >> Y;
acfile >> Z;
acfile >> Radius;
acfile >> Capacity;
acfile >> Contents;
acfile >> X; // inches
acfile >> Y; // "
acfile >> Z; // "
acfile >> Radius; // "
acfile >> Capacity; // pounds (amount it can hold)
acfile >> Contents; // pounds (amount it is holding)
Selected = true;
PctFull = 100.0*Contents/Capacity;
PctFull = 100.0*Contents/Capacity; // percent full; 0 to 100.0
}

6
JSBsim/FGTank.h
View file

@ -32,9 +32,8 @@ a generic Tank.
HISTORY
--------------------------------------------------------------------------------
01/21/99 JSB Created
*******************************************************************************/
/*******************************************************************************
********************************************************************************
SENTRY
*******************************************************************************/
@ -65,6 +64,7 @@ public:
int GetType(void) {return Type;}
bool GetSelected(void) {return Selected;}
float GetPctFull(void) {return PctFull;}
float GetContents(void) {return Contents;}
private:
float X, Y, Z;
@ -79,4 +79,4 @@ protected:
};
/******************************************************************************/
#endif
#endif

73
JSBsim/FGTranslation.cpp
View file

@ -29,10 +29,6 @@ FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
This class integrates the translational EOM.
ARGUMENTS
--------------------------------------------------------------------------------
HISTORY
--------------------------------------------------------------------------------
12/02/98 JSB Created
@ -60,15 +56,25 @@ INCLUDES
*******************************************************************************/
#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGAtmosphere.h"
#include "FGState.h"
#include "FGFDMExec.h"
#include "FGFCS.h"
#include "FGAircraft.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
/*******************************************************************************
************************************ CODE **************************************
*******************************************************************************/
FGTranslation::FGTranslation(void) : FGModel()
FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex)
{
strcpy(Name, "FGTranslation");
Udot = Vdot = Wdot = 0.0;
}
@ -87,13 +93,13 @@ bool FGTranslation::Run(void)
lastVdot = Vdot;
lastWdot = Wdot;
Udot = V*R - W*Q + Fx/m;
Vdot = W*P - U*R + Fy/m;
Wdot = U*Q - V*P + Fz/m;
Udot = V*R - W*Q + Fx/Mass;
Vdot = W*P - U*R + Fy/Mass;
Wdot = U*Q - V*P + Fz/Mass;
U += 0.5*dt*(lastUdot + Udot);
V += 0.5*dt*(lastVdot + Vdot);
W += 0.5*dt*(lastWdot + Wdot);
U += 0.5*dt*rate*(lastUdot + Udot);
V += 0.5*dt*rate*(lastVdot + Vdot);
W += 0.5*dt*rate*(lastWdot + Wdot);
Vt = U*U+V*V+W*W > 0.0 ? sqrt(U*U + V*V + W*W) : 0.0;
@ -115,49 +121,26 @@ void FGTranslation::GetState(void)
{
dt = State->Getdt();
P = State->GetP();
Q = State->GetQ();
R = State->GetR();
P = Rotation->GetP();
Q = Rotation->GetQ();
R = Rotation->GetR();
Fx = State->GetFx();
Fy = State->GetFy();
Fz = State->GetFz();
Fx = Aircraft->GetFx();
Fy = Aircraft->GetFy();
Fz = Aircraft->GetFz();
m = State->Getm();
g = State->Getg();
rho = State->Getrho();
Mass = Aircraft->GetMass();
rho = Atmosphere->Getrho();
phi = State->Getphi();
tht = State->Gettht();
psi = State->Getpsi();
U = State->GetU();
V = State->GetV();
W = State->GetW();
Udot = State->GetUdot();
Vdot = State->GetVdot();
Wdot = State->GetWdot();
alpha = State->Getalpha();
beta = State->Getbeta();
phi = Rotation->Getphi();
tht = Rotation->Gettht();
psi = Rotation->Getpsi();
}
void FGTranslation::PutState(void)
{
State->SetU(U);
State->SetV(V);
State->SetW(W);
State->SetVt(Vt);
State->Setqbar(qbar);
State->SetUdot(Udot);
State->SetVdot(Vdot);
State->SetWdot(Wdot);
State->Setalpha(alpha);
State->Setbeta(beta);
}

43
JSBsim/FGTranslation.h
View file

@ -44,9 +44,8 @@ COMMENTS, REFERENCES, and NOTES
The order of rotations used in this class corresponds to a 3-2-1 sequence,
or Y-P-R, or Z-Y-X, if you prefer.
*******************************************************************************/
/*******************************************************************************
********************************************************************************
SENTRY
*******************************************************************************/
@ -57,8 +56,8 @@ SENTRY
INCLUDES
*******************************************************************************/
#include "FGModel.h"
#include <math.h>
#include "FGModel.h"
/*******************************************************************************
CLASS DECLARATION
@ -67,34 +66,52 @@ CLASS DECLARATION
class FGTranslation : public FGModel
{
public:
FGTranslation(void);
FGTranslation(FGFDMExec*);
~FGTranslation(void);
inline float GetU(void) {return U;}
inline float GetV(void) {return V;}
inline float GetW(void) {return W;}
inline float GetUdot(void) {return Udot;}
inline float GetVdot(void) {return Vdot;}
inline float GetWdot(void) {return Wdot;}
inline float Getalpha(void) {return alpha;}
inline float Getbeta (void) {return beta; }
inline float Getgamma(void) {return gamma;}
inline void SetU(float tt) {U = tt;}
inline void SetV(float tt) {V = tt;}
inline void SetW(float tt) {W = tt;}
inline void SetUVW(float t1, float t2, float t3) {U=t1; V=t2; W=t3;}
inline void Setalpha(float tt) {alpha = tt;}
inline void Setbeta (float tt) {beta = tt;}
inline void Setgamma(float tt) {gamma = tt;}
inline void SetABG(float t1, float t2, float t3) {alpha=t1; beta=t2; gamma=t3;}
bool Run(void);
protected:
private:
float U, V, W;
float U, V, W; // Body frame velocities owned by FGTranslation
float P, Q, R;
float Vt, qbar;
float Udot, Vdot, Wdot;
float lastUdot, lastVdot, lastWdot;
float phi, tht, psi;
float Fx, Fy, Fz;
float m, g, dt;
float alpha, beta;
float Mass, dt;
float alpha, beta, gamma;
float rho;
void GetState(void);
void PutState(void);
};
#ifndef FDM_MAIN
extern FGTranslation* Translation;
#else
FGTranslation* Translation;
#endif
/******************************************************************************/
#endif

54
JSBsim/FGUtility.cpp
View file

@ -30,70 +30,58 @@ FUNCTIONAL DESCRIPTION
This class is a container for all utility classes used by the flight dynamics
model.
ARGUMENTS
--------------------------------------------------------------------------------
HISTORY
--------------------------------------------------------------------------------
01/09/99 JSB Created
*******************************************************************************/
/*******************************************************************************
********************************************************************************
DEFINES
*******************************************************************************/
/********************************************************************************
/*******************************************************************************
INCLUDES
*******************************************************************************/
#include "FGUtility.h"
#include "FGState.h"
#include "FGFDMExec.h"
#include <math.h>
#ifdef HAVE_NCURSES
#include <ncurses.h>
#endif
/*******************************************************************************
************************************ CODE **************************************
*******************************************************************************/
const float EarthRadSqrd = 437882827922500.0;
const float OneSecond = 4.848136811E-6;
const float Eccentricity = 0.996647186;
const float EccentSqrd = Eccentricity*Eccentricity;
const float EPS = 0.081819221;
FGUtility::FGUtility()
{
// Move constant stuff to here (if any) so it won't take CPU time
// in the methods below.
SeaLevelR = EARTHRAD * ECCENT;
}
FGUtility::~FGUtility()
{
}
float FGUtility::ToGeodetic()
{
float GeodeticLat, Latitude, Radius, Altitude, SeaLevelR;
float GeodeticLat, Latitude, Radius, Altitude;
float tanLat, xAlpha, muAlpha, sinmuAlpha, denom, rhoAlpha, dMu;
float lPoint, lambdaSL, sinlambdaSL, dLambda, rAlpha;
Latitude = State->Getlatitude();
Radius = State->Geth() + State->EarthRad;
Radius = State->Geth() + EARTHRAD;
if (( M_PI_2 - Latitude < OneSecond) ||
( M_PI_2 + Latitude < OneSecond)) { // Near a pole
if (( M_PI_2 - Latitude < ONESECOND) ||
( M_PI_2 + Latitude < ONESECOND)) { // Near a pole
GeodeticLat = Latitude;
SeaLevelR = State->EarthRad * Eccentricity;
Altitude = Radius - SeaLevelR;
} else {
tanLat = tan(Latitude);
xAlpha = Eccentricity*State->EarthRad /
sqrt(tanLat*tanLat + EccentSqrd);
muAlpha = atan2(sqrt(EarthRadSqrd - xAlpha*xAlpha), Eccentricity*xAlpha);
xAlpha = ECCENT*EARTHRAD /
sqrt(tanLat*tanLat + ECCENTSQRD);
muAlpha = atan2(sqrt(EARTHRADSQRD - xAlpha*xAlpha), ECCENT*xAlpha);
if (Latitude < 0.0) muAlpha = -muAlpha;
@ -103,12 +91,12 @@ float FGUtility::ToGeodetic()
lPoint = Radius - rAlpha;
Altitude = lPoint*cos(dLambda);
denom = sqrt(1-EPS*EPS*sinmuAlpha*sinmuAlpha);
rhoAlpha = State->EarthRad*(1.0 - EPS) / (denom*denom*denom);
rhoAlpha = EARTHRAD*(1.0 - EPS) / (denom*denom*denom);
dMu = atan2(lPoint*sin(dLambda),rhoAlpha + Altitude);
State->SetGeodeticLat(muAlpha - dMu);
lambdaSL = atan(EccentSqrd*tan(GeodeticLat));
lambdaSL = atan(ECCENTSQRD*tan(GeodeticLat));
sinlambdaSL = sin(lambdaSL);
SeaLevelR = sqrt(EarthRadSqrd / (1 + (1/EccentSqrd - 1.0)* sinlambdaSL*sinlambdaSL));
SeaLevelR = sqrt(EARTHRADSQRD / (1 + INVECCENTSQRDM1* sinlambdaSL*sinlambdaSL));
}
return 0.0;
}
@ -119,13 +107,13 @@ float FGUtility:: FromGeodetic()
float lambdaSL, sinlambdaSL, coslambdaSL, sinMu, cosMu, py, px;
float Altitude, SeaLevelR;
lambdaSL = atan(EccentSqrd*tan(State->GetGeodeticLat()));
lambdaSL = atan(ECCENTSQRD*tan(State->GetGeodeticLat()));
sinlambdaSL = sin(lambdaSL);
coslambdaSL = cos(lambdaSL);
sinMu = sin(State->GetGeodeticLat());
cosMu = cos(State->GetGeodeticLat());
SeaLevelR = sqrt(EarthRadSqrd /
(1 + ((1/EccentSqrd)-1)*sinlambdaSL*sinlambdaSL));
SeaLevelR = sqrt(EARTHRADSQRD /
(1 + INVECCENTSQRDM1*sinlambdaSL*sinlambdaSL));
px = SeaLevelR*coslambdaSL + Altitude*cosMu;
py = SeaLevelR*sinlambdaSL + Altitude*sinMu;
State->Setlatitude(atan2(py,px));

10
JSBsim/FGUtility.h
View file

@ -26,9 +26,8 @@
HISTORY
--------------------------------------------------------------------------------
01/09/99 JSB Created
*******************************************************************************/
/*******************************************************************************
********************************************************************************
SENTRY
*******************************************************************************/
@ -47,6 +46,9 @@ DEFINES
CLASS DECLARATION
*******************************************************************************/
class FGFDMExec;
class FGState;
class FGUtility
{
public:
@ -59,7 +61,9 @@ public:
protected:
private:
float SeaLevelR;
FGState* State;
FGFDMExec* FDMExec;
};
/******************************************************************************/